CN109333503A - An intelligent industrial production equipment - Google Patents

Abstract

The invention discloses a kind of intelligent industrial production equipments, including control system, navigation vehicle, articulated robot and mechanical gripper, the navigation vehicle includes car body, driving device and sensing device, and the driving device is mounted on the bottom of the car body, for driving the navigation vehicle mobile；The sensing device is for position location and identification target object；The articulated robot is installed on the navigation vehicle, and the articulated robot being capable of stretching motion；The mechanical gripper is mounted on the articulated robot, for grabbing target object；The control system is used to receive the various working environment signals of sensing device feedback, when the sensing device recognizes the positioning signal of target position, it feeds back to the control system and carries out data processing, controlling the driving device drives the navigation vehicle to work, it can work in multiple regions, it realizes all standing of working region, and vdiverse in function, realizes that industrial intelligent metaplasia produces.

Description

An intelligent industrial production equipment

technical field

The invention relates to the field of industrial automation, in particular to an intelligent industrial production equipment.

Background technique

With the sustained and rapid economic development, my country is transforming from labor-intensive to modern manufacturing. Revitalizing the manufacturing industry and realizing industrialization are important tasks for my country's economic development. As an irreplaceable important equipment and means in advanced manufacturing, industrial robots The application and popularization of it has naturally become an ideal choice for enterprises.

Automatic guided trolley (AGV) refers to a material transport trolley with automatic tracking function. With the development of industrial automation, the automatic guided trolley (AGV) system has developed into one of the largest professional branches in the production logistics system, and has emerged in the industry. It has become an indispensable and important part of modern enterprise automation equipment.

Under the development trend of industrial automation and intelligence, automation equipment needs to be efficiently combined to improve work efficiency. However, in traditional industrial production, industrial robots such as multi-joint robots can only work in a fixed area. , can not meet the full coverage of the site area; the material transport trolley can only achieve a single material transport function, and the degree of cooperation with industrial robots such as multi-joint robots is not high. Automated equipment, but due to its single function and low degree of mutual cooperation, has gradually been unsuitable for increasingly intelligent industrial production, and cannot provide intelligent production lines for industrial production.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an intelligent industrial production equipment, which can work in multiple areas, realize full coverage of the working area, and has various functions to realize industrial intelligent production.

In order to achieve the above object, the technical scheme of the present invention includes:

An intelligent industrial production equipment includes a control system, a navigation car, a multi-joint robot and a mechanical gripper, the navigation car includes a car body, a driving device and a sensing device, and the driving device is installed at the bottom of the car body, It is used to drive the navigation vehicle to move; the sensing device is used to locate the position and identify the target object; the multi-joint robot is installed on the navigation vehicle, and the multi-joint robot can move telescopically; the mechanical gripper is installed On the multi-joint robot, it is used to grab the target object; the control system is used to receive various working environment signals fed back by the sensing device, and when the sensing device recognizes the positioning signal of the target position, it feeds back to the The control system also performs data processing, and controls the driving device to drive the navigation vehicle to work.

Wherein, the intelligent industrial production equipment further includes a navigation bar, the navigation bar is placed in each work area, the positioning signal is set on the navigation bar, and the navigation car follows the instruction of the control system after receiving the instruction of the control system. The navigation bar reaches the working area of the specified positioning signal.

Wherein, the driving device includes front and rear wheel sets and a drive motor, the front and rear wheel sets are respectively arranged at the front and rear ends of the bottom of the vehicle body, and a drive motor is provided between the front wheel sets through the front connecting shaft for driving The navigation car moves in a straight line; the front wheel set is provided with a front steering motor through the front auxiliary link, and the rear wheel set is provided with a rear steering motor through the rear auxiliary link. The front steering motor and the rear steering The motor is used to steer the navigation car.

Wherein, the sensing device is a sensor, and the sensor includes a front sensor and a rear sensor, the front sensor and the rear sensor are respectively installed on the front and rear ends of the vehicle body, and the front sensor is used to receive signals when the navigation vehicle moves forward , and the rear sensor is used to receive signals when the navigation vehicle moves backwards.

Wherein, the multi-joint robot includes a base and a mechanical joint movably connected to the base, the mechanical joint includes a first joint and a second joint, the base is provided with a fixed shaft, the first joint The joint is movably mounted on the base through the fixed shaft, a mounting shaft is provided on one side of the first joint, and the second joint is movably mounted on the first joint through the mounting shaft.

Wherein, a joint drive device is installed in the mechanical joint, and the joint drive device includes a drive gear, a motor, and a motor gear installed on the motor, and the drive gear is respectively installed on the fixed shaft and the installation shaft. On the upper side, the motor is installed in the mechanical joint, and the motor gear and the drive gear are geared for transmission.

Wherein, the mechanical gripper includes a lifting guide rail, a lifting motor, a rotating part, a rotating motor and a gripper, the lifting guide rail is mounted on the second joint, and the lifting motor is mounted on the lifting guide rail, so The rotating motor is installed below the lifting motor, the rotating part is installed at the lower end of the rotating motor, and the gripper is installed on the rotating motor through the rotating part.

Wherein, the control system is a PLC controller, and the PLC controller is electrically connected with the driving device, the sensing device, and the joint driving device, respectively, and is used for controlling the navigation vehicle and the multi-joint robot to perform actions.

The intelligent industrial production equipment of the present invention has the beneficial effects that: through the cooperation of the sensing device and the control system, the equipment reaches the designated working area through the navigation car, the multi-joint robot works, and the navigation car and the multi-joint robot are integrally formed, It can realize related work such as automatic navigation and object clamping, realize the automatic operation of the whole process, and greatly shorten the task time; among which, the working area of the equipment can meet the full coverage of the field area, and can reach any position to be reached for work, It is very good to realize the intelligentization of industrial production.

Description of drawings

Figure 1 is a structural diagram of intelligent industrial production equipment;

Figure 2 is a structural diagram of a navigation vehicle;

Figure 3 is a structural diagram of a multi-joint robot and a gripper;

FIG. 4 is a structural diagram of a sensing device.

Numeral description in the figure: 1. Navigation vehicle; 101, Vehicle body; 102, Drive device; 112, First drive device; 122, Second drive device; 103, Sensing device; 113, Front sensor; 123, Rear sensor; 133, bracket; 1331, sensor; 2, multi-joint robot; 201, base; 211, fixed shaft; 212, shield; 213, support foot; 3, mechanical gripper; 4, front wheel; 401, front connecting shaft ;402, front auxiliary link; 403, front steering motor; 412, front small auxiliary link; 422, front large auxiliary link; 5, rear wheel; 501, rear auxiliary link; 502, rear steering motor; 511, Rear small auxiliary connecting rod; 521, rear large auxiliary connecting rod; 6, front drive motor; 7, first joint; 701, installation shaft; 8, second joint; 9, bearing; 901, first bearing; 902, first joint Two bearings; 10, the first drive gear; 11, the second drive gear; 12, the first motor; 121, the first motor gear; 13, the second motor; 131, the second motor gear; 14, the mechanical gripper; 141 , Lifting guide rail; 142, Lifting motor; 143, Rotating parts; 144, Rotating motor; 145, Gripper.

Detailed ways

An intelligent industrial production equipment of the present invention is described with reference to the accompanying drawings.

As shown in FIG. 1, an intelligent industrial production equipment includes a control system, a navigation vehicle 1, a multi-joint robot 2 and a mechanical gripper 3. The navigation vehicle includes a vehicle body 101, a driving device 102 and a sensing device 103. The driving device 102 is installed at the bottom of the vehicle body 101 to drive the navigation car 1 to move; the sensing device 103 is used to locate the position and identify the target object; the multi-joint robot 2 is installed with the navigation car 1, the multi-joint robot 2 is capable of telescopic motion; the mechanical gripper 3 is installed on the multi-joint robot 2 to grab the target object; the control system is used to receive the feedback from the sensing device 103. It is a kind of working environment signal, when the sensing device 103 recognizes the positioning signal of the target position, it feeds back to the control system and performs data processing, and controls the driving device to drive the navigation vehicle 1 to work.

Preferably, in the embodiment of the present invention, a method of using magnetic stripe navigation is selected in selecting the navigation mode of the navigation car 1, the navigation bar is placed in each work area, the positioning signal is set on the navigation bar, and the navigation car receives After receiving the instruction of the control system, follow the navigation bar to reach the working area of the designated positioning signal. After reaching the working area, the multi-joint robot 2 on the navigation car 1 starts to work to realize the grasping and processing of the workpiece; this equipment The positioning position of the magnetic strip in the actual working environment is monitored and identified by the sensing device 103, and various working signals are fed back to the control system for data processing. The control system controls the driving device 102 to drive the equipment to the target position, and controls The multi-joint robot 2 telescopically moves, and the mechanical gripper 3 grips the target object, thereby completing the task. The device can realize automatic navigation and grasping of objects, realize the automatic operation of the whole process, and greatly shorten the task time of the device.

Preferably, according to the present invention, the control system is a PLC controller, and the PLC controller is electrically connected to the driving device 102, the sensing device 103, and the joint driving device, respectively, and is used to control the navigation vehicle 1 and all the The multi-joint robot 2 moves. A set of steering motors are installed at the front and rear of the navigation car 1 to drive the direction of the navigation car. The front end of the navigation car is provided with a driving motor to form a power source. The navigation bar constitutes a detection device, which detects the current position of the navigation car in the navigation bar in real time; when the navigation car moves forward, it is driven by the driving device, and the front sensor 113 at the front detects the magnetic strip on the ground and feeds back the signal to the PLC controller , and then the PLC controller sends instructions to the front steering motor to adjust the direction; the front sensor 113, the magnetic strip, the PLC controller, and the steering motor form a closed-loop system to ensure that the navigation car 1 walks in the range of the magnetic strip; the navigation car 1 When moving forward, the signal of the rear sensor 123 at the rear end is not received. When the front sensor detects the target area with the positioning signal, it feeds back to the control system. The control system controls the navigation car to stop and controls the multi-joint robot and the mechanical gripper to perform corresponding When the navigation car moves forward, the control system only receives the signal of the front sensor 113; when the navigation car is backward, the detection signal is switched to the rear sensor 123, and the control method is the same as that of the front sensor 113; the switching of the front and rear sensors is performed by the PLC controller according to the navigation The movement direction of the vehicle 1 is judged.

Preferably, according to the present invention, referring to FIG. 2 , the driving device 102 includes front and rear wheel sets and a drive motor, the front and rear wheel sets are respectively disposed at both ends of the bottom of the vehicle body, and the front wheel set includes two front wheels 4 , the rear wheel set includes two rear wheels 5, and the front and rear wheels are sequentially installed at the four corners of the bottom of the vehicle body 101; wherein, the drive motor includes a front drive motor 6, a front steering motor 403 and a rear steering motor 502. The front wheel set There is a front drive motor 6 through the front connecting shaft 401, which is used to drive the navigation car 1 to move in a straight line; the front wheel set is provided with a front steering motor 403 through the front auxiliary link 402, which is used for the steering of the navigation car 1; A rear steering motor 502 is provided between the rear wheel sets through the rear auxiliary link 501 for steering the navigation vehicle 1 .

Preferably, according to the present invention, the front auxiliary link 402 includes a front small auxiliary link 412 and a front large auxiliary link 422, and the front large auxiliary link 422 is installed between the two front wheels 4 in a transmission manner, One end of the front small auxiliary link 412 is connected to a front wheel 4, and the other end is installed on the front steering motor 403. The front steering motor 403 is electrically connected to the control system. After receiving the steering signal, the front steering motor 403 rotates The front small auxiliary link 412 drives the front wheel 4 connected to the front small auxiliary link 412 to change direction, and then the front wheel 4 drives the other front wheel 4 to change direction at the same time through the transmission action of the front large auxiliary link 422, so as to realize the complete adjustment. Change of car direction.

Preferably, according to the present invention, the rear auxiliary link 501 includes a rear small auxiliary link 511 and a rear large auxiliary link 521, and the rear large auxiliary link 521 is installed between the two rear wheels 5 for transmission, One end of the rear small auxiliary link 511 is connected to a rear wheel 5, and the other end is mounted on the rear steering motor 502, which is electrically connected to the control system. After receiving the steering signal, the rear steering motor 502 rotates The rear small auxiliary connecting rod 511 drives the rear wheel 5 connected to the rear small auxiliary connecting rod 511 to change direction, and then the rear wheel 5 drives the other rear wheel 5 to change direction at the same time through the transmission action of the front large auxiliary connecting rod 422, so as to realize the complete adjustment. Change of car direction.

Preferably, according to the present invention, referring to FIG. 4 , the sensing device 103 includes a sensor 1331 and a bracket 133, the sensor is mounted on the vehicle body 1 through the bracket, the sensor is a magnetic navigation sensor, and the The magnetic navigation sensor includes a front sensor 113 and a rear sensor 123. The front sensor 113 and the rear sensor 123 are respectively installed at the front and rear ends of the vehicle body 101. The front sensor 113 is used to receive signals when the navigation vehicle moves forward. The sensor 123 is used to receive a signal when the navigation vehicle moves backward, and after the sensor receives the signal, it is fed back to the control device so as to realize the control of the moving vehicle.

Preferably, according to the present invention, referring to FIG. 3 , the multi-joint robot 2 includes a base 201 and a mechanical joint movably connected to the base 201 , a joint driving device is installed in the mechanical joint, and the mechanical joint is It includes a first joint 7 and a second joint 8, the base 201 is provided with a fixed shaft 211, the first joint 7 is movably mounted on the base 201 through the fixed shaft 211, and the first joint A mounting shaft 701 is provided on one side of the 7, and the second joint 8 is movably mounted on the first joint 7 through the mounting shaft 701. Both the first joint 7 and the second joint 8 are arranged horizontally. The shape of the first joint 7 and the second joint 8 are the same, and the cross section is a flat strip-shaped structure, and the second joint 8 is movably installed above the first joint 1; wherein, the number of the multi-joint robot 2 can be according to The installation modes of the first joint 7 and the second joint 8 are set in sequence and determined according to actual requirements.

Preferably, according to the present invention, the multi-joint robot 2 further includes a bearing 9, the bearing 9 is a ball bearing, the bearing 9 includes a first bearing 901 and a second bearing 902, the first bearing 901 and the The second bearing 902 has the same structure, the first joint 7 is movably connected to the fixed shaft 211 through the first bearing 901 to be mounted on the base 201 , and the second joint 8 passes through the second bearing 902 The mounting shaft 701 is movably connected to be mounted on the first joint 7 .

Preferably, according to the present invention, both the first joint 1 and the second joint 8 are provided with the joint driving device, and the lower ends of the first bearing 901 and the second bearing 902 are both provided with driving gears, The first joint 901 cooperates with the driving gear through the driving device 102 to rotate the second joint 8 relative to the first joint 7 , wherein the driving device 102 includes the same first driving device 112 and the second drive device 122, the drive gear includes the same first drive gear 10 and the second drive gear 11, the first drive device 112 is installed in the first joint 7, and the first drive device 112 includes The first motor 12 and the first motor gear 121 installed on the first motor 12, the first motor gear 121 and the first drive gear 10 are meshed and installed with each other, and the first motor 12 drives the first motor The gear 121 controls the first joint 7 to rotate in the horizontal direction; the second driving device 122 is installed in the second joint 8 , and the second driving device 122 includes the second motor 13 and is installed on the second motor 13 The second motor gear 131, the second motor gear 131 and the second drive gear 11 are installed in mesh with each other, the second motor 13 drives the second motor gear 131 to control the first joint 7 in the horizontal direction turn.

Preferably, according to the present invention, the mechanical gripper 14 is mounted on the second joint 8 , and the mechanical gripper 14 includes a lifting guide rail 141 , a lifting motor 142 , a rotating part 143 , a rotating motor 144 and a gripper 145 , The elevating guide rail 141 is installed on the second joint 8 , the elevating motor 142 is installed on the elevating guide rail 141 , the rotating motor 144 is installed below the elevating motor 142 , and the lower end of the rotating motor 144 is installed at the bottom. The rotating part 143 and the gripper 145 are installed on the rotating motor 144 through the rotating part 143, and the mechanical gripper 14 is connected with the multi-joint robot 2 by means of a mounting rail, which ensures that the gripper 145 is in the vertical direction. With the gear transmission between the multi-joint robots 2, the whole device can move arbitrarily in both horizontal and vertical directions and has a strong carrying capacity, which can be suitable for various environments and greatly improves the work. Efficiency is conducive to the long-term development of enterprises.

Preferably, according to the present invention, the multi-joint robot 2 further includes a shield 212, the shield 212 is sleeved on the driving gear, and the setting of the shield 212 ensures that the driving gear is not affected during operation. Influenced by external factors, moreover, the lower part of the base 201 is provided with a plurality of supporting feet 213, which further fix the entire multi-joint robot 2, improve the safety, and protect the life safety of the user well, which is in line with the industrial production. Requirements for safety measures for moving parts.

The intelligent industrial production equipment of the present invention, through the cooperation of the sensing device and the control system, the equipment reaches the designated working area through the navigation vehicle, the multi-joint robot works, and the navigation vehicle and the multi-joint robot are integrally formed, which can realize automatic navigation and Object clamping and other related work, realize the automatic operation of the whole process, and greatly shorten the task time; among them, the working area of the equipment can meet the full coverage of the field area, and can reach any position to be reached for work, which is a good realization of industrial Smart production.

Based on the disclosure and teaching of the above specification, those skilled in the art to which the present invention pertains can also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the protection scope of the claims of the present invention. In addition, although some specific terms are used in this specification, these terms are only for convenience of description and do not constitute any limitation to the present invention.

Claims (8)

1. an intelligent industrial production equipment, is characterized in that, comprises control system, navigation car, multi-joint robot and mechanical gripper, and described navigation car comprises vehicle body, driving device and sensing device, and described driving device is installed in all The bottom of the vehicle body is used to drive the navigation vehicle to move; the sensing device is used to locate the position and identify the target object; the multi-joint robot is installed on the navigation vehicle, and the multi-joint robot can telescopically move; The mechanical gripper is installed on the multi-joint robot for grasping the target object; the control system is used for receiving various working environment signals fed back by the sensing device, and when the sensing device recognizes the target position When positioning the signal, it is fed back to the control system for data processing, and the driving device is controlled to drive the navigation vehicle to work. 2 . The intelligent industrial production equipment according to claim 1 , wherein the intelligent industrial production equipment further comprises a navigation bar, the navigation bar is placed in each work area, and the positioning signal is set on the navigation bar. 3 . , after the navigation vehicle receives an instruction from the control system, it follows the navigation bar to reach the working area of the designated positioning signal. 3 . The intelligent industrial production equipment according to claim 1 , wherein the driving device comprises front and rear wheel sets and a driving motor, the front and rear wheel sets are respectively arranged at the front and rear ends of the bottom of the vehicle body, and the front and rear A drive motor is provided between the wheel sets through the front connecting shaft to drive the navigation vehicle to move in a straight line; the front wheel set is provided with a front steering motor through the front auxiliary link, and the rear wheel set passes through the rear auxiliary link. A rear steering motor is provided, and the front steering motor and the rear steering motor are used for steering the navigation vehicle. 4 . The intelligent industrial production equipment according to claim 3 , wherein the sensing device is a sensor, and the sensor comprises a front sensor and a rear sensor, and the front sensor and the rear sensor are respectively installed on the vehicle body. 5 . The front sensor is used to receive the signal when the navigation car is moving forward, and the rear sensor is used to receive the signal when the navigation car is backward. 5 . The intelligent industrial production equipment according to claim 1 , wherein the multi-joint robot comprises a base and a mechanical joint movably connected to the base, and the mechanical joint comprises a first joint and a second joint. 6 . The base is provided with a fixed shaft, the first joint is movably mounted on the base through the fixed shaft, a mounting shaft is provided on one side of the first joint, and the second joint passes through the fixed shaft. The installation shaft is movably installed on the first joint. 6. The intelligent industrial production equipment according to claim 5, wherein a joint driving device is installed in the mechanical joint, and the joint driving device comprises a driving gear, a motor, and a motor gear installed on the motor, The driving gear is respectively installed on the fixed shaft and the installation shaft, the motor is installed in the mechanical joint, and the motor gear and the driving gear are geared for transmission. 7. The intelligent industrial production equipment according to claim 5, wherein the mechanical gripper comprises a lifting guide rail, a lifting motor, a rotating part, a rotating motor and a gripping hand, and the lifting guide rail is installed on the second On the joint, the elevating motor is installed on the elevating guide rail, the rotating motor is installed below the elevating motor, the rotating part is installed at the lower end of the rotating motor, and the gripper is installed on the on the rotating motor. 8 . The intelligent industrial production equipment according to claim 1 , wherein the control system is a PLC controller, and the PLC controller is respectively electrically connected to the drive device, the sensor device, and the joint drive device, and uses 8 . to control the navigation vehicle and the multi-joint robot to perform actions.