An industrial mobile robot control system for forklift cabin assembly production line

Abstract

The present invention discloses an industrial mobile robot control system for a forklift cabin assembly production line, comprising: a power battery, a control system, and an execution system, wherein the power battery supplies power to the control system and the execution system, and the control system controls the execution mechanism to work according to the job scheduling and related control requirements sent by the cloud platform, and performs automatic obstacle avoidance control when controlling the execution mechanism to work, and the execution mechanism controls the industrial mobile robot to work, wherein the industrial mobile robot is an AGV trolley with a lifting mechanism; the production efficiency of the enterprise can be improved and the cost can be reduced when assembling the forklift, and the AGV trolley with a lifting mechanism is used to carry out flexible logistics transportation and forklift production line assembly operations according to the process route set by the cloud platform, and the assembly process of forklift-related parts is performed according to the workstation specified by the cloud platform. If it is at the set power or fault prediction time, the industrial mobile robot will automatically reach the faulty workstation. After repair, it will enter the next workstation to continue to complete the task.

Description

Technical Field

[0001] The present invention relates to manufacturing in industrial settings, and in particular to an industrial mobile robot control system for a forklift cabin assembly production line. Background Art

[0002] With the rapid development of industrial automation today, manual labor and some simple machinery can no longer meet the requirements of logistics and transportation in today's manufacturing industry, so industrial mobile robots came into being. Forklifts are now an indispensable and important equipment in industrial logistics. The automation and intelligence level of their assembly production lines directly affect the production efficiency and cost of enterprises; however, in the existing forklift cabin assembly production lines, when the frame is put on the sub-assembly line, it is necessary to use a crane to lift it onto the line, and then when the sub-line assembly is completed, it is also necessary to use a crane to lift it onto the line when it is put on the whole machine assembly line. When a faulty frame occurs on the assembly sub-line, it is also necessary to use a crane to lift it to the faulty workstation, which is not conducive to the application of automated production lines. Therefore, it is extremely important to develop an advanced industrial mobile robot control system for forklift cabin assembly production lines. Summary of the invention

[0003] In view of the problems existing in the above-mentioned prior art, the present invention provides an industrial mobile robot control system for a forklift cabin assembly production line, including: a power battery, a control system, and an execution system. The control system controls the execution mechanism to work according to the job scheduling and related control requirements sent by the cloud platform, and performs automatic obstacle avoidance control when controlling the execution mechanism to work. The execution mechanism controls the industrial mobile robot to work, wherein the industrial mobile robot is an AGV trolley with a lifting mechanism; it can improve the production efficiency of the enterprise and reduce costs when assembling forklifts, and use an AGV trolley with a lifting mechanism to carry a jacking automatic guided transport vehicle, and carry out flexible logistics transportation and forklift production line assembly operations according to the process route set by the cloud platform system, and execute the assembly process of forklift-related parts at each workstation as specified by the cloud platform. If a fault occurs at the set power or fault prediction time, the industrial mobile robot will automatically reach and transport to the faulty workstation, and after repair, enter the next workstation to continue to complete the task.

[0004] The industrial mobile robot control system is combined with the job scheduling assembly information, and the scheduling based on the job information realizes the synchronous job scheduling of multiple vehicles, integrates the assembly job information with the positioning information, ensures the synchronization of the assembly process, realizes the motion control of the process automation flow of the forklift cabin assembly, and improves the efficiency of the forklift cabin assembly.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: an industrial mobile robot control system for a forklift cabin assembly production line, comprising: a power battery, a control system, and an execution system. The power battery supplies power to the control system and the execution system. The control system controls the operation of the actuator according to the control requirements sent by the cloud platform, and performs automatic obstacle avoidance control when controlling the actuator. The actuator controls the operation of the industrial mobile robot, wherein the industrial mobile robot is an AGV cart with a lifting mechanism.

[0006] Furthermore, the control system includes: a host computer module, a wireless terminal, an industrial computer, a gyroscope, a laser navigation module, a safe edge touch module, a main mobile robot controller, a relay module, and a laser obstacle avoidance radar. The main mobile robot controller is used to control the execution system through the relay module, the host computer module communicates with the cloud platform through the wireless terminal, the host computer module is connected to the industrial computer, the industrial computer is communicated with the main mobile robot controller, the industrial computer communicates with the main mobile robot controller through the gyroscope, the laser obstacle avoidance radar and the laser navigation module respectively, and the laser navigation module collects information from the laser obstacle avoidance radar and the gyroscope; the laser obstacle avoidance radar is also connected to the main mobile robot controller, the main mobile robot controller receives the laser obstacle avoidance radar information and controls the laser obstacle avoidance radar to work, the safe edge touch module is connected to the main mobile robot controller, and the safe edge touch module sends the edge touch information to the main mobile robot controller for processing.

[0007] Furthermore, the laser obstacle avoidance radar includes: a front laser obstacle avoidance radar and a rear laser obstacle avoidance radar, which are respectively installed at the front end and the rear end of the industrial mobile robot and are used for obstacle avoidance detection when the industrial mobile robot moves.

[0008] Furthermore, the safety touch edge modules are respectively installed on the front, back, left and right sides of the industrial mobile robot, namely: front safety touch edge module, rear safety touch edge module, left safety touch edge module, right safety touch edge module, and are used to prevent the industrial mobile robot from continuing to move in that direction when it encounters an obstacle while moving.

[0009] Furthermore, it also includes: a backup operating system, which includes: a backup mobile robot controller, a remote control receiver, a speaker, a QR code detection module, a battery, a brush module, a color screen, and a communication module. The backup mobile robot controller and the communication module are respectively connected to the remote control receiver, the speaker, the QR code detection module, the battery, the brush module, and the color screen. The backup mobile robot controller is also connected to the main mobile robot controller, and the communication module is also connected to the power battery. The QR code detection module is used to scan the QR code on the forklift cabin assembly production line for positioning.

[0010] Furthermore, the communication module is a wireless terminal.

[0011] Furthermore, the power battery is connected to the execution system via a junction box, and a relay module is arranged in the junction box to control the operation of the execution system.

[0012] Furthermore, the execution system includes: a lifting drive, a lifting motor, a right rear steering drive, a right rear walking drive, a left front steering drive, a left front walking drive, a lifting motor, a right rear steering motor, a left front steering motor, a right rear walking motor, and a left front walking motor. The right rear walking motor and the left front walking motor are used to drive the industrial mobile robot to walk, the right rear steering motor and the left front steering motor are used to drive the industrial mobile robot to turn, and the lifting motor is used to drive the lifting mechanism of the industrial mobile robot to operate. The lifting drive, the lifting motor, the right rear steering drive, the right rear walking drive, the left front steering drive, and the left front walking drive respectively control the lifting motor, the right rear steering motor, the left front steering motor, the right rear walking motor, and the left front walking motor to work.

[0013] Furthermore, the lifting motor, the right rear steering motor, the left front steering motor, the right rear travel motor, and the left front travel motor are servo motors or stepper motors.

[0014] Furthermore, the industrial mobile robot is provided with a plurality of suspension damping mechanisms, the right rear steering motor and the left front steering motor are connected to the rear suspension mechanism through the same suspension damping mechanism, the right rear walking motor and the left front walking motor are connected to the front suspension mechanism through the same suspension damping mechanism, and the lifting motor is connected to the lifting mechanism through a separate suspension damping mechanism.

[0015] The beneficial effects of the present invention are: it can improve the production efficiency of enterprises and reduce costs when assembling forklifts, use an AGV trolley with a lifting mechanism to carry an automatic guided transport vehicle, carry out flexible logistics transportation and forklift production line assembly operations according to the process route set by the cloud platform system, and perform the assembly process of forklift related parts at each workstation as specified by the cloud platform. If a fault occurs at the set power or fault prediction time, the industrial mobile robot will automatically reach the faulty workstation and, after repair, enter the next workstation to continue completing the task. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a schematic diagram of the execution system control; Figure 3 This is a schematic diagram of the layout of the forklift cabin assembly production line. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention more clear, the present invention is further described in detail below through the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0019] like Figure 1-3 As shown, an industrial mobile robot control system for a forklift cabin assembly production line includes: a power battery, a control system, and an execution system. The power battery supplies power to the control system and the execution system. The control system controls the operation of the actuator according to the control requirements sent by the cloud platform, and performs automatic obstacle avoidance control when controlling the actuator. The actuator controls the operation of the industrial mobile robot, wherein the industrial mobile robot is an AGV cart with a lifting mechanism.

[0020] The control system includes: a host computer module, a wireless terminal, an industrial computer, a gyroscope, a laser navigation module, a safety edge touch module, a main mobile robot controller, a relay module, and a laser obstacle avoidance radar. Among them, the laser navigation module is a laser SLAM navigation module. The main mobile robot controller is used to control the execution system through the relay module. The host computer module communicates with the cloud platform through the wireless terminal. The host computer module is connected to the industrial computer. The industrial computer is communicated with the main mobile robot controller. The industrial computer communicates with the laser SLAM navigation module through the gyroscope, the laser obstacle avoidance radar, and the laser navigation module collects laser obstacle avoidance radar and gyroscope information. The laser obstacle avoidance radar is also connected to the main mobile robot controller. The main mobile robot controller receives the laser obstacle avoidance radar information and controls the laser obstacle avoidance radar to work. The safety edge touch module is connected to the main mobile robot controller, and the safety edge touch module sends the edge touch information to the main mobile robot controller for processing.

[0021] Using laser SLAM navigation, the industrial mobile robot is equipped with one or more laser navigation modules at the front and back according to the complexity of the scene, which are used for puzzle-solving to improve the mapping ability of the application scenario.

[0022] The host computer module is equipped with a WCS system, which is responsible for coordinating the operation between various logistics equipment. As the "traffic police" of the warehouse / distribution center, WCS is responsible for keeping everything running smoothly and maximizing the efficiency of the material handling subsystem.

[0023] The laser navigation module includes: the laser obstacle avoidance radar includes: a front laser obstacle avoidance radar and a rear laser obstacle avoidance radar, the front laser obstacle avoidance radar and the rear laser obstacle avoidance radar are respectively installed at the front end and the rear end of the industrial mobile robot, and are used for obstacle avoidance detection when the industrial mobile robot moves.

[0024] The safety touch edge modules are installed on the front, back, left and right sides of the industrial mobile robot, namely: front safety touch edge module, rear safety touch edge module, left safety touch edge module, and right safety touch edge module. They are used to prevent the industrial mobile robot from continuing to move in the direction when it encounters an obstacle.

[0025] The industrial mobile robot control system also includes: a backup operating system, which includes: a backup mobile robot controller, a remote control receiver, a speaker, a QR code detection module, a battery, a brush module, a color screen, and a communication module. The backup mobile robot controller and the communication module are respectively connected to the remote control receiver, the speaker, the QR code detection module, the battery, the brush module, and the color screen. The backup mobile robot controller is also connected to the main mobile robot controller, and the communication module is also connected to the power battery. The QR code detection module is used to scan the QR code on the forklift cabin assembly production line for positioning, and the communication module is a wireless terminal.

[0026] The power battery is connected to the execution system through a junction box, and the relay module is set in the junction box to control the operation of the execution system.

[0027] Wherein, the execution system includes: a lifting drive, a lifting motor, a right rear-steering drive, a right rear-walking drive, a left front-steering drive, a left front-walking drive, a lifting motor, a right rear steering motor, a left front steering motor, a right rear walking motor, and a left front walking motor. The right rear walking motor and the left front walking motor are used to drive the industrial mobile robot to walk, the right rear steering motor and the left front steering motor are used to drive the industrial mobile robot to turn, and the lifting motor is used to drive the lifting mechanism of the industrial mobile robot to operate. The lifting drive, the lifting motor, the right rear-steering drive, the right rear-walking drive, the left front-steering drive, and the left front-walking drive respectively control the lifting motor, the right rear steering motor, the left front steering motor, the right rear walking motor, and the left front walking motor to work; wherein, the lifting motor, the right rear steering motor, the left front steering motor, the right rear walking motor, and the left front walking motor are servo motors or stepper motors.

[0028] The industrial mobile robot is provided with multiple suspension vibration reduction mechanisms. The right rear steering motor and the left front steering motor are connected to the rear suspension mechanism through the same suspension vibration reduction mechanism. The right rear walking motor and the left front walking motor are connected to the front suspension mechanism through the same suspension vibration reduction mechanism. The lifting motor is connected to the lifting mechanism through a separate suspension vibration reduction mechanism.

[0029] The host computer module and the cloud platform communicate via the MES communication protocol.

[0030] Multiple industrial mobile robots communicate wirelessly with the cloud platform, such as Figure 3 As shown, when the forklift assembly line starts working, the industrial mobile robot first enters the frame station; then it performs mobile auxiliary installation according to the following process, as follows: Frame station: At the frame station, it drives precisely to the designated position and activates its lifting device to accommodate frames of different heights; the station is equipped with two sets of support frames, which are designed to be strong enough to ensure the stable storage of the frames; after confirming that the frame has been firmly placed on the support frame, the AGV industrial mobile robot will automatically return to the standby area and go to the next task location; At the tilt cylinder station (station 1), the AGV industrial mobile robot transports the frame to a specific assembly point; it first adjusts its position so that the frame can be accurately supported on the preset bracket; then, the installation steps begin, and the AGV industrial mobile robot provides the necessary stability and support; after the installation is completed, the AGV industrial mobile robot moves again to transport the frame equipped with the tilt cylinder to the next station; Steering axle station (station 2): Entering the steering axle station, the AGV industrial mobile robot's task is still to provide precise support and transportation; it will ensure that the frame is firmly placed on the workbench, and then will start to install the steering axle; during this process, the AGV industrial mobile robot will continue to monitor its position to ensure the stability of the frame; once the steering axle is installed, the AGV industrial mobile robot will quickly and accurately transport the frame to the next station; Hydraulic oil tank cover station (station three): At the hydraulic oil tank cover station, the AGV industrial mobile robot continues its efficient workflow; it first positions the frame and then stably supports it on the workbench; it then begins to install the hydraulic oil tank cover, and the AGV industrial mobile robot provides necessary support throughout the process; after the installation is completed, the AGV industrial mobile robot safely transports the frame to the cache charging station according to the preset path; Cache charging station: The main function of the cache charging station is to provide a place for the AGV to replenish power. This station is equipped with charging equipment and adopts a telescopic charging method. When the AGV industrial mobile robot comes to this station, it starts charging; when the industrial mobile robot is fully charged, it will wait for further instructions; Mainline Station: Finally, the AGV will come to the mainline station; here, its task is to support and accurately position the frame so that it can cooperate with the telescopic fork to accurately place the frame on the mainline; the AGV will work with the telescopic fork to ensure that the frame can enter the mainline smoothly and accurately; once the frame is successfully put on the line, the AGV will return to its initial position and wait for the next task; Faulty vehicle station: When entering each station, an inspection must be carried out to see if the vehicle has a fault. If a fault occurs, the AGV industrial mobile robot will leave the current station and go to the faulty vehicle station for repair. It will then determine whether it needs to be charged, and then determine whether there are industrial mobile robots occupying the subsequent stations, and then decide whether to enter the process.

[0031] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent substitution or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An industrial mobile robot control system for a forklift cabin assembly production line, characterized in that: include: Power battery, control system, execution system, the power battery supplies power to the control system and the execution system, the control system controls the operation of the actuator according to the control requirements sent by the cloud platform, and performs automatic obstacle avoidance control when controlling the operation of the actuator, and the actuator controls the operation of the industrial mobile robot, wherein the industrial mobile robot is an AGV cart with a lifting mechanism.

2. The industrial mobile robot control system for a forklift cabin assembly production line according to claim 1, characterized in that: The control system includes: a host computer module, a wireless terminal, an industrial computer, a gyroscope, a laser navigation module, a safety edge touch module, a main mobile robot controller, a relay module, and a laser obstacle avoidance radar. The main mobile robot controller is used to control the execution system through the relay module, the host computer module communicates with the cloud platform through the wireless terminal, the host computer module is connected to the industrial computer, the industrial computer is communicated with the main mobile robot controller, the industrial computer communicates with the main mobile robot controller through the gyroscope, the laser obstacle avoidance radar and the laser navigation module respectively, and the laser navigation module collects information from the laser obstacle avoidance radar and the gyroscope; the laser obstacle avoidance radar is also connected to the main mobile robot controller, the main mobile robot controller receives the laser obstacle avoidance radar information and controls the laser obstacle avoidance radar to work, the safety edge touch module is connected to the main mobile robot controller, and the safety edge touch module sends the edge touch information to the main mobile robot controller for processing.

3. The industrial mobile robot control system for a forklift cabin assembly production line according to claim 2, characterized in that: The laser obstacle avoidance radar includes: a front laser obstacle avoidance radar and a rear laser obstacle avoidance radar. The front laser obstacle avoidance radar and the rear laser obstacle avoidance radar are respectively installed at the front end and the rear end of the industrial mobile robot, and are used for obstacle avoidance detection when the industrial mobile robot moves.

4. The industrial mobile robot control system for a forklift cabin assembly production line according to claim 2, characterized in that: The safety touch edge modules are respectively installed on the front, back, left and right sides of the industrial mobile robot, namely: front safety touch edge module, rear safety touch edge module, left safety touch edge module, right safety touch edge module, and are used to prevent the industrial mobile robot from continuing to move in that direction when it encounters an obstacle while moving.

5. The industrial mobile robot control system for a forklift cabin assembly production line according to claim 2, characterized in that: Also includes: A backup operating system, which includes: a backup mobile robot controller, a remote control receiver, a speaker, a QR code detection module, a battery, a brush module, a color screen, and a communication module. The backup mobile robot controller and the communication module are respectively connected to the remote control receiver, the speaker, the QR code detection module, the battery, the brush module, and the color screen. The backup mobile robot controller is also connected to the main mobile robot controller, and the communication module is also connected to the power battery. The QR code detection module is used to scan the QR code on the forklift cabin assembly production line for positioning.

6. The industrial mobile robot control system for a forklift cabin assembly production line according to claim 5, characterized in that: The communication module is a wireless terminal.

7. The industrial mobile robot control system for a forklift cabin assembly production line according to claim 2, characterized in that: The power battery is connected to the execution system via a junction box, and a relay module is arranged in the junction box to control the operation of the execution system.

8. The industrial mobile robot control system for a forklift cabin assembly production line according to claim 7, characterized in that: The execution system includes: a lifting drive, a lifting motor, a right rear-steering drive, a right rear-travel drive, a left front-steering drive, a left front-travel drive, a lifting motor, a right rear steering motor, a left front steering motor, a right rear travel motor, and a left front travel motor. The right rear travel motor and the left front travel motor are used to drive the industrial mobile robot to walk, the right rear steering motor and the left front steering motor are used to drive the industrial mobile robot to turn, the lifting motor is used to drive the lifting mechanism of the industrial mobile robot to operate, and the lifting drive, the lifting motor, the right rear-steering drive, the right rear-travel drive, the left front-steering drive, and the left front-travel drive respectively control the lifting motor, the right rear steering motor, the left front steering motor, the right rear travel motor, and the left front travel motor to work.

9. The industrial mobile robot control system for a forklift cabin assembly production line according to claim 8, characterized in that: The lifting motor, the right rear steering motor, the left front steering motor, the right rear travel motor and the left front travel motor are servo motors or stepper motors.

10. The industrial mobile robot control system for a forklift cabin assembly production line according to claim 7, characterized in that: The industrial mobile robot is provided with multiple suspension vibration reduction mechanisms. The right rear steering motor and the left front steering motor are connected to the rear suspension mechanism through the same suspension vibration reduction mechanism. The right rear walking motor and the left front walking motor are connected to the front suspension mechanism through the same suspension vibration reduction mechanism. The lifting motor is connected to the lifting mechanism through a separate suspension vibration reduction mechanism.

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