阅读说明：本技术 一种生产线机器人智能避障装置 (Intelligent obstacle avoidance device for production line robot ) 是由 孔潇箫 于 2019-10-14 设计创作，主要内容包括：本发明公开了一种生产线机器人智能避障装置,涉及生产器械技术领域。本发明包括底座,底座一表面转动连接有第一机械臂,第一机械臂一端转动连接有第二机械臂,第二机械臂一端转动连接有第三机械臂,第三机械臂一端转动连接有机械爪,底座一表面固定连接有定位装置,机械爪一侧面固定连接有接收装置,定位装置包括装置外壳,装置外壳一表面与底座固定连接,装置外壳内表面固定连接有固定杆,固定杆一侧面固定连接有X轴固定板,本发明通过定位装置与接收装置之间的相互配合,有利于提高定位装置的识别精度,防止机械臂与障碍物之间产生距离误差导致相撞,具有提高识别精度的优点。(The invention discloses an intelligent obstacle avoidance device for a robot in a production line, and relates to the technical field of production instruments. The invention comprises a base, wherein a first mechanical arm is rotationally connected to the surface of the base, a second mechanical arm is rotationally connected to one end of the first mechanical arm, a third mechanical arm is rotationally connected to one end of the second mechanical arm, a mechanical claw is rotationally connected to one end of the third mechanical arm, a positioning device is fixedly connected to the surface of the base, a receiving device is fixedly connected to one side surface of the mechanical claw, the positioning device comprises a device shell, one surface of the device shell is fixedly connected with the base, a fixed rod is fixedly connected to the inner surface of the device shell, and an X-axis fixed plate is fixedly connected to one side surface of the fixed rod.)

1. The utility model provides an obstacle device is kept away to production line robot intelligence, includes base (1), base (1) surface is rotated and is connected with first arm (2), first arm (2) one end is rotated and is connected with second arm (3), second arm (3) one end is rotated and is connected with third arm (4), third arm (4) one end is rotated and is connected with gripper (5), its characterized in that:

one surface of the base (1) is fixedly connected with a positioning device (6), and one side surface of the mechanical claw (5) is fixedly connected with a receiving device (7);

the positioning device (6) comprises a device shell (601), one surface of the device shell (601) is fixedly connected with the base (1), a fixed rod (604) is fixedly connected to the inner surface of the device shell (601), an X-axis fixed plate (605) is fixedly connected to one side surface of the fixed rod (604), an X-axis laser head (606) is fixedly connected to one surface of the X-axis fixed plate (605), a Y-axis fixed plate (608) is fixedly connected to one side surface of the fixed rod (604), and a Y-axis laser head (609) is fixedly connected to one surface of the Y-axis fixed plate (608);

the device shell (601) internal surface fixedly connected with X-axis refracts box (607), device shell (601) internal surface fixedly connected with Y-axis refracts box (610), device shell (601) fixed surface is connected with an X-axis motor (611), device shell (601) internal surface fixedly connected with a Y-axis motor (613).

2. The intelligent obstacle avoidance device of the production line robot as claimed in claim 1, wherein the plane of the X-axis fixing plate (605) is perpendicular to the plane of the Y-axis fixing plate (608), and the axial direction of the X-axis laser head (606) is perpendicular to the axial direction of the Y-axis laser head (609).

3. The intelligent obstacle avoidance device of the production line robot as claimed in claim 1, wherein a plurality of laser lenses (615) are fixedly connected to one surface of the X-axis refraction box (607) and one surface of the Y-axis refraction box (610), one surface of the X-axis refraction box (607) is fixedly connected to the X-axis fixing plate (605), and one surface of the Y-axis refraction box (610) is fixedly connected to the Y-axis fixing plate (608).

4. The intelligent obstacle avoidance device of the production line robot as claimed in claim 1, wherein one end of an output shaft of the X-axis motor (611) is fixedly connected with an X-axis rotating wheel (612), one end of an output shaft of the Y-axis motor (613) is fixedly connected with a Y-axis rotating wheel (614), one side of the X-axis rotating wheel (612) and one side of the Y-axis rotating wheel (614) are respectively fixedly connected with a rotating lens (618), the axes of the X-axis rotating wheel (612) and the Y-axis rotating wheel (614) are respectively fixedly connected with a laser receiving opening (616), and the axes of the laser receiving opening (616) coincide with the X-axis laser head (606) and the Y-axis laser head (609) respectively.

5. The intelligent obstacle avoidance device of the production line robot as claimed in claim 1, wherein a communication device (617) is fixedly connected to an inner surface of the device housing (601), and a timer, a photosensitive sensor and a processing chip are fixedly welded inside the receiving device (7).

6. The intelligent obstacle avoidance device of the production line robot as claimed in claim 1, wherein a Y-axis emission window (602) and an X-axis emission window (603) are respectively formed in one surface of the device housing (601), the Y-axis emission window (602) is located right above a Y-axis refraction box (610), and the X-axis emission window (603) is located right above an X-axis refraction box (607).

Technical Field

The invention relates to the technical field of industrial robots, in particular to an intelligent obstacle avoidance device for a production line robot.

Background

Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The method is mainly applied to the conveying and assembling of the production line, is used for replacing manual operation, and has the characteristics of long working time and low error rate.

The existing mechanical arm obstacle avoidance device usually adopts an ultrasonic radar to identify obstacles, and utilizes a gyroscope as a basis to take obstacle avoidance measures, and because of the outstanding flexibility of the mechanical arm, the three-dimensional coordinate axis of the existing obstacle avoidance device is changed all the time, the moving condition of the mechanical arm cannot be accurately captured, the gyroscope has outstanding motion direction identification performance, but the accuracy of the moving distance of the mechanical arm is poor, so that the accurate distance between the mechanical arm and the obstacles cannot be judged, obstacle avoidance errors and collision of the obstacles easily occur, and in conclusion, the low identification accuracy of the existing obstacle avoidance device is the technical problem which needs to be solved by technical personnel in the field.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the intelligent obstacle avoidance device for the production line robot, and the problem of low identification precision of the existing obstacle avoidance device is solved through the mutual matching of the positioning device and the receiving device.

In order to achieve the purpose, the invention is realized by the following technical scheme: an intelligent obstacle avoidance device of a production line robot comprises a base, wherein one surface of the base is rotatably connected with a first mechanical arm, one end of the first mechanical arm is rotatably connected with a second mechanical arm, one end of the second mechanical arm is rotatably connected with a third mechanical arm, one end of the third mechanical arm is rotatably connected with a mechanical claw, one surface of the base is fixedly connected with a positioning device, and one side surface of the mechanical claw is fixedly connected with a receiving device;

the positioning device comprises a device shell, one surface of the device shell is fixedly connected with the base, a fixed rod is fixedly connected to the inner surface of the device shell, an X-axis fixed plate is fixedly connected to one side surface of the fixed rod, an X-axis laser head is fixedly connected to one surface of the X-axis fixed plate, a Y-axis fixed plate is fixedly connected to one side surface of the fixed rod, and a Y-axis laser head is fixedly connected to one surface of the Y-axis fixed plate;

the device shell internal surface fixedly connected with X axle refracts the box, device shell internal surface fixedly connected with Y axle refracts the box, device shell a fixed surface is connected with an X axle motor, device shell internal surface fixedly connected with a Y axle motor.

Furthermore, the plane of the X-axis fixing plate is perpendicular to the plane of the Y-axis fixing plate, and the axial direction of the X-axis laser head is perpendicular to the axial direction of the Y-axis laser head.

Furthermore, six laser lenses are fixedly connected to the surfaces of the X-axis refraction box and the Y-axis refraction box, one surface of the X-axis refraction box is fixedly connected with the X-axis fixing plate, and one surface of the Y-axis refraction box is fixedly connected with the Y-axis fixing plate.

Further, X axle motor output shaft one end fixedly connected with X axle swiveling wheel, Y axle motor output shaft one end fixedly connected with Y axle swiveling wheel, X axle swiveling wheel and a Y axle swiveling wheel side fixedly connected with rotating mirror piece respectively, X axle swiveling wheel and Y axle swiveling wheel axle center department fixedly connected with laser receiving port respectively, laser receiving port axle direction coincides with X axle laser head and Y axle laser head respectively.

Furthermore, a communication device is fixedly connected to the inner surface of the device shell, and a timer, a photosensitive sensor and a processing chip are fixedly welded in the receiving device.

Furthermore, a Y-axis emission window and an X-axis emission window are respectively arranged on one surface of the device shell, the Y-axis emission window is positioned right above the Y-axis refraction box, and the X-axis emission window is positioned right above the X-axis refraction box.

The invention has the following beneficial effects:

1. this barrier device is kept away to production line robot intelligence, through mutually supporting between positioner and the receiving arrangement, the receiving arrangement calculates the displacement of arm from calculating the time difference of laser, compares the acceleration perception of current gyroscope, and the accuracy is higher, is favorable to improving positioner's recognition accuracy, prevents to produce between arm and the barrier apart from the error and leads to colliding, has the advantage that improves recognition accuracy.

2. This barrier device is kept away to production line robot intelligence through mutually supporting between X axle swiveling wheel and the Y axle swiveling wheel for positioner can alternate emission high frequency laser and scan, also can accurate discernment displacement in the high-speed motion process of arm, improves positioner job stabilization nature, has the advantage of reinforcing discernment stability.

3. This barrier device is kept away to production line robot intelligence through X axle refraction box and the mutual cooperation between the Y axle refraction box for positioner can launch multi-beam laser, avoids single laser identification to make mistakes, has the advantage that improves the discernment correct rate.

Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic view of an installation of an intelligent obstacle avoidance device of a production line robot according to the present invention;

FIG. 2 is a schematic structural diagram of the positioning device;

FIG. 3 is a schematic view of the interior of FIG. 2;

in the drawings, the components represented by the respective reference numerals are listed below:

in the figure: 1-base, 2-first mechanical arm, 3-second mechanical arm, 4-third mechanical arm, 5-mechanical claw, 6-positioning device, 7-receiving device, 601-device shell, 602-Y axis emission window, 603-X axis emission window, 604-fixed rod, 605-X axis fixed plate, 606-X axis laser head, 607-X axis refraction box, 608-Y axis fixed plate, 609-Y axis laser head, 610-Y axis refraction box, 611-X axis motor, 612-X axis rotating wheel, 613-Y axis motor, 614-Y axis rotating wheel, 615-laser lens, 616-laser receiving port, 617-communication device and 618-rotating lens.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, the present invention provides a technical solution: an intelligent obstacle avoidance device of a production line robot comprises a base 1, wherein one surface of the base 1 is rotatably connected with a first mechanical arm 2, one end of the first mechanical arm 2 is rotatably connected with a second mechanical arm 3, one end of the second mechanical arm 3 is rotatably connected with a third mechanical arm 4, one end of the third mechanical arm 4 is rotatably connected with a mechanical claw 5, one surface of the base 1 is fixedly connected with a positioning device 6, and one side surface of the mechanical claw 5 is fixedly connected with a receiving device 7; one end of the positioning device 6 and one end of the receiving device 7 are both connected with direct current through electric wires.

As shown in fig. 2-3, the positioning device 6 includes a device housing 601, one surface of the device housing 601 is fixedly connected to the base 1, the inner surface of the device housing 601 is fixedly connected to a fixing rod 604, one side surface of the fixing rod 604 is fixedly connected to an X-axis fixing plate 605, one surface of the X-axis fixing plate 605 is fixedly connected to an X-axis laser head 606, one side surface of the fixing rod 604 is fixedly connected to a Y-axis fixing plate 608, and one surface of the Y-axis fixing plate 608 is fixedly connected to a Y-axis laser; the X-axis laser head 606 and the Y-axis laser head 609 are both DRM5012-D022 model laser modules.

An X-axis refraction box 607 is fixedly connected to the inner surface of the device housing 601, a Y-axis refraction box 610 is fixedly connected to the inner surface of the device housing 601, an X-axis motor 611 is fixedly connected to one surface of the device housing 601, and a Y-axis motor 613 is fixedly connected to the inner surface of the device housing 601.

The plane of the X-axis fixing plate 605 is perpendicular to the plane of the Y-axis fixing plate 608, and the axial direction of the X-axis laser head 606 is perpendicular to the axial direction of the Y-axis laser head 609.

Six laser lenses 615 are fixedly connected to surfaces of the X-axis refraction box 607 and the Y-axis refraction box 610, a surface of the X-axis refraction box 607 is fixedly connected to the X-axis fixing plate 605, and a surface of the Y-axis refraction box 610 is fixedly connected to the Y-axis fixing plate 608.

One end of an output shaft of the X-axis motor 611 is fixedly connected with an X-axis rotating wheel 612, one end of an output shaft of the Y-axis motor 613 is fixedly connected with a Y-axis rotating wheel 614, one side surfaces of the X-axis rotating wheel 612 and the Y-axis rotating wheel 614 are respectively and fixedly connected with a rotating lens 618, the axial centers of the X-axis rotating wheel 612 and the Y-axis rotating wheel 614 are respectively and fixedly connected with a laser receiving port 616, and the axial direction of the laser receiving port 616 is respectively overlapped with the X-axis laser head 606 and the.

The inner surface of the device shell 601 is fixedly connected with a communication device 617, the communication device is 617M5S-CXUSBE3 and used for carrying out data communication with the receiving device 7, a timer, a photosensitive sensor and a processing chip are fixedly welded in the receiving device 7, the timer is a DS1302Z + T & R model timing chip, the processing chip is a DLPC2607ZVB digital controller, and the photosensitive sensor is HLPT550B 3-H4.

Wherein, a surface of the device housing 601 is respectively provided with a Y-axis emission window 602 and an X-axis emission window 603, the Y-axis emission window 602 is located right above the Y-axis refraction box 610, and the X-axis emission window 603 is located right above the X-axis refraction box 607.

The specific application of this embodiment is: when the first mechanical arm 2, the second mechanical arm 3, the third mechanical arm 4 and the mechanical claw 5 work, the X-axis laser head 606 and the Y-axis laser head respectively emit laser, the laser enters the X-axis rotating wheel 612 and the Y-axis rotating wheel 614 through the laser receiving opening 606, the X-axis motor 611 and the Y-axis motor 613 work to respectively drive the X-axis rotating wheel 612 and the Y-axis rotating wheel 614 to rotate, the laser is refracted through the X-axis rotating wheel 612 and the Y-axis rotating wheel 614 respectively and is emitted from the rotating lens 618, the laser enters the X-axis refraction box 607 and the Y-axis refraction box 610 respectively, the laser is emitted from the twelve laser lenses 615, and the laser is emitted to the outside of the device shell 601 through the X-axis emission window 603 and the Y-axis emission window 602 respectively; it should be noted that the rotation speeds of the X-axis motor 611 and the Y-axis motor 613 are both 5400 rpm, the emission directions of the rotating lenses 618 of the X-axis rotating wheel 612 and the Y-axis rotating wheel 614 are opposite, the X-axis refraction box 607 and the Y-axis refraction box 610 emit laser alternately, that is, the X-axis refraction box 607 emits light, the Y-axis refraction box 610 emits light, the X-axis refraction box 607 does not emit light, and the alternate scanning of the X-axis and the Y-axis outside the device housing 601 is completed; the emitted laser is received by the receiving device 7, the photosensitive sensor in the receiving device 7 captures the laser and synchronizes signals, the timer records the time difference of laser receiving, the processing chip calculates the space moving distance of the receiving device 7, and the obtained information is transmitted to the communication device 617, so that the positioning device 6 can know the accurate position information of the mechanical claw 5 at any time; position information is transmitted to a control chip of the mechanical arm, so that the movement accuracy of the mechanical arm can be improved, and the mechanical arm is prevented from contacting other obstacles.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.