CN108621116A - A kind of article picks and places intelligent robot - Google Patents
A kind of article picks and places intelligent robot Download PDFInfo
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- CN108621116A CN108621116A CN201810517989.1A CN201810517989A CN108621116A CN 108621116 A CN108621116 A CN 108621116A CN 201810517989 A CN201810517989 A CN 201810517989A CN 108621116 A CN108621116 A CN 108621116A
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Classifications
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
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Abstract
The present invention provides a kind of articles to pick and place intelligent robot, and using central processing unit as Master Control Unit, the corresponding command is sent to robot foot, upright arm, horizontal arm, manipulator；Robot foot completes to advance and row positioning, upright arm complete row positioning, and horizontal arm completes the current location positioning of article, and manipulator completion takes/put operation.The article of the present invention picks and places intelligent robot, simple in structure, and each component function is clear, picks and places work for the article under a variety of occasions, effectively avoids the introducing of human factor.Intelligent robot is optimized by navigation algorithm, can smoothly be travelled very much, and distinguish fork on the road automatically, is reached and is specified at article according to setting instruction, is automatically performed picking and placeing for article；Meanwhile robot can carry out respective record to picking and placeing action every time, eliminate the trouble that manual record is carried out to operation, save manual labor, it improves work efficiency, reduces cost, better preparation is provided for rear end automatic assembly line working process.
Description
Technical field
The invention belongs to artificial intelligence and equipment management fields, and in particular to a kind of article picks and places intelligent robot.
Background technology
Currently, with the development of computer hardware and the communication technology, artificial intelligence technology high development, various robots exist
More and more fields play irreplaceable effect, have as operating accuracy is high, and can continuously work long hours etc. advantage,
It is that original labour cannot achieve.In experiment and industrial circle, also occur applying the machine under various different scenes
Device people, has liberated labour, improves work efficiency, and from the point of long-term development, reduces production cost.
Independent ventilating cage box (Individual Ventilated Cages, IVC) is widely used to reality in experimental animal industry
Animal is tested to be raised and managed concentratedly.IVC refers to closed independent cage box, and high ventilation frequency (20-60 times/h) is clean in box
Net airflow independently circulates, and exhaust gas centralized China and foreign countries are arranged, and the miniature SPF that can be operated and test in superclean bench or Biohazard Safety Equipment
The feeding of grade experimental animal and experimental facilities.Needed during raising periodically by cage box take out addition feed, replace bedding and padding and to cage box into
Row is replaced, and again puts back to cage box after the completion of operation.Currently, into animal house, the operation of cage box is taken out, carries and put back to by people
Work is completed.
Experimental animal feeding be typically ten thousand grades of purification standards animal house, to personnel come in and go out etc. have stringent constraint and
Standard.During each Animal Lab. picks and places cage box from each cage on demand, operating personnel are subjected to include changing
Shoes, change one's clothes, wind leaching etc. flows, it is necessary to the work clothes and gloves mask for dressing sterilizing, come ensure ten thousand grades in experimental animal room it is clean
Net degree, operation are comparatively laborious.Picked and placeed by staff and the waste of manpower of transport cage box, working efficiency be low, the discrepancy of personnel and
Operation may cause environmental pollution animal or asnimal pollution environment, all there is security risk to animal and staff.In addition,
The different cage box replacement cycles in same experimental animal room difference cage are also different, this needs manually to record replacing construction
The information such as point and growing state, work are extremely complicated.
Currently, not yet a kind of intelligent robot can replace be manually entered experimental animal room, to the cage box on cage into
Row loading or unloading operation.
Invention content
The embodiment of the present invention replaces artificial still incomplete problem for intelligent robot in the prior art, it is proposed that a kind of
Article picks and places intelligent robot, and intelligent robot is completed to wait for article the positioning for the position for taking or putting first, on the basis of positioning
Upper completion loading or unloading operation.By taking experimental animal room as an example, then intelligent robot can complete the taking-up of IVC, carry and put back to, and realize certainly
Dynamic operation, while being recorded in time to relevant operation, does not need staff and enters animal house, reduce animal house safeguard at
This, improves zoopery efficiency, while cleaning laboratory, realizes accurate, the efficient management to experimental animal room.
According to an aspect of the invention, there is provided a kind of article picks and places intelligent robot, the intelligent robot includes：
Central processing unit, robot foot, upright arm, horizontal arm, manipulator, power supply；Wherein,
The central processing unit is connected with robot foot, upright arm, horizontal arm, manipulator, power supply simultaneously, is fixed on machine
On people's foot, for sending the order advanced and stopped to robot foot, the order of lifting is sent to upright arm, is sent to horizontal arm
Flexible order sends the order for taking/putting to manipulator；
The robot foot, carrying central processing unit, upright arm, power supply, the order for receiving central processing unit are completed
The traveling of intelligent robot and take/put the row of article to position；
The upright arm is fixed on robot foot, is electrically connected with the central processing unit on robot foot, for completing machine
Tool hand positions the row for taking/putting article；
The horizontal arm is fixed on upright arm, is electrically connected with the central processing unit on robot foot, for completing machinery
Hand positions the current location for taking/putting article；
The manipulator is fixed on horizontal arm, is electrically connected with the central processing unit on robot foot, for positioning
Cheng Hou, that completes article takes/puts operation；
The power supply is used to provide power for the robot.
Further, the intelligent robot includes enough：Chassis, driving wheel and drive wheel device, universal wheel, row positioning
Sensing device, traveling navigation device；Wherein,
The chassis is used to arrange the fixation and carrying of positioning sensing device, traveling navigation device, central processing unit；
The row positioning sensing device is installed on chassis front end, is connected with central processing unit, for receiving central processing unit
Row location tasks, pass through incude article row position magnetic strip information complete row positioning；
The traveling navigation device is connected with central processing unit, and the travel task for receiving central processing unit passes through sense
The robot track in article storage area is answered, identifies traveling track, and induction information is sent to central processing unit；
The driving wheel and drive wheel device are installed on chassis underside, are contacted with ground, at the same with the central processing
Device is electrically connected, the induction information for coming from traveling navigation device for receiving central processing unit, according to induction information driving machine
Device people advances along robot track, completes navigation and travel task；
The universal wheel is assemblied in four orientation of chassis underside, for the Auxiliary support to chassis.
Further, the driving wheel is 2, is symmetrically installed on the both sides on chassis, and two driving wheels use when steering
Differential fashion.
Further, the upright arm includes：Vertical rack, down-feed screw, the first take-up housing, the first stepper motor and driving
Device；Wherein, the vertical rack is fixed on chassis, and down-feed screw is through the vertical rack, with the first stepper motor and driving
Device is connected；First stepper motor and driver are located at the top of the vertical rack；First take-up housing is installed on vertical
It on raw silk rings bar, is fixedly connected with horizontal arm, down-feed screw rotates under the drive of the first stepper motor, horizontal arm and the first sliding block
Seat is moved up and down along down-feed screw together.
Further, the horizontal arm includes：Horizontal lead screw, the second take-up housing, the second stepper motor and driver；Its
In,
The horizontal lead screw is fixed on the first take-up housing of upright arm, is connected with the second stepper motor and driver；Institute
It states the second stepper motor and driver is located at the rearmost end of the level frame；Second take-up housing is installed on horizontal lead screw,
It is fixedly connected with manipulator；Horizontal lead screw rotates under the drive of the second stepper motor, manipulator edge together with the second take-up housing
Horizontal lead screw is moved forward and backward.
Further, the manipulator includes：Side plate, steering engine, connection rod set, clamping piece, line slide rail, motor, limit are opened
It closes；Wherein,
The side plate is used to the manipulator being fixed on horizontal arm, while for fixing steering engine, line slide rail；
The steering engine at least two, two steering engines are fixed on side plate interior sides side by side, and axis is parallel with the axis of side plate,
And be connected respectively with the clamping piece of wherein side, the folding for controlling the clamping piece；
The connection rod set is two groups, and every group includes two connecting rods, connects a steering engine and a clamping piece；Two connecting rods begin
Whole keeping parallelism ensures that two clamping pieces remain parallel；
The clamping piece is symmetrical two, and medial surface is parallel with two lateral surfaces of article always；
The line slide rail is located at the outermost both sides of manipulator perpendicular to side plate；
The motor is connected with line slide rail, stretching and contraction for controlling front end limit switch；
The limit switch is located at the front end of line slide rail, touches Detection task for completing, inspecting manipuator was run
Whether have occurred the event of touching in journey, and it is which position is touched to identify, coordinate manipulator complete to take/put object
The position of product positions.
Further, when the intelligent robot for take/put IVC when, the manipulator further includes：Push rod, shift fork, face
Colour induction device lifts fork；
The side plate is additionally operable to fixed color reaction device, lifts fork；
The steering engine is four, and two of which is connected with clamping piece, other two steering engine is also secured on side plate, wherein one
A steering engine is connected with push rod, another steering engine is connected with shift fork, and power is provided for push rod and shift fork, so that push rod is pushed cage box, makes
Shift fork jacks up cage box；The push rod makes cage box be detached from buckle for pushing cage box；
The shift fork makes cage box to disengaging card slot for jacking up cage box；
The color reaction device is installed on side plate, and with steering engine homonymy, whether the cage box for incuding on cage position is detached from card
Button；
The fork of lifting is fixed on side plate, with steering engine homonymy, is located at the inside of line slide rail, and flat with line slide rail
Row, while positioned at the bottom of entire manipulator, a plane is formed below, for consolidating cage box.
Further, when intelligent robot commodity restocking super for quotient, the manipulator further includes：Shift fork, support
Lift fork；
The side plate is additionally operable to fixation and lifts fork；
The steering engine is three, and two of which is connected with clamping piece, another steering engine is also secured on side plate, with shift fork
It is connected；
The shift fork makes commodity reach the height of clamping piece for jacking up commodity；
The fork of lifting is a band by plane, and on-fixed is connected on side plate, can carry out 90 degree of overturnings, when being held in the palm
When movement is made, fork planar horizontal is lifted, for lifting restocking commodity；When completing to lift action, fork plane is lifted perpendicular to the ground；
Direction of the fork on side plate and steering engine homonymy are lifted, the inside of line slide rail is located at, length is more than clamping piece, and and line slide rail
It is parallel.
The present invention has the advantages that：
The intelligent robot of the embodiment of the present invention, simple in structure, each component function is clear, for the article under a variety of occasions
Work is picked and placeed, the introducing of human factor is effectively avoided.Intelligent robot is optimized by navigation algorithm, being capable of very stable row
It sails, and distinguishes fork on the road automatically, reached and specified at article according to setting instruction, be automatically performed picking and placeing for article；Meanwhile machine
Device people can carry out respective record to picking and placeing action every time, eliminate the trouble for carrying out manual record to operation, save artificial
Labour improves work efficiency, and reduces cost, and better beam worker is provided for rear end automatic assembly line working process
Make.
Description of the drawings
Fig. 1 is the structural schematic diagram for picking and placeing article robot of first embodiment of the invention；
Fig. 2 is the structural schematic diagram of the robot foot for picking and placeing article robot of first embodiment of the invention；
Fig. 3 is IVC automatic clamping and placing robot architecture's schematic diagrames of second embodiment of the invention；
Fig. 4 is the structural schematic diagram of the robot foot of the IVC automatic clamping and placings robot of second embodiment of the invention；
Fig. 5 is the front view of the robot foot of the IVC automatic clamping and placings robot of second embodiment of the invention；
Fig. 6 is the manipulator dimensional structure diagram of the IVC automatic clamping and placings robot of second embodiment of the invention；
Fig. 7 is the front view of the manipulator of the IVC automatic clamping and placings robot of second embodiment of the invention；
Fig. 8 is the explosive view of the manipulator of the IVC automatic clamping and placings robot of second embodiment of the invention；
Fig. 9 is that the manipulator of the IVC automatic clamping and placings robot of second embodiment of the invention holds cage box schematic diagram.
Reference sign：
(1,21)-central processing unit；(2,22)-robot foot；(3,23)-upright arm；(4,24)-horizontal arm；(5,25)-
Manipulator；(6,26)-power supply；The chassis 221-；222- driving wheels and drive wheel device；223- universal wheels；224- row location senses
Answer device；225- traveling navigation devices；251- steering engines；252- connection rod sets；253- push rods；254- shift forks；255- clamping pieces；256-
Line slide rail；257- color reaction devices；258- motors；259- limit switches；2510- lifts fork.
Specific implementation mode
In order to make the objectives, technical solutions and advantages of the present invention clearer, With reference to embodiment and join
According to attached drawing, invention is further described in detail.It should be understood that these descriptions are merely illustrative, the present invention is not limited
It in exemplary embodiment as disclosed below, can be achieved by different form, the essence of specification is only to aid in phase
Close the detail of the field technology personnel Integrated Understanding present invention.In addition, in the following description, being omitted to known features and skill
The description of art, so as not to unnecessarily obscure the concept of the present invention.
Intelligent robot in artificial intelligence can be applied in a variety of different occasions, can also be according to different occasions pair
The structure and function of intelligent robot are integrated accordingly, for example, spraying industry, can design robotics people, to spy
Realize precisely spraying in fixed position.The present invention is picked and placeed for specific position article, it is proposed that a kind of intelligent robot, it can be right
The positioning and pick and place that the article of specific position is automated, need not manually participate in, and on the one hand save labour, on the one hand
Avoid the introducing of human factor, such as pollution, operating error.
Particularly, it in IVC industries, at present mainly based on manual operation, was only waited in rear end batch turning, cleaning and disinfection
Part laboratory takes automatic flow to handle in journey, uses " cage box cleaning machine " and " Long He cleaning operations robot " completion pair
The operation of prewashing, cleaning, flushing and the drying of cage box, but need to be introduced into animal house by cage box taking-up could carry out cleaning operation,
Picking and placeing for IVC enters animal house completion by staff at present；And it is primarily introduced into front end, experimental animal room and has changed wind
System, the work that picks and places for recording cage box information and cage box in real time still need by manpower completion.Entire industry basis is set
Comparative maturity is applied, operating process has also formed standard criterion, and above-mentioned article is picked and placeed robot application IVC's by the present invention
It picks and places, replaces completing manually picking and placeing the operation of cage box by manipulator, there is high degree of automation, intelligence, accuracy
High advantage, it is alternative it is existing it is artificial pick and place the mode for carrying cage box, liberate manpower, improve working efficiency, avoid animal with
Cross-infection between staff reduces the health hazard to animal and staff.IVC automatic clamping and placings robot enters reality
It tests animal house and superclean bench is transported into the taking-up of cage box, complete to replace bedding and padding by staff and replace the operations such as cage box, behaviour
Robot again puts back to cage box after the completion of work, and is automatically performed and is recorded in real time to operating process.
Particularly, above-mentioned article, which picks and places robot, can also apply picking and placeing on common shelf article, in supermarket
The restocking process or undercarriage process of commodity.
Below by specific embodiment, technical solution of the present invention is described in detail.
First embodiment
It present embodiments provides a kind of article and picks and places intelligent robot.Fig. 1 show the present embodiment article and picks and places intelligent machine
The structural schematic diagram of device people.As shown in Figure 1, the article of the present embodiment picks and places intelligent robot by being formed with lower unit：In
Central processor 1, robot foot 2, upright arm 3, horizontal arm 4, manipulator 5, power supply 6；Wherein,
The central processing unit 1 is connected with robot foot 2, upright arm 3, horizontal arm 4, manipulator 5, power supply 6 simultaneously, is used for
Task is sent to robot foot 2, upright arm 3, horizontal arm 4, manipulator 5.
Run operating system on the central processing unit 1, cooperateed with according to message queue, mutual exclusion lock and event flag group and
Synchronous following task：It detects the guiding Detection task of running orbit, the navigation walking task for controlling robot ambulation, use
In realize arm task that article picks and places, for judgement action in place or that touches touches Detection task and for controlling
With the human-computer interaction task of display working condition.Preferably, the operating system is uC/OS operating systems, is uC/ particularly
OS-II or uC/OS-III, or the uC/OS operating systems of other versions.Preferably, the central processing unit of the present embodiment
For STM32 microprocessors, model STM32F103ZET6, the processor is by STMicw Electronics (STMicroelectronics)
Company provides.The central processing unit may be mounted on robot foot 2.
The central processing unit 1 sends the order advanced and stopped to robot foot 2, and the life of lifting is sent to upright arm 3
It enables, flexible order is sent to horizontal arm 4, the order for taking or putting is sent to manipulator 5.
The robot foot 2 is connected with central processing unit 1, the order for receiving central processing unit 1, completes intelligent machine
The traveling of device people and take/put the row of article to position.Fig. 2 show the structural schematic diagram of the robot foot 2.As shown in Fig. 2,
The robot foot 2 includes：Chassis 221, driving wheel and drive wheel device 222, universal wheel 223, row positioning sensing device
224, traveling navigation device 225 can also include row positioning sensing device.Wherein：
The chassis 221 is used for the fixation and carrying of entire robot body's component, and row positioning sensing device 224 is advanced
Navigation device 225, central processing unit 1 etc. can be mounted on chassis 221.At the same time it can also the pedestal as upright arm 3.
The row positioning sensing device 224 is installed on 221 front end of chassis, is connected with central processing unit 1, for receiving center
The location tasks of processor 1, the row by incuding article position magnetic strip information and complete row positioning.Preferably, the row location sense
Answer device 224 that can be made of Magnetic Sensor.
The traveling navigation device 225 is connected with central processing unit 1, the travel task for receiving central processing unit 1, leads to
The robot track of induction article storage area is crossed, identifies traveling track, and induction information is sent to central processing unit 1, center
The induction information of navigation is sent to drive wheel device 222 by processor 1 again, and driving Robot robot track is advanced.It is excellent
Selection of land, the traveling navigation device 225 are made of at least two magnetic inductors, and with the formal distribution of " one in front and one in back " on chassis
The center line parallel with direction of travel on, with the principle of " two dots are in alignment ", ensure the direction that robot advances.
The driving wheel and drive wheel device 222 are connected with the central processing unit 1, for completing travel task, pacify
Loaded on chassis 221, contacted with ground.Preferably, the driving wheel is 2, the both sides on chassis is symmetrically installed on, using 6
Very little integrated molding three-phase brushless wheel hub motor, two driving wheels use differential fashion when steering.Preferably, the driver makes
With three-phase brushless motor driver, 2 encoders can measure the rotating speed of 2 motors respectively, have the case where inclination angle on road surface, if vehicle
Body slides, and can find and be corrected in time；The mode that car body is diverted through differential is controlled, i.e., a motor adds
Speed, another decelerating through motor.
The universal wheel 223 is assemblied in four orientation on the chassis 221, for the Auxiliary support to chassis 221.
Preferably, the robot foot 2 can also include row positioning sensing device, the row positioning sensing device and center
Processor 1 is connected, the location tasks for receiving central processing unit 1, and the row positioning magnetic strip information by incuding article completes row
Positioning.Preferably, the row positioning sensing device can be made of Magnetic Sensor.Here row location information is primarily referred to as article
Elevation information.Due to specific article storage area under normal conditions special product there are height be it is fixed, row positioning
It can also indicate that the row of height positions by directly inputting height number to the operating system of central processing unit to realize, this list
Member is option.
Robot foot is described in detail above.Then illustrate other units of robot below.
The upright arm 3 is connected with central processing unit 1, the row positioning for completing manipulator；Including：It is vertical rack, vertical
Lead screw, the first take-up housing, the first stepper motor and driver；Wherein, the vertical rack is fixed on chassis 221, down-feed screw
Through the vertical rack, it is connected with the first stepper motor and driver；First stepper motor and driver are located at described
The top of vertical rack；First take-up housing is installed on down-feed screw, is fixedly connected with horizontal arm.Down-feed screw is first
It is rotated under the drive of stepper motor, horizontal arm moves up and down together with the first take-up housing along down-feed screw.The first stepping electricity
Machine and driver are electrically connected with the central processing unit 1, receive the lifting task of central processing unit 1.Preferably, described to hang down
The down-feed screw of straight-arm 3 uses high-precision lead screw, and such as the high-precision lead screw that spiral shell spacing is 10mm or 5mm, the first stepper motor is
Closed loop stepper motor ensures that running precision reaches 0.1mm by encoder feedback, and effectively inhibits to lose step problem, improves control
Precision eliminates accumulated error.
The horizontal arm 4 includes：Level frame, horizontal lead screw, the second take-up housing, the second stepper motor and driver；Wherein,
The horizontal lead screw is fixed on the first take-up housing of upright arm, is connected with the second stepper motor and driver；The second step
Stepper motor and driver are located at the rearmost end of the level frame (using one end where manipulator as front end)；Second take-up housing
It is installed on horizontal lead screw, is fixedly connected with manipulator.Horizontal lead screw rotates under the drive of the second stepper motor, manipulator with
Second take-up housing is moved forward and backward along horizontal lead screw together, completes expanding-contracting action of the manipulator to cage box position.Second stepping
Motor and driver are electrically connected with the central processing unit 21, and receive central processing unit 21 moves horizontally task, by machine
25 feedings of tool hand/pull-out cage realize that IVC takes/put operation.Preferably, the horizontal lead screw uses spiral shell spacing for 10mm or 5mm
High-precision lead screw, the second stepper motor be closed loop stepper motor ensure that running precision reaches 0.1mm by encoder feedback,
And effectively inhibit to lose step problem, it improves control accuracy, eliminate accumulated error.The manipulator 5 is for completing to target article
Loading or unloading operation.The manipulator 5 can carry out different transformation and design according to the difference of picked and placeed article.Basic, it is described
Manipulator 5 includes with lower part：Side plate, steering engine, connection rod set, clamping piece, line slide rail, motor, limit switch；Wherein,
The side plate is used to the manipulator being fixed on the second take-up housing of horizontal lead screw, while for fixing rudder
Machine, line slide rail.
The connection rod set is two groups, and every group includes two connecting rods, connects a steering engine and a clamping piece, and two connecting rods begin
Whole keeping parallelism ensures that two clamping pieces remain parallel；
The steering engine at least two, two steering engines are fixed on side plate interior sides side by side, and axis is parallel with the axis of side plate,
And be connected respectively with the clamping piece of wherein side, the folding for controlling the clamping piece；
The clamping piece is symmetrical two, and medial surface is parallel with two lateral surfaces of article always；
The line slide rail is located at the outermost both sides of manipulator perpendicular to side plate；
The motor is connected with line slide rail, stretching and contraction for controlling front end limit switch.
The limit switch is located at the front end of line slide rail, touches Detection task for completing, inspecting manipuator was run
Whether have occurred the event of touching in journey, and it is which position is touched to identify, coordinate manipulator complete to take/put object
The position of product positions.The above-mentioned detection module that touches is inductance type close to sensing module and mechanical limit switch.Other also can be used
Conventional detection mode.
The power supply 6 is lithium battery.Preferably, it using 36V30Ah lithium batteries, may be mounted on chassis 21.
When progress article picks and places, the article picks and places robot and executes following operation：
Step S11, central processing unit receives and analysis task, and instruction is assigned to each unit；
Step S12, the traveling navigation device on robot foot start to navigate, and navigation information is fed back to central processing unit,
Navigation information is sent to drive wheel device by central processing unit, and driver drives driving wheel, robot to start along robot magnetic
Rail is advanced；
Step S13, row determine sensing device unlatching, and the row that article is incuded during traveling position magnetic information, work as induction
Then, stop advancing, complete row positioning；
Step S14, according to altitude information or row positioning sensing device, the row positioning of article is completed in guiding upright arm lifting；
Step S15 guides the flexible of horizontal arm, manipulator is reached article position；
Step S16, mechanical hand starting, that completes article takes/puts action；
Step S17, take/put action after the completion of, robot withdraws manipulator, and horizontal arm and upright arm reset, Robot
Former travelling route retracts rest area, or executes next task.
The article of the present embodiment picks and places robot, simple in structure, and each component function is clear, the object that can be used under a variety of occasions
Product pick and place work, situation especially sensitive to human factor, it is possible to prevente effectively from the introducing of human factor.Intelligent robot is logical
Navigation algorithm optimization is crossed, can smoothly be travelled very much, and distinguish fork on the road automatically, is reached according to setting instruction and specifies object
At product, it is automatically performed picking and placeing for article；Meanwhile robot can carry out respective record to picking and placeing action every time, can also pass through
The trouble for picking and placeing history, eliminating to operation progress manual record that coding record article is carried out to taken article, saves people
Work labour, improves work efficiency, and reduces cost, and better preparation is provided for rear end automatic assembly line working process
Work.
Second embodiment
Below specifically by taking the IVC of experimental animal room is picked and placeed as an example, to the present invention article pick and place intelligent robot make into
One step is discussed in detail.
Fig. 3 is IVC automatic clamping and placings robot architecture's schematic diagram of the present embodiment, as shown in figure 3, the IVC is automatic
Robot is picked and placeed by being formed with lower unit：Central processing unit 21, robot foot 22, upright arm 23, horizontal arm 24, manipulator 25,
Power supply 26；Wherein,
The central processing unit 21 simultaneously with robot foot 22, upright arm 23, horizontal arm 24, manipulator 25,26 phase of power supply
Even, be calculating and the control centre of robot, for the task for the controller that receives an assignment, and to robot foot 22 send advance and
The order of stopping sends the order of lifting to upright arm 23, and flexible order is sent to horizontal arm 24, is sent to manipulator 25
The order for taking/putting runs uC/OS operating systems on the central processing unit.
Preferably, the central processing unit 21 according to message queue, mutual exclusion lock and/or event flag group come cooperate with it is synchronous
Following task：Detect the traveling navigation task of running orbit, traveling driving task, the reality that control device is walked along navigation path
Existing cage box, which takes ,/put arm location tasks and manipulator location tasks, for judging to take/puts that the cage position whether completed indicates block 5
Induction task can also include the human-computer interaction task of control and display working condition.Preferably, the uC/OS operating systems
For uC/OS-II or uC/OS-III, or the uC/OS operating systems of other versions.Preferably, the centre of the present embodiment
Reason device is STM32 microprocessors, and model STM32F103ZET6, the processor is by STMicw Electronics
(STMicroelectronics) company provides.The central processing unit may be mounted on robot foot 22.
The robot foot 22 is connected with central processing unit 21, the order for receiving central processing unit 21, completes intelligence
The navigation and traveling of robot are provided by manipulator 25 and are positioned to the row for taking/putting cage box.Fig. 4 show the robot foot
22 structural schematic diagram, Fig. 5 show the front view of institute's robot foot 22.As shown in Figure 4 and Figure 5, the robot foot 22 wraps
It includes：Chassis 221, driving wheel and drive wheel device 222, universal wheel 223, row positioning sensing device 224, traveling navigation device
225.Wherein：The chassis 221 is used for the fixation and carrying of entire robot body's component, and row positioning sensing device 224 is advanced
Navigation device 225, central processing unit 21 etc. can be mounted on chassis 221.At the same time it can also the bottom as upright arm 23
Seat.The row positioning sensing device 224 is connected with central processing unit 21, the location tasks for receiving central processing unit 21, with
The information of induction positioning magnetic stripe completes row positioning.Preferably, the row positioning sensing device 224 can be made of Magnetic Sensor.
The traveling navigation device 225 is connected with central processing unit 21, the travel task for receiving central processing unit 21, with induction machine
The information of device people's track, and induction information is sent to central processing unit 21, induction information is then forwarded to by central processing unit 21
Driving wheel and drive wheel device 222, driving Robot track are advanced.Preferably, the traveling navigation device 225 is by least
Two magnetic inductor compositions, and with the formal distribution of " one in front and one in back " on the center line parallel with direction of travel on chassis, with " two
A dot is in alignment " principle, ensure robot advance direction.The driving wheel and drive wheel device 222 and institute
It states central processing unit 21 to be connected, for completing travel task, is installed on chassis, is contacted with ground.Preferably, the driving wheel
It is 2, is symmetrically installed on the both sides on chassis, using 6 cun of integrated molding three-phase brushless wheel hub motor, two drivings when steering
Wheel uses differential fashion.Preferably, the driver uses three-phase brushless motor driver, 2 encoders that can measure 2 respectively
The rotating speed of motor has the case where inclination angle on road surface, if car body slides, can find and be corrected in time；Car body turns to logical
The mode for crossing differential is controlled, i.e., a motor accelerates, another decelerating through motor.The universal wheel 223 is assemblied in the bottom
Four angles of 221 downside of disk, for the Auxiliary support to chassis 221.
The upright arm 23 includes：Vertical rack, down-feed screw, the first take-up housing, the first stepper motor and driver；Its
In, the vertical rack is fixed on chassis, and down-feed screw is through the vertical rack, with the first stepper motor and driver phase
Even；First stepper motor and driver are located at the top of the vertical rack；First take-up housing is installed on vertical silk
On bar, it is fixedly connected with horizontal arm.Down-feed screw rotates under the drive of the first stepper motor, horizontal arm and the first take-up housing one
It is moved up and down with along down-feed screw.First stepper motor and driver are electrically connected with the central processing unit, are received
The lifting task of central processing unit.Preferably, the down-feed screw of the upright arm 23 uses high-precision lead screw, as spiral shell spacing is
The high-precision lead screw of 10mm or 5mm, the first stepper motor are closed loop stepper motor, by encoder feedback, ensure running precision
Reach 0.1mm, and effectively inhibit to lose step problem, improves control accuracy, eliminates accumulated error.
The horizontal arm 24 includes：Horizontal lead screw, the second take-up housing, the second stepper motor and driver；Wherein, the water
Flat lead screw is fixed on the lower end of the vertical armed lever of upright arm 23, and second take-up housing is installed on horizontal lead screw, with second step
Stepper motor and driver are connected, and manipulator 25 is connected with the second take-up housing, under the drive of the second stepper motor, second and sliding block
Seat is moved horizontally along horizontal lead screw together；Second stepper motor and driver are electrically connected with the central processing unit 21
It connects, receive central processing unit 21 moves horizontally task, may be mounted at the other end of the horizontal lead screw opposite with manipulator 25,
For guiding manipulator 25 to be moved along Z axis, manipulator is sent into or is pulled out cage, facilitates IVC loading or unloading operations.Preferably, described
Horizontal lead screw uses high-precision lead screw, can be real by closed loop stepper motor such as the high-precision lead screw that spiral shell spacing is 10mm or 5mm
The occurrence of showing the mobile accuracy control of 0.1mm, and effectively preventing losing step.
Fig. 6 show manipulator dimensional structure diagram described in the present embodiment；Fig. 7 show manipulator described in the present embodiment
Front view；Fig. 8 show the explosive view of the present embodiment manipulator；Fig. 9, which show the present embodiment manipulator and holds cage box, to be shown
It is intended to.As shown in Fig. 6 to 9, the manipulator 25 of the present embodiment includes：Side plate 250, steering engine 251, connecting rod 252, push rod 253, shift fork
254, clamping piece 255, line slide rail 256, color reaction device 257, motor 258, limit switch 259 can also include：Lift fork
2510.Manipulator is symmetric using the center line of side plate 250 as axis, and steering engine 251 therein, push rod 253, is dialled connection rod set 252
Fork 254, line slide rail 256, motor 258, limit switch 259, is lifted fork and 2510 is symmetric clamping piece 255, with pairs of
Mode realize its corresponding function.
The side plate 250 is fixedly connected with the horizontal lead screw of horizontal arm 24, and plate face is vertical with the horizontal lead screw, Ke Yanshui
Flat lead screw movement；The inside of side plate 250 is for fixing steering engine 251, line slide rail 256, color reaction device 257, lifting fork 2510；
The other side is outside, the back side as manipulator 25.
The connection rod set 252 is two groups, and every group includes two connecting rods, connects a steering engine and a clamping piece, two companies
Bar remains parallel, ensures that two clamping pieces 255 remain parallel, ensures symmetrical a pair of during gripping folding
255 medial surface of clamping piece is parallel with cage box lateral surface always.
The steering engine 251 is four, and two of which steering engine is fixed on 250 inside of side plate, axis and side plate 250 side by side
Axis is parallel, and is connected respectively by one group of connecting rod 252 with the clamping piece of wherein side 255, for controlling the clamping piece 255
Folding, realize 25 grasping movement of manipulator.Other two steering engine 251 is also secured on side plate, one of steering engine and push rod
253 are connected, another steering engine is connected with shift fork 254, provide power for push rod 253 and shift fork 254, make push rod in the process of grasping
253 push cage box, and shift fork 254 is made to jack up cage box, and cage box is made to be detached from the buckle on cage, convenient for clamping piece 255 that cage box is smooth
It is taken out from cage.
The clamping piece 255 is two panels, is mutually parallel and is symmetrically distributed in manipulator both sides, the inside of two clamping pieces 25
Face is parallel with two outer surfaces of cage box, for cage box to be clamped.Preferably, sponge, a side can be installed on the clamping piece 255
Face is used to increase frictional force between clamping piece and cage box and improves the flat stability held, on the other hand avoid clamping piece and cage box it
Between generate hard friction, to protect cage box.
The push rod 253 makes cage box be detached from buckle for pushing cage box.
The shift fork 254 makes cage box be detached from card slot for jacking up cage box.
One end of the line slide rail 256 is fixed on 250 inside of side plate, vertical with side plate 250, parallel perpendicular to side
It is located at outermost both sides on the direction of plate.
The motor 258 is connected with line slide rail 256, stretching and contraction for controlling front end limit switch 259.
The limit switch 259 is located at the front end of line slide rail, and Detection task, 25 edge of inspecting manipuator are touched for completing
Whether the event of touching has occurred in z-axis motion process, to complete positioning of the manipulator 25 along z-axis.Preferably, the limit is opened
Close 259 for inductance type close to sensing module and mechanical limit switch, other conventional detection modes also can be used.
The color reaction device 257 is installed on side plate 250, and with 251 homonymy of steering engine, height indicates block with cage position just
Xiang Qi.
The inside lifted fork 2510 and be fixed on side plate 250, is located at the inside of line slide rail 256, and and line slide rail
256 is parallel, while positioned at the bottom of entire manipulator, a plane is formed below, for consolidating cage box.Preferably, institute
It states to lift and identification sensing device, such as limit switch can be installed according to actual needs on fork.
What needs to be explained here is that cage box after being put into cage, will be blocked by cage, the card slot on cage is fallen into
It is interior.Cage blocks cage box and stablizes there are two mutually matched module in card slot, and one is buckle, the other is on cage
Rubber stopper after cage box position.Here rubber stopper shape is cylindrical shape, on the one hand inner hollow is used to ventilate to cage box, separately
On the one hand it is used to withstand the cage box for falling into card slot from rear end, cage box is made to be caught in buckle, ensure stabilization of the cage box on corresponding position,
To which the experimental animal for ensureing raised will not cause the offset of cage box and be fallen in the case of normal activity, and this gives machine
Tool hand 25 takes/puts cage box to bring inconvenience.In order to accurately be detached from buckle, Yi Jifang when ensureing to capture cage box every time
Buckle is successfully fallen into when entering cage, is to need programmed algorithm and manipulator Each part mutually coordinated during entirely taking/putting
Cooperation can be only achieved 100% and successfully take/put, and require manipulator 25 take/spermiation degree reaches 2mm.
Illustrate the operating process of manipulator below by the example of a taking-up cage box.
After the completion of IVC automatic clamping and placing robot localizations, the order that manipulator 25 is connected to central processing unit 21 starts to take
Action.
Preferably, before the action that take, need each section sensor synergism by being installed on manipulator 25 come
Secondary fine tuning is completed, to achieve the purpose that precise positioning.Here fine tuning is completed by limit switch.Before line slide rail 256
There are two the left and right barrier that limit switch 259 is used for identifying cage, limit switches 259 to be slided by the straight line of the right and left for end dress
Rail 256 and penetration type motor 258 adjust progressive position.Preferably, lifting fork 2510 can also by the head end of proximal panel 250
One limit switch is installed, the limit switch here crossbeam below cage for identification；One limit can also be set on push rod
Bit switch, for identification different grid of the depth inside cage；The color reaction device 257 of the inside of side plate 250 is for knowing simultaneously
Position relationship between other cage box and card slot, judges whether cage box is detached from card slot or enters card slot.When being detached from card slot, color sense
Device is answered to sense that cage position indicates block；Otherwise, it can not sense that cage position indicates block.Here cage position instruction block is used for assist people
Judge whether cage box is detached from the card slot of cage, can be arranged on cage, a cage position is set in each cage box position and indicates block.
After the completion of the secondary fine tuning of positioning：
First, it drives push rod 253 to push cage box into cage from steering engine 251, then shift fork 254 is driven to jack up cage box upwards,
Cage box is set to be detached from the card slot on cage；At this point, color reaction device 257 judges whether cage box is detached from card slot；If color reaction device
Sense that cage box indicates block, then cage box has disengaged from card slot, executes next step；If color reaction device is not sensed by the instruction of cage box
Block, then cage box repeat this step without departing from card slot, until color reaction device 257 sense cage box indicate block.
Secondly, two panels clamping piece 252 is driven simultaneously by steering engine 251, and parallel inside closing motion clamps the outside of cage box
Face.Two steering engines 251 are so that two panels clamping piece 252 is always ensured that parallel motion, and clamping piece 252 is when clamping the contact surface of cage box
It can fit closely and uniform stressed, the grip force that clamping piece 252 applies will can guarantee that cage box can smoothly take out cage out of cage
Box.
Again, 2510 firm cage boxes of fork are lifted, ensure to lift fork in the case where the gripping strength of clamping piece is inadequate
2510 provide towing force.
Below again by taking one is put back to the process of cage box as an example, the operation of manipulator is illustrated.
When needing cage box putting back to cage, two panels clamping piece 252 drives the cage clamped simultaneously by two steering engines 251 in left and right
Box is moved along horizontal lead screw, and two panels clamping piece 252 is always ensured that parallel motion, and cage box is sent into scheduled depth into cage.
After IVC takes/puts robot to complete positioning automatically, the secondary fine tuning positioned as taking-up process, after the completion of fine tuning：
First, steering engine 251 drives two panels clamping piece 252 to outwardly open movement, unclamps cage box, cage box is made to fall into cage card slot
Position；
Secondly, push rod 253 pushes cage box, so that the rubber stopper that cage box withstands rear side is moved a small distance, in its own gravity
The lower cage box front end of effect enters card slot, and under the rebound effect of rubber stopper, the rebound of cage box blocks cage box, and in rubber stopper
Elastic force effect lower stablize in card slot.At this point, color reaction device 257 judges whether cage box enters card slot；If color reaction
Device can not sense that cage box indicates block, then cage box has been enter into card slot, executes next step；If color reaction device Drain so senses cage
Box indicates block, then cage box does not enter card slot, repeats this step, until color reaction device cannot sense that cage box indicates block.
25 cumulative errors of manipulator described in the present embodiment are small, and crawl precision is up to 2mm, and robot can be coordinated to realize cage box
The accurate fine tuning and positioning of position.Robot manipulator structure is simple, and each component function is clear, and the sponge installed on clamping piece alleviates rudder
Power off release problem caused by machine stall, abnormity design lift fork and push rod limit switch avoids ventilation inside cage
The structures such as pipe, nut, crossbeam are interfered.Manipulator can identify whether cage box fetching process is accurate by the fiber amplifier of installation
Reliably, and by many places physics limit switch judge the current location status of manipulator.Manipulator adds closed loop by threaded screw rod
Stepper motor ensures that flexible precision reaches 0.1mm, and effectively inhibits and lose step problem.Manipulator solves front end experimental animal room
Interior cage and the management of cage box and cage box such as pick and place at the work, labour are greatly saved, and improve work efficiency, and are rear end
Automatic assembly line processing provides better infrastructure.
The power supply 26 is lithium battery.Preferably, it using 36V30Ah lithium batteries, may be mounted on chassis 221.Here
Battery 26 be power resources that IVC took/put robot automatically, with central processing unit 21, drive wheel device 222, the first step
Motor 258 on stepper motor, the second stepper motor and manipulator is electrically connected.
It can thus be seen that the IVC automatic clamping and placing intelligent robots of the present embodiment, simple in structure, each component function is clear,
Solve the cage box in the experimental animal room of front end pick and place, the work such as cage and cage box management.Intelligent robot passes through navigation algorithm
Optimization, can smoothly travel, and distinguish fork on the road automatically very much, and the specified cage for specifying cage is reached according to setting instruction
At box, it is automatically performed picking and placeing for IVC；Meanwhile robot accurately finds specific position on specific cage by airmanship
Cage box, and by the label in cage cassette bottom portion, such as rfid labels, the number of these labels is recorded and distinguished in a program, in time
The operation history for recording each cage box eliminates the fiber crops for manually carrying out manual record to operation when taking out every time or putting back to IVC
It is tired；Manual labor is saved, is improved work efficiency, experimental cost is reduced, is rear end automatic assembly line working process
Better preparation is provided, the accurate efficient management to experimental animal room is realized.
3rd embodiment
Present embodiments provide a kind of supermarket's commodity restocking intelligent robot.The robot and first embodiment of the present embodiment
Robot body's structure it is identical, all include：Central processing unit, robot foot, upright arm, horizontal arm, manipulator, power supply,
The connection type and function of each unit are also identical, except that：
The manipulator further includes：Lift fork；
The side plate is additionally operable to fixation and lifts fork；
The fork of lifting is a ribbon plane, and on-fixed is connected on side plate, can carry out 90 degree of overturnings, when being held in the palm
When movement is made, fork planar horizontal is lifted, for lifting restocking commodity；When completing to lift action, fork plane is lifted perpendicular to the ground；
Direction of the fork on side plate and steering engine homonymy are lifted, the inside of line slide rail is located at, length is more than clamping piece, and and line slide rail
It is parallel.
When carrying out restocking operation to commodity, intelligent robot lifts fork vertically；The clamping piece of manipulator is used to press from both sides first
Commodity are handled, after overturning lifts fork as level, commodity are put into and lift on fork by clamping piece；Intelligent robot is according to the types of commodity
It is positioned, after advancing to restocking area, manipulator is reached to the commodity position of restocking, shift fork jacks up commodity upwards, and clamping piece is clamped
Commodity, it is vertical to lift fork overturning, and clamping piece loosens, and commodity are placed on corresponding commodity position.
Preferably, the manipulator of the robot can also include shift fork, and the shift fork makes commodity reach for jacking up commodity
To the height of clamping piece.When including shift fork, the steering engine is three, and two of which steering engine is symmetrically fixed on side plate, the
Three steering engines are connected with shift fork, for providing direction and power for the action of shift fork.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of article picks and places intelligent robot, which is characterized in that the intelligent robot includes：Central processing unit, robot
Foot, upright arm, horizontal arm, manipulator, power supply；Wherein,
The central processing unit is connected with robot foot, upright arm, horizontal arm, manipulator, power supply simultaneously, is fixed on robot foot
On, for sending the order advanced and stopped to robot foot, the order of lifting is sent to upright arm, is sent to horizontal arm flexible
Order, send the order that takes/put to manipulator；
Intelligence is completed in the robot foot, carrying central processing unit, upright arm, power supply, the order for receiving central processing unit
The traveling of robot and take/put the row of article to position；
The upright arm is fixed on robot foot, is electrically connected with the central processing unit on robot foot, for completing manipulator
To taking/putting the row positioning of article；
The horizontal arm is fixed on upright arm, is electrically connected with the central processing unit on robot foot, for completing manipulator pair
Take/put the current location of article to position；
The manipulator is fixed on horizontal arm, is electrically connected with the central processing unit on robot foot, is used for after the completion of positioning,
That completes article takes/puts operation；
The power supply is used to provide power for the robot.
2. article according to claim 1 picks and places intelligent robot, which is characterized in that the intelligent robot includes enough：
Chassis, driving wheel and drive wheel device, universal wheel, row positioning sensing device, traveling navigation device；Wherein,
Row positioning sensing device, traveling navigation device, central processing unit are fixed on the chassis；
The row positioning sensing device is installed on chassis front end, is connected with central processing unit, the row for receiving central processing unit
Location tasks, the row by incuding article position magnetic strip information and complete row positioning；
The traveling navigation device is connected with central processing unit, and the travel task for receiving central processing unit passes through inductor
The robot track of product storage area identifies traveling track, and induction information is sent to central processing unit；
The driving wheel and drive wheel device are installed on chassis underside, are contacted with ground, while electric with the central processing unit
Connection, the induction information for coming from traveling navigation device for receiving central processing unit drive robot according to induction information
It advances along robot track, completes navigation and travel task；
The universal wheel is assemblied in four orientation of chassis underside, for the Auxiliary support to chassis.
3. article according to claim 2 picks and places intelligent robot, which is characterized in that the driving wheel is 2, symmetrically
It is installed on the both sides on chassis, two driving wheels use differential fashion when steering.
4. article according to claim 1 picks and places intelligent robot, which is characterized in that the upright arm includes：Vertical rack,
Down-feed screw, the first take-up housing, the first stepper motor and driver；Wherein, the vertical rack is fixed on chassis, down-feed screw
Through the vertical rack, it is connected with the first stepper motor and driver；First stepper motor and driver are located at described
The top of vertical rack；First take-up housing is installed on down-feed screw, is fixedly connected with horizontal arm, down-feed screw is first
It is rotated under the drive of stepper motor, horizontal arm moves up and down together with the first take-up housing along down-feed screw.
5. article according to claim 1 picks and places intelligent robot, which is characterized in that the horizontal arm includes：Horizontal silk
Bar, the second take-up housing, the second stepper motor and driver；Wherein,
The horizontal lead screw is fixed on the first take-up housing of upright arm, is connected with the second stepper motor and driver；Described
Two stepping motor and driver are located at the rearmost end of the level frame；Second take-up housing is installed on horizontal lead screw, with machine
Tool hand is fixedly connected；Horizontal lead screw rotates under the drive of the second stepper motor, and manipulator is together with the second take-up housing along level
Lead screw is moved forward and backward.
6. article according to claim 1 picks and places intelligent robot, which is characterized in that the manipulator includes：Side plate, rudder
Machine, connection rod set, clamping piece, line slide rail, motor, limit switch；Wherein,
The side plate is used to the manipulator being fixed on horizontal arm, while for fixing steering engine, line slide rail；
The steering engine at least two, two steering engines are fixed on side plate interior sides side by side, and axis is parallel with the axis of side plate, and point
It is not connected with the clamping piece of wherein side, the folding for controlling the clamping piece；
The connection rod set is two groups, and every group includes two connecting rods, connects a steering engine and a clamping piece；Two connecting rods are protected always
Maintain an equal level row, ensures that two clamping pieces remain parallel；
The clamping piece is symmetrical two, and medial surface is parallel with two lateral surfaces of article always；
The line slide rail is located at the outermost both sides of manipulator perpendicular to side plate；
The motor is connected with line slide rail, stretching and contraction for controlling front end limit switch；
The limit switch is located at the front end of line slide rail, Detection task is touched for completing, in inspecting manipuator operational process
Whether have occurred the event of touching, and it is which position is touched to identify, coordinate manipulator complete to take/put article
Position positions.
7. article according to claim 6 picks and places intelligent robot, which is characterized in that when the intelligent robot is used for
Take/when putting IVC, the manipulator further includes：Push rod, shift fork, color reaction device lift fork；
The side plate is additionally operable to fixed color reaction device, lifts fork；
The steering engine is four, and two of which is connected with clamping piece, other two steering engine is also secured on side plate, one of rudder
Machine is connected with push rod, another steering engine is connected with shift fork, and power is provided for push rod and shift fork, so that push rod is pushed cage box, makes shift fork
Jack up cage box；
The push rod makes cage box be detached from buckle for pushing cage box；
The shift fork makes cage box be detached from card slot for jacking up cage box；
The color reaction device is installed on side plate, and with steering engine homonymy, whether the cage box for incuding on cage position is detached from buckle；
The fork of lifting is fixed on side plate, with steering engine homonymy, is located at the inside of line slide rail, and parallel with line slide rail, together
When positioned at the bottom of entire manipulator, a plane is formed below, for consolidating cage box.
8. article according to claim 6 picks and places intelligent robot, which is characterized in that when the intelligent robot is used for quotient
When super commodity restocking, the manipulator further includes：Shift fork lifts fork；
The side plate is additionally operable to fixation and lifts fork；
The steering engine is three, and two of which is connected with clamping piece, another steering engine is also secured on side plate, with shift fork phase
Even；
The shift fork makes commodity reach the height of clamping piece for jacking up commodity；
Described lift is pitched plane as a band, and on-fixed is connected on side plate, can carry out 90 degree of overturnings, dynamic when lift
When making, fork planar horizontal is lifted, for lifting restocking commodity；When completing to lift action, fork plane is lifted perpendicular to the ground；It lifts
The direction on side plate and steering engine homonymy are pitched, the inside of line slide rail is located at, length is more than clamping piece, and flat with line slide rail
Row.
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| CN109822596A (en) * | 2019-04-02 | 2019-05-31 | 成都信息工程大学 | A kind of service robot and its control system |
| CN109997783A (en) * | 2019-03-26 | 2019-07-12 | 武汉科技大学 | The personalization of rats and mice freshens food water feeding method under a kind of barrier environment |
| CN111660278A (en) * | 2020-07-06 | 2020-09-15 | 苏淼 | Self-tidying robot |
| CN112276898A (en) * | 2020-10-19 | 2021-01-29 | 山东金号家纺集团有限公司 | A box delivery manipulator for digital warehouse |
| CN115963749A (en) * | 2022-12-13 | 2023-04-14 | 彼合彼方机器人(天津)有限公司 | Real-time control system and method for operation of pipeline joint coating robot |
| CN117415683A (en) * | 2023-10-31 | 2024-01-19 | 宁夏中欣晶圆半导体科技有限公司 | Barreling method of semiconductor crystal bar barreling machine |
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