WO2024017268A1

WO2024017268A1 - Robot

Info

Publication number: WO2024017268A1
Application number: PCT/CN2023/108003
Authority: WO
Inventors: 游辉; 谢磊
Original assignee: 深圳市海柔创新科技有限公司
Priority date: 2022-07-20
Filing date: 2023-07-18
Publication date: 2024-01-25
Also published as: CN217917601U

Abstract

A robot, relating to the technical field of machine monitoring. The robot comprises: a hub (1); a driving device (2), the driving device (2) being capable of driving the hub (1) to move; and a monitoring device, the monitoring device comprising a proximity switch (3) and an encoder (4), wherein the proximity switch (3) and the encoder (4) can simultaneously monitor the moving speed of the hub (1). The proximity switch (3) and the ordinary encoder (4) are used in a redundant design, and simultaneously monitor the moving speed of the hub, so as to make the failure rate of a speed monitoring system of the robot meet a certification requirement. The proximity switch (3) and the ordinary encoder (4) are combined to replace a safety encoder used in the prior art and realize a safe speed monitoring function, thus greatly reducing the cost. In addition, using the combination of the proximity switch and the ordinary encoder can lower the size requirements of the driving device.

Description

robot

This application claims priority to the Chinese patent application filed with the China Patent Office on July 20, 2022, with application number 202221884184.9 and the application name "Robot", the entire content of which is incorporated into this application by reference.

Technical field

This application relates to the field of machine monitoring technology, and in particular to a robot.

Background technique

AGV (Automated Guided Vehicle) is an unmanned vehicle equipped with electromagnetic, optical or visual automatic navigation devices that can identify trajectory paths and marking positions, operate autonomously according to a preset path, and complete transportation operations. Driving automated transportation equipment.

AGV belongs to the category of wheeled mobile robots. Compared with other commonly used equipment for material transportation, AGV has the advantages of low cost, high work efficiency, simple structure, strong controllability, and good safety. Moreover, the path laying of AGV is highly flexible and is not restricted by sites and roads. Therefore, in automated logistics systems, AGV is an important automated and flexible production equipment.

AGVCE certification requires reliable monitoring of the robot's moving speed and imposes stricter failure rate requirements on the speed monitoring system. At present, machine integrators mostly use safety encoders as the speed input of speed monitoring systems to achieve the system failure rate required by certification. However, the technical threshold of safety encoders is high and the cost remains high, which is not conducive to reducing the cost of the entire machine.

Application content

This application provides a robot, aiming to reduce the cost of monitoring the moving speed of the robot.

This application provides a robot, which includes:

wheel hub;

A driving device capable of driving the movement of the wheel hub;

A monitoring device includes a proximity switch and an encoder, and the proximity switch and the encoder can simultaneously monitor the moving speed of the wheel hub.

In a possible design, the proximity switch includes a sensing component and a switch body, and the sensing component is installed on the hub to be able to rotate with the hub;

The switch body is installed on the driving device. During the rotation of the sensing component, the switch body can detect the approach and distance of the sensing component to obtain the moving speed of the hub.

In one possible design, the sensing component is installed on a side of the wheel hub close to the driving device;

The driving device is provided with a housing, and the switch body is installed on the housing. During the rotation of the hub, the sensing component and the switch body can meet at the same height.

In a possible design, the robot further includes a bracket, and the switch body is installed on the housing through the bracket.

In a possible design, multiple sensing components are provided, and the plurality of sensing components are evenly distributed along the circumferential direction of the hub.

In a possible design, the driving device includes a drive shaft, and the drive shaft is connected to the wheel hub;

The encoder is installed on the drive shaft, and the encoder can measure the rotation speed of the drive shaft to obtain the moving speed of the hub.

In a possible design, the driving device further includes a reducer connecting the drive shaft and the wheel hub.

In one possible design, the encoder is provided at an end of the drive shaft away from the hub;

The driving device is provided with a housing, and the encoder is installed in the housing.

In a possible design, the encoder is a motor encoder.

It should be understood that the above general description and the following detailed description are only exemplary and do not limit the present application.

Description of drawings

Figure 1 is a schematic structural diagram of part of the structure of the robot provided by the present application in a specific embodiment;

Figure 2 is a cross-sectional view of Figure 1;

Figure 3 is a schematic structural diagram of the proximity switch provided in this application for monitoring the wheel hub rotation speed.

Reference signs:
1-wheel hub;
2-Driving device;
21-Drive shaft;
22-shell;
3-Proximity switch;
31-Induction components;
32-switch body;
4-encoder;
5-Bracket.

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

Detailed ways

In order to better understand the technical solution of the present application, the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

It should be clear that the described embodiments are only some of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of this application.

The terminology used in the embodiments of the present application is only for the purpose of describing specific embodiments and is not intended to limit the present application. As used in the embodiments and the appended claims, the singular forms "a," "the" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise.

It should be understood that the term "and/or" used in this article is only an association relationship describing related objects, indicating that there can be three relationships, for example, A and/or B, which can mean: A alone exists, and A and A exist simultaneously. B, there are three situations of B alone. In addition, the character "/" in this article generally indicates that the related objects are an "or" relationship.

It should be noted that the directional words such as "upper", "lower", "left" and "right" described in the embodiments of this application are described from the perspective shown in the drawings and should not be understood as limiting the implementation of this application. Example limitations. Additionally, it should be understood in this context that when an element is referred to as being connected "on" or "under" another element, it can not only be directly connected "on" or "under" the other element, but also can be directly connected "on" or "under" the other element. Indirectly connected "on" or "below" another element through an intermediate element.

This embodiment provides a robot that is used for automatic handling of materials or specific tasks in many different industrial environments. As shown in Figure 1, the robot includes a wheel hub 1, a driving device 2, a monitoring device and a controller. The driving device 2 and the monitoring device are both electrically connected to the controller. The driving device 2 is disposed on one side of the wheel hub 1 and is connected to the wheel hub 1, so that the driving device 2 can drive the wheel hub 1 to move under the driving of the controller. The monitoring device is installed on the driving device 2. The monitoring device includes a proximity switch 3 and an encoder 4. The proximity switch 3 and the encoder 4 can simultaneously monitor the moving speed of the wheel hub 1, so that the controller can control the driving device 2 based on the moving speed fed back by the monitoring device. The driving speed of the wheel hub 1 is controlled to prevent unexpected speed output, thereby avoiding accidents such as loss of control and collision of the robot, and improving the safety and reliability of robot movement.

In this embodiment, the encoder 4 adopts an ordinary encoder, and the proximity switch 3 and the ordinary encoder are used for redundant design. The moving speed of the hub 1 is monitored at the same time, and the controller monitors the speed input of the proximity switch 3 and the ordinary encoder at the same time, so that The failure rate of the robot's speed monitoring system meets certification requirements. In this embodiment, the proximity switch 3 is combined with an ordinary encoder to replace the safety encoder 4 used in the prior art to realize the safe speed monitoring function, thereby greatly reducing the cost. Secondly, the size of the safety encoder 4 is large, so the size of the driving device 2 is also correspondingly large. In this embodiment, the combination of the proximity switch 3 and an ordinary encoder can reduce the size requirements of the driving device 2.

Among them, the encoder 4 can be a motor encoder. Motor encoders come in many types, large Categories include optical braiding and magnetic braiding. The optical encoder is far away from the light emitting diode on one side and illuminates a circular code disk that can be arranged by a grating (transparent and opaque areas). The photoreceptor at the other end obtains the rotation speed of the circular code disk by sensing changes in light and dark. This type of motor encoder can be specifically used in this embodiment.

Specifically, as shown in Figures 1 and 2, the driving device 2 is a motor. The driving device 2 includes a driving shaft 21. The driving shaft 21 is connected to the wheel hub 1. The driving device 2 drives the wheel hub 1 to rotate by controlling the rotation of the driving shaft 21. The encoder 4 is installed on the drive shaft 21 , and the rotation speed of the circular code disk is equal to the rotation speed of the drive shaft 21 , so that the encoder 4 can measure the rotation speed of the drive shaft 21 to obtain the moving speed of the hub 1 .

The encoder 4 and the drive shaft 21 can be locked and fixed with screws, or they can be driven by a belt to achieve simultaneous rotation. This embodiment does not specifically limit the connection method between the encoder 4 and the drive shaft 21 .

In a possible design, the driving device 2 may also include a reducer. The reducer connects the drive shaft 21 and the hub 1 to reduce the original speed exerted by the drive device 2 on the hub 1. The reducer makes the rotation speed of the drive shaft 21 equal to that of the wheel hub 1. The rotation speed of the hub 1 is in a proportional relationship, and this proportional relationship can be determined by the reduction ratio of the reducer. Therefore, the rotation speed of the hub 1 can be determined by monitoring the rotation speed of the drive shaft 21, and the speed of the hub 1 can be monitored.

In order to simplify the matching structure of the drive shaft 21 and the hub 1, the encoder 4 is provided at the end of the drive shaft 21 away from the hub 1. The drive device 2 is provided with a housing 22. The encoder 4 is installed in the housing 22 and is connected to the hub 1 through the housing 22. The encoder 4 is covered to reduce the risk of the encoder 4 being directly impacted and dust entering.

Further, as shown in Figures 1 and 3, the proximity switch 3 includes a sensing component 31 and a switch body 32. The sensing component 31 can be installed on the hub 1 through screws to be able to rotate with the hub 1; the switch body 32 is installed on the driving device 2. , during the rotation of the hub 1, the switch body 32 can detect the approach and distance of the sensing component 31, obtain the moving speed of the hub 1, and convert the moving speed of the hub 1 into a digital electrical signal and transmit it to the controller.

There are a plurality of induction components 31 , and the plurality of induction components 31 are evenly distributed along the circumferential direction of the hub 1 . During the rotation of the hub 1, the switch body 32 obtains the moving speed of the hub 1 by measuring the approach and distance of multiple sensing components 31 to ensure that accurate movement data is obtained.

As shown in Figures 1 and 3, the sensing component 31 is installed on the side of the hub 1 close to the driving device 2. The robot also includes a bracket 5. The switch body 32 is installed on the housing 22 through the bracket 5, so that during the rotation of the hub 1 , the sensing component 31 and the switch body 32 can meet at the same height.

The above descriptions are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included in the protection scope of this application.

Claims

A robot, characterized in that the robot includes:

hub(1);

Driving device (2), the driving device (2) can drive the wheel hub (1) to move;

A monitoring device includes a proximity switch (3) and an encoder (4). The proximity switch (3) and the encoder (4) can simultaneously monitor the moving speed of the hub (1).
The robot according to claim 1, characterized in that the proximity switch (3) includes a sensing component (31) and a switch body (32), and the sensing component (31) is installed on the hub (1) to Able to rotate with the hub (1);

The switch body (32) is installed on the driving device (2). During the rotation of the sensing component (31), the switch body (32) can detect the approach and proximity of the sensing component (31). away to obtain the moving speed of the hub (1).
The robot according to claim 2, characterized in that the sensing component (31) is installed on the side of the hub (1) close to the driving device (2);

The driving device (2) is provided with a housing (22), and the switch body (32) is installed in the housing (22). During the rotation of the hub (1), the sensing component (31) ) and the switch body (32) can meet at the same height.
The robot according to claim 3, characterized in that the robot further includes a bracket (5), and the switch body (32) is installed on the housing (22) through the bracket (5).
The robot according to claim 2, characterized in that multiple sensing components (31) are provided, and the plurality of sensing components (31) are evenly distributed along the circumferential direction of the hub (1).
The robot according to claim 1, characterized in that the driving device (2) includes a driving shaft (21), and the driving shaft (21) is connected to the hub (1);

The encoder (4) is installed on the drive shaft (21), and the encoder (4) can measure the rotation speed of the drive shaft (21) to obtain the moving speed of the hub (1).
The robot according to claim 6, characterized in that the driving device (2) further includes a reducer, and the reducer connects the drive shaft (21) and the hub (1).
The robot according to claim 6, characterized in that the encoder (4) is provided at an end of the drive shaft (21) away from the hub (1);

The driving device (2) is provided with a housing (22), and the encoder (4) is installed in the housing (22).
The robot according to any one of claims 1 to 8, characterized in that the encoder (4) is a motor encoder.