WO2020042646A1

WO2020042646A1 - Material-carrying robot for industrial production

Info

Publication number: WO2020042646A1
Application number: PCT/CN2019/084738
Authority: WO
Inventors: 朱治杰
Original assignee: 南京灵雀智能制造有限公司
Priority date: 2018-08-30
Filing date: 2019-04-28
Publication date: 2020-03-05
Also published as: CN108974818A; CN110155640A; CN108974818B

Abstract

Disclosed is a material-carrying robot for industrial production. The material-carrying robot comprises a cabinet, wherein a left end of the cabinet is fixedly connected to a first collision switch, and a lower end face of the first collision switch is fixedly mounted with a first magnetic navigation sensor; a right end of the cabinet is fixedly connected to a second collision switch, and a lower end of the second collision switch is fixedly mounted with a second magnetic navigation sensor; a first servo electric motor, an electric motor and a single chip microcomputer are mounted inside the cabinet; and an upper end of the cabinet is fixedly connected to a support plate, with an ultrasonic sensor being respectively mounted at left and right ends of the support plate, two support legs being fixedly mounted on a right side of an upper end of the support plate, upper ends of the support legs being fixedly connected to fixing rods, and several rotary rollers being rotatably connected between two of the fixing rods. According to the present invention, the performance of accurate tracking of the material-carrying robot is improved; and an obstacle present on a travelling path of the robot in an emergency situation can be avoided in a timely manner, and the material-carrying robot can also avoid the obstacle and quickly return to a previously set travelling path.

Description

Material handling robot for industrial production

Technical field

The invention relates to the technical field related to a material handling robot, and in particular relates to a material handling robot for industrial production.

Background technique

With the continuous development of society and the continuous advancement of science and technology, mechanization, automation, and standardized production have gradually become the development trend. Traditional production methods have become increasingly unable to meet the development requirements of the times.

Today's industrial robots are mainly used to replace workpieces to move workpieces. They are used to improve the labor intensity of workers and reduce the cost of handling. However, in the prior art, robots generally have inaccurate robot tracking and inaccurate targets. Positioning also cannot avoid obstacles generated by the robot's walking route in an emergency situation, which makes it difficult to change the walking route of the robot's transportation. Therefore, from the foregoing description, we can know how to ensure the accuracy of the robot's tracking and positioning of the target. Reducing the requirements for factory layout and reducing costs at the same time have become a difficult problem for the industrial material handling industry.

technical problem

The object of the present invention is to provide a material handling robot for industrial production, in order to solve the general problem of inaccurate robot tracking in robot handling in the prior art proposed in the background art, and also to avoid the occurrence of the robot's walking path in a sudden situation. It is not convenient to change the walking route carried by the robot.

Technical solutions

In order to solve the above technical problem, the present invention provides the following technical solution: A material handling robot for industrial production includes a box body, a control box is fixedly installed on a front end surface of the box body, and a first impact switch is fixedly connected to the left end of the box body. A first magnetic navigation sensor is fixedly installed at the lower end of the first collision switch, a second collision switch is fixedly connected to the right end of the box, and a second magnetic navigation sensor is fixedly installed at the lower end of the second collision switch, the box A steering wheel is rotatably connected to the left side of the lower end of the body, and a moving wheel is rotatably connected to the right side of the lower end of the box. A first servo motor, a motor, and a single-chip microcomputer are installed inside the box. The output shaft of the first servo motor and the steering wheel The motor is fixedly connected to the moving wheel through a gear disk. A support plate is fixedly connected to the upper end of the box. Ultrasonic sensors are installed on the left and right ends of the support plate. A support is fixedly connected to the left side of the upper end of the support plate. A touch screen panel is installed on the support frame, and two support legs are fixedly installed on the upper right side of the support plate, and the two support legs Between a second servo motor is fixedly mounted, the support leg is fixedly connected with a fixing rod end, is rotatably connected with a plurality of rollers between two rotatable the rod, the rotating roller placed article transport block.

Preferably, the control box is provided with switches for controlling the first magnetic navigation sensor, the second magnetic navigation sensor, the first servo motor, the motor, the ultrasonic sensor, and the second servo motor.

Preferably, an emergency switch is fixedly installed on the side of the support plate.

Preferably, an alarm is fixedly installed on the right side of the support frame.

Preferably, a first fixing block is fixedly connected to the left side of the upper end of the support frame, a second fixing block is fixedly connected to the right side of the upper end of the support frame, and a screw is fixedly connected to the left end of the first fixing block and the second fixing block. A nut is installed at the other end of the screw, a fixed frame is fixedly installed at the lower end of the touch screen panel, and the nut is rotatably connected to the lower end of the fixed frame.

Preferably, a rotation shaft is rotatably connected in the rotation roller, the rotation roller is rotatably connected to the fixed rod through the rotation shaft, a transmission belt is provided at the right end of the side of the rotation roller, and the rotation roller is connected to the second servo motor output shaft through the transmission belt Turn the connection.

Beneficial effect

1. According to the present invention, a first magnetic navigation sensor and a second magnetic navigation sensor are respectively installed at the left and right ends of the box body, a first servo motor, a motor, and a single-chip microcomputer are installed inside the box body, and ultrasonic sensors are installed at the left and right ends of the support plate. It solves the technical problem that robot tracking is generally inaccurate in robot handling in the prior art, and it can not avoid the items generated on the robot's walking route in an unexpected situation, which is inconvenient for changing the robot's walking route, and improves the material. The ability of the tracking robot to accurately track can avoid the obstacles on the robot's walking route in a sudden situation, and can also bypass the obstacle's rapid return to the previously set walking route, which is convenient for changing the walking route of the robot's transportation.

2. By setting the touch screen panel, when the industrial production material handling robot is used, the materials handled by the industrial production material handling robot can be recorded, which effectively solves the technical problem of blind handling of materials by the material robot. Personnel keep records to ensure that they understand the amount of material flowing.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

2 is a schematic diagram of an internal structure of a cabinet according to an embodiment of the present invention;

3 is a schematic structural diagram of a support frame according to an embodiment of the present invention;

4 is a schematic diagram of a connection between a rotating roller and a second servo motor according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a circuit structure according to an embodiment of the present invention.

In the picture: 1. Box; 2. Control box; 3. First collision switch; 4. First magnetic navigation sensor; 5. Second collision switch; 6. Second magnetic navigation sensor; 7. Steering wheel; 8. Moving wheel; 9, first servo motor; 10, motor; 11, single-chip computer; 12, support plate; 13, emergency switch; 14, ultrasonic sensor; 15, support frame; 16, first fixed block; 17, second fixed Block; 18; screw; 19; nut; 20; fixed frame; 21; touch screen panel; 22; alarm; 23; support leg; 24; second servo motor; 25; fixed lever; 26; rotating roller; 27, Rotating shaft; 28, transmission belt; 29, item conveying frame.

Embodiments of the invention

In order to improve the ability of the material handling robot to accurately track, the obstacles generated on the robot's walking route in a sudden situation can be avoided in time, or the previously set walking route can be bypassed to quickly return to the obstacle. Embodiments of the present invention A material handling robot for industrial production is provided. In the following, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Example 1

Please refer to FIGS. 1-5. This embodiment provides a material handling robot for industrial production, which includes a box 1 with a control box 2 fixedly installed on the front end of the box 1 and a first impact switch 3 fixedly connected to the left end of the box 1. A first magnetic navigation sensor 4 is fixedly installed on the lower end surface of the first collision switch 3, a second collision switch 5 is fixedly connected to the right end of the box 1, a second magnetic navigation sensor 6 is fixedly installed on the lower end of the second collision switch 5, and the box 1 A steering wheel 7 is rotatably connected to the left side of the lower end, and a moving wheel 8 is rotatably connected to the lower right side of the box 1. The box 1 is equipped with a first servo motor 9, a motor 10 and a single-chip microcomputer 11. The output shaft of the first servo motor 9 and the steering The wheel 7 is fixedly connected, and the motor 10 is rotatably connected to the moving wheel 8 through a gear plate. The upper end of the box 1 is fixedly connected with a support plate 12. Ultrasonic sensors 14 are installed at the left and right ends of the support plate 12. A support frame 15 is equipped with a touch screen panel 21, two support legs 23 are fixedly mounted on the right side of the upper end of the support plate 12, a second servo motor 24 is fixedly mounted between the two support legs 23, and the upper end of the support leg 23 is fixed Connected with Of bar 25, rotated between two fixed rod 25 is connected with a plurality of rotatable rollers 26, the roller 26 rotates article transport box 29 is placed.

In this embodiment, the worker places the material in the article conveying frame 29, and then uses the touch screen panel 21 to record the quantity of the material, and the walking path is set by induction through the first magnetic navigation sensor 4, and then the first magnetic navigation sensor 4 will The signal is transmitted to the single-chip microcomputer 11, in which the type of the single-chip microcomputer 11 is STC12C2051. The single-chip microcomputer 11 controls the motor 10 to rotate, so that the motor 10 drives the moving wheel 8 to rotate, so that the carrying robot moves. If an obstacle appears on the set walking route, Detection is performed by an ultrasonic sensor 14, wherein the ultrasonic sensor 14 is US40-16CT / R, and then the signal is transmitted to the single-chip microcomputer 11, and then the single-chip microcomputer 11 controls the first servo motor 9 to rotate, thereby causing the handling robot to turn and avoid obstacles. The purpose of the object is to cross the obstacle and then return to the set walking route. If the handling robot fails and crashes randomly, the operating procedure of the forced closing of the handling robot is avoided by hitting the first collision switch 3 or the second collision switch 5 to avoid Cause a series of dangers and losses, move the material to the designated After the production line position, the single-chip microcomputer 11 controls the second servo motor 24 to rotate. The first servo motor 9 and the second servo motor 24 are model SC34.0100, and then the second servo motor 24 drives the rotating roller 26 to rotate through the transmission belt 28. The number of rotating rollers 26 is set to six to eight, which is convenient for use, thereby moving the article conveying frame 29 to the production line, and then returning to the original road according to the set walking route through the second magnetic navigation sensor 6, wherein the first magnetic navigation The sensor 4 and the second magnetic navigation sensor 6 are JH-16, which improves the ability of the material handling robot to track accurately.

Example 2

Please refer to FIGS. 1-5, which is further improved on the basis of Embodiment 1. The control box 2 is provided with a control of a first magnetic navigation sensor 4, a second magnetic navigation sensor 6, a first servo motor 9, a motor 10, and an ultrasonic wave. The switches of the sensor 14 and the second servo motor 24 are convenient for control. An emergency switch 13 is fixedly installed on the side of the support plate 12 to ensure that in some unexpected situations, the handling robot can be terminated in time to improve the use experience of the handling robot. An alarm device 22 is fixedly installed on the right side of the support frame 15 and transmits a signal to the alarm device 22 when the single-chip microcomputer 11 is not working normally. The type of the alarm device 22 is BJ-11 for callers to perform maintenance. The support frame 15 A first fixing block 16 is fixedly connected on the left side of the upper end, and a second fixing block 17 is fixedly connected on the right side of the upper end of the support frame 15. The left end of the first fixing block 16 and the second fixing block 17 is fixedly connected with a screw 18, and the other end of the screw 18 A nut 19 is installed, and a fixed frame 20 is fixedly installed at the lower end of the touch screen panel 21, and the nut 19 is rotatably connected to the lower end of the fixed frame 20. The nut 19 is detached from the nut by manually turning the nut 19 18, the touch screen panel 21 so as to pick up, and then the number and frequency statistics facilitates logistics and transport, to facilitate the machining, the increase or decrease transit times.

Among them, a rotating shaft 27 is rotatably connected to the rotating roller 26. The rotating roller 26 is rotatably connected to the fixing rod 25 through the rotating shaft 27. A driving belt 28 is provided at the right end of the side of the rotating roller 26. The rotating roller 26 is output through the driving belt 28 and the second servo motor 24 The shaft is rotationally connected, and the second servo motor 24 drives the rotating roller 26 to rotate through the transmission belt 28, and then it is convenient to unload the material.

In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "vertical", "upper", "downward", and "horizontal" are based on the orientations or positional relationships shown in the drawings, only for the purpose of It is convenient to describe the present invention and simplify the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, "first" and "second" are used for descriptive purposes only and cannot be interpreted as indicating or implying relative importance.

In the description of the present invention, it should also be noted that the terms "setting", "installation", "connected", and "connected" should be understood in a broad sense, unless it is otherwise explicitly specified and limited, for example, it may be a fixed connection, or It can be a detachable connection or an integral connection, it can be a mechanical connection, it can be an electrical connection, it can be a direct connection, or it can be connected through an intermediate medium, it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and replacements of these embodiments can be made without departing from the principle and spirit of the present invention. And variations, the scope of the invention is defined by the appended claims and their equivalents.

Claims

A material handling robot for industrial production includes a box body (1), which is characterized in that a control box (2) is fixedly installed on a front end surface of the box body (1), and a first end is fixedly connected to a first end of the box body (1). A collision switch (3), a first magnetic navigation sensor (4) is fixedly installed on the lower end surface of the first collision switch (3), and a second collision switch (5) is fixedly connected to the right end of the box (1). A second magnetic navigation sensor (6) is fixedly installed at the lower end of the second collision switch (5), a steering wheel (7) is rotatably connected to the left side of the lower end of the box (1), and a right side of the lower end of the box (1) A moving wheel (8) is rotatably connected, a first servo motor (9), a motor (10), and a single-chip microcomputer (11) are installed inside the box (1), and the output shaft and steering of the first servo motor (9) The wheel (7) is fixedly connected, and the motor (10) is rotatably connected to the moving wheel (8) through a gear plate. The upper end of the box (1) is fixedly connected with a support plate (12), and the support plate (12) is left and right. Ultrasonic sensors (14) are installed at both ends, and the upper end of the support plate (12) is left A support frame (15) is fixedly connected, a touch screen panel (21) is installed on the support frame (15), and two support legs (23) are fixedly installed on the right side of the upper end of the support plate (12). A second servo motor (24) is fixedly installed between the support legs (23). A fixed rod (25) is fixedly connected to the upper end of the support leg (23), and a plurality of rotational connections are connected between the two fixed rods (25). Rotating rollers (26), the rotating rollers (26) are provided with an article transport frame (29).
The material handling robot for industrial production according to claim 1, characterized in that: the control box (2) is provided with a control of a first magnetic navigation sensor (4), a second magnetic navigation sensor (6), a first A switch for the servo motor (9), the motor (10), the ultrasonic sensor (14) and the second servo motor (24).
The material handling robot for industrial production according to claim 1, characterized in that: an emergency switch (13) is fixedly installed on the side of the support plate (12).
The material handling robot for industrial production according to claim 1, wherein an alarm (22) is fixedly installed on the right side of the support frame (15).
The material handling robot for industrial production according to claim 1, characterized in that: a first fixing block (16) is fixedly connected to the left side of the upper end of the support frame (15), and an upper end of the support frame (15) is right A second fixing block (17) is fixedly connected to the side, a screw (18) is fixedly connected to the left end of the first fixing block (16) and the second fixing block (17), and a screw is installed at the other end of the screw (18) A cap (19), the lower end of the touch screen panel (21) is fixed with a fixed frame (20), and the nut (19) is rotatably connected with the lower end of the fixed frame (20).
The material handling robot for industrial production according to claim 1, characterized in that: a rotating shaft (27) is rotatably connected in the rotating roller (26), and the rotating roller (26) passes through the rotating shaft (27) It is rotatably connected with a fixed rod (25). A transmission belt (28) is provided at the right end of the side of the rotation roller (26), and the rotation roller (26) is rotatably connected to the output shaft of the second servo motor (24) through the transmission belt (28).