CN210879630U - Novel automatic surface treatment system - Google Patents
Novel automatic surface treatment system Download PDFInfo
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- CN210879630U CN210879630U CN201921824049.3U CN201921824049U CN210879630U CN 210879630 U CN210879630 U CN 210879630U CN 201921824049 U CN201921824049 U CN 201921824049U CN 210879630 U CN210879630 U CN 210879630U
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Abstract
The utility model relates to a novel automatic surface treatment system, which comprises an automatic guide transportation device and a robot device arranged on the automatic guide transportation device; the automated guided transporting apparatus includes: the device comprises a vehicle body, a power supply component, a first control component, a lifting platform, a first laser scanning component, a wheel component and a top extension component; the robot device is disposed on the lifting platform of the automated guided transporting apparatus, the robot device including: a second control unit, a work terminal, and a second laser scanning unit. The robot device has the advantages that the robot device is carried by the automatic guide transportation device, large-range automatic movement is realized, and a fixed platform or a track is not required to be installed; the laser positioning is adopted, so that the accurate positioning is realized, and the moving time is greatly reduced; the robot device is installed on the lifting platform of the automatic guide conveying device, so that the robot device can be automatically processed in a large range at a fixed position, and the working efficiency is further improved.
Description
Technical Field
The utility model relates to an industrial automation technical field especially relates to a novel automatic surface treatment system.
Background
When the surface of some instruments or devices is processed automatically, the instruments or devices are usually fixed at a specific position, a plurality of rails are arranged around the specific position, and a robot for processing the surface is arranged on the rails. Such a robot moves along a rail and is fixed at a certain position for surface treatment.
However, the automatic surface treatment method has some defects that the robot can only move along the track, the path range is limited, and the working range of the robot is limited; corresponding fixing devices and rails need to be installed in a field subjected to surface treatment, so that the cost is increased, the working time is prolonged, and the working efficiency is reduced; the method cannot be applied to the working environment where the track cannot be installed, and the applicable scene is limited.
In the manufacturing process of some large-scale equipment, the surface treatment is carried out by using a manual guide robot due to the fact that the rail cannot be installed. In this case, the robot is first fixedly mounted on a working vehicle, an operator drives the working vehicle to transport the robot to an operation site, and then the robot performs surface treatment. However, the method is time-consuming and labor-consuming, has low navigation accuracy, cannot accurately stop the engineering vehicle at the corresponding position, and has low working efficiency.
Therefore, a surface treatment system capable of self-navigation and automatic treatment is needed, which is suitable for various working environments and improves the working efficiency.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a novel automatic surface treatment system to the not enough among the prior art.
In order to achieve the purpose, the utility model adopts the technical proposal that:
a novel automated surface treatment system comprises an automated guided transport device and a robotic device disposed on the automated guided transport device;
the automated guided transporting apparatus includes:
a vehicle body;
a power supply component provided at the vehicle body;
a first control member provided in the vehicle body, the first control member being connected to the power supply member;
the lifting platform is arranged at the upper part of the vehicle body and is connected with the first control part;
the first laser scanning component is arranged on the lifting platform and is connected with the first control component;
the wheel component is arranged at the lower part of the vehicle body and is connected with the first control component;
the top extension parts are arranged on two side parts of the vehicle body and are connected with the first control part;
the robot device is disposed on the lifting platform of the automated guided transporting apparatus, the robot device including:
a second control unit provided in the robot apparatus, the second control unit being connected to the power supply unit and the first control unit, respectively;
a work terminal provided in a front portion of the robot apparatus, the work terminal being connected to the second control part;
and the second laser scanning component is arranged at the operation terminal and is connected with the second control component.
Preferably, the automated guided transporting apparatus further comprises:
the inversion component is arranged on the vehicle body and connected with the power supply component and the first control component.
Preferably, the robotic device is at least a five-axis robot.
Preferably, the automated guided transporting apparatus further comprises:
the hydraulic driving component is arranged on the vehicle body and is respectively connected with the first control component, the lifting platform and the jacking component.
Preferably, the work terminal is detachably provided at a front portion of the robot apparatus.
Preferably, the wheel parts are at least arranged at four corners of the vehicle body, and at least two of the wheel parts are driving and steering wheels.
Preferably, the lifting platform is a multi-stage lifting platform.
Preferably, the automated guided transporting apparatus further comprises:
the laser emitting component is arranged in a specific environment and used for scanning and positioning by emitting a laser signal to the first laser scanning component and detecting the laser signal reflected from the first laser scanning component;
a first communication unit mounted to the laser emitting component;
and the second communication unit is arranged on the vehicle body and is in communication connection with the first communication unit.
Preferably, the laser emitting part includes:
a remote controller in communication with the laser emitting component;
the first communication unit is mounted to the remote controller.
Preferably, the automated guided transporting apparatus further comprises:
a plurality of safety scanning components disposed at a front and/or rear and/or left and/or right portion of the vehicle body.
The utility model adopts the above technical scheme, compare with prior art, have following technological effect:
the novel automatic surface treatment system of the utility model utilizes the automatic guide transportation device to bear the robot device, realizes large-range automatic movement, does not need to install a fixed platform or a track, and greatly reduces the cost; through laser positioning, accurate positioning is realized, the moving time is greatly reduced, and the working efficiency is improved; the robot device is installed on the lifting platform of the automatic guide conveying device, so that the robot device can be automatically processed in a large range at a fixed position, and the working efficiency is further improved.
Drawings
Fig. 1 is a schematic diagram of an exemplary embodiment of the present invention.
Fig. 2 is a schematic view of an automated guided vehicle according to an embodiment of the present invention.
Fig. 3 is a block diagram of the circuit connection of the automated guided vehicle according to an embodiment of the present invention.
Fig. 4 is a circuit connection block diagram of a robot apparatus according to an embodiment of the present invention.
Fig. 5 is a schematic view of an automated guided vehicle according to an embodiment of the present invention in a stationary state.
Fig. 6 is a schematic view of an automated guided vehicle according to another embodiment of the present invention.
Fig. 7 is a communication connection block diagram of an automated guided vehicle according to another embodiment of the present invention.
Wherein the reference numerals are: the automatic guided transporting apparatus 1, the robot apparatus 2, the vehicle body 101, the power supply part 102, the first control part 103, the elevating platform 104, the first laser scanning part 105, the wheel part 106, the overhanging part 107, the inverting part 108, the hydraulic drive part 109, the laser emitting part 110, the first communication unit 111, the second communication unit 112, the remote controller 113, the safety scanning part 114, the second control part 201, and the work terminal 202.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be further described with reference to the accompanying drawings and specific embodiments, but the present invention is not limited thereto.
Example 1
An exemplary embodiment of the present invention, as shown in fig. 1, is a novel automated surface treatment system, comprising an automated guided transportation device 1 and a robot device 2 disposed on the automated guided transportation device 1, wherein the automated guided transportation device 1 is an automated guided device equipped with electromagnetic or optical equipment, and the robot device 2 is an industrial robot.
In one embodiment, as shown in fig. 2 to 3, the automatic guided vehicle 1 includes a vehicle body 101, a power supply unit 102, a first control unit 103, a lifting platform 104, a first laser scanning unit 105, a wheel unit 106, a top extending unit 107, an inverter unit 108, a hydraulic driving unit 109, and a plurality of safety scanning units 114.
The vehicle body 101 may be a frame structure having a certain strength and a low weight.
The power supply unit 102 is disposed inside the vehicle body 101, and the power supply unit 101 may be fixedly connected to the vehicle body 101 or detachably connected thereto.
When the power supply unit 102 is fixedly connected to the vehicle body 101, the power supply unit is a rechargeable power supply, such as a lithium battery, a nickel-metal hydride battery, or the like.
When the power supply unit 102 is detachably connected to the vehicle body 101, the power supply unit may be a rechargeable power supply or a non-rechargeable power supply (i.e., a disposable power supply).
The first control part 103 is provided inside the vehicle body 101, the first control part 103 is coupled with the power supply part 102, the power supply part 102 supplies electric power to the first control part 103, and the first control part 103 controls the traveling unit and the power output unit of the vehicle body 101.
Specifically, the first control part 103 is a control box.
The inverter component 108 is disposed inside the vehicle body 101, and the inverter component 108 is coupled to the power supply component 102 and the first control component 103, respectively, and is configured to convert the direct current output by the power supply component 102 into an alternating current.
The lifting platform 104 is disposed on the upper portion of the vehicle body 101 near the rear side, and the lifting platform 104 is fixedly connected or detachably connected with the vehicle body 101, wherein the fixed connection includes but is not limited to a welding connection, and the detachable connection includes but is not limited to a bolt connection.
Wherein, through dismantling the connection, can be according to the site work condition, change lift platform 104, satisfy multiple user demand.
The present invention provides a lifting platform 104 having sufficient strength to support a robot device 2 of different weight.
The first laser scanning unit 105 is disposed at a front or upper portion (not shown) of the vehicle body 101, and the first laser scanning unit 105 is coupled to the first control unit 103 for emitting laser light to the outside and receiving the returned laser light.
The travel unit includes a plurality of wheel members 106, the wheel members 106 being provided at least around the vehicle body 101, and the first control member 103 drives the plurality of wheel members 106 to travel and steer the automatic guided transporting apparatus 1.
Further, at least the diagonal wheel members 106 are driving and steering wheels.
Further, the number of the wheel parts 106 is at least 4.
The overhanging members 107 are symmetrically provided on both sides of the vehicle body 101, and are extendable and retractable in the height direction to lift the vehicle body 101, separate the plurality of wheel members 106 from the ground, and prevent the vehicle body 101 from moving.
Further, the roof members 107 are symmetrically provided on the front and rear sides of the left and right sides of the vehicle body 101 for improving the stability of the entire vehicle body 101.
The power output unit includes a hydraulic drive unit 109, the hydraulic drive unit 109 is disposed inside the vehicle body 101 (not shown in the figure), the hydraulic drive unit 109 is coupled to the first control unit 103, and the first control unit 103 controls the operation of the hydraulic drive unit 109. The hydraulic driving unit 109 is connected to the lifting platform 104 and the pushing member 107, respectively, and controls the lifting of the lifting platform 104 and the lifting of the pushing member 107, respectively.
The plurality of safety scanning components 114 are provided at any one of the front, rear, left, and right portions of the vehicle body 101, and the plurality of safety scanning components 114 form a safety protection system.
Further, the security scan component 114 is an image capture device, such as a camera.
In a specific embodiment, the safety scan component 114 is disposed at the front, rear, left, and right portions of the vehicle body 101.
Further, safety scanning members 114 provided at left and right portions of the vehicle body 101 are located at side portions of the overhanging member 107.
Further, the scanning directions of the safety scanning parts 114 disposed at the left and right portions of the vehicle body 101 have an angle with the gravity line direction for scanning the scanning blind areas of the safety scanning parts 114 disposed at the front and rear portions of the vehicle body 101.
As shown in fig. 4, the robot apparatus 2 includes a second control part 201, a work terminal 202, and a second laser scanning part 203, the robot apparatus 2 is detachably mounted on the upper portion of the lifting platform 104 of the automated guided transportation apparatus 1, the second control part 201 is connected to the power supply part 102 and the first control part 103 through cables, the power supply part 102 supplies power to the robot apparatus 2, the first control part 103 communicates with the second control part 201 to control the operation of the robot apparatus 2, the work terminal 202 is detachably mounted on the front portion of the robot apparatus 2, the second laser scanning part 203 is disposed on the work terminal 202 (not shown in the figure), and the second laser scanning part 203 is coupled to the second control part 201.
Further, the robot apparatus 2 is at least a five-axis robot.
Further, the work terminal 202 is a sanding terminal.
One specific embodiment is as follows: the robot device 2 is mounted on the automatic guided transportation device 1, the first laser scanning unit 105 continuously transmits and receives laser light, and transmits ambient environment information to the first control unit 103, the first control unit 103 drives the wheel units 106 to move the automatic guided transportation device 1 in the direction of the destination, when the robot device reaches the destination, the first control unit 103 controls the hydraulic driving unit 109, the hydraulic driving unit 109 drives the ejection unit 107, the bottom of the ejection unit 107 supports the ground, and the plurality of wheel units 106 leave the ground, so that the automatic guided transportation device 1 is kept stable; the hydraulic driving part 109 drives the lifting platform 104 to lift to the working height, and the working state is shown in fig. 5; then the second control component 201 controls the robot device 2 to act, so that the front end of the robot device is aligned with the working surface of the equipment, and the working terminal 203 processes the working surface; the second laser scanning component 203 continuously scans the working surface, after the treatment is finished, the working terminal 203 stops working, and the second control component 201 controls the robot device 2 to act and reset; then the hydraulic driving part 109 drives the lifting platform 104 to recover; the hydraulic drive means 109 drives the ejection member 107 off the ground; then the first control part 103 drives the plurality of wheel parts 106 to move the automated guided transporting apparatus 1; the above operations are then repeated until all surface treatments are completed.
The utility model has the advantages that the automatic guiding and transporting device is utilized to bear the robot device, thereby realizing large-range automatic movement, and the cost is greatly reduced without installing a fixed platform or a track; through laser positioning, accurate positioning is realized, the moving time is greatly reduced, and the working efficiency is improved; the robot device is installed on the lifting platform of the automatic guide conveying device, so that the robot device can be automatically processed in a large range at a fixed position, and the working efficiency is further improved.
Example 2
This embodiment is a specific implementation of the automated guided transporting apparatus 1 of the present invention.
In addition to the embodiment of example 1, in order to further improve the positioning accuracy of the automated guided transporting apparatus 1, the automated guided transporting apparatus 1 further includes a laser emitting part 110, a first communication unit 111, and a second communication unit 112.
The laser emitting part 110 is installed in a specific environment. Specifically, the laser emitting part 110 is installed on the top of the working environment, and is used for emitting a laser signal to the first laser scanning part 105 and receiving the laser signal reflected by the first laser scanning part 105, thereby achieving accurate positioning of the automatic guided transporting apparatus 1.
The first communication unit 111 is attached to the laser emitting part 110, the second communication unit 112 is attached to the vehicle body 101, and the first communication unit 111 and the second communication unit 112 are communicatively connected.
Further, the laser emitting component 110 further includes a remote controller 113, and the remote controller 113 is disposed in a specific environment, and may be disposed close to the laser emitting component 110, or may be disposed far from the laser emitting component 110, and is configured to process the laser signal received by the laser emitting component 110 and returned by the first laser scanning component 105, so as to obtain processing data.
Further, the remote controller 113 is a computing processing device, such as a computer, a tablet computer, a mobile phone, and the like.
Further, the first communication unit 111 is installed in the remote controller 113 for transmitting the processing data to the second communication unit 112.
Further, the first communication unit 111 is a wireless communication unit, such as a bluetooth module, a WiFi module, or a radio frequency module.
The second communication unit 112 receives the processing data transmitted from the first communication unit 111, and transmits the processing data to the first control unit 103 attached to the vehicle body 101, and the first control unit 103 controls the vehicle body 101 to move according to the processing data.
Further, the second communication unit 112 is a wireless communication unit, such as a bluetooth module, a WiFi module, or a radio frequency module.
Further, the first communication unit 111 and the second communication unit 112 are each installed inside the respective devices or instruments or components.
In the present embodiment, the positioning method of the automated guided transporting apparatus 1 is as follows:
1. fixing the laser emitting part 110 above a specific environment, wherein the height of the laser emitting part is less than 10 m;
2. the first laser scanning component 105 is arranged on the vehicle body 101, so that the first laser scanning component 105 and the laser emitting component 110 are free from obstruction, and the laser emitting component 110 can bring the first laser scanning component 105 into a visual field range when the vehicle body 101 moves in a specific environment;
3. installing the remote controller 113 and testing a communication state between the first communication unit 111 and the second communication unit 112;
4. under the condition that accurate positioning is needed, a first control component 103 of the vehicle body 101 transmits a signal to start a laser emitting component 110;
5. after the laser emitting component 110 is started, emitting a laser signal outwards, scanning a specific environment, and acquiring the laser signal returned by the first laser scanning component 105 to acquire the real-time position of the first laser scanning component 105; the remote controller 113 processes the returned laser signal to obtain deviation information between the real-time position and the target position, to obtain processed data, and transmits the processed data to the second communication unit 112 through the first communication unit 111;
6. after the first control part 103 of the vehicle body 101 receives the processed data, an automatic navigation unit in the vehicle body 101 controls the vehicle body 101 to move to a target position; after reaching the position, the laser emitting component 110 is started again, and the step 5 is repeated;
7. when the deviation between the real-time position of the vehicle body 101 measured by the laser emitting component 110 and the target position is less than +/-1 mm, the distance measurement is stopped, and the remote controller 113 transmits the processing data to the second communication unit 112 through the first communication unit 111;
8. and (3) closing the laser emitting part 110, and repeating the steps 4-7 when the vehicle body 101 needs to be accurately positioned.
The automatic guiding and transporting device has the advantages that the first laser scanning component and the laser emitting component are used for positioning, so that the positioning accuracy of the automatic guiding and transporting device reaches +/-1 mm, and is superior to that of the traditional self-service navigation; the positioning navigation system can assist the traditional self-service navigation, and ensures the positioning precision with special requirements under the condition of ensuring the general positioning precision.
The above description is only an example of the preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and those skilled in the art should be able to realize the equivalent alternatives and obvious variations of the present invention.
Claims (10)
1. A novel automated surface treatment system is characterized by comprising an automatic guide conveying device and a robot device arranged on the automatic guide conveying device;
the automated guided transporting apparatus includes:
a vehicle body;
a power supply component provided at the vehicle body;
a first control member provided in the vehicle body, the first control member being connected to the power supply member;
the lifting platform is arranged at the upper part of the vehicle body and is connected with the first control part;
the first laser scanning component is arranged on the lifting platform and is connected with the first control component;
the wheel component is arranged at the lower part of the vehicle body and is connected with the first control component;
the top extension parts are arranged on two side parts of the vehicle body and are connected with the first control part;
the robot device is disposed on the lifting platform of the automated guided transporting apparatus, the robot device including:
a second control unit provided in the robot apparatus, the second control unit being connected to the power supply unit and the first control unit, respectively;
a work terminal provided in a front portion of the robot apparatus, the work terminal being connected to the second control part;
and the second laser scanning component is arranged at the operation terminal and is connected with the second control component.
2. The novel automated surface treating system of claim 1, wherein the automated guided vehicle further comprises:
the inversion component is arranged on the vehicle body and connected with the power supply component and the first control component.
3. The novel automated surface treatment system of claim 1, wherein the robotic device is at least a five-axis robot.
4. The novel automated surface treating system of claim 1, wherein the automated guided vehicle further comprises:
the hydraulic driving component is arranged on the vehicle body and is respectively connected with the first control component, the lifting platform and the jacking component.
5. The novel automated surface treating system of claim 1, wherein the work terminal is removably disposed in front of the robotic device.
6. The novel automated surface treating system of claim 1, wherein the wheel assemblies are disposed at least at the four corners of the vehicle body, at least two of the wheel assemblies being a combination drive and steer wheel.
7. The novel automated surface treatment system of claim 1, wherein the lift platform is a multi-stage lift platform.
8. The novel automated surface treating system of claim 1, wherein the automated guided vehicle further comprises:
the laser emitting component is arranged in a factory environment and used for scanning and positioning by emitting laser signals to the first laser scanning component and detecting the laser signals reflected from the first laser scanning component;
a first communication unit mounted to the laser emitting component;
and the second communication unit is arranged on the vehicle body and is in communication connection with the first communication unit.
9. The novel automated surface treating system of claim 8, wherein the laser emitting component comprises:
a remote controller in communication with the laser emitting component;
the first communication unit is mounted to the remote controller.
10. The novel automated surface treating system of claim 1, wherein the automated guided vehicle further comprises:
a plurality of safety scanning components disposed at a front and/or rear and/or left and/or right portion of the vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921824049.3U CN210879630U (en) | 2019-10-28 | 2019-10-28 | Novel automatic surface treatment system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921824049.3U CN210879630U (en) | 2019-10-28 | 2019-10-28 | Novel automatic surface treatment system |
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| CN210879630U true CN210879630U (en) | 2020-06-30 |
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| CN201921824049.3U Active CN210879630U (en) | 2019-10-28 | 2019-10-28 | Novel automatic surface treatment system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110666769A (en) * | 2019-10-28 | 2020-01-10 | 玲睿(上海)医疗科技有限公司 | Automatic surface treatment system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110666769A (en) * | 2019-10-28 | 2020-01-10 | 玲睿(上海)医疗科技有限公司 | Automatic surface treatment system |
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Address after: 200120 4th floor, building a, No.58 Xiangke Road, Pudong New Area, Shanghai Patentee after: Sofix Intelligent Technology (Shanghai) Co.,Ltd. Address before: 200120 4th floor, building a, No.58 Xiangke Road, Pudong New Area, Shanghai Patentee before: Dieling (Shanghai) Intelligent Technology Co.,Ltd. Address after: 200120 4th floor, building a, No.58 Xiangke Road, Pudong New Area, Shanghai Patentee after: Dieling (Shanghai) Intelligent Technology Co.,Ltd. Address before: 200120 4th floor, building a, No.58 Xiangke Road, Pudong New Area, Shanghai Patentee before: Lingrui (Shanghai) Medical Technology Co.,Ltd. |