Summary of the invention
The utility model, for above-mentioned existing problems, devises a kind of equipment, and it comprises walking mechanism, snatch mechanism, motor-driven mechanism, command behind the scenes mechanism, the automatic snatch goods of this equipment of commanding behind the scenes, transporting cargo.Can enhance productivity significantly and automaticity like this.
The technical solution that the utility model relates to:
As shown in Figure 1, carry the Workshop remote control transport vehicle of manipulator, it is characterized in that: this transport vehicle is made up of direct current generator 51, wheel 52, motor 53, battery 54, bumper bar 55, alarm lamp 56, control system 57, drive system 58, hydraulically extensible bar 59, arm 60, wrist 61, camera 62, palm 63, object 64, remote controller 65, hydraulic cylinder 66, rotary sleeve 67, direct current controller 68, transport vehicle base plate 69; Described direct current generator 51 is designed to two, is arranged on the center of rear wheel 52 respectively, and described direct current controller 68 also to be installed near rear wheel 52 and coupled together rear sealed direct-current electric controller 68 with direct current generator 51, to prevent into water; Between two pairs of wheels 52 below transport vehicle base plate 69, battery 54 is installed; Described bumper bar 55 is arranged on before transport vehicle; Described alarm lamp 56 is also arranged on the headstock position before transport vehicle; Described control system 57 is arranged on transport vehicle base plate 69 with drive system 58; Described hydraulically extensible bar 59 is arranged on hydraulic cylinder 66 upper end, and hydraulic cylinder 66 is arranged on rotary sleeve 67 simultaneously, and be matched in clearance between described rotary sleeve 67 and column, rotary sleeve 67 freely can rotate around column; Described arm 60 is interconnected with wrist 61; Described camera 62 is arranged on above wrist 61, and the alignment lens object 64 of camera 62; Inside described control system 57, modular Programmable Logic Controller is installed, connects after wire connects and modular Programmable Logic Controller is sealed in strongbox.As shown in Figure 2, described palm 63 points 41 by single fluted body, many fluted bodies point 42, self-adaptation type points 43, angle iron 44, long connecting rod 45, short connecting rod 46, flexible fast 47 form, and wherein single fluted body finger 41, many fluted bodies finger 42, self-adaptation type point that 43 threes can one of them be arranged on the finger position of handgrip according to the type different choice of the object 64 of snatch; Described angle iron 44 and the long connecting rod 45 described in two are connected through the hinge, and stretch respectively by hinge and fast 47 to be connected with long connecting rod 45 in the two ends of short connecting rod 46; Described single fluted body finger 41 and long connecting rod 45 are coupled together by four screws.
The further technical solution of the utility model is:
Described battery 54 is the direct current lead-acid battery of 72 volts.Lead-acid battery price is low, maintenance is simple.Lead-acid battery (VRLA), be that a kind of electrode is made primarily of plumbous and oxide, electrolyte is the battery of sulfuric acid solution.Under lead-acid battery discharge condition, positive pole main component is brown lead oxide, and negative pole main component is plumbous; Under charged state, the main component of both positive and negative polarity is lead sulfate.Frenchman Pulan is special in invention lead-acid accumulator in 1859, experienced by the development course of nearly 150 years, lead-acid accumulator is in theoretical research, significant progress is obtained in product category and kind, product electric property etc., no matter be in traffic, communication, electric power, military affairs or in navigation, each economic field of aviation, lead-acid accumulator all serves indispensable important function.
Described direct current generator 51 is DC brushless motor, and the power of direct current generator 51 is 600 watts.
Described transport vehicle base plate 69 is 70 ~ 90 millimeters apart from ground distance.If transport vehicle base plate distance ground is too high, easily tumble when snatch goods, if transport vehicle base plate distance ground is too low, just can not adapt to the out-of-flatness on ground.
Within described remote controller 65 is arranged on distance transport vehicle 50 meters.
As shown in Figure 3, described remote controller 65 surface is provided with button and is: stop in emergency 1, character digital display screen 2, instrument key 3, it is/true key 4, no/false key 5, continuous key 6, key 7 backward, key 8 forward, joint key 9, mechanical interface coordinate motion key 10, pedestal coordinate motion key 11, the progressive strong and numerical key 12 of forward/backward, warning clear key 13, circulation stop key 14, key 15 is restarted in circulation, exact position key 16, path point key 17, joint coordinates key 18, cartesian coordinate key 19, amendment key 20, record key 21, digital input key 22, leave out key 23, speed key 24, cloth number key 25, subprogram key 26, I/O enter key 27, I/O run-out key 28, power switch 29, safety switch 30.
As shown in Figure 2, described manipulator finger has single fluted body finger 41, many fluted bodies finger 42, self-adaptation type to point 43 3 kinds.Can according to object 64 profile and weight select above-mentioned three kinds finger in one.
Described camera 62 is CCD camera, and the minimum resolution of camera 62 is 0.04 ~ 0.05 square millimeter, and the pixel of camera 62 is 2048.Adopt CCD camera, CCD camera has powerful self-scanning function, image definition is good, image can be caught at any time, support multiple merging voxel model, the sensing technique of innovation, fully can reduce noise, reach a higher sensitivity and changing effect, make image have high signal to noise ratio.In addition CCD camera has powerful video image logger software function and working language interface, make researcher after observing ultra microstructure, experimental result can be taken away by direct USB flash disk, eliminate loaded down with trivial details scotography, fixing, step such as flushing egative film and glazing etc., improve the operating efficiency of experiment and the clear quality of picture, the impact of the factor such as safety lamp, water temperature, reagent concentration when overcoming manual operation.Compare with traditional cameras, CCD camera have that volume is little, reliability is high, highly sensitive, anti-high light, anti-vibration, diamagnetic field, distort little, life-span length, clear picture, the advantage such as easy and simple to handle.The larger CCD camera quality of Pixel Dimensions is also better.Pixel Dimensions reflects the responding ability of chip to light to a certain extent, and Pixel Dimensions is larger, and the photon numbers that can receive is more, same illumination condition and the amount of charge that produces in the time for exposure more, image information more by force, more clear.When resolution ratio allows, select the CCD camera that Pixel Dimensions is large, have larger dynamic range; Larger Pixel Dimensions, also can improve the speed (when how dark speed refer to, video camera can work) of video camera simultaneously.The CCD camera image quality that Pixel Dimensions is larger is better.
Described remote controller 65 is amplitude-shift keying formula industrial remote controller.Amplitude-shift keying (AmplitudeShiftKeying is abbreviated as ASK) is the digital modulation that the amplitude of carrier wave changes along with digital baseband signal.When digital baseband signal is binary system, be then binary system amplitude-shift keying (2ASK).Industrial remote controller is different from civilian remote controller, industrial remote controller utilizes wireless radio transmission to carry out a kind of device of remote-controlled operation control or Long-distance Control to industrial machinery, and industrial remote controller is that the emitter be made up of radio transmitter plate is to control the running of industrial machinery.Industrial remote controller claimed accuracy, sensitivity, signal continuity, anti-interference, remote control distance, water proof and dust proof, high-low temperature resistant, the technical parameters such as resistance to acids and bases, all high than civilian remote controller, industrial remote controller can adapt to various adverse circumstances; These are reasons that civilian remote controller can not replace industrial remote controller.
Described motor 53 is direct current brushless servo motor, and its torque is 30 ~ 35 Newton meters.Adopt servomotor so that command with remote control device, and servomotor achieves position, the closed-loop control of speed and moment, overcome the problem of step out of stepping motor, servomotor anti-overload ability is strong, can bear the load being three times in nominal torque, fluctuate to there being momentary load and require the occasion particularly suitable of fast starting, the dynamic corresponding time of motor acceleration and deceleration is short.
The utility model beneficial effect:
One, the utility model is adopted can to compare cumbersome apparatus in the workshop such as machinery, electronics, chemical industry, instrument, instrument automatically between snatch with transport vehicle.Can command behind the scenes easy to operate, freely can walk in workshop, save a large amount of manpower and materials.
Two, the utility model delicate structure, CCD camera designed by this transport vehicle.CCD camera has that volume is little, reliability is high, highly sensitive, anti-high light, anti-vibration, diamagnetic field, distort little, life-span length, clear picture, the advantage such as easy and simple to handle.The accuracy of industrial remote controller, sensitivity, signal continuity, anti-interference, remote control distance, water proof and dust proof, high-low temperature resistant, the technical parameters such as resistance to acids and bases are all high than civilian remote controller.
Three, the utility model has wide popularizing application prospect, and can be widely used in the enterprises such as machinery plant, Electronics Factory, chemical plant, Metallurgical Factory, the automaticity of carrying the Workshop remote control transport vehicle of manipulator is high, can command behind the scenes flexibly.
Accompanying drawing explanation
Accompanying drawing 1 is general structure schematic diagram of the present utility model;
In Fig. 1: direct current generator 51, wheel 52, motor 53, battery 54, bumper bar 55, alarm lamp 56, control system 57, drive system 58, hydraulically extensible bar 59, arm 60, wrist 61, camera 62, palm 63, object 64, remote controller 65, hydraulic cylinder 66, rotary sleeve 67, direct current controller 68, transport vehicle base plate 69.
Accompanying drawing 2 is palm 63 structural representation of the present utility model;
Single fluted body finger 41, many fluted bodies finger 42, self-adaptation type finger 43, angle iron 44, long connecting rod 45, short connecting rod 46, flexible fast 47, wrist 61.
Accompanying drawing 3 is the keyboard schematic diagram of remote controller 65 of the present utility model;
Stop in emergency 1, character digital display screen 2, instrument key 3, it is/true key 4, no/false key 5, continuous key 6, key 7 backward, key 8 forward, joint key 9, mechanical interface coordinate motion key 10, pedestal coordinate motion key 11, the progressive strong and numerical key 12 of forward/backward, warning clear key 13, circulation stop key 14, key 15 is restarted in circulation, exact position key 16, path point key 17, joint coordinates key 18, cartesian coordinate key 19, amendment key 20, record key 21, digital input key 22, leave out key 23, speed key 24, cloth number key 25, subprogram key 26, I/O enter key 27, I/O run-out key 28, power switch 29, safety switch 30.
Detailed description of the invention
As shown in Figure 1, opening remote control device 65 power source switch 29, press key 8 forward again, modular Programmable Logic Controller is installed by " notice " drive system 58 inside the control system 57 of transport vehicle, drive system 58 just drives the direct current controller 68 of transport vehicle, and direct current controller 68 drives direct current generator 51 to operate again further.Because direct current generator 51 is arranged on wheel 52 center, now transport vehicle rear wheel 52 just gets into smooth, and drives transport vehicle to advance.Because the article such as Workshop foreign material, machinery equipment are many, break to prevent transport vehicle, just installation insurance bar 55 before transport vehicle, again because plant operations workman is many, fill to prevent transport vehicle and hinder workman, remind workman to dodge in time so install the alarm lamp rotating flicker before transport vehicle.Operative employee presses forward while key 8, when finding that there is the object 64 needing to transport on ground, drive system 58 drives rotary sleeve 67 (because be matched in clearance between described rotary sleeve 67 and column, rotary sleeve 67 freely can rotate around column), wrist 61 will rotate to directly over object 64 under arm 60 drives, now drive system 58 drives flexible fast 47 to pull-up (see accompanying drawing 2), flexible fast 47 pull short connecting rod 46, short connecting rod 46 pulls long connecting rod 45, due to the triangle that angle iron 44 is fixing, such long connecting rod 45 just pull single fluted body point 41 (or many fluted bodies finger 42, or self-adaptation type finger 43, which kind of finger of concrete selection will be seen is determined by object 64 profile of snatch and weight), because single fluted body finger 41 and long connecting rod 45 are coupled together by four screws.Long connecting rod 45 is once be subject to short connecting rod 46 and draw high, obvious two single fluted bodies finger 41 institute is formed palm just change prepare greatly crawl object 64, after being caught on object 64, because camera 62 is arranged on above wrist 61, and the alignment lens object 64 of camera 62, when camera 62 photographed photographic intelligence when object 64 " is caught " by manipulator, camera 62 is CCD camera, camera 62 " will be caught " information and pass to control system 57, control system 57 is " notice " drive system 58 immediately after treatment, drive system 58 makes single fluted body finger 41 will catch object 64 " holding with a firm grip " with regard to driving flexible fast 47 to move down.Then arm 60 and wrist 61 are under the driving effect of drive system 58, arm 60 and wrist 61 horizontally rotate above transport vehicle base plate 69, now hydraulic cylinder 66 under the driving effect of drive system 58 inside hydraulic cylinder 66 hydraulic oil be back in fuel tank, hydraulically extensible bar 59 slowly shortens, be placed on transport vehicle base plate 69 lentamente by the object 64 of grabbing, this completes goods entrucking work, and the action that goods is unloaded down is lucky contrary with above-mentioned action.As shown in Figure 3, described remote controller 65 surface is provided with button and is: stop in emergency 1, character digital display screen 2, instrument key 3, it is/true key 4, no/false key 5, continuous key 6, key 7 backward, key 8 forward, joint key 9, mechanical interface coordinate motion key 10, pedestal coordinate motion key 11, the progressive strong and numerical key 12 of forward/backward, warning clear key 13, circulation stop key 14, key 15 is restarted in circulation, exact position key 16, path point key 17, joint coordinates key 18, cartesian coordinate key 19, amendment key 20, record key 21, digital input key 22, leave out key 23, speed key 24, cloth number key 25, subprogram key 26, I/O enter key 27, I/O run-out key 28, power switch 29, safety switch 30.Can the direction of travel of remote control transport vehicle, all many-sided control such as the speed of travel.
To sum up, the Workshop remote control transport vehicle carrying manipulator designed by the utility model, can reach the object of expection.