CN108621116B - Intelligent robot for taking and placing articles - Google Patents
Intelligent robot for taking and placing articles Download PDFInfo
- Publication number
- CN108621116B CN108621116B CN201810517989.1A CN201810517989A CN108621116B CN 108621116 B CN108621116 B CN 108621116B CN 201810517989 A CN201810517989 A CN 201810517989A CN 108621116 B CN108621116 B CN 108621116B
- Authority
- CN
- China
- Prior art keywords
- robot
- manipulator
- screw rod
- processing unit
- horizontal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000012545 processing Methods 0.000 claims abstract description 68
- 230000009471 action Effects 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 claims description 18
- 230000008569 process Effects 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 9
- 230000006698 induction Effects 0.000 claims description 8
- 230000001939 inductive effect Effects 0.000 claims description 4
- 230000008602 contraction Effects 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 3
- 230000007306 turnover Effects 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 abstract description 4
- 238000010171 animal model Methods 0.000 description 16
- 241001465754 Metazoa Species 0.000 description 15
- 238000004140 cleaning Methods 0.000 description 5
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 229910052744 lithium Inorganic materials 0.000 description 4
- 238000013473 artificial intelligence Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000009423 ventilation Methods 0.000 description 3
- ZVKAMDSUUSMZES-NZQWGLPYSA-N OS II Natural products CC(=O)N[C@H]1[C@H](OC[C@@H](O)[C@@H](O)[C@@H](O)CO)O[C@H](CO)[C@H](O[C@H]2O[C@H](CO)[C@@H](O)[C@H](O)[C@H]2O)[C@@H]1O[C@@H]3O[C@H](CO)[C@@H](O)[C@H](O)[C@H]3O ZVKAMDSUUSMZES-NZQWGLPYSA-N 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 206010011409 Cross infection Diseases 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 206010029803 Nosocomial infection Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 231100000206 health hazard Toxicity 0.000 description 1
- 238000011068 loading method Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000000746 purification Methods 0.000 description 1
- 230000001739 rebound effect Effects 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 239000002912 waste gas Substances 0.000 description 1
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides an intelligent robot for taking and placing articles, which takes a central processing unit as a master control unit and sends corresponding commands to a robot foot, a vertical arm, a horizontal arm and a manipulator; the robot feet complete the travel and column positioning, the vertical arms complete the row positioning, the horizontal arms complete the current position positioning of the objects, and the manipulator completes the picking/placing operation. The intelligent robot for picking and placing the articles has a simple structure, has definite functions of all parts, is used for picking and placing the articles in various occasions, and effectively avoids the introduction of human factors. The intelligent robot is optimized through a navigation algorithm, can run very stably, automatically distinguishes a bifurcation intersection, reaches a designated object according to a set instruction, and automatically completes picking and placing of the object; meanwhile, the robot can correspondingly record the picking and placing actions each time, the trouble of manually recording the operation is omitted, the manual labor force is saved, the working efficiency is improved, the cost is reduced, and better preparation work is provided for the processing of the rear-end automatic assembly line.
Description
Technical Field
The invention belongs to the field of artificial intelligence and equipment management, and particularly relates to an intelligent robot for taking and placing articles.
Background
At present, with the development of computer hardware and communication technology, the artificial intelligence technology is highly developed, and various robots play an irreplaceable role in more and more fields, and have the advantages of high working precision, continuous long-time working and the like, which cannot be realized by the original labor force. In the field of experiments and industry, robots applied to various scenes also appear, so that labor force is liberated, working efficiency is improved, and production cost is reduced in long term.
The experimental animal industry widely uses independent ventilation cage boxes (Individual VENTILATED CAGES, IVC) to raise and centrally manage experimental animals. IVC means a closed independent cage box, clean air flow with high ventilation frequency (20-60 times/h) in the box circulates independently, waste gas is concentrated and discharged, and miniature SPF-level experimental animal raising and experimental equipment can be operated and tested in an ultra-clean workbench or a biosafety cabinet. The cage box is taken out to be added with feed, the padding is replaced and the cage box is replaced periodically during feeding, and the cage box is replaced after the operation is completed. At present, the operations of taking out, carrying and replacing the cage box into an animal house are all completed manually.
The experimental animal raising is usually carried out in an animal house with ten-thousand-level purification standard, and has strict constraint and standard on personnel access and the like. In the process of taking and placing the cage boxes from each cage according to the requirements from each animal laboratory, operators must go through processes including shoe changing, clothes changing, air showering and the like, and must wear sterilized work clothes and glove masks to ensure ten thousand-level cleanliness in the laboratory animal room, and the operation is complex. The cage box is taken, placed and transported by the staff, so that manpower is wasted, the working efficiency is low, the entering and exiting of the staff and the operation of the staff can cause environmental pollution to animals or animal pollution to the environment, and potential safety hazards exist for the animals and the staff. In addition, the replacement period of different cage boxes in different cages of the same experimental animal house is different, so that the information such as the replacement time point, the growth condition and the like is required to be recorded manually, and the work is very complicated.
At present, no intelligent robot can replace manual work to enter an experimental animal house, and the cage boxes on the cage frame are taken and placed.
Disclosure of Invention
Aiming at the problem that an intelligent robot replaces manual work in the prior art, the embodiment of the invention provides an intelligent robot for taking and placing articles, wherein the intelligent robot firstly positions the positions of the articles to be taken or placed, and the taking and placing operation is finished on the basis of positioning. Taking experimental animal house as an example, the intelligent robot can complete taking out, carrying and putting back of IVC, realize automatic operation, record relevant operation in time simultaneously, do not need the staff to get into the animal house, reduce animal house maintenance cost, improve animal experiment efficiency, purify the laboratory simultaneously, realize accurate, the high-efficient management to experimental animal house.
According to an aspect of the present invention, there is provided an intelligent robot for picking and placing an article, the intelligent robot comprising: the robot comprises a central processing unit, a robot foot, a vertical arm, a horizontal arm, a manipulator and a power supply; wherein,
The central processing unit is connected with the robot foot, the vertical arm, the horizontal arm, the manipulator and the power supply at the same time, is fixed on the robot foot and is used for sending running and stopping commands to the robot foot, sending lifting commands to the vertical arm, sending telescopic commands to the horizontal arm and sending picking/placing commands to the manipulator;
The robot foot is used for bearing a central processor, a vertical arm and a power supply and is used for receiving the command of the central processor and completing the advancing of the intelligent robot and the column positioning of the fetched/placed articles;
the vertical arm is fixed on the robot foot and is electrically connected with the central processing unit on the robot foot, and is used for completing the line positioning of the mechanical arm on the fetched/placed objects;
the horizontal arm is fixed on the vertical arm, is electrically connected with a central processing unit on the foot of the robot and is used for completing the current position positioning of the robot arm on the fetched/placed object;
the manipulator is fixed on the horizontal arm, is electrically connected with a central processing unit on the robot foot and is used for completing the picking/placing operation of the articles after the positioning is completed;
the power supply is used for providing power for the robot.
Further, the robot foot includes: the device comprises a chassis, a driving wheel driver, a universal wheel, a column positioning sensing device and a travelling navigation device; wherein,
The chassis is used for fixing and bearing the column positioning induction device, the traveling navigation device and the central processing unit;
The column positioning induction device is arranged at the front end of the chassis, connected with the central processing unit and used for receiving a column positioning task of the central processing unit and finishing column positioning by inducing column positioning magnetic stripe information of the article;
The travel navigation device is connected with the central processing unit and is used for receiving a travel task of the central processing unit, identifying a travel track by sensing a robot magnetic track in the article storage area and sending sensing information to the central processing unit;
the driving wheel and the driving wheel driver are arranged on the lower side of the chassis, are in contact with the ground, are electrically connected with the central processing unit and are used for receiving induction information from the advancing navigation device of the central processing unit, and driving the robot to advance along the magnetic track of the robot according to the induction information so as to complete navigation and advancing tasks;
the universal wheels are assembled at four positions on the lower side of the chassis and used for auxiliary support of the chassis.
Further, the number of the driving wheels is 2, the driving wheels are symmetrically arranged on two sides of the chassis, and the two driving wheels adopt a differential mode during steering.
Further, the vertical arm includes: the device comprises a vertical frame, a vertical screw rod, a first sliding block seat, a first stepping motor and a driver; the vertical frame is fixed on the chassis, and the vertical screw rod penetrates through the vertical frame and is connected with the first stepping motor and the driver; the first stepping motor and the driver are positioned at the uppermost end of the vertical frame; the first sliding block seat is arranged on the vertical screw rod and fixedly connected with the horizontal arm, the vertical screw rod is driven by the first stepping motor to rotate, and the horizontal arm and the first sliding block seat move up and down along the vertical screw rod together.
Further, the horizontal arm includes: the device comprises a horizontal screw rod, a second sliding block seat, a second stepping motor and a driver; wherein,
The horizontal screw rod is fixed on a first sliding block seat of the vertical arm and is connected with the second stepping motor and the driver; the second stepping motor and the driver are positioned at the rearmost end of the horizontal frame; the second sliding block seat is arranged on the horizontal screw rod and fixedly connected with the manipulator; the horizontal screw rod is driven by the second stepping motor to rotate, and the manipulator and the second sliding block seat move back and forth along the horizontal screw rod together.
Further, the manipulator includes: the device comprises a side plate, a steering engine, a connecting rod group, a clamping piece, a linear slide rail, a motor and a limit switch; wherein,
The side plates are used for fixing the manipulator on the horizontal arm and fixing the steering engine and the linear slide rail;
The two steering gears are fixed on the inner side of the side plate in parallel, the axes of the steering gears are parallel to the axes of the side plate and are respectively connected with the clamping piece on one side of the side plate, and the steering gears are used for controlling the opening and closing of the clamping piece;
The connecting rod groups are two groups, each group comprises two connecting rods, and a steering engine and a clamping piece are connected; the two connecting rods are always parallel, so that the two clamping sheets are always parallel;
The two clamping sheets are symmetrical, and the inner side faces are always parallel to the two outer side faces of the article;
The linear slide rail is perpendicular to the side plates and is positioned at the two outermost sides of the manipulator;
the motor is connected with the linear slide rail and used for controlling the extension and contraction of the front limit switch;
The limit switch is positioned at the front end of the linear slide rail and is used for completing touch detection tasks, detecting whether a touch event occurs in the operation process of the manipulator, identifying which part is touched, and coordinating the manipulator to complete the position positioning of the fetched/placed objects.
Further, when the intelligent robot is used for taking/placing IVC, the manipulator further includes: the push rod, the shifting fork, the color sensor and the lifting fork;
the side plates are also used for fixing the color sensor and the lifting fork;
The four steering gears are respectively connected with the clamping plates, the other two steering gears are also fixed on the side plates, one steering gear is connected with the push rod, the other steering gear is connected with the shifting fork and provides power for the push rod and the shifting fork, so that the push rod pushes the cage box, and the shifting fork jacks up the cage box; the push rod is used for pushing the cage box to enable the cage box to be separated from the buckle;
the shifting fork is used for jacking the cage box to enable the cage box to be separated from the clamping groove;
The color sensor is arranged on the side plate and is on the same side as the steering engine and used for sensing whether the cage box on the cage position is separated from the buckle;
The lifting fork is fixed on the side plate, is positioned on the same side as the steering engine and on the inner side of the linear sliding rail, is parallel to the linear sliding rail, is positioned at the lowest end of the whole manipulator, and forms a plane below for stabilizing the cage box.
Further, when the intelligent robot is used for putting super commodity on shelf, the manipulator further comprises: a fork for lifting the fork;
The side plates are also used for fixing the lifting fork;
The number of the steering gears is three, two steering gears are connected with the clamping pieces, and the other steering gear is also fixed on the side plate and connected with the shifting fork;
The shifting fork is used for jacking up the commodity, so that the commodity reaches the height of the clamping piece;
The lifting fork is a strip plane, is not fixedly connected to the side plate and can turn over by 90 degrees, and when the lifting action is carried out, the plane of the lifting fork is horizontal and is used for lifting the shelf goods; when the lifting action is completed, the plane of the lifting fork is vertical to the ground; the direction of the lifting fork on the side plate is on the same side as the steering engine, is positioned on the inner side of the linear sliding rail, has a length greater than the clamping piece and is parallel to the linear sliding rail.
The invention has the following beneficial effects:
The intelligent robot provided by the embodiment of the invention has a simple structure, has definite functions of all parts, is used for taking and placing articles in various occasions, and effectively avoids the introduction of human factors. The intelligent robot is optimized through a navigation algorithm, can run very stably, automatically distinguishes a bifurcation intersection, reaches a designated object according to a set instruction, and automatically completes picking and placing of the object; meanwhile, the robot can correspondingly record the picking and placing actions each time, the trouble of manually recording the operation is omitted, the manual labor force is saved, the working efficiency is improved, the cost is reduced, and better preparation work is provided for the processing of the rear-end automatic assembly line.
Drawings
Fig. 1 is a schematic structural view of an article picking and placing robot according to a first embodiment of the present invention;
Fig. 2 is a schematic structural view of a robot foot of the article picking and placing robot according to the first embodiment of the present invention;
fig. 3 is a schematic structural diagram of an IVC automatic pick-and-place robot according to a second embodiment of the present invention;
Fig. 4 is a schematic structural view of a robot foot of an IVC automatic pick-and-place robot according to a second embodiment of the present invention;
fig. 5 is a front view of a robot foot of an IVC automatic pick-and-place robot according to a second embodiment of the present invention;
fig. 6 is a schematic perspective view of a manipulator of an IVC automatic pick-and-place robot according to a second embodiment of the present invention;
fig. 7 is a front view of a manipulator of an IVC automatic pick-and-place robot according to a second embodiment of the present invention;
fig. 8 is an exploded view of a manipulator of an IVC automatic pick-and-place robot according to a second embodiment of the present invention;
fig. 9 is a schematic diagram of a robot holding cage of an IVC automatic pick-and-place robot according to a second embodiment of the present invention.
Reference numerals illustrate:
(1, 21) -a central processor; (2, 22) -robotic foot; (3, 23) -vertical arms; (4, 24) -horizontal arms; (5, 25) -a manipulator; (6, 26) -a power source; 221-chassis; 222-a drive wheel and a drive wheel driver; 223-universal wheel; 224-column positioning sensing device; 225-a travel navigation device; 251-steering engine; 252—a linkage; 253—push rod; 254-a fork; 255-clamping piece; 256-linear slide rail; 257-color sensor; 258-motor; 259-limit switch; 2510-lifting forks.
Detailed Description
The objects, technical solutions and advantages of the present invention will become more apparent by the following detailed description of the present invention with reference to the accompanying drawings. It is to be understood that this description is only illustrative and that the present invention is not limited to the exemplary embodiments disclosed below, but may be embodied in various forms, the substance of which is merely a matter of aid to persons skilled in the relevant art in comprehensively understanding the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
The intelligent robot in the artificial intelligence can be applied to various different occasions, and the structure and the functions of the intelligent robot can be correspondingly integrated according to different occasions, for example, a spraying industry can design a manipulator robot, and accurate spraying can be realized on a specific position. According to the invention, aiming at taking and placing articles at a specific position, the intelligent robot is provided, and can automatically position and take and place the articles at the specific position without manual participation, so that on one hand, the labor force is saved, and on the other hand, the introduction of human factors such as pollution, operation errors and the like is avoided.
Particularly, in the IVC industry, manual operation is mainly adopted at present, automatic flow treatment is only adopted in part of laboratories in the processes of back-end dumping, cleaning, disinfection and the like, and a cage box cleaning machine and a cage box cleaning operation robot are used for completing the operations of pre-cleaning, flushing and drying of the cage box, but the operation of cleaning can be performed only by taking the cage box out of an animal house, and the taking and placing of the IVC are completed by the staff entering the animal house at present; and the front end is mainly provided with an air exchange system in the laboratory animal house, and the taking and placing work of the cage box information and the cage box can still be finished by manpower. The invention applies the object picking and placing robot to picking and placing of IVC, replaces the manual picking and placing operation of the cage box by a manipulator, has the advantages of high automation degree, intellectualization and high accuracy, can replace the existing manual picking and placing and carrying mode of the cage box, liberates manpower, improves working efficiency, avoids cross infection between animals and staff, and reduces health hazard to animals and staff. The IVC automatic picking and placing robot enters an experimental animal room to take out and transport the cage box to an ultra-clean workbench, a worker finishes operations such as pad replacement, cage box replacement and the like, and the robot replaces the cage box after the operations are finished, and real-time recording of the operation process is automatically finished.
In particular, the article picking and placing robot can also be applied to picking and placing articles on a common goods shelf, such as an article loading process or an article unloading process in a supermarket.
The technical scheme of the invention is described in detail below through specific examples.
First embodiment
The embodiment provides an intelligent robot for taking and placing articles. Fig. 1 is a schematic structural diagram of an intelligent robot for picking and placing articles according to the present embodiment. As shown in fig. 1, the intelligent robot for picking and placing articles of the present embodiment is composed of the following units: the robot comprises a central processing unit 1, robot feet 2, a vertical arm 3, a horizontal arm 4, a manipulator 5 and a power supply 6; wherein,
The central processing unit 1 is connected with the robot foot 2, the vertical arm 3, the horizontal arm 4, the manipulator 5 and the power supply 6 at the same time and is used for sending work tasks to the robot foot 2, the vertical arm 3, the horizontal arm 4 and the manipulator 5.
The CPU 1 runs the following tasks which are cooperated and synchronized according to the message queue, the mutual exclusion lock and the event mark group: the robot comprises a guiding detection task for detecting a running track, a navigation running task for controlling the robot to run, an arm task for realizing picking and placing of objects, a touch detection task for judging that the action is in place or touch occurs, and a man-machine interaction task for controlling and displaying the working state. Preferably, the operating system is a uC/OS operating system, in particular, a uC/OS-II or a uC/OS-III operating system, and can also be other versions of a uC/OS operating system. Preferably, the central processor of the present embodiment is an STM32 microprocessor, model STM32F103ZET6, available from STMicroelectronics. The central processor may be mounted on the robot foot 2.
The central processing unit 1 sends a running and stopping command to the robot foot 2, a lifting command to the vertical arm 3, a telescopic command to the horizontal arm 4 and a picking or placing command to the manipulator 5.
The robot foot 2 is connected with the central processing unit 1 and is used for receiving the command of the central processing unit 1 and completing the running of the intelligent robot and the column positioning of the fetched/placed objects. Fig. 2 shows a schematic structure of the robot foot 2. As shown in fig. 2, the robot foot 2 includes: chassis 221, drive wheels and drive wheel drive 222, universal wheel 223, column positioning sensing device 224, travel navigation device 225, and may also include row positioning sensing devices. Wherein:
The chassis 221 is used for fixing and carrying the entire robot body part, and the column positioning sensing device 224, the travel navigation device 225, the central processor 1, etc. may be mounted on the chassis 221. And at the same time, can also be used as a base of the vertical arm 3.
The column positioning sensing device 224 is installed at the front end of the chassis 221, connected to the central processing unit 1, and configured to receive a positioning task of the central processing unit 1, and complete column positioning by sensing column positioning magnetic stripe information of an article. Preferably, the column positioning sensing device 224 may be composed of a magnetic sensor.
The travel navigation device 225 is connected to the central processing unit 1, and is configured to receive a travel task of the central processing unit 1, identify a travel track by sensing a robot track in the article storage area, and send sensing information to the central processing unit 1, and the central processing unit 1 sends the sensed information of navigation to the driving wheel driver 222 to drive the robot to travel along the robot track. Preferably, the travel navigation device 225 is composed of at least two magnetic sensors, and is distributed on the central line of the chassis parallel to the travel direction in a form of 'front-to-back', and the travel direction of the robot is ensured by the principle that 'two points form a straight line'.
The driving wheel and driving wheel driver 222 is connected to the cpu 1, and is used for completing the travelling task, and is mounted on the chassis 221 to contact with the ground. Preferably, the number of the driving wheels is 2, the driving wheels are symmetrically arranged on two sides of the chassis, a 6-inch integrated three-phase brushless hub motor is adopted, and the two driving wheels adopt a differential mode during steering. Preferably, the driver uses a three-phase brushless motor driver, 2 encoders can respectively measure the rotating speeds of 2 motors, and if the vehicle body slides under the condition of inclination of the road surface, the vehicle body can be found and corrected in time; the steering of the car body is controlled in a differential mode, namely one motor accelerates, and the other motor decelerates.
The universal wheels 223 are mounted in four orientations of the chassis 221 for additional support to the chassis 221.
Preferably, the robot foot 2 may further include a row positioning sensing device, where the row positioning sensing device is connected to the central processor 1 and is configured to receive a positioning task of the central processor 1, and perform row positioning by sensing row positioning magnetic stripe information of an article. Preferably, the line location sensing means may be composed of a magnetic sensor. The line location information herein mainly refers to the height information of the article. Since the height of the presence of a particular item is generally fixed in a particular item holding area, row positioning may also be accomplished by directly entering a height value into the operating system of the central processor, which is an option.
The robot foot is described in detail above. The other units of the robot are described below.
The vertical arm 3 is connected with the central processing unit 1 and is used for completing the line positioning of the manipulator; comprising the following steps: the device comprises a vertical frame, a vertical screw rod, a first sliding block seat, a first stepping motor and a driver; wherein, the vertical frame is fixed on the chassis 221, and the vertical screw rod penetrates through the vertical frame and is connected with the first stepping motor and the driver; the first stepping motor and the driver are positioned at the uppermost end of the vertical frame; the first sliding block seat is arranged on the vertical screw rod and fixedly connected with the horizontal arm. The vertical screw rod is driven by the first stepping motor to rotate, and the horizontal arm and the first sliding block seat move up and down along the vertical screw rod together. The first stepping motor and the driver are electrically connected with the central processing unit 1 and receive lifting tasks of the central processing unit 1. Preferably, the vertical screw rod of the vertical arm 3 adopts a high-precision screw rod, such as a high-precision screw rod with a screw pitch of 10mm or 5mm, the first stepping motor is a closed-loop stepping motor, the running precision is guaranteed to reach 0.1mm through encoder feedback, the step loss problem is effectively restrained, the control precision is improved, and the accumulated error is eliminated.
The horizontal arm 4 includes: the device comprises a horizontal frame, a horizontal screw rod, a second sliding block seat, a second stepping motor and a driver; the horizontal screw rod is fixed on a first sliding block seat of the vertical arm and is connected with the second stepping motor and the driver; the second stepping motor and the driver are positioned at the rearmost end of the horizontal frame (the end where the manipulator is positioned is taken as the front end); the second sliding block seat is arranged on the horizontal screw rod and fixedly connected with the manipulator. The horizontal screw rod is driven by the second stepping motor to rotate, and the manipulator and the second sliding block seat move back and forth along the horizontal screw rod together, so that the telescopic action of the manipulator on the position of the cage box is completed. The second stepper motor and the driver are electrically connected with the central processing unit 21, and receive the horizontal movement task of the central processing unit 21, and send the manipulator 25 into/out of the cage, so as to implement the IVC taking/placing operation. Preferably, the horizontal screw rod adopts a high-precision screw rod with the screw pitch of 10mm or 5mm, the second stepping motor is a closed-loop stepping motor, the running precision is guaranteed to reach 0.1mm through encoder feedback, the step loss problem is effectively restrained, the control precision is improved, and the accumulated error is eliminated. The manipulator 5 is used for completing the picking and placing operation of target objects. The manipulator 5 can be modified and designed differently according to the different articles to be taken and placed. Basically, the manipulator 5 comprises the following parts: the device comprises a side plate, a steering engine, a connecting rod group, a clamping piece, a linear slide rail, a motor and a limit switch; wherein,
The side plate is used for fixing the manipulator on a second sliding block seat of the horizontal screw rod and is used for fixing a steering engine and a linear sliding rail.
The connecting rod groups are two groups, each group comprises two connecting rods, one steering engine is connected with one clamping piece, the two connecting rods are always parallel, and the two clamping pieces are always kept parallel;
The two steering gears are fixed on the inner side of the side plate in parallel, the axes of the steering gears are parallel to the axes of the side plate and are respectively connected with the clamping piece on one side of the side plate, and the steering gears are used for controlling the opening and closing of the clamping piece;
The two clamping sheets are symmetrical, and the inner side faces are always parallel to the two outer side faces of the article;
The linear slide rail is perpendicular to the side plates and is positioned at the two outermost sides of the manipulator;
The motor is connected with the linear slide rail and used for controlling the extension and contraction of the front limit switch.
The limit switch is positioned at the front end of the linear slide rail and is used for completing touch detection tasks, detecting whether a touch event occurs in the operation process of the manipulator, identifying which part is touched, and coordinating the manipulator to complete the position positioning of the fetched/placed objects. The touch detection module is an inductive proximity sensing module and a mechanical limit switch. Other conventional detection means may also be employed.
The power supply 6 is a lithium battery. Preferably, a 36V30Ah lithium battery is used and may be mounted on the chassis 21.
When taking and placing articles, the article taking and placing robot performs the following operations:
Step S11, the central processing unit receives and analyzes tasks and gives instructions to each unit;
step S12, a traveling navigation device on the robot foot starts navigation, navigation information is fed back to a central processing unit, the central processing unit sends the navigation information to a driving wheel driver, the driving wheel is driven by the driver, and the robot starts traveling along a magnetic track of the robot;
step S13, a column positioning sensing device is started, column positioning magnetic information of the article is sensed in the advancing process, and when the magnetic information is sensed, the advancing is stopped, so that column positioning is completed;
step S14, guiding the vertical arm to lift according to the height data or the line positioning sensing device, and completing line positioning of the article;
Step S15, guiding the extension and retraction of the horizontal arm, and extending the manipulator to the position of the article;
step S16, starting a mechanical arm to finish the picking/placing action of the article;
and S17, after the picking/placing action is finished, the robot withdraws the manipulator, the horizontal arm and the vertical arm are reset, and the robot withdraws to the rest area along the original travel route or executes the next task.
The article picking and placing robot is simple in structure, and each component is clear in function, can be used for article picking and placing work in various occasions, is particularly sensitive to human factors, and can effectively avoid the introduction of the human factors. The intelligent robot is optimized through a navigation algorithm, can run very stably, automatically distinguishes a bifurcation intersection, reaches a designated object according to a set instruction, and automatically completes picking and placing of the object; meanwhile, the robot can correspondingly record the picking and placing actions each time, and can record the picking and placing history of the articles by coding the picked articles, so that the trouble of manually recording the operation is omitted, the manual labor force is saved, the working efficiency is improved, the cost is reduced, and better preparation work is provided for the rear-end automatic assembly line processing.
Second embodiment
The intelligent robot for picking and placing the objects is described in further detail by taking IVC picking and placing of an experimental animal house as an example.
Fig. 3 is a schematic structural diagram of the automatic IVC picking and placing robot in this embodiment, as shown in fig. 3, the automatic IVC picking and placing robot includes the following units: a central processing unit 21, a robot foot 22, a vertical arm 23, a horizontal arm 24, a manipulator 25 and a power supply 26; wherein,
The central processing unit 21 is connected with the robot foot 22, the vertical arm 23, the horizontal arm 24, the manipulator 25 and the power supply 26 at the same time, and is a calculation and control center of the robot, and is used for receiving tasks of a task controller, sending running and stopping commands to the robot foot 22, sending lifting commands to the vertical arm 23, sending telescopic commands to the horizontal arm 24 and sending picking/placing commands to the manipulator 25, and the central processing unit runs a uC/OS operating system.
Preferably, the central processor 21 cooperates and synchronizes the following tasks according to message queues, mutex locks and/or event flag groups: the robot comprises a travel navigation task for detecting a running track, a travel driving task for enabling a control device to travel along the navigation track, an arm positioning task and a manipulator positioning task for achieving cage box taking/placing, a cage position indicating block 5 sensing task for judging whether taking/placing is completed or not, and a man-machine interaction task for controlling and displaying working states. Preferably, the uC/OS operating system is uC/OS-II or uC/OS-III, and can also be other versions of uC/OS operating systems. Preferably, the central processor of the present embodiment is an STM32 microprocessor, model STM32F103ZET6, available from STMicroelectronics. The central processor may be mounted on the robot foot 22.
The robot foot 22 is connected to the central processing unit 21, and is configured to receive a command from the central processing unit 21, complete navigation and travel of the intelligent robot, and provide column positioning for the robot arm 25 to pick/place the cage. Fig. 4 is a schematic view of the structure of the robot foot 22, and fig. 5 is a front view of the robot foot 22. As shown in fig. 4 and 5, the robot foot 22 includes: chassis 221, drive wheels, drive wheel drive 222, universal wheel 223, column positioning sensor 224, and travel navigation device 225. Wherein: the chassis 221 is used for fixing and carrying the entire robot body part, and the column positioning sensing device 224, the travel navigation device 225, the central processor 21, etc. may be mounted on the chassis 221. And at the same time, can also serve as a base for the vertical arm 23. The column positioning sensing device 224 is connected to the central processing unit 21, and is configured to receive a positioning task of the central processing unit 21, and complete column positioning with information of the sensing positioning magnetic stripe. Preferably, the column positioning sensing device 224 may be composed of a magnetic sensor. The travel navigation device 225 is connected to the central processing unit 21, and is configured to receive a travel task of the central processing unit 21, sense information of a magnetic track of the robot, and send the sensed information to the central processing unit 21, and the central processing unit 21 sends the sensed information to the driving wheel and the driving wheel driver 222 again, so as to drive the robot to travel along the magnetic track. Preferably, the travel navigation device 225 is composed of at least two magnetic sensors, and is distributed on the central line of the chassis parallel to the travel direction in a form of 'front-to-back', and the travel direction of the robot is ensured by the principle that 'two points form a straight line'. The driving wheel and driving wheel driver 222 is connected with the central processing unit 21, and is used for completing the travelling task, and is installed on the chassis to be in contact with the ground. Preferably, the number of the driving wheels is 2, the driving wheels are symmetrically arranged on two sides of the chassis, a 6-inch integrated three-phase brushless hub motor is adopted, and the two driving wheels adopt a differential mode during steering. Preferably, the driver uses a three-phase brushless motor driver, 2 encoders can respectively measure the rotating speeds of 2 motors, and if the vehicle body slides under the condition of inclination of the road surface, the vehicle body can be found and corrected in time; the steering of the car body is controlled in a differential mode, namely one motor accelerates, and the other motor decelerates. The universal wheels 223 are assembled at four corners of the lower side of the chassis 221, for auxiliary support of the chassis 221.
The vertical arm 23 includes: the device comprises a vertical frame, a vertical screw rod, a first sliding block seat, a first stepping motor and a driver; the vertical frame is fixed on the chassis, and the vertical screw rod penetrates through the vertical frame and is connected with the first stepping motor and the driver; the first stepping motor and the driver are positioned at the uppermost end of the vertical frame; the first sliding block seat is arranged on the vertical screw rod and fixedly connected with the horizontal arm. The vertical screw rod is driven by the first stepping motor to rotate, and the horizontal arm and the first sliding block seat move up and down along the vertical screw rod together. The first stepping motor and the driver are electrically connected with the central processing unit and receive lifting tasks of the central processing unit. Preferably, the vertical screw rod of the vertical arm 23 adopts a high-precision screw rod, such as a high-precision screw rod with a screw pitch of 10mm or 5mm, the first stepping motor is a closed-loop stepping motor, the running precision is guaranteed to reach 0.1mm through encoder feedback, the step loss problem is effectively restrained, the control precision is improved, and the accumulated error is eliminated.
The horizontal arm 24 includes: the device comprises a horizontal screw rod, a second sliding block seat, a second stepping motor and a driver; the horizontal screw rod is fixed at the lower end of a vertical arm rod of the vertical arm 23, the second sliding block seat is arranged on the horizontal screw rod and connected with a second stepping motor and a driver, the manipulator 25 is connected with the second sliding block seat, and the second sliding block seat move horizontally along the horizontal screw rod under the driving of the second stepping motor; the second stepper motor and the driver are electrically connected with the central processing unit 21, and can receive the horizontal movement task of the central processing unit 21, and the second stepper motor and the driver can be arranged at the other end of the horizontal screw rod opposite to the manipulator 25 and used for guiding the manipulator 25 to move along the Z axis, and the manipulator is sent into or pulled out of the cage, so that the IVC picking and placing operation is facilitated. Preferably, the horizontal screw rod adopts a high-precision screw rod, such as a high-precision screw rod with a screw pitch of 10mm or 5mm, and can realize movement precision control of 0.1mm through a closed-loop stepping motor, and effectively prevent the occurrence of step loss.
Fig. 6 is a schematic view of a three-dimensional structure of the manipulator according to the present embodiment; fig. 7 is a front view of the manipulator according to the present embodiment; FIG. 8 is an exploded view of the manipulator of the present embodiment; fig. 9 is a schematic view of a robot holding cage according to the present embodiment. As shown in fig. 6 to 9, the robot 25 of the present embodiment includes: curb plate 250, steering wheel 251, connecting rod 252, push rod 253, shift fork 254, grip 255, linear slide 256, color sensor 257, motor 258, limit switch 259 can also include: lifting fork 2510. The manipulator takes the central line of the side plate 250 as an axis and is symmetrically distributed, wherein steering engine 251, connecting rod group 252, push rod 253, shifting fork 254, clamping piece 255, linear slide rail 256, motor 258, limit switch 259 and lifting fork 2510 are symmetrically distributed, and corresponding functions are realized in a paired mode.
The side plate 250 is fixedly connected with a horizontal screw rod of the horizontal arm 24, and the plate surface is perpendicular to the horizontal screw rod and can move along the horizontal screw rod; the inner side of the side plate 250 is used for fixing a steering engine 251, a linear sliding rail 256, a color sensor 257 and a lifting fork 2510; the other side is the outside, which is the back of the robot 25.
The two groups of connecting rod groups 252 are two groups, each group comprises two connecting rods, one steering engine and one clamping piece are connected, the two connecting rods are always parallel, the two clamping pieces 255 are ensured to be always parallel, and the inner side faces of the symmetrical pair of clamping pieces 255 are ensured to be always parallel to the outer side faces of the cage box in the clamping and opening and closing process.
The number of steering gears 251 is four, two steering gears are fixed in parallel on the inner side of the side plate 250, the axes of the steering gears are parallel to the axes of the side plate 250, and the steering gears are respectively connected with one side of the clamping plates 255 through a group of connecting rods 252, so as to control the opening and closing of the clamping plates 255, and the grabbing action of the manipulator 25 is realized. The other two steering gears 251 are also fixed on the side plates, one steering gear is connected with the push rod 253, the other steering gear is connected with the shifting fork 254, power is provided for the push rod 253 and the shifting fork 254, the push rod 253 pushes the cage box in the grabbing process, the shifting fork 254 jacks up the cage box, the cage box is separated from a buckle on the cage frame, and the clamping piece 255 is convenient to take the cage box out of the cage frame smoothly.
The two clamping pieces 255 are parallel to each other and symmetrically distributed on two sides of the manipulator, and the inner side surfaces of the two clamping pieces 25 are parallel to the two outer surfaces of the cage box and are used for clamping the cage box. Preferably, a sponge can be installed on the clamping piece 255, so that on one hand, the friction force between the clamping piece and the cage box is increased to improve the stability of the flat holding, and on the other hand, hard friction between the clamping piece and the cage box is avoided to protect the cage box.
The push rod 253 is used for pushing the cage box to enable the cage box to be separated from the buckle.
The shifting fork 254 is used for jacking up the cage box to enable the cage box to be separated from the clamping groove.
One end of the linear slide rail 256 is fixed inside the side plate 250, perpendicular to the side plate 250, and parallel to the side plate, and located at two outermost sides in a direction perpendicular to the side plate.
The motor 258 is connected to the linear slide rail 256 for controlling the extension and retraction of the front limit switch 259.
The limit switch 259 is located at the front end of the linear slide rail, and is used for completing a touch detection task, and detecting whether a touch event occurs in the process of moving the manipulator 25 along the z axis, thereby completing the positioning of the manipulator 25 along the z axis. Preferably, the limit switch 259 is an inductive proximity sensor module and a mechanical limit switch, and other conventional detection methods may be used.
The color sensor 257 is mounted on the side plate 250, is on the same side as the steering engine 251, and has a height just equal to that of the cage position indicating block.
The lifting fork 2510 is fixed on the inner side of the side plate 250, is located on the inner side of the linear sliding rail 256, is parallel to the linear sliding rail 256, and is located at the lowest end of the whole manipulator, and a plane is formed below the lower end for stabilizing the cage. Preferably, the lifting fork can be provided with an identification sensing device, such as a limit switch, according to actual needs.
It should be noted that, after the cage is put into the cage, the cage will be blocked by the cage and fall into the blocking groove on the cage. The cage is blocked the cage and is stabilized and has two modules that cooperate in the draw-in groove, one is the buckle, and another is the rubber buffer after being located cage position on the cage. The rubber plug is cylindrical in shape and hollow in the inside, is used for ventilating the cage box on one hand, and is used for propping against the cage box falling into the clamping groove from the rear end on the other hand, so that the cage box is clamped into the clamping buckle to ensure the stability of the cage box at the corresponding position, and further, the situation that the cage box is not deviated and falls under the condition that the experimental animals to be raised normally move is ensured, and inconvenience is brought to the manipulator 25 for taking/placing the cage box. In order to ensure that the buckle can be separated from the cage box accurately every time and the buckle can be successfully dropped into the cage frame when the cage box is placed in, 100% of successful picking/placing can be achieved only by mutually coordinating and matching a program algorithm and the structures of each part of the manipulator in the whole picking/placing process, and the picking/placing precision of the manipulator 25 is required to be 2mm.
The operation of the manipulator will be described by way of an example of removal of the cage.
When the IVC automatic pick-and-place robot positioning is completed, the manipulator 25 receives a command from the cpu 21 to start a pick-and-place operation.
Preferably, before the picking action, the secondary fine adjustment is needed to be completed through cooperation of the sensors of the parts installed on the manipulator 25, so as to achieve the purpose of accurate positioning. The fine tuning is accomplished here by a limit switch. The front end of the linear slide rail 256 is provided with two limit switches 259 for identifying left and right obstacles of the cage, and the limit switches 259 are used for adjusting the advancing position through the linear slide rail 256 on the left side and the right side and a penetrating motor 258. Preferably, a limit switch can be mounted on the lifting fork 2510 near the bottom end of the head of the side plate 250, wherein the limit switch is used for identifying the cross beam below the cage; a limit switch can be arranged on the push rod and used for identifying grids with different depths in the cage frame; meanwhile, the color sensor 257 on the inner side of the side plate 250 is used for identifying the position relationship between the cage box and the clamping groove and judging whether the cage box is separated from the clamping groove or enters the clamping groove. When the cage position indicating block is separated from the clamping groove, the color sensor senses the cage position indicating block; otherwise, the cage position indicating block cannot be sensed. The cage position indicating blocks are used for assisting the robot in judging whether the cage boxes are separated from the clamping grooves of the cage frame or not, and can be arranged on the cage frame, and one cage position indicating block is arranged at each cage box position.
After the secondary fine tuning of the positioning is completed:
Firstly, a steering engine 251 drives a push rod 253 to push the cage into the cage, and then drives a shifting fork 254 to jack up the cage, so that the cage is separated from a clamping groove on the cage; at this time, the color sensor 257 judges whether the cage is separated from the card slot; if the color sensor senses the cage box indicating block, the cage box is separated from the clamping groove, and the next step is executed; if the color sensor does not sense the cage indicating block, the cage is not separated from the clamping groove, and the step is repeatedly executed until the color sensor 257 senses the cage indicating block.
Secondly, the two clamping pieces 252 are simultaneously driven by the steering engine 251 to move in parallel inwards in a closing manner so as to clamp the outer side face of the cage. The two steering engines 251 ensure that the two clamping pieces 252 always move in parallel, the clamping pieces 252 can be tightly attached to each other to be uniformly stressed when clamping the contact surface of the cage, and the clamping force applied by the clamping pieces 252 can ensure that the cage can be smoothly taken out from the cage.
Again, the lifting fork 2510 stabilizes the cage, ensuring that the lifting fork 2510 provides a holding force in the event that the holding force of the holding tab is insufficient.
The operation of the robot will be described below by taking a process of replacing the cage as an example.
When the cage box needs to be put back into the cage frame, the two clamping pieces 252 are driven by the left steering engine 251 and the right steering engine 251 to move along the horizontal screw rod, and the two clamping pieces 252 always ensure parallel movement to send the cage box into the cage frame to a preset depth. After the IVC automatic picking/placing robot finishes positioning, performing secondary fine adjustment of positioning like the picking process, and after fine adjustment is finished:
Firstly, a steering engine 251 drives two clamping pieces 252 to open outwards, and the cage box is loosened to enable the cage box to fall into the position of a cage frame clamping groove;
Secondly, push rod 253 promotes the cage box, makes the cage box withstand the rubber buffer of rear side and removes a short distance, and the cage box front end gets into the draw-in groove under self gravity effect, and under the rebound effect of rubber buffer, the cage box kick-backs, and the buckle catches the cage box to stabilize in the draw-in groove under the elasticity effect of rubber buffer. At this time, the color sensor 257 judges whether the cage enters the card slot; if the color sensor cannot sense the cage box indicating block, the cage box enters the clamping groove, and the next step is executed; if the color sensor still senses the cage indicating block, the cage does not enter the clamping groove, and the step is repeatedly executed until the color sensor cannot sense the cage indicating block.
The manipulator 25 has small accumulated error, the grabbing precision is up to 2mm, and the precise fine adjustment and positioning of the cage position can be realized by matching with a robot. The manipulator is simple in structure, functions of all parts are clear, the problem of outage loosening caused by steering engine locked rotation is relieved by the sponge arranged on the clamping piece, and structural interference such as ventilation pipes, nuts, cross beams and the like in the cage frame is avoided by the lifting fork and the push rod limit switch which are specially designed. The manipulator can recognize whether the cage box taking and placing process is accurate and reliable through the installed optical fiber amplifier, and the current position state of the manipulator is judged through a plurality of physical limit switches. The manipulator guarantees that the telescoping accuracy reaches 0.1mm through the screw thread lead screw and the closed loop stepping motor, and effectively suppresses the problem of losing steps. The manipulator has solved cage in the front end experimental animal room and cage management and cage get work such as put, has saved the labour greatly to improved work efficiency, provided better infrastructure for the automatic assembly line processing of rear end.
The power source 26 is a lithium battery. Preferably, a 36V30Ah lithium battery is used and may be mounted on the chassis 221. The battery 26 is a power source of the IVC automatic pick/place robot and is electrically connected to the cpu 21, the driving wheel driver 222, the first stepper motor, the second stepper motor, and the motor 258 on the manipulator.
Therefore, the IVC automatic picking and placing intelligent robot of the embodiment has the advantages of simple structure and definite functions of all parts, and solves the problems of picking and placing of the cage boxes in the front-end experimental animal house, cage frame and cage box management and the like. The intelligent robot is optimized through a navigation algorithm, can run very stably, automatically distinguishes a bifurcation intersection, reaches a designated cage box of a designated cage frame according to a set instruction, and automatically completes the picking and placing of IVC; meanwhile, the robot accurately finds the cage boxes at the specific positions on the specific cage frame through a navigation technology, and records and distinguishes the numbers of the labels in a program through the labels at the bottom of the cage boxes, such as rfid labels, so that the operation history of each cage box is recorded in time, and the trouble of manually recording the operation when the IVC is taken out or put back each time is avoided; the manual labor force is saved, the working efficiency is improved, the experimental cost is reduced, better preparation work is provided for the processing of the rear-end automatic assembly line, and the accurate and efficient management of the experimental animal house is realized.
Third embodiment
The embodiment provides an intelligent robot for putting supermarket commodities on shelves. The robot of the present embodiment has the same main body structure as the robot of the first embodiment, and includes: the connection mode and the function of each unit of the central processing unit, the robot foot, the vertical arm, the horizontal arm, the mechanical arm and the power supply are the same, and the difference is that:
the manipulator further includes: lifting a fork;
The side plates are also used for fixing the lifting fork;
The lifting fork is a strip plane, is not fixedly connected to the side plate and can turn over by 90 degrees, and when the lifting action is carried out, the plane of the lifting fork is horizontal and is used for lifting the shelf goods; when the lifting action is completed, the plane of the lifting fork is vertical to the ground; the direction of the lifting fork on the side plate is on the same side as the steering engine, is positioned on the inner side of the linear sliding rail, has a length greater than the clamping piece and is parallel to the linear sliding rail.
When goods are put on the shelf, the lifting fork of the intelligent robot is vertical; firstly, clamping the commodity by using a clamping piece of a mechanical arm, and placing the commodity on a lifting fork by using the clamping piece after the lifting fork is turned to be horizontal; the intelligent robot is positioned according to the types of the commodities, after the intelligent robot advances to the shelving area, the manipulator extends to the commodity position of the shelving, the shifting fork jacks up the commodities upwards, the clamping sheet clamps the commodities, the lifting fork is turned to be vertical, the clamping sheet is loosened, and the commodities are placed at the corresponding commodity positions.
Preferably, the manipulator of the robot may further comprise a fork, and the fork is used for jacking up the commodity, so that the commodity reaches the height of the clamping piece. When the steering gear is arranged, the steering gears are three, two steering gears are symmetrically fixed on the side plates, and the third steering gear is connected with the shifting fork and used for providing direction and power for the action of the shifting fork.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.
Claims (6)
1. An intelligent robot for taking and placing articles, which is characterized by comprising: the robot comprises a central processing unit, a robot foot, a vertical arm, a horizontal arm, a manipulator and a power supply; wherein,
The central processing unit is connected with the robot foot, the vertical arm, the horizontal arm, the manipulator and the power supply at the same time, is fixed on the robot foot and is used for sending running and stopping commands to the robot foot, sending lifting commands to the vertical arm, sending telescopic commands to the horizontal arm and sending picking/placing commands to the manipulator;
The robot foot is used for bearing a central processor, a vertical arm and a power supply and is used for receiving the command of the central processor and completing the advancing of the intelligent robot and the column positioning of the fetched/placed articles;
the vertical arm is fixed on the robot foot and is electrically connected with the central processing unit on the robot foot, and is used for completing the line positioning of the mechanical arm on the fetched/placed objects;
the horizontal arm is fixed on the vertical arm, is electrically connected with a central processing unit on the foot of the robot and is used for completing the current position positioning of the robot arm on the fetched/placed object;
the manipulator is fixed on the horizontal arm, is electrically connected with a central processing unit on the robot foot and is used for completing the picking/placing operation of the articles after the positioning is completed;
The power supply is used for providing power for the robot;
the manipulator includes: the device comprises a side plate, a steering engine, a connecting rod group, a clamping piece, a linear slide rail, a motor and a limit switch; wherein,
The side plates are used for fixing the manipulator on the horizontal arm and fixing the steering engine and the linear slide rail;
The two steering gears are fixed on the inner side of the side plate in parallel, the axes of the steering gears are parallel to the axes of the side plate and are respectively connected with the clamping piece on one side of the side plate, and the steering gears are used for controlling the opening and closing of the clamping piece;
The connecting rod groups are two groups, each group comprises two connecting rods, and a steering engine and a clamping piece are connected; the two connecting rods are always parallel, so that the two clamping sheets are always parallel;
The two clamping sheets are symmetrical, and the inner side faces are always parallel to the two outer side faces of the article;
The linear slide rail is perpendicular to the side plates and is positioned at the two outermost sides of the manipulator;
the motor is connected with the linear slide rail and used for controlling the extension and contraction of the front limit switch;
The limit switch is positioned at the front end of the linear slide rail and is used for completing a touch detection task, detecting whether a touch event occurs in the operation process of the manipulator, identifying which part is touched, and coordinating the manipulator to complete the position positioning of the fetched/placed objects;
When the intelligent robot is used for taking/placing IVC, the manipulator further includes: the push rod, the shifting fork, the color sensor and the lifting fork;
the side plates are also used for fixing the color sensor and the lifting fork;
The four steering gears are respectively connected with the clamping plates, the other two steering gears are also fixed on the side plates, one steering gear is connected with the push rod, the other steering gear is connected with the shifting fork and provides power for the push rod and the shifting fork, so that the push rod pushes the cage box, and the shifting fork jacks up the cage box;
the push rod is used for pushing the cage box to enable the cage box to be separated from the buckle;
The shifting fork is used for jacking the cage box to enable the cage box to be separated from the clamping groove;
The color sensor is arranged on the side plate and is on the same side as the steering engine and used for sensing whether the cage box on the cage position is separated from the buckle;
the lifting fork is fixed on the side plate, is positioned on the same side as the steering engine, is positioned on the inner side of the linear sliding rail and is parallel to the linear sliding rail, and is positioned at the lowest end of the whole manipulator, and a plane is formed below the lifting fork and used for stabilizing the cage box;
the horizontal arm includes: the device comprises a horizontal frame, a horizontal screw rod, a second sliding block seat, a second stepping motor and a driver;
the horizontal screw rod is fixed on a first sliding block seat of the vertical arm and is connected with the second stepping motor and the driver; the second stepping motor and the driver are positioned at the rearmost end of the horizontal frame;
the second sliding block seat is arranged on the horizontal screw rod and fixedly connected with the manipulator;
the horizontal screw rod adopts a high-precision screw rod with the screw pitch of 10mm or 5 mm;
the second stepping motor is a closed loop stepping motor and is fed back through an encoder.
2. The intelligent robot of claim 1, wherein the robot foot comprises: the device comprises a chassis, a driving wheel driver, a universal wheel, a column positioning sensing device and a travelling navigation device; wherein,
The chassis is fixedly provided with a column positioning induction device, a traveling navigation device and a central processing unit;
The column positioning induction device is arranged at the front end of the chassis, connected with the central processing unit and used for receiving a column positioning task of the central processing unit and finishing column positioning by inducing column positioning magnetic stripe information of the article;
The travel navigation device is connected with the central processing unit and is used for receiving a travel task of the central processing unit, identifying a travel track by sensing a robot magnetic track in the article storage area and sending sensing information to the central processing unit;
the driving wheel and the driving wheel driver are arranged on the lower side of the chassis, are in contact with the ground, are electrically connected with the central processing unit and are used for receiving induction information from the advancing navigation device of the central processing unit, and driving the robot to advance along the magnetic track of the robot according to the induction information so as to complete navigation and advancing tasks;
the universal wheels are assembled at four positions on the lower side of the chassis and used for auxiliary support of the chassis.
3. The intelligent robot for picking and placing articles according to claim 2, wherein the number of the driving wheels is 2, the driving wheels are symmetrically arranged on two sides of the chassis, and the two driving wheels adopt a differential mode during steering.
4. The intelligent robot of claim 1, wherein the vertical arm comprises: the device comprises a vertical frame, a vertical screw rod, a first sliding block seat, a first stepping motor and a driver; the vertical frame is fixed on the chassis, and the vertical screw rod penetrates through the vertical frame and is connected with the first stepping motor and the driver; the first stepping motor and the driver are positioned at the uppermost end of the vertical frame; the first sliding block seat is arranged on the vertical screw rod and fixedly connected with the horizontal arm, the vertical screw rod is driven by the first stepping motor to rotate, and the horizontal arm and the first sliding block seat move up and down along the vertical screw rod together.
5. The intelligent robot of claim 1, wherein the horizontal arm comprises: the device comprises a horizontal screw rod, a second sliding block seat, a second stepping motor and a driver; wherein,
The horizontal screw rod is fixed on a first sliding block seat of the vertical arm and is connected with the second stepping motor and the driver; the second stepping motor and the driver are positioned at the rearmost end of the horizontal frame; the second sliding block seat is arranged on the horizontal screw rod and fixedly connected with the manipulator; the horizontal screw rod is driven by the second stepping motor to rotate, and the manipulator and the second sliding block seat move back and forth along the horizontal screw rod together.
6. The intelligent robot of claim 1, wherein when the intelligent robot is used for super commodity racking, the manipulator further comprises: a fork for lifting the fork;
The side plates are also used for fixing the lifting fork;
The number of the steering gears is three, two steering gears are connected with the clamping pieces, and the other steering gear is also fixed on the side plate and connected with the shifting fork;
The shifting fork is used for jacking up the commodity, so that the commodity reaches the height of the clamping piece;
The lifting fork is a strip plane, is not fixedly connected to the side plate and can turn over by 90 degrees, and when the lifting action is carried out, the plane of the lifting fork is horizontal and is used for lifting the shelf goods; when the lifting action is completed, the plane of the lifting fork is vertical to the ground; the direction of the lifting fork on the side plate is on the same side as the steering engine, is positioned on the inner side of the linear sliding rail, has a length greater than the clamping piece and is parallel to the linear sliding rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810517989.1A CN108621116B (en) | 2018-05-25 | 2018-05-25 | Intelligent robot for taking and placing articles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810517989.1A CN108621116B (en) | 2018-05-25 | 2018-05-25 | Intelligent robot for taking and placing articles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108621116A CN108621116A (en) | 2018-10-09 |
| CN108621116B true CN108621116B (en) | 2024-04-23 |
Family
ID=63690226
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810517989.1A Active CN108621116B (en) | 2018-05-25 | 2018-05-25 | Intelligent robot for taking and placing articles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108621116B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109368258B (en) * | 2018-12-12 | 2020-07-31 | 江苏恒顺醋业股份有限公司 | Intelligent pick-and-place robot |
| CN109997783B (en) * | 2019-03-26 | 2023-10-17 | 武汉科技大学 | Personalized feeding and water-supplying method for rats and mice in barrier environment |
| CN109822596B (en) * | 2019-04-02 | 2023-07-25 | 成都信息工程大学 | Service robot and control system thereof |
| CN112276898B (en) * | 2020-10-19 | 2021-10-19 | 山东金号家纺集团有限公司 | A box delivery manipulator for digital warehouse |
| CN115963749B (en) * | 2022-12-13 | 2024-05-28 | 彼合彼方机器人(天津)有限公司 | Real-time control system and method for pipeline joint coating robot operation |
| 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 |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201327679Y (en) * | 2008-12-18 | 2009-10-14 | 河源职业技术学院 | Miniature programmable logistics teaching robot |
| KR20120068358A (en) * | 2010-12-17 | 2012-06-27 | 장대환 | A universal box handling robot hand |
| CN103895024A (en) * | 2012-12-25 | 2014-07-02 | 财团法人工业技术研究院 | Clamping jaw device and control method thereof |
| CN104875178A (en) * | 2015-06-12 | 2015-09-02 | 洛阳理工学院 | Mechanical arm for carrying dangerous goods |
| CN105437204A (en) * | 2015-12-17 | 2016-03-30 | 佛山市新鹏机器人技术有限公司 | Manipulator-loaded AGV trolley |
| CN205184778U (en) * | 2015-08-05 | 2016-04-27 | 广东技术师范学院 | Automatic food delivery robot system of magnetic navigation |
| CN208262827U (en) * | 2018-05-25 | 2018-12-21 | 中科产业控股（深圳）有限公司 | A kind of article pick-and-place intelligent robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5892173B2 (en) * | 2011-11-09 | 2016-03-23 | 株式会社安川電機 | Robot hand and robot |
-
2018
- 2018-05-25 CN CN201810517989.1A patent/CN108621116B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201327679Y (en) * | 2008-12-18 | 2009-10-14 | 河源职业技术学院 | Miniature programmable logistics teaching robot |
| KR20120068358A (en) * | 2010-12-17 | 2012-06-27 | 장대환 | A universal box handling robot hand |
| CN103895024A (en) * | 2012-12-25 | 2014-07-02 | 财团法人工业技术研究院 | Clamping jaw device and control method thereof |
| CN104875178A (en) * | 2015-06-12 | 2015-09-02 | 洛阳理工学院 | Mechanical arm for carrying dangerous goods |
| CN205184778U (en) * | 2015-08-05 | 2016-04-27 | 广东技术师范学院 | Automatic food delivery robot system of magnetic navigation |
| CN105437204A (en) * | 2015-12-17 | 2016-03-30 | 佛山市新鹏机器人技术有限公司 | Manipulator-loaded AGV trolley |
| CN208262827U (en) * | 2018-05-25 | 2018-12-21 | 中科产业控股（深圳）有限公司 | A kind of article pick-and-place intelligent robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108621116A (en) | 2018-10-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108621116B (en) | Intelligent robot for taking and placing articles | |
| CN108657711B (en) | Animal room IVC automatic taking/placing system and method | |
| CN208262827U (en) | A kind of article pick-and-place intelligent robot | |
| CN106994693B (en) | Automatic medicine conveying vehicle and medicine conveying method thereof | |
| CN111620024B (en) | Transfer robot, container taking method and container placing method | |
| US6429016B1 (en) | System and method for sample positioning in a robotic system | |
| KR20190002560A (en) | Automatic cassette feeder and robotic arm for cassette holding. | |
| CN110177533A (en) | Transport device and the method for operating this transport device | |
| JP2022113831A (en) | Method and system for detecting potion of vehicle relative to trucks vehicle is running on | |
| CN107042980A (en) | Fork-lift type AGV dollies | |
| CN107486825B (en) | Work or material rest, loading attachment and automatic system of getting and putting work piece | |
| CN111598514A (en) | Intelligent warehouse management system and method based on Internet of things technology | |
| CN112840906B (en) | Intelligent plant factory | |
| CN206915132U (en) | Fork-lift type AGV dollies | |
| JPH09110107A (en) | Burn-in board automatic transferring method based on unmanned conveying vehicle and burn-in test system | |
| CN217625537U (en) | Light rail style specimen transportation system | |
| CN219078244U (en) | Transfer robot | |
| CN114589674A (en) | File robot, automatic file management and control system and method | |
| US20220267091A1 (en) | Transport system, transport method, and non-transitory storage medium | |
| US20210227736A1 (en) | Mounting substrate manufacturing system, component mounting system, and housing body transfer method | |
| CN209320805U (en) | Automatic parking materials vehicle and automatic material handling system | |
| CN115593832A (en) | Intelligent production line for unmanned environment operation | |
| CN208468363U (en) | A kind of robot palletizer based on AGV vehicular platform | |
| CN115352778A (en) | Intelligent logistics box goods shelf convenient to store and take and control method thereof | |
| CN112947463A (en) | AGV automatic gripping function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |