AU2021105424A4

AU2021105424A4 - Industrial robot based on AGV

Info

Publication number: AU2021105424A4
Application number: AU2021105424A
Authority: AU
Inventors: Min Chen
Original assignee: Nanchang Campus Of Jiangxi Univ Of Science And Technology
Current assignee: NANCHANG CAMPUS OF JIANGXI UNIVERSITY OF SCIENCE AND TECHNOLOGY
Priority date: 2021-08-13
Filing date: 2021-08-13
Publication date: 2021-10-14
Anticipated expiration: 2029-08-13

Abstract

An invention discloses an industrial robot based on AGV, belonging to the field of industrial robots, which comprises an AGV trolley, a control unit, two clamping mechanisms respectively installed on two sides of the AGV trolley and a transport cleaning track group arranged between the two clamping mechanisms, wherein clamping parts are arranged at both ends of each clamping mechanism, and the two clamping parts at one end of the transport cleaning track group clamp objects and place them at one end of the transport cleaning track group, and the transport cleaning track group cleans the objects and transports them to the other end. According to the AGV-based industrial robot, the turning and turning operations of AGV trolley are reduced or even eliminated, and the surface of objects is cleaned while the transport and cleaning track group is transported from the front end to the rear end, so that the functional integration is high, and the process of independently cleaning the surface of objects is saved. 1/8 Figure 11 39 11 3 3133 30 52 5 51 302/303304/ 301: 79 72 76 1 7 78 8 8 Figure1I

Description

1/8

Figure

11 39 11

3 3133

30 52 5 51

302/303304/ 301: 79 72 76 1 7 78 8 8

Figure1I

Industrial robot based on AGV

TECHNICAL FIELD

The present invention relates to the field of industrial robots, in particular to an industrial

robot based on AGV.

BACKGROUND

AGV (Automated Guided Vehicle) is an automatic guided transport vehicle, which is

equipped with electro-magnetic or optical automatic guiding devices, can travel along the

specified guiding path, and has safety protection and various load transfer functions.

Generally, the traveling route and behavior can be controlled by a computer, or the

traveling route can be established by using the electromagnetic track adhered to the floor,

while the unmanned truck moves and moves according to the information brought by the

electromagnetic track. In the factory workshop, large storage warehouse, large

distribution warehouse and other places, AGV trolleys have been widely used to transport

and move goods instead of manpower, which can transport raw materials from the raw

material area to the processing area, or transport processed boxed products from the

finished product area to the storage area.

Industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine

device, which can automatically perform work, realize various functions by its own

dynamic force and control ability, and can run according to the prearranged program. The

AGV trolley usually carries a manipulator or robot to clamp objects, and the AGV robot

is a highly automated industrial robot which combines the AGV trolley with the industrial

robot.

When moving, the existing AGV robots take objects by means of a manipulator or a

gripper mechanism at the front end of the AGV robot, and then move the objects

according to the given route to the end point and place them in the designated position, in

the process of moving, the AGV usually needs to make turning and turning, and the AGV

robot needs to turn to the front when it reaches the designated position of the object, and

the robot's robot hand or clamping mechanism places the object in the designated

position, however, in some factories and workshops, due to the placement of various

equipments and shelves, the passageway through which AGV robots can pass is narrow,

which makes it difficult for AGV robots to turn around, resulting in the limited use range

of AGV Robots, many of the large and medium-sized equipment in factories are usually

fixed to the ground and can not be moved. It would be a waste of space to make large

channels available for AGV Robots to work. In particular, AGV robots that transport

goods to and from one-way passageways need to make a U-turn to move goods to the

other end of the passageways so that AGV robots can move goods to and from the front

of the passageways, it is necessary to have enough turning space for the robot to turn

around smoothly.

In addition, during AGV vehicle travel, the object is always clamped by AGV robot's

manipulator or gripper mechanism, the vibration caused by the AGV robot itself, the

bump caused by the obstruction of the debris on the ground, the collision with the

equipment in the narrow channel, and so on, are all easy to make the object which is

clamped sway or even fall off, leading to the damage of the object, especially the fragile

object, the work efficiency of AGV robot is seriously affected, and when the object is sloshing and tilting, the AGV robot will easily offset when it places the object in the appointed position, which leads to the inaccurate position.

In addition, the existing AGV robot has a single function, which usually only has a single

transport function when transporting goods, but does not have the function of cleaning up

the dust, dirt and other impurities on the surface of goods. In order to ensure the quality

and credibility of products, many goods often need to carry out dust removal and

decontamination work on the surface of goods before leaving the factory, which requires

additional manual or mechanical operation, increasing the working procedures and

reducing the production efficiency.

SUMMARY

In order to overcome the shortcomings of the prior art, the technical problem to be solved

by the present invention is to propose an industrial robot based on AGV, which can

clamp objects from the front end and place them at designated positions from the rear

end, thus reducing or even eliminating the operations of turning, turning around and so on

by AGV trolleys, and at the same time, after clamping objects by the clamping

mechanism, placing them on the transport cleaning track group, without clamping objects

for a long time during the traveling process of AGV trolleys. The damage caused by

shaking and separating of objects is effectively prevented, and the surfaces of objects are

cleaned while being transported from the front end to the rear end by the transport and

cleaning track group, so that the functional integration is high, and the process of

cleaning the surfaces of objects independently is saved.

The technical scheme adopted by the invention is as follows:

The industrial robot based on AGV provided by the invention comprises an AGV trolley,

a control unit electrically connected with the AGV trolley, two clamping mechanisms

respectively installed on two sides of the AGV trolley for clamping objects, and a

transport cleaning track group arranged between the two clamping mechanisms for

conveying objects and cleaning the surfaces of objects at the same time, wherein two

ends of each clamping mechanism are provided with clamping parts, The clamping

mechanisms and the transport cleaning track group are electrically connected with the

control unit respectively, and after the clamping parts of two clamping mechanisms at

one end of the transport cleaning track group clamp the same object and place it at one

end of the transport cleaning track group, the transport cleaning track group transports the

object to the other end of the transport cleaning track group.

As a further improvement of this scheme, the clamping mechanism includes a vertical

screw rod arranged on the AGV trolley, a screw rod driving motor for driving the vertical

screw rod to rotate, a vertical guide rod fixed on the AGV trolley, a lifting guide block

arranged on the vertical screw rod, and a telescopic mechanism arranged on the lifting

guide block. The vertical guide rod penetrates through the lifting guide block, the lifting

guide block is in sliding connection with the vertical guide rod, the screw driving motor

is electrically connected with the control unit, and the clamping part is arranged on the

telescopic mechanism.

As a further improvement of this scheme, the telescopic mechanism comprises a

telescopic arm arranged on the lifting guide block, a first motor for driving the telescopic

arm to move, and a first gear arranged on the power output shaft of the first motor. One

side wall of the lifting guide block is provided with an upper guide plate and a lower guide plate, a sliding groove body for mounting the telescopic arm is formed between the upper guide plate and the lower guide plate, and the telescopic arm is in sliding connection with the sliding groove body The telescopic arm is perpendicular to the vertical straight wire rod, one side wall of the telescopic arm is provided with gear teeth meshed with the first gear, the first motor is electrically connected with the control unit, and both ends of the telescopic arm are provided with the clamping parts.

As a further improvement of this scheme, the upper guide plate is provided with a

plurality of first ball rolling grooves penetrating through the upper guide plate, each of

which is provided with a first ball, and the lower guide plate is provided with a plurality

of second ball grooves penetrating through the lower guide plate, each of which is

provided with a second ball, and an upper cover plate for sealing the first ball in the first

ball groove is arranged above the upper guide plate A lower cover plate for sealing the

second ball in the second ball groove is arranged below the lower guide plate, the first

ball and the second ball extend into the sliding groove body, an upper sliding groove

matched with the first ball is arranged on the upper end face of the telescopic arm, and a

lower sliding groove matched with the second ball is arranged on the lower end face of

the telescopic arm.

As a further improvement of this scheme, the clamping part comprises a clamping rod

hinged at the end of the telescopic arm, a telescopic motor fixed on the telescopic arm, a

telescopic sleeve screwed on the rotating shaft of the telescopic motor, and a connecting

rod hinged between the telescopic sleeve and the clamping rod, wherein the rotating shaft

of the telescopic motor is provided with external threads, and the inner wall of the

telescopic sleeve is provided with internal threads matched with the external threads.

As a further improvement of this scheme, the transportation and cleaning track group

includes a conveying roller table arranged on the AGV trolley for conveying objects, a

cleaning roller door arranged above the conveying roller table for cleaning the surfaces of

objects, and the conveying roller table includes a conveying trough arranged at the top of

the AGV trolley, two supporting plates respectively fixed on two sides below the

conveying trough, a plurality of rotating shafts installed between the two supporting

plates, and a driving roller arranged inside the AGV trolley.

As a further improvement of this scheme, the driving mechanism includes a second gear

arranged at one end of one of the rotating shafts, a second motor arranged at one side of

the second gear, a third gear arranged on the power output shaft of the second motor,

driving pulleys arranged at both ends of the rotating shafts, and a driving belt connected

between two driving pulleys of two adjacent rotating shafts.

As a further improvement of the scheme, a scraper matched with the brush cleaning

sleeve on the rotating shaft is arranged below each rotating shaft; Two ends of the scraper

are respectively fixed on the two supporting plates, the scraper is used for scraping off

impurities such as dust, debris and the like attached to the brush cleaning sleeve, a dust

collecting tray is arranged below the scraper, and the dust collecting tray is detachably

connected to the two supporting plates.

As a further improvement of the scheme, the cleaning roller door comprises a left vertical

shaft, a right vertical shaft, a top cross bar, a third motor for driving the left vertical shaft

to rotate and a fourth motor for driving the right vertical shaft to rotate, wherein the left

vertical shaft and the right vertical shaft are respectively arranged on two sides of the

conveying roller table, and the top cross bar is installed between the left vertical shaft and the right vertical shaft. The left vertical shaft, the right vertical shaft and the top cross bar are all sleeved with bristle sleeves, and the third motor and the fourth motor are respectively electrically connected with the control unit; when the conveying roller table conveys objects, the objects pass through the inner side of the cleaning roller door.

As a further improvement of this scheme, both ends of the transport cleaning track group

are provided with induction detectors which are electrically connected with the control

unit and used for detecting whether an object reaches the end of the transport cleaning

track group.

Compared with the prior art, the invention has the following beneficial effects:

The AGV-based industrial robot provided by the invention is characterized in that two

clamping mechanisms are arranged on an AGV trolley and a transport cleaning track

group is arranged between the two clamping mechanisms, clamping parts are arranged at

the front and rear ends of the clamping mechanisms, the same object is clamped by the

two clamping parts at the front ends of the two clamping mechanisms and then placed at

the front end of the transport cleaning track group, When the AGV trolley moves

backward to the designated place, the objects can be directly clamped by the two

clamping parts at the rear ends of the two clamping mechanisms and placed at the

designated place, which greatly reduces or even eliminates the turning and turning

operations of the AGV trolley, solves the problem of limited use of the AGV trolley in

the workshop with narrow passages, and at the same time, the objects are always located

on the transport and cleaning track group during the movement of the AGV trolley, which

effectively prevents the AGV trolley from moving, The object inclines or even falls off

due to vibration on the clamping mechanism, which leads to deviation and damage, thus ensuring the stability and safety of the object during transportation and the accuracy of the final placement position of the object. At the same time, the transportation and cleaning track group can clean the dust, dirt and other impurities on the surface of the object at the same time in the process of transporting the object from one end to the other end, integrating the object transfer and dust removal procedures, saving the process of cleaning the surface of the object independently, with high functional integration and effectively improving production efficiency.

BRIEF DESCRIPTION OF THE FIGURES

Fig. 1 is a schematic structural diagram of an industrial robot based on AGV provided in

the specific embodiment of the present invention;

Fig. 2 is a schematic plan view of an industrial robot based on AGV provided in the

specific embodiment of the present invention after removing the surveillance camera;

Fig. 3 is a left-side structural schematic diagram of an industrial robot based on AGV

provided in the specific embodiment of the present invention after removing the

surveillance camera;

Fig. 4 is a schematic diagram of the internal structure of an AGV trolley provided in an

embodiment of the present invention;

Fig. 5 is a structural schematic diagram of a conveying roller table provided in a specific

embodiment of the present invention;

Fig. 6 is a structural schematic diagram of a telescopic mechanism provided in a specific

embodiment of the present invention;

Fig. 7 is a structural schematic diagram of a clamping part provided in a specific

embodiment of the present invention;

Fig. 8 is a structural schematic diagram of a cleaning roller door provided in an

embodiment of the present invention;

Fig. 9 is a left structural diagram of a cleaning roller door provided in an embodiment of

the present invention;

Fig. 10 is a right structural schematic diagram of a cleaning roller door provided in an

embodiment of the present invention;

Fig. 11 is a schematic diagram of the control principle of the control unit provided in the

specific embodiment of the present invention.

In the figure:

1. AGV trolley; 2. Control unit; 3. Clamping mechanism; 4. Transportation and cleaning

track group; 30. Clamping part; 31. Vertical screw rod; 32. Screw drive motor; 33.

Vertical guide rod; 34. Lifting guide block; 5. Telescopic mechanism; 51. Telescopic

arm; 52. The first motor; 53. First gear; 35. Upper guide plate; 36. Lower guide plate;

510. Gear teeth; 350. First ball groove; 37. First ball; 360. Second ball groove; 38.

Second ball; 39. Fixed plate; 351. Upper cover plate; 361. Lower cover plate; 511. Upper

chute; 512, sliding trough; 301. Clamping rod; 302, telescopic motor; 303. Telescopic

sleeve; 304. Connecting rod; 6. Conveying roller table; 7. Clean the roller door; 41.

Conveying trough; 42. Support plate; 43. Rotating shaft; 430. Clean the brush cover; 44.

Second gear; 45. Second motor; 46. Third gear; 47. Transmission pulley; 48.

Transmission belt; 49. Scraper; 420. Dust collecting tray; 71. Left vertical axis; 72. Right

vertical axis; 73. Top cross bar; 74. Brush cover; 75. The third motor; 76. The fourth motor; 70. Left fixing rod; 77. Left support cross plate; 78. Right fixing rod; 79. Right support cross plate; 8. Inductive detection parts; 11. Surveillance camera; 12. Infrared sensor.

DESCRIPTION OF THE INVENTION

In order to give a clearer description of the embodiment of the invention or the technical

scheme in the existing technology, the following is a brief description of the embodiment

or the present, the drawings and the technical scheme to be used in the technical

description, the drawings in the following description are only some embodiments of the

invention, and other drawings can be obtained from these drawings without creative labor

for ordinary technicians in the field.

The present invention will be further explained with reference to the accompanying

drawings.

As shown in fig. 1 to fig. 11, an industrial robot based on AGV provided by this

embodiment includes an AGV trolley 1, a control unit 2 electrically connected with the

AGV trolley 1, two clamping mechanisms 3 respectively installed on both sides of the

AGV trolley 1 for clamping objects, and a transport cleaning track group 4 arranged

between the two clamping mechanisms 3 for transporting objects and cleaning the

surfaces of objects at the same time. Clamping mechaNIsm 3 and transport cleaning track

group 4 are electrically connected with control unit 2 respectively, and control unit 2

includes NI CompactRIO controller (which is composed of Intel Atom processor,

programmable Xilinx Kintex-7 FPGA controller and one or more signal conditioning I/O

modules provided by NI or a third party, and these modules can be directly connected

with sensors. Made in National Instruments(NI for short), circuit board and wireless communication module (wifi), the AGV trolley 1 is internally provided with a power supply module electrically connected with the control unit 2, which provides power for the AGV trolley 1, the clamping mechanism 3 and the transportation and cleaning track group 4, and carries out wireless data transmission through the wifi module. Through the data processing by the Nicompctrio controller, it can analyze and process according to the input program and instruction, and output signals to plan the walking path of AGV trolley, and control the clamping mechanism 3 and the transport and cleaning track group

4. Two ends of each clamping mechanism 3 are provided with four clamping parts 30,

and two ends of the transport and cleaning track group 4 are respectively provided; the

two clamping mechanisms 3 share the left and right clamping arms, and the clamping

parts 30 of the two clamping mechanisms 3 respectively clamp the object from both sides

of the object at the same time to realize the clamping of the object, so that the clamping

of the object is more stable. Clamping parts 30 of two clamping mechanisms 3 located at

one end of the transport cleaning track group 4 clamp the same object and place it at one

end of the transport cleaning track group 4, then the object is transported to the other end

of the transport cleaning track group 4, and then clamped by the clamping parts 30 of two

clamping mechanisms 3 located at the other end of the transport cleaning track group 4

and placed at a designated position.

The two clamping parts 30 at the rear ends of the two clamping mechanisms 3 directly

clamp objects and place them at designated positions, which greatly reduces or even

eliminates the turning and turning operations of AGV trolleys, solves the problem of

limited use of AGV trolleys in workshops with narrow passages, is especially suitable for

transferring objects in unidirectional passages, and effectively reduces the occupied space of passages. Meanwhile, during the movement of AGV trolleys 1, objects are always located on the transport and cleaning track group 4. The AGV trolley 1 does not need to be clamped by the clamping part 30 for a long time, thus effectively preventing the AGV trolley 1 from being tilted or even falling off due to vibration in the moving process, ensuring stability and safety in the process of transferring objects and accurate final placement of objects; and meanwhile, the transportation and cleaning track group 4 can simultaneously clean the dust, dirt and other impurities on the surface of objects during the process of transferring objects from one end to the other end, integrating the object transfer and dust removal processes, thus saving the need for separate cleaning of objects.

Of course, the AGV-based industrial robot can also clamp objects through the two

clamping parts 30 at the rear end of the two clamping mechanisms 3 and place them at

the rear end of the transport cleaning track group 4. After the transport cleaning track

group 4 transports the objects to the front end of the transport cleaning track group 4, the

two clamping parts 30 at the front end of the two clamping mechanisms 3 clamp the

objects and place them at designated positions, which makes it convenient for the AGV

based industrial robot to transport different objects from the end point to the starting

point.

Specifically, the two clamping mechanisms 3 are respectively arranged on both sides of

the top of the AGV trolley 1, and both are arranged along the length direction of the AGV

trolley 1. Each clamping mechanism 3 comprises a vertical screw rod 31 arranged at the

top of the AGV trolley 1, a screw rod driving motor 32 for driving the vertical screw rod

31 to rotate, a vertical guide rod 33 fixed on the AGV trolley 1, a lifting guide block 34

arranged on the vertical screw rod 31 and a telescopic mechanism 5 arranged on the lifting guide block 34. The vertical screw rod 31 penetrates through the threaded hole on the lifting guide block 34 to form a screw pair with the lifting guide block 34, or penetrates through the screw nut fixed on the lifting guide block 34 to be connected with the lifting guide block 34. The bottom end of the vertical guide rod 33 is fixed on the top of the AGV car 1, and the vertical guide rod 33 penetrates through the through hole of the lifting guide block 34, which is slidably connected with the vertical guide rod 33. The screw driving motor 32 is arranged inside the AGV trolley 1. The power output shaft of the screw driving motor 32 penetrates through the top wall of the AGV trolley 1 and is fixedly connected with the vertical screw 31. The power output shaft of the screw driving motor 32 rotates to drive the vertical screw 31 to rotate, and the vertical guide rod 33 guides it so that the lifting guide block 34 can move vertically along the vertical screw

31. The clamping part 30 is arranged on the telescopic mechanism 5, which can clamp

objects with different heights by lifting the telescopic mechanism 5. The top end of the

vertical screw rod 31 is connected with the top end of the vertical guide rod 33 through a

fixing plate 39, and the top end of the vertical screw rod 31 is connected with the fixing

plate through a bearing, thus improving the connection stability between the vertical

screw rod 31 and the vertical guide rod 33. To guarantee the steady lifting of the lifting

guide block 34, the wire rod driving motor 32 is electrically connected with the NI

CompactRIO controller of the control unit 2.

In order to facilitate the stable expansion and contraction of the telescopic mechanism 5

in the horizontal direction, the telescopic mechanism 5 further comprises a telescopic arm

51 arranged on the lifting guide block 34, a first motor 52 for driving the telescopic arm

51 to move horizontally, and a first gear 53 arranged on the power output shaft of the first motor 52. One side wall of the lifting guide block 34 is provided with an upper guide plate 35 and a lower guide plate 36 which are parallel to each other. The upper guide plate 35 and the lower guide plate 36 are integrated with the lifting guide block 34, a sliding groove body for installing the telescopic arm 51 is formed between them, and the telescopic arm 51 is slidably connected with the sliding groove body. The side of the upper guide plate 35 away from the lifting guide block 34 and the side of the lower guide plate 36 away from the lifting guide block 34 are both provided with retaining edges for preventing the telescopic arm 51 from escaping from the sliding groove body, so that the telescopic arm 51 can stably slide horizontally in the sliding groove body. The telescopic arm 51 is perpendicular to the vertical screw rod 31. The side wall of the telescopic arm

51 far away from the lifting guide block 34 is provided with gear teeth 510 meshing with

the first gear 53. The first motor 52 is fixed on the top of the lifting guide block 34, and

the power output shaft of the first motor 52 extends downward to one side of the sliding

groove body so that the first gear 53 meshes with the gear teeth 510. The first motor 52 is

electrically connected with the NI CompactRIO controller of the control unit 2, both ends

of the telescopic arm 51 are provided with clamping parts 30, the two clamping

mechanisms 3 on the AGV trolley 1 are symmetrically arranged, the two telescopic arms

51 of the two clamping mechanisms 3 are parallel to each other, and the two first motors

52 on the two clamping mechanisms 3 are provided with encoders which can measure the

rotating angles of the two first motors 52, and the encoders are electrically connected

with the control unit 2. The speed and direction of the two first motors 52 are adjusted by

feedback from encoders. The two first motors 52 on the two clamping mechanisms 3

rotate synchronously, and the directions of the two first motors 52 are opposite. The power output shafts of the first motors 52 of the two clamping mechanisms 3 rotate at the same time to drive the two first gears 53 to rotate synchronously. The two first gears 53 respectively drive the two telescopic arms 51 to move horizontally to one end in the sliding groove body. The two clamping parts 30 at the ends of the two telescopic arms 51 are moved away from the lifting guide block 34 to contact with the object and clamp the object at the same time. After that, the two first motors 52 rotate reversely, so that the two telescopic arms 51 move horizontally to the other end. The clamping parts 30 are close to the lifting guide block 34, so that the object is located above the transport cleaning track group 4, which descends through the lifting guide block 34 to place the object on the transport cleaning track group 4, so as to elongate and clamp the object and retract it for transport cleaning.

In order to enhance the smooth and stable sliding of the telescopic arm 51 in the sliding

groove body, the upper guide plate 35 is further provided with a plurality of first ball

grooves 350 penetrating the upper guide plate 35, each first ball groove 350 is provided

with a first ball 37, the lower guide plate 36 is provided with a plurality of second ball

grooves 360 penetrating the lower guide plate 36, and each second ball groove 360 is

provided with a second ball 38. An upper cover plate 351 for sealing the first balls 37 in

the first ball groove 350 is arranged above the upper guide plate 35, and a lower cover

plate 361 for sealing the second balls 38 in the second ball groove 360 is arranged below

the lower guide plate 36. The first ball groove 350 has a tapered inner diameter gradually

decreasing from the upper cover plate 351 toward the sliding groove body, and its

minimum inner diameter is smaller than that of the first ball 37, so that the first ball 37

can partially expose into the sliding groove body without falling out, and the second ball groove 360 has a tapered inner diameter gradually decreasing from the lower cover plate

361 toward the sliding groove body. The second ball 38 can be partially exposed into the

sliding groove body without falling out, and can freely roll in the second ball groove 360.

The upper end face of the telescopic arm 51 is provided with an upper sliding groove 511

matched with the first ball 37, and the lower end face of the telescopic arm 51 is provided

with a lower sliding groove 512 matched with the second ball 38. Both the upper sliding

groove 511 and the lower sliding groove 512 are tapered and are matched with the first

ball 37 through the upper sliding groove 511 The lower sliding groove 512 is matched

with the second ball 38, so that the telescopic arm 51 can smoothly and stably move

horizontally in the sliding groove body, and the vibration caused by unsmooth movement

is prevented, thereby ensuring the stability of clamping objects.

In order to facilitate the clamping part 30 to clamp objects stably, further, both ends of

the two telescopic arms 51 of the two clamping mechanisms 3 are provided with the

clamping part 30. The clamping part 30 comprises a clamping rod 301 hinged at one end

of the telescopic arm 51, a telescopic motor 302 fixed on the telescopic arm 51, a

telescopic sleeve 303 screwed on the rotating shaft of the telescopic motor 302, and a

connecting rod 304 hinged between the telescopic sleeve 303 and the clamping rod 301.

The clamping rod 301 is hinged in the hinge groove of the telescopic arm 51 through

pins, and both ends of the clamping rod 301 extend outward respectively, wherein one

end close to the transport cleaning track group 4 is provided with a clamping plate made

of rubber or silica gel material for clamping objects, and one end far away from the

transport cleaning track group 4 is provided with a hinge groove hinged with a

connecting rod 304 and hinged with one end of the connecting rod 304 through pins. The other end of the connecting rod 304 is provided with a hinge groove hinged with the hinge plate at the closed end of the telescopic sleeve 303, and is hinged with the hinge plate at the closed end of the telescopic sleeve 303 through a pin. The opening of the telescopic sleeve 303 One end of the telescopic motor 302 is threadedly connected with the rotating shaft of the telescopic motor 302, which is provided with external threads, and the inner wall of the telescopic sleeve 303 is provided with internal threads matched with the external threads. The telescopic motor 302 is electrically connected with the NI

CompactRIO controller of the control unit 2, and the rotating shafts of the two telescopic

motors 302 at the same end rotate forward at the same time, so that the rotating shafts and

the telescopic sleeve 303 are far away from each other. The telescopic sleeve 303 pushes

the connecting rod 304, which pushes the clamping rod 301, so that the two clamping

plates of the two clamping rods 301 clamp the object. After the telescopic arm 51 moves

and the lifting guide block 34 descends, the rotating shafts of the two telescopic motors

302 rotate reversely at the same time, and the rotating shafts of the telescopic motors 302

and the telescopic sleeve 303 approach each other.

In order to facilitate the transportation and cleaning track group 4 to transport objects, the

transportation and cleaning track group 4 further comprises a conveying roller table 6

arranged on the AGV trolley 1 for transporting objects, a cleaning roller door 7 arranged

above the conveying roller table 6 for cleaning the surfaces of objects, The conveying

roller table 6 comprises a conveying trough 41 arranged at the top of the AGV trolley 1,

two supporting plates 42 respectively fixed on the lower two sides of the conveying

trough 41, a plurality of rotating shafts 43 installed between the two supporting plates 42,

and a driving mechanism arranged inside the AGV trolley 1 for driving the rotating shafts

43 to rotate. The shortest distance between the cleaning sleeves 430 on two adjacent

rotating shafts 43 is 5-20mm, so that the two adjacent cleaning sleeves 430 are not in

contact. The cleaning sleeves 430 are made of flannelette or materials with short bristles

on the surface. The cleaning sleeves 430 can not only increase the friction with objects,

but also facilitate the forward transfer of objects, and can clean the dust, dirt, debris, etc.

on the bottom surface of objects. The conveying trough 41 is located between the two

clamping mechanisms 3. Its length direction is parallel to the telescopic arms 51 on both

sides. Two supporting plates 42 are located inside the AGV trolley 1 and fixed on the

inner top wall of the AGV trolley 1. The two supporting plates 42 are parallel to each

other and the telescopic arms 51. Both ends of a plurality of rotating shafts 43 are

connected with the two supporting plates 42 through bearings respectively. When the

object is placed on the conveying roller table 6 by the clamping part 30, the driving

mechanism drives several rotating shafts 43 to rotate in the same direction to convey the

object from one end to the other end of the conveying roller table 6, thus realizing stable

conveying of the object and cleaning the bottom surface of the object. The objects are

transported from one end to the other end in a straight line according to the transportation

direction of several rotating shafts 43 through the two side walls of the conveying trough

41. During the movement and transportation of the AGV trolley 1, the objects are always

located on the conveying roller 6. After reaching the designated position, the objects are

clamped by the clamping part 30 from the conveying roller 6 to the designated placement

position, which effectively prevents the objects from being clamped by the clamping part

during the movement and transportation of the AGV trolley 1, resulting in vibration

deflection or even falling off, which is more stable and safe.

Further, the driving mechanism includes a second gear 44 arranged at one end of one of

the rotating shafts 43, a second motor 45 arranged at one side of the second gear 44, a

third gear 46 arranged on the power output shaft of the second motor 45, transmission

pulleys 47 arranged at both ends of the rotating shafts 43, and a transmission belt 48

connected between two transmission pulleys 47 of two adjacent rotating shafts 43 The

second electric machines 45 are fixedly arranged in the AGV trolley 1, and a plurality of

second motors 45 can be arranged to ensure the conveying force of the conveying roller

table 6 to objects. In this embodiment, two second motors 45 are preferably arranged at

both ends of the conveying roller table 6. Correspondingly, there are two second toothed

wheels 44 and two third gears 46, which are driven to rotate by the synchronous rotation

of the power output shafts of the two second motors 45. The two third gears 46

respectively mesh and drive the two second gears 44, which respectively drive the

rotating shafts 43 to rotate. The rotating shafts 43 drive the adjacent rotating shafts 43 to

rotate through the transmission belt pulley 47 and the transmission belt 48, so that several

rotating shafts 43 rotate in one direction at the same time, conveying objects from one

end to the other end of the conveying roller table 6.

In order to facilitate the cleaning roller doors 7 to clean the surfaces of objects, further,

there are two cleaning roller doors 7, which are respectively located on both sides of the

vertical screw rod. The cleaning roller doors 7 include a left vertical shaft 71, a right

vertical shaft 72, a top cross bar 73, a third motor 75 for driving the left vertical shaft 71

to rotate, and a fourth motor 76 for driving the right vertical shaft 72 to rotate. A top cross

bar 73 is installed between the left vertical shaft 71 and the right vertical shaft 72. The

left vertical shaft 71, the right vertical shaft 72 and the top cross bar 73 are all sleeved with bristle sleeves 74. One side of the left vertical shaft 71 is provided with a left fixing rod 70 fixed on the top of the AGV trolley 1. The top end of the left fixing rod 70 is fixed with a left supporting cross plate 77. The third motor 75 is fixed on the left supporting cross plate 77. The power output shaft of the third motor 75 penetrates through the left supporting cross plate 77 downward and is connected with the top end of the left vertical shaft 71, the bottom end of which is connected with the top wall of the AGV trolley 1 through bearings, one side of the right vertical shaft 72 is provided with a right fixing rod

78 fixed on the top of the AGV trolley 1, the top end of the right fixing rod 78 is fixed

with a right supporting cross plate 79, The power output shaft of the fourth motor 76

penetrates through the right supporting cross plate 79 downward and is connected with

the top end of the right vertical shaft 72, the bottom end of the right vertical shaft 72 is

connected with the top wall of the AGV car 1 through bearings, the two ends of the top

cross bar 73 are respectively fixed on the left supporting cross plate and the right

supporting cross plate, and the third motor 75 and the fourth motor 76 are respectively

electrically connected with the Nicompctrio controller of the control unit 2. The third

motor 75 drives the left vertical shaft 71 to rotate, while the fourth motor 76 drives the

right vertical shaft 72 to rotate, and the rotation directions of the third motor 75 and the

fourth motor 76 are opposite to each other. When the roller table 6 transports objects to

the cleaning roller door 7, the bristle sleeves 74 on the left vertical shaft 71 and the right

vertical shaft 72 are in contact with the objects. Dust, dirt, etc. are brushed away, and the

object is pushed forward by the friction between the bristle cover 74 and the object, so

that the object passes through the inner side of the cleaning roller door 7. The pushing

direction of the left vertical shaft 71 and the right vertical shaft 72 is the same as the conveying direction of the conveying roller table 6. At the same time, the bristle cover 74 on the top cross bar 73 cleans the top surface of the object. Because the objects transported by AGV-based industrial robots are usually cubic objects or packaged cubic objects, there are less dust and dirt on the sides around them, but more dust and dirt on the top and bottom surfaces. The bristle sleeves 74 on the left vertical shaft 71 and the right vertical shaft 72 clean both sides of the objects and the top surfaces of the objects on the top cross bar 73, and the rotating shaft 43 of the conveying roller table 6 cleans the bottom surfaces of the objects. Cleaning the surface of an object is realized without manual dust removal or newly added dust removal equipment, and the surface dust removal is carried out while the object is transferred, which is more efficient, effectively reduces working procedures and improves the production efficiency of products.

A dust collecting tray 420 is arranged below the scraper 49, which is detachably

connected to the two supporting plates 42. A guide groove is arranged on one side wall of

the two supporting plates 42 away from each other. The top of both side walls of the dust

collecting tray 420 is provided with guide bars matched with the guide grooves, which

facilitates the installation and disassembly of the dust collecting tray 420. A door is

arranged on the side wall of the AGV trolley 1 near the end of the dust collecting tray

420. The dust collecting tray 420 can be installed and taken out by opening the door. Dust

and debris cleaned by the cleaning roller door 7 from the surface of the object falls down

on the cleaning sleeves 430 of the conveying roller table 6 or directly into the dust

collecting tray 420 from the gap between the cleaning sleeves 430. Impurities cleaned by

the cleaning sleeves 430 from the bottom surface of the object adhere to the surface of the

cleaning sleeves 430 or directly fall into the dust collecting tray 420. When the cleaning sleeve 430 rotates, it scrapes with the scraper 49, so that the surface of the cleaning sleeve

430 can scrape with the scraper 49, so that the dust, debris and other impurities attached

to the cleaning sleeve 430 are intercepted by the scraper 49 and fall into the dust

collecting tray 420, so that the dust and dirt on the surface of objects cleaned by the

conveying roller table 6 and the cleaning roller door 7 are finally concentrated in the dust

collecting tray 420, which is convenient for centralized treatment, and it is unnecessary to

disassemble each cleaning sleeve 430 manually.

In this embodiment, it is preferred that the inductive detection element 8 is a correlation

sensor composed of an infrared emitter and an infrared receiver, which are respectively

arranged on both sides of the conveyor roller table 6, and the infrared emitter emits

infrared rays which are received by the infrared receiver. When an object is placed at one

end of the conveyor roller table 6, the object blocks the infrared rays emitted by the

infrared emitter. When the infrared receiver does not receive infrared rays, it sends a

signal to the NI CompactRIO controller of the control unit 2, which is processed by the

control unit 2 and controls the second motor 45 to work. The second motor 45 drives a

plurality of rotating shafts 43 to rotate and transport objects to the other end of the

conveying roller table 6. At this time, when infrared rays emitted by the infrared

transmitter at the other end of the conveying roller table 6 are blocked by objects, The

infrared receiver can't receive infrared rays and sends signals to the processor, which is

processed by the control unit 2 and controlled by the second motor 45 to stop working.

With the arrangement of the inductive detector 8, it can intelligently detect whether the

objects reach the transport cleaning track group 4, so that the conveying roller table 6 can

work intermittently without being in working state all the time, which saves more electric energy and prolongs the service life of the conveying roller table 6. The inductive detector 8 detects and feeds back, so that the conveying roller table 6 can be started or stopped immediately, preventing the rotating shaft 43 from rotating all the time and causing objects to move from the AGV trolley 1. Of course, the inductive detection element 8 can also be a proximity switch sensor.

Further, both ends of the fixing plate 39 are provided with monitoring cameras 11, the

detection directions of the two monitoring cameras 11 are respectively consistent with the

extension direction of the telescopic arm 51, and the monitoring cameras 11 are

electrically connected with the Nicompctrio controller of the control unit 2, which is used

for identifying the object to be clamped and transferred by the clamping part 30, and

transmitting the identification information to the Nicompctrio controller, and the

Nicompctrio controller sends a clamping instruction, so that the object can be clamped

more accurately. Furthermore, the front and rear ends of the AGV trolley 1 are

respectively provided with infrared sensors 12 for detecting the distance between the

front obstacle and the rear obstacle. The signal emission direction of the infrared sensors

12 is consistent with the extension direction of the telescopic arm 51. The infrared

sensors are electrically connected with the NI CompactRIO controller of the control unit

2, detecting the obstacle distance and transmitting the detected obstacle signal to the

controller, which processes and controls the AGV trolley 1 to stop moving forward or

turning, so that the industrial robot based on AGV can cope with the working

environment more flexibly.

The above is only a specific embodiment of the present invention, but the scope of

protection of the present invention is not limited to this, and any change or substitution without creative labor should be covered within the scope of protection of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope defined in the claims.

Claims

THE CLAIMS DEFINING THE INVENTION ARE AS FOLLOWS:

1. An industrial robot based on AGV, comprising an AGV trolley (1) and a control unit

(2) electrically connected with the AGV trolley (1), characterized in that:

It also comprises two clamping mechanisms (3) which are respectively arranged on two

sides of the AGV trolley (1) and used for clamping objects, and a transportation cleaning

track group (4) which is arranged between the two clamping mechanisms (3) and used for

conveying objects and cleaning the surfaces of the objects at the same time;

Two ends of each clamping mechanism (3) are provided with clamping parts (30);

The clamping mechanism (3) and the transportation cleaning track group (4) are

respectively electrically connected with the control unit (2);

Clamping parts (30) of two clamping mechanisms (3) located at one end of the transport

cleaning track group (4) clamp the same object and place it at one end of the transport

cleaning track group (4), then the object is transported by the transport cleaning track

group (4) to the other end of the transport cleaning track group (4).

2. An industrial robot based on AGV described in claim 1 has the following

characteristics:

The clamping mechanism (3) comprises a vertical screw rod (31) arranged on the AGV

vehicle (1), a screw rod driving motor (32) for driving the vertical screw rod (31)

rotating, a vertical guide rod (33) fixed on the AGV vehicle (1) and a vertical guide rod

(33) arranged at the, the lifting guide block (34) on the vertical screw rod (31) and a

telescopic mechanism (5) arranged on the lifting guide block (34) are described;

The vertical screw rod (31) penetrates the lifting guide block (34) and forms a screw pair

with the lifting guide block (34); the vertical guide rod (33) penetrates the lifting guide block (34) and the lifting guide block (34) is in sliding connection with the vertical guide rod (33);

The screw rod driving motor (32) is electrically connected with the control unit (2);

The clamping part (30) is arranged on the telescopic mechanism (5).

3. The industrial robot based on AGV according to claim 2, characterized in that:

The telescopic mechanism (5) comprises a telescopic arm (51) arranged on the lifting

guide block (34), a first motor (52) for driving the telescopic arm (51) to move, and a first

gear (53) arranged on the power output shaft of the first motor (52);

An upper guide plate (35) and a lower guide plate (36) are arranged on one side wall of

the lifting guide block (34), and a sliding groove body for mounting the telescopic arm

(51) is formed between the upper guide plate (35) and the lower guide plate (36);

The telescopic arm (51) is in sliding connection with the sliding groove body; The

telescopic arm (51) is perpendicular to the vertical screw rod (31);

A side wall of the telescopic arm (51) is provided with gear teeth (510) meshed with the

first gear (53);

The first motor (52) is electrically connected with the control unit (2);

Both ends of the telescopic arm (51) are provided with the clamping parts (30).

4. The industrial robot based on AGV according to claim 3, characterized in that:

The upper guide plate (35) is provided with a plurality of first ball grooves (350)

penetrating through the upper guide plate (35); A first ball (37) is arranged in each first

ball groove (350);

The lower guide plate (36) is provided with a plurality of second ball grooves (360)

penetrating through the lower guide plate (36); A second ball (38) is arranged in each

second ball groove (360);

An upper cover plate (351) for sealing the first ball (37) in the first ball groove (350) is

arranged above the upper guide plate (35);

A lower cover plate (361) for sealing the second ball (38) in the second ball groove (360)

is arranged below the lower guide plate (36);

The first ball (37) and the second ball (38) both extend into the sliding groove body;

The upper end face of the telescopic arm (51) is provided with an upper sliding groove

(511) matched with the first ball (37);

The lower end face of the telescopic arm (51) is provided with a sliding groove (512)

matched with the second ball (38).

5. An industrial robot based on AGV described in Claim 3 has the following

characteristics:

The clamping part (30) comprises a clamping rod (301) hinged at the end of the

telescopic arm (51), a telescopic motor (302) fixed on the telescopic arm (51), a

telescopic sleeve (303) threaded on a rotating shaft of the telescopic motor (302), and an

articulated, a connecting rod (304) between the telescopic sleeve (303) and the clamping

rod (301);

An external thread is arranged on the rotating shaft of the telescopic motor (302), and the

inner wall of the telescopic sleeve (303) is provided with an internal thread suitable for

the external thread;

The telescopic motor (302) is electrically connected with the control unit (2).

6. The industrial robot based on AGV according to claim 1, characterized in that:

The transportation cleaning track group (4) comprises a conveying roller table (6)

arranged on the AGV trolley (1) and a cleaning roller door (7) arranged above the

conveying roller table (6) and used for cleaning the surface of the object;

The conveying roller table (6) comprises a conveying trough (41) arranged at the top of

the AGV trolley (1), two supporting plates (42) respectively fixed on two sides below the

conveying trough (41), a plurality of rotating shafts (43) installed between the two

supporting plates (42), a plurality of rotating shafts (43) arranged inside the AGV trolley

(1) and used for driving the rotating shafts (43);

A cleaning sleeve (430) is arranged on each rotating shaft (43).

7. An industrial robot based on AGV according to claim 6, characterized in that:

The drive mechanism comprises a second gear (44) arranged at one end of one of the

rotating shafts (43), arranged in the first, a second motor (45) on one side of the second

gear (44), a third gear (46) on a power output shaft of the second motor (45), a

transmission pulley (47) at both ends of the rotary shaft (43), and two shafts connected to

the adjacent two rotary shafts (43), the transmission belt (48) between the transmission

belt pulley (47);

The third gear (46) is meshed with the second gear (44);

The second motor (45) is electrically connected with the control unit (2).

8. The industrial robot based on AGV according to claim 6, characterized in that:

Scrapers (49) which are in scraping cooperation with the brush cleaning sleeves (430) on

the rotating shafts (43) are arranged below each rotating shaft (43); Two ends of the

scraper (49) are respectively fixed on the two supporting plates (42);

The scraper (49) is used for scraping off impurities attached to the cleaning sleeve (430);

A dust collecting tray (420) is arranged below the scraper (49);

The dust collecting tray (420) is detachably connected to the two supporting plates (42).

9. The industrial robot based on AGV according to claim 6, characterized in that:

The cleaning roller door (7) comprises a left vertical shaft (71), a right vertical shaft (72),

a top cross bar (73), a third motor (75) for driving the left vertical shaft (71) to rotate and

a fourth motor (76) for driving the right vertical shaft (72) to rotate;

The left vertical shaft (71) and the right vertical shaft (72) are respectively arranged at

two sides of the conveying roller table (6), and the top cross bar (73) is arranged between

the left vertical shaft (71) and the right vertical shaft (72);

The left vertical shaft (71), the right vertical shaft (72) and the top cross bar (73) are all

sleeved with bristle sleeves (74); The third motor (75) and the fourth motor (76) are

respectively electrically connected with the control unit (2); When the conveying roller

table (6) conveys objects, the objects pass through the inner side of the cleaning roller

door (7).

10. The industrial robot based on AGV according to claim 1, characterized in that:

Two ends of the transport cleaning track group (4) are provided with induction detection

pieces (8);

The induction detection piece (8) is electrically connected with the control unit (2);

And the induction detection piece (8) is used for detecting whether an object reaches the

end of the transportation cleaning track group (4).

Figure 1/8

Figure 1