CN105437204B - A kind of AGV dollies for loading manipulator - Google Patents
A kind of AGV dollies for loading manipulator Download PDFInfo
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- CN105437204B CN105437204B CN201510956233.3A CN201510956233A CN105437204B CN 105437204 B CN105437204 B CN 105437204B CN 201510956233 A CN201510956233 A CN 201510956233A CN 105437204 B CN105437204 B CN 105437204B
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- manipulator
- transfer station
- agv dollies
- line slideway
- axis
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- 238000001514 detection method Methods 0.000 claims description 3
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- 230000005540 biological transmission Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
A kind of AGV dollies for loading manipulator, including AGV dollies, cartesian co-ordinate type manipulator, transfer station, slew gear, drive device, identification instrument and sensor device.The AGV dollies of the present invention can grip goods in different height, simple and convenient, realize that crawl transport is two-in-one, possess multi-functional, multi-faceted crawl；The design of its transfer station can transport goods to different floors by transmitting well, break through the obstacle of conventional AGV dollies transport；Meanwhile, intelligent carrying can be carried out by identification, instead of artificial carrying, employment cost is reduced, improves efficiency.
Description
Technical field
The present invention relates to a kind of AGV dollies, more particularly to a kind of AGV dollies for loading manipulator.
Background technology
With industrial automation, intelligentized requirement, the industry such as all trades and professions, particularly warehousing industry, transport service realizes goods
Thing and material handling reduce the interdependency to manpower with carrying full process automatization, improve the security in the course of work, and
The increasingly expansion of the demands such as clean manufacturing, AGV dollies with its intellectuality can the advantage of automatic tracking be widely used in multiple necks
Domain,.But, in the prior art, due to the otherness that industry-by-industry is stored in a warehouse, many AGV dollies can not all realize many floors, multi-party
The demand of position transport.Therefore, this is the problem of needing to solve.
The content of the invention
It is an object of the invention to propose it is a kind of load manipulator AGV dollies come realize many floors, multi-faceted transport and
The demand of accurate gripping object.
For up to this purpose, the present invention uses following technical scheme：
It is a kind of load manipulator AGV dollies, including AGV dollies, cartesian co-ordinate type manipulator, transfer station, slew gear,
Drive device, identification instrument and sensor device；
The AGV dollies include car body and wheel；The wheel is installed on the bottom of the car body；The wheel includes driving
Driving wheel；
The cartesian co-ordinate type manipulator includes line slideway, Z axis line slideway and machinery described in X-axis line slideway, Y-axis
Hand；The Z axis line slideway is vertically arranged to the upper surface of the AGV dollies by the slew gear；The Z axis straight line is led
There is the first sliding block slided along the Z axis line slideway on rail；The Y-axis line slideway is horizontally arranged at first sliding block
On, and moved in the Y-axis direction relative to the first sliding block；Y-axis line slideway is provided with the second cunning towards one end of the transfer station
Block, the X-axis line slideway is horizontally arranged on second sliding block, and moved in the X-axis direction relative to the second sliding block；It is described
Second sliding block is provided with rotating shaft towards the one side of the transfer station, and the axis of the rotating shaft is parallel with the Y-axis line slideway；Institute
Manipulator is stated in the rotating shaft；
The transfer station is arranged on the upper surface of the AGV dollies, is set towards the cartesian co-ordinate type mechanical arm；
The revolution framework is arranged between the AGV dollies and cartesian co-ordinate type manipulator, the cartesian co-ordinate type machine
Tool hand is rotated with the rotation of slew gear；
The drive device is arranged in the car body；
The identification instrument is arranged at the X-axis line slideway close to one end of the manipulator；
The sensor device is installed on the bottom of the car body.
It is preferred that, the transfer station is three layers of one layer of transfer station, two layers of transfer station and transfer station successively from top to bottom；It is described
Connected between two layers of one layer of transfer station and the transfer station by the axially mounted guide rail of Y-axis；Two layers of the transfer station and described
Connected between three layers of transfer station by the axially mounted guide rail of X-axis；It is axially installed with and is no less than along X-axis in one layer of the transfer station
The roller of 1.
It is preferred that, the identification instrument is one in two-dimensional bar code identifier, Quick Response Code identifier, RFID identifiers
Plant or a variety of.
It is preferred that, the manipulator includes L-type part, two pawl fixtures and Three-jaw fixture；The middle part of the L-type part with described turn
Axial plane is connected to one end of the transfer station；The two pawls fixture and the Three-jaw fixture are installed on the two ends of L-type part, pass through institute
State the rotation of L-type part, the convertible position just to the transfer station of two pawls fixture and the Three-jaw fixture.
It is preferred that, the sensor device includes line walking sensor, alignment sensor, distance detection sensor.
It is preferred that, the AGV dollies are used as motion guide rail using tape.
It is preferred that, the driving wheel is two, and two driving wheels connect two different motors respectively.
It is preferred that, the drive device includes driving power supply and motor, and the output end of the motor is connected to
The driving wheel, and control the rotation of the driving wheel.
It is preferred that, the wheel also includes the universal wheel for being installed on the vehicle bottom.
It is preferred that, the universal wheel is no less than two groups.
The beneficial effects of the present invention are：
1st, the AGV dollies can grip goods in different height, simple and convenient, realize that crawl transport is two-in-one, possess
Multi-functional, multi-faceted crawl.
2nd, transfer station can transport goods to different floors by transmitting well, break through the obstacle of conventional AGV dollies transport.
3rd, intelligent carrying can be carried out by identification, instead of artificial carrying, employment cost is reduced, improves efficiency.
Brief description of the drawings
Fig. 1 is the structural representation of one of embodiment of the invention；
Fig. 2 is the structural representation of the one of embodiment of transfer station；
Fig. 3 is the structural representation of the one of embodiment of cartesian co-ordinate type manipulator.
Wherein：AGV dollies 1, car body 11, wheel 12, driving wheel 121, universal wheel 122, cartesian co-ordinate type manipulator 2, X-axis
Line slideway 22 described in line slideway 21, Y-axis, Z axis line slideway 23, manipulator 24, L-type part 241, two pawl fixtures 242, three
Pawl fixture 243, the first sliding block 25, the second sliding block 26, transfer station 3, one layer 31 of transfer station, roller 311, two layer 32 of transfer station, turn
Three layer 33 of moving stage, slew gear 4.
Embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.
As shown in figure 1, a kind of AGV dollies for loading manipulator, including AGV dollies 1, cartesian co-ordinate type manipulator 2, transfer
Platform 3, slew gear 4, drive device, identification instrument and sensor device；
The AGV dollies 1 include car body 11 and wheel 12；The wheel 12 is installed on the bottom of the car body 11；It is described
Wheel 12 includes driving wheel 121；
As shown in figure 3, the cartesian co-ordinate type manipulator 2 includes line slideway 22, Z described in X-axis line slideway 21, Y-axis
Axle line slideway 23 and manipulator 24；It is small that the Z axis line slideway 23 is vertically arranged to the AGV by the slew gear 4
The upper surface of car 1；There is the first sliding block 25 slided along the Z axis line slideway 23 on the Z axis line slideway 23；The Y-axis
Line slideway 22 is horizontally arranged on first sliding block 25, and is moved in the Y-axis direction relative to the first sliding block 25；Y-axis straight line
Guide rail 22 is provided with the second sliding block 26 towards one end of the transfer station 3, and the X-axis line slideway 21 is horizontally arranged at described
On two sliding blocks 26, and moved in the X-axis direction relative to the second sliding block 26；Second sliding block 26 towards the transfer station 3 one
Face is provided with rotating shaft, and the axis of the rotating shaft is parallel with the Y-axis line slideway 22；The manipulator 24 is arranged on the rotating shaft
On；
As shown in Fig. 2 the transfer station 3 is arranged on the upper surface of the AGV dollies 1, towards the cartesian co-ordinate type machine
Tool arm 2 is set；
The revolution framework 4 is arranged between the AGV dollies 1 and cartesian co-ordinate type manipulator 2, the cartesian co-ordinate type
Manipulator 2 is rotated with the rotation of slew gear 4；
The drive device is arranged in the car body 11；
The identification instrument is arranged at the X-axis line slideway 22 close to one end of the manipulator；
The sensor device is installed on the bottom of the car body 11.
The Z axis line slideway 21 realizes the linear motion of the manipulator 25 in the Z-axis direction by the first sliding block 26；
The Y-axis line slideway 23 by screw rod transmission mode, realizes the manipulator 25 in the Y-axis direction on the first sliding block 26
Linear motion；The X-axis line slideway 22 realizes the manipulator 25 in X-axis on the second sliding block 27 by screw rod transmission mode
Linear motion on direction；The sliding block is driven by servomotor.
The slew gear 4 is made up of servomotor, decelerator and timing belt, realizes cartesian co-ordinate type manipulator 2 in Z axis
Rotary motion on direction.
The identification instrument reads the identity identification information of target object, it is to avoid shifts wrong target object and influences effect
Rate.
It is preferred that, the driving wheel 121 is left and right symmetrically arranged in the vehicle bottom, the driving along moving of car direction
Motor drives the driving wheel to be advanced, retreated and go to action respectively.
It is preferred that, the transfer station 3 is three layers of one layer 31 of transfer station, two layer 32 of transfer station and transfer station successively from top to bottom
33；Pass through the axially mounted guide rail of Y-axis between two layer 32 of one layer 31 of the transfer station and the transfer station to connect；The transfer station
Pass through the axially mounted guide rail of X-axis between two layer 32 and three layer 33 of the transfer station to connect；Along X-axis in one layer 31 of the transfer station
It is axially installed with the roller 311 no less than 1.
The transfer station 3 can realize that target object is short-range in X-axis and Y-axis and be accurately positioned, when the manipulator
24 when target object is successfully captured and is placed in the transfer station 3, roller will the automatic operating of response system instruction, by mesh
Mark object is successfully transported to correct place.Target object can be conveyed directly to destination by the transfer station 3 by roller bearing
Or realize the function of transmitting well for three layer 33 by one layer 31 of transfer station, two layer 32 of transfer station and transfer station, it is indirectly and multi-level
Progress transmit；The transfer station and cartesian co-ordinate type manipulator 2 are fitted to each other, and realize accurate positioning transmission.
It is preferred that, the identification instrument is one in two-dimensional bar code identifier, Quick Response Code identifier, RFID identifiers
Plant or a variety of.
The identity identification information that the identification instrument grips object for target is effectively recognized, it is to avoid transfer is wrong
Object, improves operating efficiency.
It is preferred that, the manipulator 24 includes L-type part 241, two pawl fixtures 242 and Three-jaw fixture 243；The L-type part 241
Middle part be connected with the rotating shaft towards one end of the transfer station 3；The two pawls fixture 242 and the Three-jaw fixture 243 are pacified
Two ends loaded on L-type part 241, by the rotation of the L-type part, the two pawls fixture 242 and the Three-jaw fixture 243 are convertible
Just to the position of the transfer station 3.
Manipulator 24 carries out gripping transhipment using two pawl fixtures 242 and Three-jaw fixture 243 to goods, substantially increases work
Efficiency, reduces the labor intensity of workman.And according to the size and shape of goods, the L-type part 241 is with the rotating shaft in electricity
Rotated in the presence of machine, it is two pawl fixtures 242 or Three-jaw fixture 243 that can switch at any time just to the transfer station 3.
It is preferred that, the sensor device includes line walking sensor, alignment sensor, distance detection sensor.
The united application of the sensor device, be AGV dollies 1 can be accurately positioned on magnetic stripe circuit, accurately follow line with
Self-recision, controllability is powerful, it is to avoid AGV dollies 1 are reduced out because colliding people or object when being broken down during traveling
Existing dangerous risk, improves the safety in utilization of AGV dollies 1.
It is preferred that, the AGV dollies 1 are used as motion guide rail using tape.
The bottom of the AGV dollies 1 is provided with magnetic stripe, and magnetic conductance rail is provided with the running orbit of AGV dollies 1, described
Magnetic stripe and the magnetic conductance rail can be attracted each other cooperation, and the AGV dollies are walked along the magnetic conductance rail, can carried out by magnetic conductance rail
Position is navigated, and AGV dollies 1 is moved along specified route.
It is preferred that, the driving wheel 121 is two, and two driving wheels 121 connect two different drivings respectively
Motor.
It is preferred that, the driving wheel is left and right symmetrically arranged in the vehicle bottom, the driving electricity along moving of car direction
Machine drives the driving wheel to be advanced, retreated and go to action respectively.
Two driving wheels 121 are driven by different motors respectively, when the AGV dollies 1 need to turn, are driven
Dynamic motor carries out deceleration control to the driving wheel 121 of turn direction side, makes the previous row of driving wheel 121 of opposite side, passes through difference
Speed, which is realized, to be turned to.
It is preferred that, the drive device includes driving power supply and motor, and the output end of the motor is connected to
The driving wheel, and control the rotation of the driving wheel.
It is preferred that, the wheel 12 also includes the universal wheel 122 for being installed on the bottom of car body 11.
Relative to universal wheel 122, being relatively large in diameter for the driving wheel 121 is installed on institute as the driving wheel of AGV dollies 1
The bottom of car body 11 is stated, universal wheel 122 makes the traveling of AGV dollies 1 more steady as driven pulley, and driving force can be reduced, carried
Ability is greatly improved.
Further, the universal wheel 122 is no less than two groups.
It is preferred that, respectively installed in the front-end and back-end of the bottom of car body 11 symmetrical a pair, i.e. the corner of the bottom of car body 11 is each
One is installed, AGV dollies 1 are turned to the left-right rotation of universal wheel 122.The universal wheel 122 is mounted so as to more, AGV dollies 1
Steering it is more sensitive.
The AGV dollies 1 are for automatic charging function, when the AGV dollies in position of readiness wait job command more than one
When battery electric quantity is fixed time or detected less than certain value, the AGV dollies can charge to accumulator plant automatically, realize certainly
Dynamic charging.
Above content is only presently preferred embodiments of the present invention, for one of ordinary skill in the art, according to the present invention's
Thought, will change in specific embodiments and applications, and this specification content should not be construed as to the present invention
Limitation.
Claims (9)
1. it is a kind of load manipulator AGV dollies, it is characterised in that including AGV dollies, cartesian co-ordinate type manipulator, transfer station,
Slew gear, drive device, identification instrument and sensor device；
The AGV dollies include car body and wheel；The wheel is installed on the bottom of the car body；The wheel includes driving
Wheel；
The cartesian co-ordinate type manipulator includes line slideway, Z axis line slideway and manipulator described in X-axis line slideway, Y-axis；
The Z axis line slideway is vertically arranged to the upper surface of the AGV dollies by the slew gear；The Z axis line slideway
On have along the Z axis line slideway slide the first sliding block；The Y-axis line slideway is horizontally arranged on first sliding block,
And moved in the Y-axis direction relative to the first sliding block；Y-axis line slideway is provided with the second sliding block towards one end of the transfer station,
The X-axis line slideway is horizontally arranged on second sliding block, and moved in the X-axis direction relative to the second sliding block；Described
Two sliding blocks are provided with rotating shaft towards the one side of the transfer station, and the axis of the rotating shaft is parallel with the Y-axis line slideway；It is described
Manipulator is arranged in the rotating shaft；
The transfer station is arranged on the upper surface of the AGV dollies, is set towards the cartesian co-ordinate type mechanical arm；
The revolution framework is arranged between the AGV dollies and cartesian co-ordinate type manipulator, the cartesian co-ordinate type manipulator
Rotated with the rotation of slew gear；
The drive device is arranged in the car body；
The identification instrument is arranged at the X-axis line slideway close to one end of the manipulator；
The sensor device is installed on the bottom of the car body；
The transfer station is three layers of one layer of transfer station, two layers of transfer station and transfer station successively from top to bottom；One layer of the transfer station
Connected between two layers of the transfer station by the axially mounted guide rail of Y-axis；Two layers of the transfer station and three layers of the transfer station
Between pass through the axially mounted guide rail of X-axis and connect；The roller no less than 1 is axially installed with one layer of the transfer station along X-axis.
2. the AGV dollies of manipulator are loaded as claimed in claim 1, it is characterised in that the identification instrument is two dimension
One or more in bar code identifier, Quick Response Code identifier, RFID identifiers.
3. the AGV dollies of manipulator are loaded as claimed in claim 1, it is characterised in that the manipulator includes L-type part, two
Pawl fixture and Three-jaw fixture；The middle part of the L-type part is connected with the rotating shaft towards one end of the transfer station；The two pawls folder
Tool and the Three-jaw fixture are installed on the two ends of L-type part, pass through the rotation of the L-type part, the two pawls fixture and the three-jaw
The convertible position just to the transfer station of fixture.
4. the AGV dollies of manipulator are loaded as claimed in claim 1, it is characterised in that the sensor device includes line walking
Sensor, alignment sensor, distance detection sensor.
5. the AGV dollies of manipulator are loaded as claimed in claim 1, it is characterised in that the AGV dollies are used as fortune using tape
Dynamic guide rail.
6. the AGV dollies of manipulator are loaded as claimed in claim 1, it is characterised in that the driving wheel is two, and two
The driving wheel connects two different motors respectively.
7. the AGV dollies of manipulator are loaded as claimed in claim 1, it is characterised in that the drive device includes driving electricity
Source and motor, the output end of the motor are connected to the driving wheel, and control the rotation of the driving wheel.
8. the AGV dollies of manipulator are loaded as claimed in claim 1, it is characterised in that the wheel also includes being installed on institute
State the universal wheel of vehicle bottom.
9. the AGV dollies of manipulator are loaded as claimed in claim 8, it is characterised in that the universal wheel is no less than two groups.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510956233.3A CN105437204B (en) | 2015-12-17 | 2015-12-17 | A kind of AGV dollies for loading manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510956233.3A CN105437204B (en) | 2015-12-17 | 2015-12-17 | A kind of AGV dollies for loading manipulator |
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| CN105437204A CN105437204A (en) | 2016-03-30 |
| CN105437204B true CN105437204B (en) | 2017-09-05 |
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| CN104085313A (en) * | 2014-07-18 | 2014-10-08 | 安徽中家智锐科技有限公司 | Eight-freedom-degree mechanical arm system of AGV chassis |
| CN104375508A (en) * | 2014-12-05 | 2015-02-25 | 国家电网公司 | Liftable AGV (automated guided vehicle) conveyor |
| CN104607992A (en) * | 2015-01-23 | 2015-05-13 | 深圳市京田精密五金有限公司 | Automatic mechanical arm |
| CN204748607U (en) * | 2015-06-12 | 2015-11-11 | 洛阳理工学院 | Robotic arm is used in hazardous articles transport |
| CN105127990A (en) * | 2015-08-27 | 2015-12-09 | 李有明 | Single-arm mechanical hand |
| CN205184756U (en) * | 2015-12-17 | 2016-04-27 | 佛山市新鹏机器人技术有限公司 | AGV dolly of loading manipulator |
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| CN105437204A (en) | 2016-03-30 |
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