CN209240007U - A kind of intelligent industrial production equipment - Google Patents
A kind of intelligent industrial production equipment Download PDFInfo
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- CN209240007U CN209240007U CN201822005252.XU CN201822005252U CN209240007U CN 209240007 U CN209240007 U CN 209240007U CN 201822005252 U CN201822005252 U CN 201822005252U CN 209240007 U CN209240007 U CN 209240007U
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Abstract
The utility model 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
Technical field
The utility model relates to industrial automation more particularly to a kind of intelligent industrial production equipments.
Background technique
With economic sustained and rapid development, China just makes the transition from labor-intensive to modernization manufacturing industry direction, revitalizes
Manufacturing industry realizes that industrialization is the vital task of China's economic development, as important equipment irreplaceable in advanced manufacturing industry
And means, the application of industrial robot and it is universal naturally become the comparatively ideal selection of enterprise.
Automatic Guided Vehicle (AGV) refers to the material transportation trolley with automatic tracking function, with industrial automation
Development, automatic Guided Vehicle (AGV) system has been developed as one of maximum profession branch in production logistics system, and occurs
The trend of industrialized development becomes the indispensable important component of modern enterprise automated arm.
Under industrial automation and intelligentized development trend, automation equipment, which needs efficiently to combine, preferably to be mentioned
High working efficiency, but in traditional industrial production, the equipment such as industrial robot such as articulated robot can only be in a fixation
Region in work, be not able to satisfy all standing of field regions；Material transportation trolley can only realize single haul function,
It is not high with the fitness of the equipment such as industrial robot such as articulated robot, the equipment such as industrial robot such as articulated robot or
The equipment that person's material conveying trolley even automates, but due to having a single function, mutual cooperation degree is not high, is not suitable for gradually
Increasingly in intelligentized industrial production, intelligentized production line can not be provided for industrial production.
Utility model content
The utility model aim is to provide a kind of intelligent industrial production equipment, can work in multiple regions, realizes
The all standing of working region, and it is vdiverse in function, realize that industrial intelligent metaplasia produces.
In order to achieve the above object, the technical solution of the utility model has:
A kind of intelligent industrial production equipment, including control system, navigation vehicle, articulated robot and mechanical gripper, it is described
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
It is mobile to state navigation vehicle；The sensing device is for position location and identification target object；The articulated robot installs institute
It states on navigation vehicle, 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 biography
When induction device recognizes the positioning signal of target position, feeds back to the control system and carry out data processing, control the drive
Dynamic device drives the navigation vehicle to work.
Wherein, the intelligent industrial production equipment further includes navigation bar, and the navigation bar is placed on each working region, institute
It states positioning signal to be arranged on the navigation bar, after the navigation vehicle receives the instruction of control system, along the navigation bar
Reach the working region of specified positioning signal.
Wherein, the driving device includes front and back wheel group and driving motor, and the front and back wheel group is separately positioned on the vehicle
The front and back end of body bottom is equipped with driving motor by preceding connecting shaft between the front and back wheel group, for driving navigation vehicle straight line to transport
It is dynamic；Front steering motor is equipped with by preceding auxiliary connecting rod in the front and back wheel group, is equipped between the front and back wheel group by rear auxiliary connecting rod
Rear steering motor, the front steering motor and the rear steering motor are used for the steering of navigation vehicle.
Wherein, the sensing device is sensor, and the sensor includes front sensor and rear sensor, is sensed before described
Device and rear sensor are separately mounted to the front and back end of the car body, and the front sensor receives signal when advancing for navigation vehicle,
Signal is received when sensor is retreated for navigation vehicle after described.
Wherein, the articulated robot includes pedestal and the mechanical joint that is movably connected on the pedestal, described
Mechanical joint includes the first joint and second joint, and the pedestal is equipped with fixing axle, and first joint passes through the fixation
Axis is movably arranged on the pedestal, and first joint side is equipped with installation axle, and the second joint passes through the installation axle
It is movably arranged on first joint.
Wherein, articulated driving equipment is installed, the articulated driving equipment includes driving gear, electricity in the mechanical joint
Machine and the motor gear being mounted on the motor, the driving gear are separately mounted to the fixing axle and the installation axle
On, the motor is mounted in the mechanical joint, the motor gear and driving gear mesh transmission.
Wherein, the mechanical gripper includes riser guide, lifting motor, rotary part, rotating electric machine and handgrip, the liter
Drop guide rail is mounted on the second joint, and the lifting motor is mounted on the riser guide, below the lifting motor
The rotating electric machine is installed, the rotary part is installed in the rotating electric machine lower end, and the handgrip is pacified by the rotary part
On the rotating electric machine.
Wherein, the control system is PLC controller, and the PLC controller is filled with the driving device, sensing respectively
It sets, articulated driving equipment electrical connection, is acted for controlling the navigation vehicle and the articulated robot.
A kind of intelligent industrial production equipment of the utility model, it has the advantage that: passing through sensing device and control system
Cooperation, equipment reaches specified working region by navigation vehicle, and articulated robot works, navigation vehicle and multi-joint machine
Device people is integrally formed, can be realized the related works such as the clamping of self-navigation and object, realizes full process automatization operation, substantially
Degree shortens task time；Wherein, the working region of the equipment can satisfy all standing of field regions, can reach any need
The position of arrival works, and realizes industrial intelligence well.
Detailed description of the invention
Fig. 1 is intelligent industrial production equipment structure chart；
Fig. 2 is navigation vehicle structure chart；
Fig. 3 is articulated robot and gripping structure figure；
Fig. 4 is sensing device structure chart.
Figure label explanation: 1, navigation vehicle；101, car body；102, driving device；112, first driving device；122, second
Driving device；103, sensing device；113, front sensor；123, rear sensor；133, bracket；1331, sensor；2, multi-joint
Robot；201, pedestal；211, fixing axle；212, shield；213, support leg；3, mechanical gripper；4, front-wheel；401, preceding connection
Axis；402, preceding auxiliary connecting rod；403, front steering motor；412, preceding small auxiliary connecting rod；422, preceding big auxiliary connecting rod；5, rear-wheel；501, rear auxiliary
Connecting rod；502, rear steering motor；511, rear small auxiliary connecting rod；521, rear big auxiliary connecting rod；6, preceding driving motor；7, the first joint；
701, installation axle；8, second joint；9, bearing；901, first bearing；902, second bearing；10, the first driving gear；11,
Two driving gears；12, first motor；121, first motor gear；13, the second motor；131, the second motor gear；14, mechanical
Handgrip；141, riser guide；142, lifting motor；143, rotary part；144, rotating electric machine；145, handgrip.
Specific embodiment
A kind of intelligent industrial production equipment of the utility model is described with reference to the drawings.
As shown in Figure 1, a kind of intelligent industrial production equipment, including control system, navigation vehicle 1, articulated robot 2 and machine
Tool handgrip 3, the navigation vehicle include car body 101, driving device 102 and sensing device 103, and the driving device 102 is mounted on
The bottom of the car body 101, for driving the navigation vehicle 1 mobile；The sensing device 103 is used for position location and identification
Target object；The articulated robot 2 is installed on the navigation vehicle 1, and the articulated robot 2 being capable of stretching motion；Institute
It states mechanical gripper 3 to be mounted on the articulated robot 2, for grabbing target object；The control system is passed for receiving
The various working environment signals that induction device 103 is fed back, when the sensing device 103 recognizes the positioning signal of target position,
It feeds back to the control system and carries out data processing, control the driving device and the navigation vehicle 1 is driven to work.
Preferably, the utility model embodiment has been selected in the navigation mode for choosing navigation vehicle 1 using magnetic stripe navigation
Mode, navigation bar are placed on each working region, and the positioning signal is arranged on the navigation bar, and the navigation vehicle receives
After the instruction of control system, the working region of specified positioning signal, after reaching working region, navigation are reached along the navigation bar
Articulated robot 2 on vehicle 1 starts to work, and realizes crawl and processing to workpiece；This equipment passes through sensing device
The position location of magnetic stripe is monitored and identifies in 103 pairs of actual working environments, and various working signals are fed back to control system
System carries out data processing, and control system, which controls the driving device 102, drives equipment to travel to target position, controls multi-joint machine
2 stretching motion of device people, mechanical gripper 3 clamps target object, to complete task.The equipment can be realized self-navigation
With the clamping of object, realizes full process automatization operation, the task time of equipment has been greatly shortened.
Preferably, according to the utility model, the control system is PLC controller, the PLC controller respectively with it is described
Driving device 102, sensing device 103, articulated driving equipment electrical connection, for controlling the navigation vehicle 1 and the multi-joint machine
Device people 2 acts, and 1 front and back of navigation vehicle is respectively equipped with a set of steering motor for driving navigation vehicle direction, navigation vehicle front end to set
Power source is formed by driving motor together structure, the composition of the navigation bar on a magnetic navigation sensor and ground is respectively configured in front and back end
Detection device, current location of the real-time detection navigation vehicle in navigation bar；Navigation vehicle forward when, by driving device driving forward,
The front sensor 113 of front end detects the magnetic stripe on ground, signal is fed back to PLC controller, then issued a command to by PLC controller
Front steering motor carries out direction adjustment；One closed-loop system is formed by front sensor 113, magnetic stripe, PLC controller, steering motor,
Guarantee that navigation vehicle 1 is walked in the range of magnetic stripe；Navigation vehicle 1 forward when, 123 signal of rear sensor of rear end is not received, when
When front sensor detects the target area with positioning signal, control system is fed back to, control system control navigation vehicle stops
And control articulated robot and mechanical gripper is acted accordingly, when navigation vehicle advances, control system only receives forward pass
113 signal of sensor；When navigation vehicle backward when, detection signal switches to rear sensor 123, control method and front sensor 113 1
Sample；The switching of front and back sensor is judged by PLC controller according to the direction of motion of navigation vehicle 1.
Preferably, according to the utility model, referring to Fig.2, the driving device 102 includes front and back wheel group and driving motor,
The front and back wheel group is separately positioned on the both ends of the vehicle bottom, and front and back wheel group includes two front-wheels 4, and front and back wheel group further includes
Two rear-wheels 5, front and back wheel are sequentially arranged at the quadrangle at 101 bottom of car body；Wherein, the driving motor include preceding driving motor 6, it is preceding
Steering motor 403 and rear steering motor 502 are equipped with preceding driving motor 6 by preceding connecting shaft 401 between the front-wheel, are used for
Navigation vehicle 1 is driven to move along a straight line；Front steering motor 403 is equipped with by preceding auxiliary connecting rod 402 on the front-wheel, for navigation vehicle 1
It turns to；Rear steering motor 502, the steering for navigation vehicle 1 are equipped with by rear auxiliary connecting rod 501 between the rear-wheel.
Preferably, according to the utility model, the preceding auxiliary connecting rod 402 includes preceding small auxiliary connecting rod 412 and preceding big auxiliary connecting rod
422, the big auxiliary transmission of connecting rod 422 is mounted between two front-wheels 4 before described, preceding small auxiliary 412 one end of connecting rod connection one
A front-wheel 4, the other end are mounted on the front steering motor 403, and front steering motor 403 is electrically connected with the control system, is connect
After receiving turn signal, front steering motor 403 rotates preceding small auxiliary connecting rod 412 come the front-wheel 4 for driving preceding small auxiliary connecting rod 412 to connect
Change direction, then the front-wheel 4 drives another front-wheel 4 to change simultaneously direction by the transmission effect of preceding big auxiliary connecting rod 422, from
And realize the change in vehicle direction.
Preferably, according to the utility model, the rear auxiliary connecting rod 501 includes rear small auxiliary connecting rod 511 and rear big auxiliary connecting rod
521, the big auxiliary transmission of connecting rod 521 is mounted between two rear-wheels 5 after described, small auxiliary 511 one end of connecting rod connection one after described
A rear-wheel 5, the other end are mounted on the rear steering motor 502, and rear steering motor 502 is electrically connected with the control system, is connect
After receiving turn signal, small auxiliary connecting rod 511 connects after rear steering motor 502 rotates come auxiliary connecting rod 511 small after driving rear-wheel 5
Change direction, then the rear-wheel 5 drives another rear-wheel 5 to change simultaneously direction by the transmission effect of preceding big auxiliary connecting rod 422, from
And realize the change in vehicle direction.
Preferably, according to the utility model, refering to Fig. 4, the sensing device 103 includes sensor 1331 and bracket 133,
The sensor is mounted on the car body 1 by the bracket, and the sensor is magnetic navigation sensor, and the magnetic navigation passes
Sensor includes front sensor 113 and rear sensor 123, and the front sensor 113 and rear sensor 123 are separately mounted to the vehicle
The front and back end of body 101, the front sensor 113 receive signal when advancing for navigation vehicle, the rear sensor 123 is for navigating
Vehicle receives signal when retreating, sensor receives control of the feedback to control device to realization to locomotive after signal.
Preferably, according to the utility model, refering to Fig. 3, the articulated robot 2 includes that pedestal 201 and activity connect
The mechanical joint on the pedestal 201 is connect, articulated driving equipment is installed in the mechanical joint, the mechanical joint includes
First joint 7 and second joint 8, the pedestal 201 are equipped with fixing axle 211, and first joint 7 passes through the fixing axle
211 are movably arranged on the pedestal 201, and 7 side of the first joint is equipped with installation axle 701, and the second joint 8 passes through
The installation axle 701 is movably arranged on first joint 7, first joint 7 and second joint 8 be it is horizontally disposed,
First joint 7 is consistent with the shape of second joint 8, and section is in pancake strip structure, 8 activity of second joint
It is mounted on 1 top of the first joint；Wherein, the quantity of articulated robot 2 can be according to the first joint 7 and second joint 8
Mounting means set gradually it is multiple, according to actual demand determine.
Preferably, according to the utility model, the articulated robot 2 further includes bearing 9, and the bearing 9 is ball axis
It holds, the bearing 9 includes first bearing 901 and second bearing 902,902 structure of the first bearing 901 and the second bearing
Identical, first joint 7 is flexibly connected the fixing axle 211 by the first bearing 901 to be mounted on the pedestal
On 201, the second joint 8 is flexibly connected the installation axle 701 by the second bearing 902 to be mounted on described first and close
On section 7.
Preferably, according to the utility model, it is equipped with the joint on first joint 1 and the second joint 8 and drives
Dynamic device, the first bearing 901 and 902 lower end of the second bearing are equipped with driving gear, and first joint 901 passes through
The driving device 102 cooperates the driving gear so that the second joint 8 is rotated relative to first joint 7, wherein institute
It states driving and fills 102 and set including identical first driving device 112 and the second driving device 122, the driving gear includes identical
The first driving gear 10 and the second driving gear 11, the installation first driving device 112 in first joint 7 is described
First driving device 112 includes first motor 12 and the first motor gear 121 being mounted in first motor 12, first electricity
Machine gear 121 and the first driving intermeshing of gear 10 are installed, and the first motor 12 drives the first motor gear
121 control first joints 7 rotate in the horizontal direction；Installation second driving device 122, institute in the second joint 8
It motor 13 and the second motor gear 131 for being mounted on the second motor 13 that state the second driving device 122, which include second, and described second
Motor gear 131 and the second driving intermeshing of gear 11 are installed, and second motor 13 drives the second motor tooth
131 control first joint 7 of wheel rotates in the horizontal direction.
Preferably, according to the utility model, the mechanical gripper 14 is mounted on the second joint 8, the mechanical gripping
Hand 14 includes riser guide 141, lifting motor 142, rotary part 143, rotating electric machine 144 and handgrip 145, and the lifting is led
Rail 141 is mounted on the second joint 8, and the lifting motor 142 is mounted on the riser guide 141, the lifting electricity
The rotating electric machine 144 is installed, the rotary part 143, the handgrip are installed in 144 lower end of rotating electric machine below machine 142
145 are mounted on the rotating electric machine 144 by the rotary part 143, mechanical gripper 14 by the way that guide rail is installed by way of and
Articulated robot 2 is connected, and ensure that handgrip 145 obtains the movement of maximum magnitude in vertical direction, cooperates multi-joint machine
Gear drive between device people 2, makes that whole device arbitrarily moves in both the horizontal and vertical directions and bearing capacity is strong,
Various environment are applicable to, are improved work efficiency well, the long-run development of enterprise is conducive to.
Preferably, according to the utility model, the articulated robot 2 further includes shield 212, and the shield 212 is arranged
On the driving gear, the setting of shield 212 ensure that driving gear in the process of work not by the shadow of extraneous factor
It rings, moreover, 201 lower part of the pedestal is equipped with multiple support legs 213, further fixes entire articulated robot 2, improve peace
Quan Xing protects the life security of user well, meets the requirement in industrial production about the safety measure to moving component.
A kind of intelligent industrial production equipment of the utility model, by the cooperation of sensing device and control system, equipment is logical
It crosses navigation vehicle and reaches specified working region, articulated robot works, and navigation vehicle and articulated robot are integrally formed,
It can be realized the related works such as the clamping of self-navigation and object, full process automatization operation realized, when task is greatly shortened
Between；Wherein, the working region of the equipment can satisfy all standing of field regions, can reach the position of any required arrival into
Industrial intelligence is realized in row work well.
According to the disclosure and teachings of the above specification, the utility model those skilled in the art can also be to above-mentioned reality
The mode of applying is changed and is modified.Therefore, the utility model is not limited to specific embodiment disclosed and described above, right
Some modifications and changes of the utility model should also be as falling into the protection scope of the claims of the present utility model.In addition, to the greatest extent
It is used some specific terms in pipe this specification, these terms are merely for convenience of description, not to the utility model
Constitute any restrictions.
Claims (8)
1. a kind of intelligent industrial production equipment, which is characterized in that including control system, navigation vehicle, articulated robot and machinery
Handgrip, the navigation vehicle include 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 multi-joint machine
Device people installs on the navigation vehicle, and the articulated robot being capable of stretching motion；The mechanical gripper is mounted on more passes
It saves in robot, for grabbing target object；The control system is used to receive the various working environments letter of sensing device feedback
Number, when the sensing device recognizes the positioning signal of target position, feeds back to the control system and carries out data processing,
Controlling the driving device drives the navigation vehicle to work.
2. intelligent industrial production equipment according to claim 1, which is characterized in that the intelligent industrial production equipment is also wrapped
Navigation bar is included, the navigation bar is placed on each working region, and the positioning signal is arranged on the navigation bar, the navigation
After vehicle receives the instruction of control system, the working region of specified positioning signal is reached along the navigation bar.
3. intelligent industrial production equipment according to claim 1, which is characterized in that the driving device includes front and back wheel group
And driving motor, the front and back wheel group is separately positioned on the front and back end of the vehicle bottom, before passing through between the front and back wheel group
Connecting shaft is equipped with driving motor, for driving navigation vehicle to move along a straight line；Forward is equipped with by preceding auxiliary connecting rod in the front and back wheel group
To motor, rear steering motor, the front steering motor and the rear steering are equipped with by rear auxiliary connecting rod between the front and back wheel group
Motor is used for the steering of navigation vehicle.
4. intelligent industrial production equipment according to claim 3, which is characterized in that the sensing device is sensor, institute
Stating sensor includes front sensor and rear sensor, and the front sensor and rear sensor are separately mounted to the front and back of the car body
End, the front sensor receive signal when advancing for navigation vehicle, the rear sensor receives signal when retreating for navigation vehicle.
5. intelligent industrial production equipment according to claim 1, which is characterized in that the articulated robot includes pedestal
And it is movably connected in the mechanical joint on the pedestal, the mechanical joint includes the first joint and second joint, the base
Seat is equipped with fixing axle, and first joint is movably arranged on the pedestal by the fixing axle, first joint one
Side is equipped with installation axle, and the second joint is movably arranged on first joint by the installation axle.
6. intelligent industrial production equipment according to claim 5, which is characterized in that be equipped with joint in the mechanical joint
Driving device, the articulated driving equipment includes driving gear, motor and the motor gear being mounted on the motor, described
Driving gear is separately mounted in the fixing axle and the installation axle, and the motor is mounted in the mechanical joint, described
Motor gear and driving gear mesh transmission.
7. intelligent industrial production equipment according to claim 5, which is characterized in that the mechanical gripper includes that lifting is led
Rail, lifting motor, rotary part, rotating electric machine and handgrip, the riser guide are mounted on the second joint, the lifting
Motor is mounted on the riser guide, and the rotating electric machine, the rotating electric machine lower end peace are installed below the lifting motor
The rotary part is filled, the handgrip is mounted on the rotating electric machine by the rotary part.
8. intelligent industrial production equipment according to claim 1, which is characterized in that the control system is PLC controller,
The PLC controller is electrically connected with the driving device, sensing device, articulated driving equipment respectively, for controlling the navigation
Vehicle and the articulated robot are acted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822005252.XU CN209240007U (en) | 2018-11-30 | 2018-11-30 | A kind of intelligent industrial production equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822005252.XU CN209240007U (en) | 2018-11-30 | 2018-11-30 | A kind of intelligent industrial production equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209240007U true CN209240007U (en) | 2019-08-13 |
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ID=67530830
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822005252.XU Expired - Fee Related CN209240007U (en) | 2018-11-30 | 2018-11-30 | A kind of intelligent industrial production equipment |
Country Status (1)
| Country | Link |
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| CN (1) | CN209240007U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333503A (en) * | 2018-11-30 | 2019-02-15 | 佛山市因唯机电有限公司 | An intelligent industrial production equipment |
| CN113290551A (en) * | 2021-07-07 | 2021-08-24 | 广东鸣世科技有限公司 | Multi-axis machining arm |
-
2018
- 2018-11-30 CN CN201822005252.XU patent/CN209240007U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333503A (en) * | 2018-11-30 | 2019-02-15 | 佛山市因唯机电有限公司 | An intelligent industrial production equipment |
| CN113290551A (en) * | 2021-07-07 | 2021-08-24 | 广东鸣世科技有限公司 | Multi-axis machining arm |
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Granted publication date: 20190813 Termination date: 20201130 |