CN205766102U - There is the cooperation robot of region locomotivity - Google Patents
There is the cooperation robot of region locomotivity Download PDFInfo
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- CN205766102U CN205766102U CN201620508399.9U CN201620508399U CN205766102U CN 205766102 U CN205766102 U CN 205766102U CN 201620508399 U CN201620508399 U CN 201620508399U CN 205766102 U CN205766102 U CN 205766102U
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Abstract
The utility model discloses the cooperation robot with region locomotivity, region is moved and is provided with battery in dolly and carries out the power inverter of power inverter；Mounting industrial camera on the paw of robot arm；The DC source that battery exports is reverse into alternating current power supply and transmits to robot control cabinet by power inverter；Solve dolly by battery and power inverter in running, need to provide the problem of alternating current required for continuous direct current and robot motion；By optical target sounding device, the travel route of dolly is guided, it is to avoid staff is brought the hidden danger of personal safety in the case of unmanned by dolly；The use of cooperation robot, eliminates the threat to personnel's injury in robot kinematics, it is ensured that the safety of operating personnel；Treat finally by industrial camera and capture taking pictures of object, calculate the deviation value of the object to be captured after picking up and its home position, improve dolly and relocate the precision of grasp handling.
Description
Technical field
This utility model relates to the technical field of robot device, in particular for having region locomotivity
Cooperation robot.
Background technology
The mobile operation of robot at present can only rely on walking guide rail to move linearly, and walking axis rail is by machine
Device people's controller centralized Control, it is impossible to depart from the constraint of cable, therefore can not realize the most mobile,
The most guide tracked movement can only be moved in the straight direction, it is impossible to makees the movement in region.
Industrial robot is due to secure context simultaneously, needs to arrange the safeguard procedures such as safe fence,
Can only one close safe space in operation, therefore can not be arranged on the mobile trolley platform in region
On in a unlimited space run.
It addition, dolly is moved after movement in region, the positioning precision relocated typically can only arrive Centimeter Level,
The carrying grabbing requirement of robot cannot be met.
Utility model content
In order to solve the moving range of existing robot and be restricted, dolly is moved at driving process in region
In the safety brought, region move dolly and carry out after movement relocating the problem that precision is low, this practicality is new
Type provides the cooperation robot with region locomotivity.
For reaching above-mentioned purpose, this utility model provides a kind of cooperation robot with region locomotivity,
Including,
Dolly is moved in region, and described region is moved and is provided with battery in dolly and carries out the electricity of power inverter
Source inventer, described battery is connected with described power inverter；
Robot control cabinet, described robot control cabinet is installed on described region and moves car top, and position
In described power inverter front, described robot control cabinet and described power inverter UNICOM, described electricity
The DC source that described battery exports is reverse into alternating current power supply and transmits to the control of described robot by source inventer
Cabinet processed, it is characterised in that also include,
Robot arm, described robot arm is installed on described region and moves on the platform of car top,
Mounting industrial camera on the paw of described robot arm, described industrial camera is used for treating crawl object and enters
Row shooting, and image transmitting to background controller is carried out image procossing.
The above-mentioned cooperation robot with region locomotivity, wherein, described robot control cabinet and backstage
Controller communication connects, and described background controller controls described robot control cabinet to described robot arm
Operate.
The above-mentioned cooperation robot with region locomotivity, wherein, described battery is installed on described region
The battery of mobile dolly is installed in storehouse.
The above-mentioned cooperation robot with region locomotivity, wherein, described region is also pacified in moving dolly
Being loaded on optical target sounding device, described optical target sounding device is connected with described background controller communication.
The above-mentioned cooperation robot with region locomotivity, wherein, the driving of dolly is moved in described region
Structure is in-wheel driving structure.
The above-mentioned cooperation robot with region locomotivity, wherein, described robot arm is also installed
Several force transducers, some described force transducers is had all to be connected with background controller communication.
The beneficial effects of the utility model are:
Region of the present utility model is moved dolly and is solved dolly in operation by battery and power inverter
During need to provide the problem of alternating current required for continuous direct current and robot motion.Pass through light simultaneously
Learn homing guidance device the travel route of dolly is guided, it is to avoid dolly is in unpiloted situation
Under staff brought the hidden danger of personal safety.Treat finally by industrial camera and capture taking pictures of object,
Calculate the deviation value of the object to be captured after picking up and its home position so that dolly relocates crawl and removes
The precision of fortune is significantly improved.
Accompanying drawing explanation
With embodiment, this utility model is further illustrated below in conjunction with the accompanying drawings:
Fig. 1 is the structural representation of the cooperation robot in the present embodiment with region locomotivity；
Fig. 2 is the circuit relationships schematic diagram of the cooperation robot in the present embodiment with region locomotivity.
Detailed description of the invention:
The utility model is described in further detail with specific embodiment below in conjunction with the accompanying drawings, but not as this reality
With novel restriction.
Embodiment
Refer to shown in Fig. 1 and Fig. 2, it is shown that a kind of preferred embodiment there is region locomotivity
Cooperation robot, wherein, including:
Dolly 1 is moved in region, and region is moved and is provided with battery 2 in dolly 1 and carries out power inverter
Power inverter 3, battery 2 is connected with power inverter 3；
Robot control cabinet 7, robot control cabinet 7 is installed on region and moves dolly 1 top, and is positioned at
Power inverter 3 front, robot control cabinet 7 and power inverter 3 UNICOM, power inverter 3 will
The DC source of battery 2 output is reverse into alternating current power supply and transmits to robot control cabinet 7.
Also including a robot arm 4, robot arm 4 is installed on region and moves dolly 1 top
On platform, mounting industrial camera 6 on the paw 5 of robot arm 4, industrial camera 6 is used for treating grabs
Take object (not shown) to shoot, and image transmitting to background controller is carried out image procossing；
In the present embodiment, industrial camera 6 is treated crawl object and is taken pictures, and calculates object to be captured
And the deviation between its home position, must deviate value, and carries out deviation value complement by robot arm 4
Repay, make robot arm 4 in the follow-up relative position consistency captured in time capturing object.
This utility model the most also has implementation below, continuing with seeing Fig. 1 and Fig. 2
Shown in,
The above-mentioned cooperation robot with region locomotivity, wherein, robot control cabinet 7 is controlled with backstage
Device 10 communication processed connects, and background controller 10 controls robot control cabinet 7 and carries out robot arm 4
Operation.
The above-mentioned cooperation robot with region locomotivity, wherein, battery 2 is installed on region and moves little
The battery of car 1 is installed in storehouse 8.
The above-mentioned cooperation robot with region locomotivity, wherein, region is also installed in moving dolly 1
In optical target sounding device 11, optical target sounding device 11 is connected with background controller 10 communication,
Background controller 10 controls optics homing device 11 and travels by the guide path of regulation.
The above-mentioned cooperation robot with region locomotivity, wherein, the driving knot of dolly 1 is moved in region
Structure is in-wheel driving structure, and region is moved has wheel 9 bottom dolly 1.
The above-mentioned cooperation robot with region locomotivity, wherein, robot arm 4 is also equipped with
Several force transducer (not shown), some force transducers are all connected with background controller communication.
User can according to following description further insight characteristic of the present utility model and function,
In the present embodiment, also include the method for work of a kind of cooperation robot with region locomotivity,
Wherein, method of work is as follows:
Background controller 10 control area is moved dolly 1 and is walked at object to be captured, robot control cabinet 7
Control robot arm 4 is treated crawl object and is captured, and before crawl, industrial camera 6 treats crawl thing
Body is taken pictures, and after crawl, industrial camera 6 is treated crawl object and taken pictures again, and will shooting
Photo in image content be analyzed, draw the deviation between object to be captured and its home position,
Must be deviated value, and carried out deviation value complement repaid by robot arm 4, makes robot arm 4 follow-up
Capture the relative position consistency in time capturing object；Finally, object to be captured is moved by robot arm 4
To presetting placement location；When robot arm meets staff in the course of the work, force transducer connects
Receiving touching signal, robot control cabinet controls robot arm immediately and quits work, it is ensured that staff
Personal safety.
Explain in detail as follows continuing with seeing, further appreciate that the present embodiment has region locomotivity
The method of work of cooperation robot,
Moving dolly 1 with region as mobile platform, the robot arm 4 that cooperated by safety is installed on movement
On dolly 1 platform, move dolly battery 2 by the chargeable region of Large Copacity and be connected to power inverter
On 3, the DC source that 2 groups of battery exports is reverse into alternating current power supply by power inverter 3, thus adapts to
The AC-powered requirement of robot control cabinet 7.Vision positioning system (industrial camera 6) is installed on machine
In device human arm 4, after dolly stops at target job position, robot arm 4 carries visual system
Move to, above target (object to be captured) job position, job position be carried out vision localization.
Region has electricity and magnetically or optically waits in homing guidance device, preferably the present embodiment in moving dolly 1
For optical target sounding device 11, it is possible to the guide path along regulation travels, there is safeguard protection and each
Plant the transport vehicle of transfer function, commercial Application is not required to the mover of driver, with chargeable accumulator
For its power resources.Typically can pass through computer (background controller 10) and control its course and row
For, or electromagnetic path can be utilized in another embodiment to set up its course, electromagnetic path sticks
On patch what floor, the message that automatic guided vehicle then follows electromagnetic path to be brought moves and action.
Region is moved dolly 1 and is characterized with wheel type mobile, has wheel 9 bottom dolly, than walking,
Creep or other non-wheeled mobile robot has that action is quick, work efficiency height, simple in construction, can
The advantages such as control property is strong, safety is good.Compared with other equipment conventional in carrying with material, region is moved little
The zone of action of car is without laying the fixing device such as track, support saddle frame, not by place, road and space
Limit.Therefore, in automatic Material Handling System, its automaticity and flexibility can be embodied fully, it is achieved
Efficiently, economy, flexibly manless production.
Region Mobile trolley control system is divided into ground control system (background controller 10), vehicle-mounted control
System (robot control cabinet 7) and navigation/guidance system (optical target sounding device 11), wherein,
Ground control system refers to that the fixing equipment of cart system is moved in region, and main task of being responsible for is distributed, and vehicle is adjusted
Degree, the functions such as path (line) manages, traffic administration, automatic charging；Vehicle control syetem is on receiving
After the instruction of position system, responsible region is moved the navigation of dolly and is calculated, and guides and realizes, vehicle to run, dress
Unload the functions such as operation；Navigation/guidance system moves dolly unit for region provides system absolute or relative position
And course.
In sum, this utility model aims to solve the problem that needs robot in Nei Bu fixed position, a region
Mobile shop problem.Cooperating robot is installed on region and moves on trolley platform, moved by region
Robot is moved to target job position by dolly, and cooperating robot uses visual system to operative goals
Carrying out location of taking pictures, thus realize the flexible location to manipulating object, robot is transported to next after capturing
Individual target location.
Owing to using the region without cable constraint to move trolley platform, it is achieved that robot is in certain area
Flexible mobile, cooperating robot can ensure will not be to people in the working environment protected without security protection
Body produces safely threat, and visual system can ensure to move, in region, the precision problem relocated after dolly moves,
Thus build a region and move flexible cooperation robot manipulating task platform.
It should be noted that the cooperating robot in the present embodiment can with people's work compound, with people it
Between need not arrange safe fence or other safety measure, people is not had the robot of security threat.Cooperation
On the robot arm of humanoid robot, force transducer is installed, after touching people, can be by power sensing
System induces the interference receiving external force, and robot controller can automatically control machine people's stop motion, from
And avoid people is produced injury.
Crawled object, for utilizing industrial camera 6, is taken pictures by the operation principle of robotic vision system,
By the image objects content photographed is analyzed, draw the deviation between home position, by deviation
After value passes to robot, robot can compensate for this deviation, when capturing just with original capture time phase
To position consistency thus ensure that and capture accurately.
The foregoing is only this utility model preferred embodiment, not thereby limit reality of the present utility model
Execute mode and protection domain, to those skilled in the art, it should can appreciate that all this realities of utilization
With the side obtained by the equivalent done by novel description and diagramatic content and obvious change
Press, all should be included in protection domain of the present utility model.
Claims (6)
1. a cooperation robot with region locomotivity, it is characterised in that include,
Dolly is moved in region, and described region is moved and is provided with battery in dolly and carries out the electricity of power inverter
Source inventer, described battery is connected with described power inverter；
Robot control cabinet, described robot control cabinet is installed on described region and moves car top, and position
In described power inverter front, described robot control cabinet and described power inverter UNICOM, described electricity
The DC source that described battery exports is reverse into alternating current power supply and transmits to the control of described robot by source inventer
Cabinet processed, it is characterised in that also include,
Robot arm, described robot arm is installed on described region and moves on the platform of car top,
Mounting industrial camera on the paw of described robot arm, described industrial camera is used for treating crawl object and enters
Row shooting, and image transmitting to background controller is carried out image procossing.
The cooperation robot with region locomotivity the most according to claim 1, it is characterised in that
Described robot control cabinet is connected with background controller communication, and described background controller controls described robot
Described robot arm is operated by switch board.
The cooperation robot with region locomotivity the most according to claim 1, it is characterised in that
Described battery is installed in the battery installation storehouse that dolly is moved in described region.
The cooperation robot with region locomotivity the most according to claim 1, it is characterised in that
Described region is also installed on optical target sounding device in moving dolly, described optical target sounding device with
Described background controller communication connects.
The cooperation robot with region locomotivity the most according to claim 1, it is characterised in that
It is in-wheel driving structure that the driving structure of dolly is moved in described region.
The cooperation robot with region locomotivity the most according to claim 1, it is characterised in that
Being also equipped with several force transducers on described robot arm, some described force transducers are all controlled with backstage
Device communication processed connects.
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| CN201620508399.9U CN205766102U (en) | 2016-05-30 | 2016-05-30 | There is the cooperation robot of region locomotivity |
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| CN201620508399.9U CN205766102U (en) | 2016-05-30 | 2016-05-30 | There is the cooperation robot of region locomotivity |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105835029A (en) * | 2016-05-30 | 2016-08-10 | 上海发那科机器人有限公司 | Collaborative robot with area moving capacity and working method of collaborative robot |
| CN107992000A (en) * | 2017-11-13 | 2018-05-04 | 河南森源电气股份有限公司 | A kind of intelligent industrial production method and system for merging autonomous navigation vehicle |
| CN108327815A (en) * | 2018-02-08 | 2018-07-27 | 广西大学 | The unmanned haul carrier of factory of view-based access control model control |
| CN108398924A (en) * | 2017-02-08 | 2018-08-14 | 北京京东尚科信息技术有限公司 | The dispatching method and dispatching device of robot carrier |
| CN112643688A (en) * | 2020-12-08 | 2021-04-13 | 广州赛特智能科技有限公司 | Distribution robot and order dispatching method |
-
2016
- 2016-05-30 CN CN201620508399.9U patent/CN205766102U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105835029A (en) * | 2016-05-30 | 2016-08-10 | 上海发那科机器人有限公司 | Collaborative robot with area moving capacity and working method of collaborative robot |
| CN108398924A (en) * | 2017-02-08 | 2018-08-14 | 北京京东尚科信息技术有限公司 | The dispatching method and dispatching device of robot carrier |
| CN108398924B (en) * | 2017-02-08 | 2020-09-01 | 北京京东乾石科技有限公司 | Scheduling method and scheduling device for robot transport vehicle |
| CN107992000A (en) * | 2017-11-13 | 2018-05-04 | 河南森源电气股份有限公司 | A kind of intelligent industrial production method and system for merging autonomous navigation vehicle |
| CN108327815A (en) * | 2018-02-08 | 2018-07-27 | 广西大学 | The unmanned haul carrier of factory of view-based access control model control |
| CN112643688A (en) * | 2020-12-08 | 2021-04-13 | 广州赛特智能科技有限公司 | Distribution robot and order dispatching method |
| CN112643688B (en) * | 2020-12-08 | 2022-03-08 | 广州赛特智能科技有限公司 | Distribution robot and order dispatching method |
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