An intelligent composite robot for transferring film boxes

Abstract

The invention discloses an intelligent composite robot for transferring film boxes, belonging to the technical field of automated robots. The robot comprises: an AGV transfer vehicle; a mechanical arm arranged on the AGV transfer vehicle; a rack insertion mechanism installed on the mechanical arm, through which the rack insertion mechanism is driven by the mechanical arm to synchronously or independently perform axial movement and 360° steering movement, wherein the axial movement includes a synthetic displacement in a single direction among the three directions of X, Y and Z or in multiple axial directions at the same time; a visual positioning device installed on the rack insertion mechanism compensates for the movement error of the AGV transfer vehicle, so as to achieve the purpose of high-precision product handling under high load and large operating radius conditions.

Description

Technical Field

[0001] The present invention belongs to the technical field of automated robots, and in particular, relates to an intelligent composite robot for transferring film boxes. Background Art

[0002] A composite robot is a programmable and multifunctional mobile handling device used to carry materials, parts, tools, or to perform different tasks in different locations. It is a multi-joint manipulator or multi-degree-of-freedom robot for the industrial field.

[0003] As a strategic tool for smart factories to improve work efficiency, the importance and necessity of the industrial development of composite handling robots cannot be ignored. The development of products and standards need to be promoted in a coordinated manner. A set of industrial robot standards with advanced technical indicators and coordinated fields should guide the development of the robot industry to promote technological progress, product development and industrialization, and ensure the rapid and scientific development of my country's industrial robot industry.

[0004] The existing composite robots on the market generally use a combination of AGV and standard robots. These solutions have problems such as light load, small operating radius, insufficient battery life and high cost. It is difficult to meet the needs of high-precision, large-load and large-space operations at the same time.

[0005] With the development of Industry 4.0, the demand for precision transfer and compound robots has increased, especially in the semiconductor industry. Therefore, the traditional compound transfer robots that combine standard AGVs and standard general-purpose robots are difficult to meet industry needs. Summary of the invention

[0006] In view of this, in order to solve the above problems existing in the prior art, the purpose of the present invention is to provide an intelligent composite robot for transferring film boxes so as to achieve the purpose of high-precision product handling under high load and large operating radius.

[0007] The technical solution adopted by the present invention is: an intelligent composite robot for transferring film boxes, the robot comprising:

[0008] AGV transfer vehicle;

[0009] A mechanical arm provided on the AGV transfer vehicle;

[0010] The rack mechanism installed on the robot arm drives the rack mechanism to perform axial movement and 360° rotation movement synchronously or independently through the robot arm, wherein the axial movement includes a composite displacement in a single direction among the three directions of X, Y and Z or in multiple axial directions at the same time;

[0011] A visual positioning device installed on the rack mechanism compensates for the movement error of the AGV transfer vehicle through the visual positioning device.

[0012] Furthermore, the robot also includes:

[0013] At least one product placement mechanism is provided on the AGV transfer vehicle, and the film box is placed through the product placement mechanism.

[0014] Furthermore, the product placement mechanism comprises:

[0015] A placement rack for carrying the film cassette, the placement rack being provided with a positioning support rod and a limit block corresponding to the film cassette;

[0016] An RFID receiver mounted on the placement rack, the RFID receiver is connected to an RFID reader, and the RFID electronic tag on the film box is read by the RFID receiver;

[0017] The information of the film boxes carried by the current composite robot is obtained and uploaded to the MES system of the host computer in real time, so as to realize the information process tracking of the film boxes being transported and the traceability of the transportation process.

[0018] Furthermore, the rack insertion mechanism comprises:

[0019] a bearing plate mounted on the mechanical arm;

[0020] A plug-in frame adapted to the film box, the plug-in frame is assembled and connected with the carrier plate, and a card slot is provided on the plug-in frame, the card slot matches with the fixed block of the film box and limits the film box through the card slot;

[0021] The rack mechanism has a simple structure and has a self-guiding positioning function. It can realize automatic gravity-guided positioning when the rack contacts the film box to ensure that the relative position of the film box and the rack remains fixed, while ensuring that the product will not fall during transportation.

[0022] Furthermore, the visual positioning device comprises:

[0023] A fixing bracket mounted on the rack mechanism;

[0024] A CCD camera mounted on a fixed bracket, wherein the lens of the CCD camera is provided with a matching light source;

[0025] Due to the setting of the visual positioning device, before the film box is taken or placed, the coordinate information obtained by taking a picture of the target position with the camera is sent to the robot to compensate for the moving positioning deviation of the AGV transfer vehicle. The guided positioning and correction movement is realized according to the positioning deviation, so that the robot arm can accurately take and place the product, avoiding the position deviation caused by the movement of the AGV transfer vehicle, thereby realizing the needs of smooth, high-speed, precise and flexible transplanting of products.

[0026] Furthermore, the mechanical arm comprises:

[0027] The chassis is mounted on the AGV transfer vehicle;

[0028] A main arm is arranged on the base frame and rotates around the Z axis, wherein the main arm is provided with a J1 driving member for driving the main arm to rotate;

[0029] A large arm is slidably arranged on the main arm along the Z axis, and the large arm is equipped with a J3 driving member for driving the large arm to slide;

[0030] A small arm is arranged on the big arm and rotates around the Z axis. The small arm is provided with a J4 axis which rotates around the Z axis and the J4 axis is assembled and connected with the rack mechanism. The rotational movement of the small arm and / or the J4 axis is driven by a composite driving member.

[0031] Furthermore, the J1 driving component includes:

[0032] Rotate the J1 shaft arranged on the base frame, wherein the J1 shaft is connected to the main arm and the J1 shaft is transmission-connected to the J1 harmonic reducer;

[0033] The J1 servo motor installed on the chassis is connected to the J1 harmonic reducer through a J1 synchronous belt; thereby driving the entire robotic arm to perform 360° free rotation relative to the AGV transfer vehicle.

[0034] Furthermore, the J3 driving member includes:

[0035] Rotate the ball screw on the main arm, the ball screw is equipped with a J3 shaft matched with it, the J3 shaft is slidably arranged on the main arm and the J3 shaft is connected to the large arm;

[0036] A J3 servo motor mounted on the main arm, wherein the J3 servo motor is connected to a J3 planetary gear reducer, and the J3 planetary gear reducer is transmission-connected to a ball screw;

[0037] The motor motion is transmitted to the ball screw through the J3 servo motor and J3 planetary gear reducer to drive the upper and lower arms to move up and down in a straight line.

[0038] Furthermore, a J2 harmonic reducer is provided at the end of the upper arm and is connected to the lower arm through a connecting flange, and a J4 harmonic reducer is provided at the end of the lower arm and is connected to the rack mechanism through an end connecting flange. With the mutual cooperation of the upper arm, the lower arm and the horizontal joint, the maximum operating range of the composite robot during work can be significantly improved.

[0039] Furthermore, the composite drive element comprises:

[0040] A J2 servo motor and a J4 servo motor installed in the boom, wherein the J2 servo motor is connected to the J2 harmonic reducer through a J2 synchronous belt;

[0041] A hollow transmission shaft sleeved inside the main shaft of the J2 harmonic reducer, one end of the hollow transmission shaft is connected to the J4 servo motor through the J4 big arm synchronous belt transmission, and the other end is connected to the J4 harmonic reducer through the J4 small arm synchronous belt transmission;

[0042] Through the operation of the J1 servo motor, the J2 servo motor, and the J4 servo motor, three 360° freely rotating joint interpolation movements can be realized, thereby realizing the positioning and orientation of the claws at the end of the forearm in any X and Y directions on the horizontal plane.

[0043] Furthermore, the hollow transmission shaft and the main shaft of the J4 harmonic reducer are sleeved with hollow wire-passing tubes for passing wires; since all internal and external cables are hollowly passed through the internal joints, the problem of wire entanglement caused by the rotation of the internal joints is solved, and 360° free rotation of all rotating joints is achieved, so that the robot arm can reach any target position within the working space in the shortest time and quickly pick up and place products. At the same time, it is also aesthetically pleasing and can minimize the damage of secondary twisting of cables caused by arm rotation. It has light structure, fast response, high load (maximum load that can be carried can reach 15KG), and wide working space (maximum working radius 900mm).

[0044] Furthermore, the composite driving component also includes: a tensioning mechanism disposed in the forearm and tensioning the J4 forearm synchronous belt through the tensioning mechanism to ensure the stability and reliability of the J4 forearm synchronous belt during the process.

[0045] Furthermore, the AGV transfer vehicle comprises:

[0046] A PLC controller, the PLC controller includes a wireless communication module, and is connected to a host computer through the wireless communication module; the PLC controller is responsible for processing the logic signal interaction between the AGV transfer vehicle and the robot arm driver, and between the wireless communication module and the external docking device;

[0047] A robot arm driver electrically connected to the PLC controller, wherein the robot arm controller is electrically connected to the J1 driver, the J2 driver and the composite driver respectively to control the driver corresponding to each joint to perform independent or composite motion;

[0048] The battery is arranged inside, and the battery is connected to the inverter and is electrically connected to the PLC controller, the robot arm driver, the visual positioning device and the drive assembly in the AGV transfer vehicle through the output end of the inverter; wherein the inverter adopts a 48v~220v inverter, and the 220V output of the inverter is used as the driving power supply.

[0049] The AGV transfer vehicle adopts laser automatic guidance technology, which can automatically scan the surrounding environment, independently plan the driving route, and automatically coordinate the movement of the upper loading robot according to different target tasks, so as to complete the multi-target type of operation task requirements. At the same time, the composite robot is automatically assigned tasks by the scheduling system according to the equipment task request, and exchanges information with the target equipment through the wireless communication module (to ensure that the AGV transfer vehicle can accurately correspond to each production equipment), and automatically obtains the operating status of the target equipment and dynamically adjusts the robot's handling action.

[0050] The beneficial effects of the present invention are:

[0051] 1. The intelligent composite robot for transferring film boxes provided by the present invention is adopted. The composite robot has the advantages of large load and strong endurance through optimizing the design of the mechanical arm. During the handling process, it has a load capacity of 15kg. At the same time, the overall structure of the composite robot is small and compact, and it can run continuously for 8 hours at full load, which can fully meet the current market demand for the handling of film boxes of 3C products.

[0052] 2. The intelligent composite robot for transferring film boxes provided by the present invention is adopted. In the design of the mechanical arm, the main arm rotates around the Z axis, the upper arm moves axially along the Z axis on the main arm, the forearm rotates around the Z axis on the upper arm, and the J4 axis on the forearm rotates around the Z axis. In this way, the mechanical arm has a large range of activities during operation (the vertical operating range can reach 800, and the horizontal maximum working radius is 900mm). The larger working range enables it to better adapt to the placement of products in various equipment spaces. The existing robots on the market cannot achieve a large operating radius due to their vertical joint series structure, and the rated maximum load capacity is reduced when the mechanical arm is fully horizontally unfolded. The horizontal joint structure used in the composite robot in the present application is not affected by this, and the rated maximum load can be guaranteed within the entire operating space and in any posture. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a schematic diagram of the overall structure of the intelligent composite robot for transferring cassettes provided by the present invention;

[0054] Figure 2 It is a schematic diagram of the local structure of the intelligent composite robot for transferring film boxes provided by the present invention;

[0055] Figure 3 It is a structural schematic diagram of the rack insertion mechanism in the intelligent composite robot for transferring cassettes provided by the present invention in use;

[0056] Figure 4 yes Figure 3 A local enlarged schematic diagram of point A;

[0057] Figure 5 It is a structural schematic diagram of the inserting rack in the intelligent composite robot for transferring cassettes provided by the present invention;

[0058] Figure 6 It is a structural schematic diagram of a film box in the film box transfer intelligent composite robot provided by the present invention;

[0059] Figure 7 yes Figure 3 A side view schematic diagram of

[0060] Figure 8 yes Figure 7 A local enlarged schematic diagram of point B;

[0061] Fig. 9 It is a structural schematic diagram of a product placement mechanism in the intelligent composite robot for transferring cassettes provided by the present invention;

[0062] Fig.10 It is a schematic diagram of the overall structure of the mechanical arm in the intelligent composite robot for transferring cassettes provided by the present invention;

[0063] Fig.11 It is a structural schematic diagram of the main arm of the intelligent composite robot for transferring cassettes provided by the present invention;

[0064] Fig.12 yes Fig.11 Schematic diagram of the local structure;

[0065] Fig.13 It is a schematic diagram of the internal structure of the upper arm and the lower arm of the intelligent composite robot for transferring cassettes provided by the present invention;

[0066] The following are marked in the attached figure:

[0067] 1-AGV transfer vehicle, 2-main arm, 3-big arm, 4-small arm, 5-CCD camera, 6-insert rack, 7-film box, 8-placement rack, 9-fixed bracket, 10-light source, 11-guide block, 12-card slot, 13-carrying plate, 14-limit block, 15-positioning support rod, 16-RFID receiver, 17-RFID reader, 18-base, 19-J3 planetary gear reducer, 20-J3 servo motor, 21-end connection flange, 2 2-J3 shaft, 23-J1 shaft base, 24-J1 servo motor, 25-J1 synchronous belt, 26-main arm, 27-J2 servo motor, 28-J4 servo motor, 29-J4 arm synchronous belt, 30-J2 hollow wire tube, 31-J2 harmonic reducer, 32-tensioning mechanism, 33-J4 forearm synchronous belt, 34-J4 hollow wire tube, 35-J4 harmonic reducer, 36-connecting flange, 37-J2 synchronous belt, 38-hollow transmission shaft. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0069] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0070] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0071] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0072] In the description of the embodiments of the present invention, it should be noted that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the invention product is usually placed when in use, or the orientation or positional relationship commonly understood by those skilled in the art, or the orientation or positional relationship in which the invention product is usually placed when in use, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first" and "second" are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0073] In the description of the embodiments of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances; the drawings in the embodiments are used to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings herein can be arranged and designed in various different configurations.

[0074] Example 1

[0075] like Figure 1 As shown, in this embodiment, a specific intelligent composite robot for transferring film boxes 7 is provided, which is designed for high load (10kg) and large stroke (operating radius 900mm) composite handling of the AGV transfer vehicle 1, and is a special 4-horizontal articulated robot developed specifically for composite AGV film box 7 product handling applications, aiming to realize the handling of film box 7 products through the composite robot. The composite robot mainly comprises: an AGV transfer vehicle 1, a robotic arm arranged on the AGV transfer vehicle 1, a rack mechanism installed on the robotic arm, a product placement mechanism for placing the film box 7, and a visual positioning device installed on the rack mechanism, and the handling requirements of the film box 7 are realized through the coordinated operation of various parts.

[0076] (1) Robotic arm part

[0077] like Fig.10 As shown, the robotic arm is the core component of the composite robot to realize its functions. The robotic arm used in this embodiment is greatly different from the traditional joint axis robotic arm, namely: in the design of the joint axis, the robotic arm of this embodiment is a horizontal joint axis rather than a vertical joint axis; in terms of the load-bearing range, the robotic arm of this embodiment has a load capacity of 15kg, while the effective load of the robotic arm of the robot on the market is less than 8kg; in terms of the range of activities, the vertical operating range of the robotic arm of this embodiment can reach 800, and the maximum horizontal working radius is 900mm.

[0078] After the inserting mechanism inserts the film box 7, the inserting mechanism is driven by the mechanical arm to perform axial movement and 360° rotation movement synchronously or independently, wherein the axial movement includes axial displacement in a single direction of the three directions of X, Y and Z or in multiple directions at the same time, so as to place the film box 7 at any coordinate position point (X, Y, Z). In this embodiment, the design of the mechanical arm is as follows:

[0079] like Fig.10 As shown, the robotic arm includes:

[0080] ① The chassis 18 mounted on the AGV transfer vehicle 1

[0081] The base frame 18 serves as a bearing base of the robot arm. The base frame 18 is configured as a hollow frame, and the inside of the base frame 18 accommodates a J1 servo motor 24 , a J1 harmonic reducer, and the like.

[0082] ② Rotate the main arm 2 disposed on the base frame 18 around the Z axis

[0083] like Fig.11 , Fig.12As shown, the main arm 2 is equipped with a J1 driving member for driving the main arm 2 to rotate, so that the main arm 2 can rotate 360° around the Z axis under the action of the J1 driving member. The design of the J1 driving member is as follows:

[0084] A J1 shaft base 23 is rotatably arranged on the bottom frame 18, the J1 shaft base 23 is assembled and connected with the main arm 2, and the main arm 2 is located in the axial direction of the Z direction, and the J1 shaft base 23 is drivingly connected with the output shaft end of the J1 harmonic reducer;

[0085] A J1 servo motor 24 is installed on the base frame 18, and the J1 servo motor 24 is connected to the input shaft end of the J1 harmonic reducer through a J1 synchronous belt 25. Pulleys matching the J1 synchronous belt 25 are respectively provided on the output shaft of the J1 servo motor 24 and the input shaft end of the J1 harmonic reducer. The J1 harmonic reducer is used to amplify the torque and then transmit the rotational motion to the J1 shaft base 23, thereby realizing the 360° rotation function of the main arm 2 around the Z axis.

[0086] ③ The large arm 3 provided on the main arm 2 is slidable along the Z axis

[0087] like Fig.11 , Fig.12 As shown, the arm 3 is equipped with a J3 driving member for driving the arm 3 to slide, so that the arm 3 can freely rise and fall relative to the main arm 2 in the axial direction of the Z axis under the driving action of the J3 driving member. The design of the J3 driving member is as follows:

[0088] A ball screw is rotatably arranged on the main arm 2, and the ball screw is equipped with a J3 shaft 22 matching it, that is, the J3 shaft 22 and the ball screw together constitute a screw nut pair, and the J3 shaft 22 is slidably arranged on the main arm 2. When the ball screw rotates, the displacement movement of the J3 shaft 22 in the Z-axis direction can be realized through the joint action of the J3 shaft 22 and the ball screw. Since the J3 shaft 22 is connected to the large arm 3, the displacement movement of the large arm 3 in the Z-axis direction can be driven by the movement of the J3 shaft 22, and the function of free movement within a range of about 800 degrees up and down in the Z-axis direction can be realized.

[0089] A J3 servo motor 20 is installed on the main arm 2, and the output shaft of the J3 servo motor 20 is transmission-connected to the input shaft end of the J3 planetary gear reducer 19, and the output shaft end of the J3 planetary gear reducer 19 is transmission-connected to the ball screw, and the planetary reducer transmits the rotational motion after the amplified torque to the ball screw through the synchronous belt to realize the vertical movement of the J3 shaft 22. In practical applications, there are many ways of transmission connection, which can be transmission by a transmission belt or gear transmission, and the transmission method is not specifically limited here.

[0090] ④Rotate the small arm 4 provided on the big arm 3 around the Z axis

[0091] like Fig.13 As shown, the forearm 4 is provided with a J4 axis rotating around the Z axis and the J4 axis is assembled and connected with the rack mechanism, and the rotational movement of the forearm 4 and / or the J4 axis is driven by a composite driving member. In the actual movement process, the displacement of the J4 axis in the X-axis and / or Y-axis direction is achieved by the forearm 4 rotating around the Z axis on the upper arm 3 + the upper arm 3 itself rotating around the Z axis following the main arm 2. As for the specific algorithm for the coordination of the two to achieve the displacement in the X-axis and / or Y-axis direction, it can be designed by a person skilled in the art through programming, and will not be repeated here. Moreover, since the J4 axis rotates around the Z axis itself, the rotation of the J4 axis itself can adjust the position and orientation of the rack mechanism itself.

[0092] A J2 harmonic reducer 31 is provided at the end of the upper arm 3, and the output shaft end of the J2 harmonic reducer 31 is connected to the lower arm 4 through a connecting flange 36 to drive the lower arm 4 to rotate. A J4 harmonic reducer 35 is provided at the end of the lower arm 4, and the output shaft end of the J4 harmonic reducer 35 is connected to the rack mechanism through a terminal connecting flange 21 to amplify the torque and drive the rack mechanism to rotate. Specifically, in practical applications, the composite drive component includes:

[0093] The J2 servo motor 27 and the J4 servo motor 28 are installed in the big arm 3, and the output shaft of the J2 servo motor 27 is connected to the input shaft of the J2 harmonic reducer 31 through the J2 synchronous belt 37, so that the output torque of the J2 servo motor 27 is amplified by the J2 harmonic reducer 31 to realize the 360° rotation function of the small arm 4 around the Z axis;

[0094] The hollow transmission shaft 38 is sleeved inside the main shaft (i.e., input shaft) of the J2 harmonic reducer 31. The hollow rotating shaft and the main shaft rotate independently. One end of the hollow transmission shaft 38 is connected to the J4 servo motor 28 through the J4 arm synchronous belt 29, and the other end is connected to the input shaft end of the J4 harmonic reducer 35 through the J4 arm synchronous belt 33, so that the J4 servo motor 28 installed inside the arm 3 can be sequentially transmitted through the J4 arm synchronous belt 29, the J4 arm synchronous belt 33 and the J4 harmonic reducer 35. The rotational motion of the J4 servo motor 28 is transmitted to the J4 arm synchronous belt 33 and drives the J4 harmonic reducer 35 to achieve torque amplification and then drive the end connection flange 21 to rotate, so that the end connection flange 21 rotates 360° around the Z axis. In actual motion, the synthetic interpolation motion of the three joints of the main arm 2, the arm 4 and the end connection flange 21 (J4 axis) can realize the positioning and orientation of the end claw in any X and Y directions on the horizontal plane.

[0095] In order to further improve the robot arm to avoid the defect of wire entanglement during the 360° rotation without dead angle, the hollow transmission shaft 38 and the main shaft (i.e., the input shaft end) of the J4 harmonic reducer 35 are respectively provided with J2 hollow wire tubes 30 and J4 hollow wire tubes 34 for wire passing. The hollow design realizes the hollow internal wire passing of all rotating joints, perfectly solves the problem of wire entanglement inside and outside the body caused by the 360° rotation of each joint, makes full use of the internal space of the robot body, ensures that the robot can operate in a relatively narrow space, achieves the shortest reach during the robot positioning process, improves the movement efficiency of the robot arm, and shortens the movement time. At present, the robot arms of composite robots on the market cannot realize the internal wire passing of the external cable joint module of the body, resulting in the external wiring of the terminal external equipment such as CCD camera 5, which can only be routed externally, so it is difficult to achieve overall 360° rotation.

[0096] To further ensure the reliability and stability of the robot during operation, the composite drive component also includes: a tensioning mechanism 32 arranged in the forearm 4 and tensioning the J4 forearm synchronous belt 33 through the tensioning mechanism 32. The tensioning mechanism 32 includes a tensioning frame arranged inside the forearm 4 and a tensioning wheel arranged on the tensioning frame. By adjusting the tensioning wheel and making the tensioning wheel press against the J4 forearm synchronous belt 33, the reliability and stability of the power transmission are ensured.

[0097] In combination with the above, the robotic arm is composed of 4 joint axes. Through the operation of J1 servo motor 24, J2 servo motor 27, and J4 servo motor 28, three free 360° rotating joint movements and the operation of J3 servo motor 20 can be realized to perform vertical movement to complete the displacement positioning of the end of the robotic arm.

[0098] (2) Insertion mechanism

[0099] like Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown, the rack mechanism includes: a carrier plate 13 mounted on the mechanical arm and a rack 6 adapted to the film box 7, the rack 6 is assembled and connected to the carrier plate 13, and a card slot 12 is provided on the rack 6, the card slot 12 matches the guide block 11 of the film box 7 and the film box 7 is limited by the card slot 12 to prevent the film box 7 from being displaced on the rack 6.

[0100] Different inserting racks 6 can be designed for different film boxes 7. The inserting rack 6 in the inserting rack mechanism plays the role of positioning and supporting at the same time, and has the characteristics of simple structure, complete functions and light weight. After the guide block 11 of the inserting rack 6 and the film box 7 is aligned through the 45-degree guide groove, the guide block 11 slides into the card slot 12 of the inserting rack 6, thereby limiting the Y direction of the film box 7.

[0101] After the two inserting racks 6 and the film box 7 finally come into contact through the guide portion, the two inserting racks 6 respectively limit the displacement of the guide block 11 of the film box 7 in the X direction.

[0102] (3) Visual positioning device part

[0103] like Figure 2 As shown, the movement error of the robot arm is compensated by a visual positioning device. The visual positioning device includes:

[0104] A fixed bracket 9 mounted on the rack mechanism and a CCD camera 5 mounted on the fixed bracket 9, the lens of the CCD camera 5 is provided with a light source 10 matched therewith, the light source 10 is located below the lens of the CCD camera 5 to provide supplementary light for taking pictures, and the CCD camera 5 is used to take pictures of the loading area to confirm the accurate position of the material frame in the production equipment.

[0105] To achieve a repeat positioning accuracy of ±0.02~±0.03mm at the end of the forearm 4, it can meet the transplant positioning accuracy requirements of most chip box 7 products. At the same time, the composite robot of this embodiment adopts a simple modular structure, so that its cost is only about 60% of similar foreign robots.

[0106] (4) Product placement mechanism

[0107] In this embodiment, if Fig. 9 As shown, two product placement mechanisms are provided on the AGV transfer vehicle 1, through which the film box 7 is placed; the product placement mechanism includes:

[0108] A placement rack 8 for carrying a film box 7 is provided with a positioning support rod 15 and a limit block 14 corresponding to the film box 7. Two groups of V-shaped positioning notches are provided below the film box 7. When the film box 7 is placed on the placement rack 8, each group of positioning notches falls into the corresponding positioning support rod 15 respectively, and the film box 7 is positioned by the two positioning support rods 15; and the limit blocks 14 are located on both sides of the film box 7. By adjusting the limit blocks 14 to the appropriate position, the axial movement of the film box 7 on the positioning support rod 15 can be limited.

[0109] The RFID receiver 16 mounted on the placement rack 8 is communicatively connected to the RFID reader 17, and the RFID electronic tag reserved on the film box 7 is read by the RFID receiver 16, and the RFID technology is applied to product reading, so as to identify and read each film box 7, record each process in processing and transportation, and achieve the purpose of traceability.

[0110] (5) AGV transfer vehicle part

[0111] It mainly includes: a PLC controller, which is equipped with a wireless communication module, and communicates with the robot arm and external equipment through the wireless communication module, and the PLC controller is respectively connected to the CCD camera 5 and the RFID receiver 16; wherein, the PLC controller mainly also includes a power supply, a CPU (or an MCU), a memory, an input-output interface circuit and a positioning function module, the power supply is used to convert the voltage required for work; the input-output interface circuit is used to output the corresponding control signal to the on-site execution component; the wireless communication module can adopt an Ethernet communication module or a Profibus-DP communication module for communication connection with the host computer.

[0112] The battery installed inside the AGV transfer vehicle is connected to an inverter and is electrically connected to the PLC controller, the robotic arm driver and the drive assembly in the AGV transfer vehicle 1 through the output end of the inverter, so as to respectively supply power to the PLC controller, the robotic arm driver and the drive assembly in the AGV transfer vehicle 1. The lithium battery of the AGV transfer vehicle 1 itself is DC48V, and the DC48V voltage is inverted into a stable AC220V through the inverter. The drive assembly in the AGV transfer vehicle 1 belongs to the existing part of the AGV transfer vehicle 1, and it can work normally only after it is powered on. In this embodiment, the drive assembly (drive system) of the AGV transfer vehicle 1 adopts a laser SLAM navigation method, which is highly accurate and intelligent, and uses advanced algorithms to achieve automatic navigation and intelligent obstacle avoidance. It realizes free communication with the PLC controller and the target device through wireless Ethernet, so as to achieve collaborative operation between the AGV transfer vehicle 1, the robotic arm part and the target device.

[0113] The robot arm driver is electrically connected to the input and output interface circuits in the PLC controller, and the robot arm controller is electrically connected to the J1 servo motor 24, the J2 servo motor 27, the J3 servo motor 20 and the J4 servo motor 28 respectively. The PLC controller converts the execution signal through the robot arm driver to control the J1 servo motor 24, the J2 servo motor 27, the J3 servo motor 20 and the J4 servo motor 28 to perform corresponding actions.

[0114] The intelligent omnidirectional laser-guided AGV transfer vehicle 1 cooperates with the robotic arm to realize the rapid transportation of products in multiple spaces; at the same time, all rotating joints adopt a hollow transmission design to realize the hollow internal wire passing of each joint, so that each joint can rotate 360° freely independently, and multiple joints can also perform linear interpolation motion in conjunction, so that the robotic arm moves to the target position with the best motion path, the shortest arrival time, strong load capacity and a wide operating radius.

[0115] Its working principle is as follows: through the operation of J1 servo motor 24, J2 servo motor 27 and J4 servo motor 28, 360° free rotation joint movement can be achieved respectively, thereby realizing the positioning and orientation of the end in any X, Y, and Z directions on the horizontal plane, and through the operation of J3 servo motor 20, the end is positioned in the vertical plane of the Z axis, and finally a special type of robot with a cylindrical coordinate working space is realized;

[0116] Combined with the intelligent omnidirectional laser-guided AGV transfer vehicle 1, the rapid transportation of products in multiple spaces can be achieved. Compared with the composite robot currently formed by the combination of the collaborative robot and the AGV transfer vehicle 1, the composite robot provided in this embodiment has the advantages of light structure and fast response. The rotational movement speed can reach 300°m / s, and the linear movement speed can reach 5.2m / s, which are several times faster than ordinary composite robots. At the same time, it has the advantages of high load (the maximum transportable load can reach 15KG) and wide working space (maximum operating radius 900mm). Therefore, it is most suitable for multi-area operations such as plane positioning and vertical transportation, loading and unloading.

[0117] The intelligent composite robot for transferring the film box 7 provided in this embodiment works as follows:

[0118] During operation, the MES system dispatches orders, and the AGV transfer vehicle 1 automatically plans the shortest route according to the waybill of the AGV dispatching system, and stops at the loading position of the production equipment;

[0119] Confirm information with production equipment through wireless communication module (to ensure that AGV transfer vehicle 1 accurately corresponds to each production equipment);

[0120] After confirmation, the robot arm starts to take pictures of the loading area. After confirming the accurate position of the material frame of the production equipment, the robot arm starts to take the empty frame and place it on the placement rack 8 of the AGV transfer vehicle 1, read the label, and transmit the label information to the host computer through the wireless communication module of the AGV transfer vehicle 1. The host computer generates a material traceability report based on certain sorting rules;

[0121] Then put the full frame into the loading area of ​​the production equipment. After the robot arm returns to its position, the AGV transfer vehicle 1 can run the next waybill. If there is no waybill, it returns to the stop point to charge and wait for the next waybill.

[0122] In this cycle, the loading and unloading of production equipment is automatically controlled by AGV transfer vehicle 1 + robotic arm.

[0123] The present invention is not limited to the above-mentioned optional implementation modes. Anyone can derive other various forms of products under the inspiration of the present invention. However, no matter what changes are made in the shape or structure, all technical solutions that fall within the scope defined by the claims of the present invention fall within the protection scope of the present invention.

Claims

1. An intelligent composite robot for transferring film boxes, characterized in that: The robot includes: AGV transfer vehicle; A mechanical arm provided on the AGV transfer vehicle; The rack insertion mechanism installed on the robot arm drives the rack insertion mechanism to perform axial movement and 360° rotation movement through the robot arm, wherein the axial movement includes displacement in a single direction among the three directions of X, Y and Z or a composite displacement in multiple axial directions at the same time; A visual positioning device installed on the rack mechanism, through which the movement error of the AGV transfer vehicle is compensated; The robotic arm comprises: The chassis is mounted on the AGV transfer vehicle; A main arm is arranged on the base frame and rotates around the Z axis, wherein the main arm is provided with a J1 driving member for driving the main arm to rotate; A large arm is slidably arranged on the main arm along the Z axis, and the large arm is equipped with a J3 driving member for driving the large arm to slide; A small arm arranged on the big arm rotates around the Z axis, the small arm is provided with a J4 axis rotating around the Z axis, and the end of the J4 axis is assembled and connected with the rack mechanism, and the small arm and / or the J4 axis are driven to rotate by a composite driving member; A J2 harmonic reducer is provided at the end of the upper arm and is connected to the lower arm through a connecting flange, and a J4 harmonic reducer is provided at the end of the lower arm and is connected to the rack mechanism through a terminal connecting flange; The composite drive member comprises: The J2 servo motor and the J4 servo motor are installed in the boom, and the J2 servo motor is connected to the J2 harmonic reducer through the J2 synchronous belt; the J2 servo motor and the J4 servo motor are both located at one end of the boom close to the main arm; A hollow transmission shaft sleeved inside the main shaft of the J2 harmonic reducer, one end of the hollow transmission shaft is connected to the J4 servo motor through the J4 big arm synchronous belt transmission, and the other end is connected to the J4 harmonic reducer through the J4 small arm synchronous belt transmission; The robot also includes: At least one product placement mechanism is provided on the AGV transfer vehicle, and the film box is placed through the product placement mechanism; The product placement mechanism comprises: A placement rack for carrying the film cassette, the placement rack being provided with a positioning support rod and a limit block corresponding to the film cassette; Two groups of V-shaped positioning notches are provided under the film box. When the film box is placed on the placement rack, each group of positioning notches falls into the corresponding positioning support rods respectively. The film box is positioned by the two positioning support rods and the limit blocks are located on both sides of the film box. The limit blocks are adjusted to appropriate positions to limit the axial movement of the film box on the positioning support rods. An RFID receiver mounted on the placement rack, the RFID receiver is connected to an RFID reader, and the RFID electronic tag on the film box is read by the RFID receiver; The rack insertion mechanism comprises: a bearing plate mounted on the mechanical arm; A plug-in frame adapted to the film box, the plug-in frame is assembled and connected with the carrier plate, and a card slot is provided on the plug-in frame, the card slot matches with the fixed block of the film box and limits the film box through the card slot; After the guide block of the film box is guided by the 45-degree guide groove, the guide block slides into the card slot of the inserting frame, thereby limiting the Y direction of the film box; when the two inserting frames and the film box finally contact through the guide part, the two inserting frames respectively limit the displacement of the guide block of the film box in the X direction; The visual positioning device comprises: A fixing bracket mounted on the rack mechanism; A CCD camera mounted on a fixed bracket, wherein the lens of the CCD camera is provided with a matching light source; The J1 driver comprises: Rotate the J1 shaft arranged on the base frame, wherein the J1 shaft is connected to the main arm and the J1 shaft is transmission-connected to the J1 harmonic reducer; A J1 servo motor installed on the chassis, wherein the J1 servo motor is connected to the J1 harmonic reducer through a J1 synchronous belt; The J3 drive comprises: Rotate the ball screw on the main arm, the ball screw is equipped with a J3 shaft matched with it, the J3 shaft is slidably arranged on the main arm and the J3 shaft is connected to the large arm; A J3 servo motor mounted on the main arm, wherein the J3 servo motor is connected to a J3 planetary gear reducer, and the J3 planetary gear reducer is transmission-connected to a ball screw; The hollow transmission shaft and the main shaft of the J4 harmonic reducer are sleeved with a hollow wire passing tube for passing the wire.

2. The intelligent composite robot for transferring cassettes according to claim 1, characterized in that: The composite driving component further comprises: a tensioning mechanism disposed in the forearm and the J4 forearm synchronous belt is tensioned by the tensioning mechanism.

3. The intelligent composite robot for transferring film boxes according to claim 1, characterized in that: The AGV transfer vehicle comprises: A PLC controller, the PLC controller includes a wireless communication module and is connected to a host computer via the wireless communication module; A mechanical arm driver electrically connected to the PLC controller, wherein the mechanical arm driver is electrically connected to the J1 driver, the J2 driver and the composite driver respectively; The battery is arranged inside the AGV transfer vehicle, and the battery is connected to an inverter and is electrically connected to a PLC controller, a robot arm driver, a visual positioning device and a drive assembly inside the AGV transfer vehicle through the output end of the inverter.

Images