A kind of liquid material attaching system and its method of work based on indoor navigationTechnical field
The present invention relates to the technical field of industrial robot, more particularly to a kind of liquid material based on indoor navigation installs additionalSystem.
Background technology
At present, the utilization of industrial robot in production is more and more extensive, greatly improves production efficiency and machining accuracy.For above-mentioned robot, miniaturization and lighting are required in structure, though being provided with storage device, storing space is limited, workWhen need to feed often.Existing feeding device function is single, external can only be fixed in plant equipment, it is automatic not to be suitable for thisMounting robot.For the automatic mounting machine device people of constantly conversion station, how to be automated, intelligentized charging, and notAutomatic mounting machine device people's production efficiency is influenceed, is current urgent problem.
The content of the invention
The purpose of invention：The present invention discloses a kind of liquid material attaching system based on indoor navigation, based on indoor navigationFunction, the robot of itself and pre-feed is positioned respectively, realization automatically selects appropriate path and moves to reach pre-feedAt robot, finlling automatically；Unmanned, intelligentized auto feed process is realized, and the accurate of variety classes material can be realizedCharging, improve production efficiency.
Technical scheme：In order to realize the above object the invention discloses a kind of liquid material installation based on indoor navigationSystem, including vehicle body, be arranged on below vehicle body mobile device, be arranged on vehicle body control module, indoor navigation system, oneGroup storage device, and it is arranged on the material injecting device above one group of storage device；The material injecting device includes material feeding pipeline, setOuter mechanical arm in body exterior, the first sprue for being arranged on the interior mechanical arm of interior of body, being arranged on outer mechanical arm end,It is arranged on the second sprue of interior mechanical arm end, and water pump；Described material feeding pipeline one end is connected with the first sprue, is anotherEnd is connected with the second sprue；The first steering, second material feeding are provided between first sprue and outer mechanical armThe second steering and telescopic system are provided between mouth and interior mechanical arm；The vehicle body is provided with pipeline cleaning system.
Further, a kind of above-mentioned liquid material attaching system based on indoor navigation, the pipeline cleaning system includeCleaning liquid device and the retracting device being arranged on vehicle body.
Further, above-mentioned a kind of liquid material attaching system based on indoor navigation, first sprue and recoveryDevice docks, and second sprue docks with cleaning liquid device.
Further, above-mentioned a kind of liquid material attaching system based on indoor navigation, the outer mechanical arm include and theFirst outer mechanical arm of one sprue rotation connection, the second outer mechanical arm with the first outer mechanical arm rotation connection, and rotateDrive device；The interior mechanical arm turns including mechanical arm in mechanical arm and first in first with the rotation connection of the second sprueMechanical arm in the second of dynamic connection, and device of rotation driving.
Further, above-mentioned a kind of liquid material attaching system based on indoor navigation, the material feeding pipeline are flexible softPipe.
Further, above-mentioned a kind of liquid material attaching system based on indoor navigation, the second sprue docking oneGroup storage device；First sprue docks with the material storage portions of robot.
Further, a kind of above-mentioned liquid material attaching system based on indoor navigation, first sprue are provided withVisual response device system, the visual response device system are connected with control module.
Further, the method for work of above-mentioned a kind of liquid material attaching system based on indoor navigation, including following stepSuddenly：a）After receiving the charging signal that robot is sent, the operation of liquid material attaching system；b）Indoor navigation system is run, rightThe liquid material attaching system and the robot of pre-feed position respectively；c）Control module control mobile device operation, liquidState material attaching system is moved at the robot of pre-feed；d）Control module selects then corresponding thing according to different charging signalsMaterial, and mechanical arm operation in control, until storage device corresponding to the entrance of the second sprue；e）Visual response device system will detectAs a result control module is fed back to, control module controls outer mechanical arm operation, and the material for completing the first sprue and robot storesThe docking in area；f）Mobile device self-locking；g）Water pump operation, fed, the meter of the first sprue is measured, and will knotFruit feeds back to control module；After charging reaches designated value, control module control water pump stops；h）Residual material in material feeding pipelineFlow back into corresponding storage device；i）Mobile device unlocks, and liquid material attaching system separates with robot；j）If next addThe material that material signal is specified is different from the material of previous installation, and control module sends the cleaning that instruction carries out material feeding pipeline； k）ControlMolding root tuber is handled according to the one group of charging signal received in same time phase, arranges charging sequence automatically.
Further, the method for work of above-mentioned a kind of liquid material attaching system based on indoor navigation, in the step jThe cleaning of material feeding pipeline specifically comprises the following steps：Mechanical arm operation, makes the second sprue stretch into cleaning in control module controlLiquid device；Water pump operation, cleaning fluid suction material feeding pipeline is cleaned；Waste liquid after cleaning is discharged into recovery by the first sprueDevice.
Further, the method for work of above-mentioned a kind of liquid material attaching system based on indoor navigation, in the step gDuring charging, according to the position of liquid level, control module control telescopic system operation, ensure the second sprue all the time under liquid level.
Above-mentioned technical proposal can be seen that the present invention and have the advantages that：
（1）A kind of liquid material attaching system based on indoor navigation of the present invention, based on indoor navigation function, to itselfAnd the robot of pre-feed positions respectively, realize and automatically select appropriate path and move to reach at the robot of pre-feed, fromDynamic filling；Unmanned, intelligentized auto feed process is realized, and the accurate charging of variety classes material can be realized, improves lifeProduce efficiency.
（2）Mechanical arm drives the of flexible pipe in a kind of liquid material attaching system based on indoor navigation of the present inventionTwo sprues move, and coordinate different storage devices, realize the storage of different type Classification of materials and classification charging, using flexible sideJust.
（3）A kind of liquid material attaching system based on indoor navigation of the present invention, the design of pipeline cleaning system,Material feeding pipeline is cleaned before different material is transmitted, prevents mixing, polluting between different material.
（4）A kind of liquid material attaching system based on indoor navigation of the present invention, visual response system supplymentaryOne sprue realizes automatic butt, suitable for robot on the move, can accurately find docking location.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the liquid material attaching system based on indoor navigation of the present invention；
Fig. 2 is the schematic diagram that a kind of liquid material attaching system based on indoor navigation of the present invention docks with robot；
In figure：1- vehicle bodies, 2- mobile devices, 3- indoor navigation systems, 4- storage devices, 5- material injecting devices, 6- material feeding pipelines, 7-Outer mechanical arm, the first outer mechanical arms of 71-, the second outer mechanical arms of 72-, mechanical arm in 8-, mechanical arm in 81- first, in 82- secondMechanical arm, the sprues of 9- first, the sprues of 10- second, 11- water pumps, the steering of 12- first, the steering of 13- second, 14-Telescopic system, 15- robots, 16- pipeline cleaning systems, 17- cleaning liquid devices, 18- retracting devices, 19- visual response devices systemSystem, 20- materials storage portions.
Embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of the invention is described in detail.
Embodiment
A kind of liquid material attaching system based on indoor navigation of the present invention, as depicted in figs. 1 and 2, including vehicle body 1,It is arranged on the mobile device 2 of the lower section of vehicle body 1,3, the one groups of storage devices of control module, indoor navigation system being arranged on vehicle body 14, and it is arranged on the material injecting device 5 of one group of top of storage device 4；The material injecting device 5 includes material feeding pipeline 6, is arranged on carOuter mechanical arm 7 outside body 1, the interior mechanical arm 8 being arranged on inside vehicle body 1, the first sprue for being arranged on the outer end of mechanical arm 79th, the second sprue 10 of the interior end of mechanical arm 8, and water pump 11 are arranged on；Described one end of material feeding pipeline 6 and the first sprue 9Connection, the other end are connected with the second sprue 10；The first steering is provided between first sprue 9 and outer mechanical arm 712, the second steering 13 and telescopic system 14 are provided between second sprue 10 and interior mechanical arm 8；On the vehicle body 1Provided with pipeline cleaning system 16.
Pipeline cleaning system 16 described in the present embodiment includes cleaning liquid device 17 and the retracting device being arranged on vehicle body 118。
The first sprue 9 docks with retracting device 18 described in the present embodiment, and second sprue 10 fills with cleaning fluidPut 17 docking.
Outer mechanical arm 7 described in the present embodiment includes the first outer mechanical arm 71 and the with the rotation connection of the first sprue 9The second outer mechanical arm 72 that one outer mechanical arm 71 is rotatablely connected, and device of rotation driving；The interior mechanical arm 8 includes and secondMechanical arm 82 in mechanical arm 81 is rotatablely connected in mechanical arm 81 and first in the first of the rotation connection of sprue 10 second, withAnd device of rotation driving.
Material feeding pipeline described in the present embodiment 6 is flexible hose.
Second sprue 10 described in the present embodiment docks one group of storage device 4；First sprue 9 and robot 15Material storage portions 20 dock.
First sprue 9 described in the present embodiment is provided with visual response device system 19, the visual response device system 19It is connected with control module.
A kind of method of work of the liquid material attaching system based on indoor navigation, comprises the following steps in the present embodiment：
a）After receiving the charging signal that robot 15 is sent, the operation of liquid material attaching system；
b）Indoor navigation system 3 is run, and the robot 15 of the liquid material attaching system and pre-feed is positioned respectively；
c）Control module control mobile device 2 is run, and liquid material attaching system is moved at the robot 15 of pre-feed；
d）Control module is according to different charging signal choosing then corresponding materials, and mechanical arm 8 is run in control, until the second noteStorage device 4 corresponding to the entrance of material mouth 10；
e）Testing result is fed back to control module by visual response device system 19, and control module controls outer mechanical arm 7 to run, and completesFirst sprue 9 docks with the material storage portions 20 of robot 15；
f）The self-locking of mobile device 2；
g）Water pump 11 is run, and is fed, and the meter of the first sprue 9 is measured, and result is fed back into control module；After charging reaches designated value, control module control water pump 11 stops；
h）Residual material in material feeding pipeline 6 flows back into corresponding storage device 4；
i）Mobile device 2 unlocks, and liquid material attaching system separates with robot 15；
j）If the material that next charging signal is specified is different from the material of previous installation, control module sends instruction and carries out filling tubeThe cleaning in road 6；
k）Control module is handled according to the one group of charging signal received in same time phase, automatic to arrange charging suitableSequence.
The cleaning of material feeding pipeline 6 specifically comprises the following steps in step j described in the present embodiment：Machine in control module controlTool arm 8 is run, and the second sprue 10 is stretched into cleaning liquid device 17；Water pump 11 is run, and cleaning fluid is pumped into material feeding pipeline 6 is carried outCleaning；Waste liquid after cleaning is discharged into retracting device 18 by the first sprue 9.
When being fed in step g described in the present embodiment, according to the position of liquid level, control module control telescopic system 14 is transportedOK, ensure the second sprue 10 all the time under liquid level.
Described above is only the preferred embodiment of the present invention, it should be noted that for those skilled in the artFor, under the premise without departing from the principles of the invention, some improvement can also be made, these improvement also should be regarded as the guarantor of the present inventionProtect scope.