CN112125230A - Workpiece taking manipulator based on AGV trolley and control method thereof - Google Patents
Workpiece taking manipulator based on AGV trolley and control method thereof Download PDFInfo
- Publication number
- CN112125230A CN112125230A CN202011015526.9A CN202011015526A CN112125230A CN 112125230 A CN112125230 A CN 112125230A CN 202011015526 A CN202011015526 A CN 202011015526A CN 112125230 A CN112125230 A CN 112125230A
- Authority
- CN
- China
- Prior art keywords
- rotating arm
- agv
- storage rack
- arm
- rotating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- 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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/18—Load gripping or retaining means
- B66F9/183—Coplanar side clamps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
Abstract
The invention discloses a piece taking manipulator based on an AGV (automated guided vehicle), which comprises the AGV, wherein a controller is arranged on the AGV, a lifting mechanism and a storage rack are arranged on the AGV, a multi-shaft mechanical arm is arranged on the lifting mechanism, a clamping mechanism is arranged on the multi-shaft mechanical arm, a horizontal sliding mechanism fixed on the AGV is arranged at the lower end of the storage rack, part of the horizontal sliding mechanism is positioned on a rotating path of the multi-shaft mechanical arm, and the clamping mechanism is matched with the storage rack; the clamping mechanism comprises a mounting frame fixed on the multi-shaft mechanical arm, an image acquisition unit, an electric cylinder and a supporting plate are arranged on the mounting frame, a first sliding block and a second sliding block which are arranged in parallel are arranged on the electric cylinder, clamping plates are respectively arranged on the first sliding block and the second sliding block, the supporting plate is arranged between the two clamping plates and located below the clamping plates, and the first sliding block and the second sliding block keep sliding in opposite directions to enable the two clamping plates to be close to or far away from each other. An electric control gets a manipulator, realizes the diversified displacement operation of arm, and the flexibility is higher.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a workpiece taking manipulator based on an AGV (automatic guided vehicle) and a control method thereof.
Background
The manipulator is an automatic operating device which can imitate certain motion functions of human hands and arms so as to grab, carry objects or operate tools according to a fixed program. Compared with human arms, the manipulator has the greatest advantages that the manipulator can repeat the same action without tiredness, can adapt to different working environments, and has higher working consistency. With the progress of science and technology, manipulators are widely applied to the technical fields of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like.
Present manipulator can only realize the removal on the two-dimensional space generally, and is great to the most volumes of manipulator that can realize three-dimensional space and remove, leads to the flexibility poor, snatchs, the reliability of unloading is also relatively poor.
Disclosure of Invention
In order to solve the technical defects, the invention adopts the technical scheme that the piece taking manipulator based on the AGV comprises the AGV, a controller is arranged on the AGV, a lifting mechanism and a storage rack for temporarily storing the pieces are arranged on the AGV, a multi-shaft mechanical arm is arranged on the lifting mechanism, a clamping mechanism used for grabbing the pieces from the storage rack or placing the grabbed pieces on the storage rack is arranged on the multi-shaft mechanical arm, a horizontal sliding mechanism is arranged at the lower end of the storage rack and fixed on the AGV, part of the horizontal sliding mechanism is positioned on the rotating path of the multi-shaft mechanical arm, and the clamping mechanism and the storage rack are arranged in a matched mode.
The clamping mechanism comprises a mounting frame fixed on the multi-shaft mechanical arm, an image acquisition unit and an electric cylinder are arranged on the mounting frame, a first sliding block and a second sliding block which are arranged in parallel are arranged on the electric cylinder, clamping plates which are arranged oppositely are respectively arranged on the first sliding block and the second sliding block, a supporting plate located below the clamping plates is arranged on the mounting frame, the supporting plate is arranged between the two clamping plates, and the first sliding block and the second sliding block are kept to slide oppositely to enable the two clamping plates to be close to or away from each other.
The AGV trolley, the lifting mechanism, the multi-shaft mechanical arm, the clamping mechanism, the horizontal sliding mechanism, the image acquisition unit and the electric cylinder are respectively connected with the controller so as to control the workpiece taking manipulator through electric power.
Furthermore, the storage rack is provided with an opening for the articles to pass in and out, the storage rack is provided with a plurality of partition plates arranged along the opening and a support boss for supporting the bottoms of the articles, and the support boss is arranged at the lower ends of two sides of each partition plate and extends in the same direction as the partition plates.
Further, the multi-axis mechanical arm comprises a mounting seat, a first rotating arm, a second rotating arm, a third rotating arm, a fourth rotating arm, a fifth rotating arm and a sixth rotating arm, the mounting seat is fixed on the lifting mechanism, a first rotating motor for driving the first rotating arm to rotate along the mounting seat is arranged on the mounting seat, a second rotating motor for driving the second rotating arm to rotate along the first rotating arm is arranged on the first rotating arm, a third rotating motor for driving the third rotating arm to rotate along the second rotating arm is arranged on the second rotating arm, a fourth rotating motor for driving the fourth rotating arm to rotate along the third rotating arm is arranged on the third rotating arm, a fifth rotating motor for driving the fifth rotating arm to rotate along the fourth rotating arm is arranged on the fourth rotating arm, and a sixth rotating motor for driving the sixth rotating arm to rotate along the fifth rotating arm is arranged on the fifth rotating arm, the clamping mechanism is arranged on the sixth rotating arm; the first rotating motor, the second rotating motor, the third rotating motor, the fourth rotating motor, the fifth rotating motor and the sixth rotating arm are respectively and electrically connected with the controller.
Further, the mounting bracket is including fixing the first fixed plate on the multiaxis arm, the lower extreme at first fixed plate is fixed to the electricity jar, the lower extreme of electricity jar is equipped with the loading board, and the lower extreme of loading board is equipped with the riser, the lower extreme of electricity jar is equipped with the second fixed plate fixed with the riser, splint slidable mounting is on the second fixed plate, the lower extreme at the riser is installed to the layer board.
Furthermore, a guide part parallel to the first sliding block is arranged on the second fixing plate, a sliding part is arranged on the clamping plate, and the sliding part is slidably mounted on the guide part.
Further, be equipped with the mounting groove on the first fixed plate, be equipped with the mounting hole in the mounting groove, be equipped with the image acquisition unit that passes the mounting hole setting on the first fixed plate, install the annular light filling lamp that sets up around image acquisition unit in the mounting groove, annular light filling lamp is connected with the controller electricity.
Further, be equipped with operation platform on the AGV dolly, the last operating panel that installs of operation platform, operation platform's side is equipped with the master control case, the controller is installed in the master control case, elevating system fixes on operation platform along vertical, horizontal sliding mechanism fixes on operation platform along the level.
The invention also provides a control method of the workpiece taking manipulator based on the AGV trolley, which comprises the following steps:
the controller controls the rotating arm on the multi-axis mechanical arm to rotate horizontally or vertically, so that the image acquisition unit acquires the azimuth information of the storage rack and sends the azimuth information to the controller;
the controller controls the multi-shaft mechanical arm to rotate and the lifting mechanism to lift and move according to the acquired azimuth information, so that the clamping mechanism is aligned to the storage rack;
the storage rack moves along the transverse direction to be close to the clamping mechanism, so that the clamping mechanism extends into the storage space of the storage rack, the clamping mechanism controls the clamping plates to clamp or loosen the file bags, and the storage rack moves along the transverse direction to be far away from the clamping mechanism to finish feeding and discharging.
Further, the image acquisition unit is a camera.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
the invention provides a workpiece taking manipulator based on an AGV (automatic guided vehicle) and a control method thereof. The use is nimble, need not to lay the track to reduced the probability that the in-process article that shifts from fixture dropped, simplified the complexity of manipulator, can improve work efficiency.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a perspective view of a pick robot based on an AGV according to an embodiment of the present invention;
FIG. 2 is a perspective view of another orientation of an AGV based pick robot according to embodiments of the present invention;
FIG. 3 is a perspective view of a third orientation of a pick robot based on an AGV according to embodiments of the present invention;
FIG. 4 is a schematic structural diagram of a clamping mechanism provided in an embodiment of the present invention;
FIG. 5 is a perspective view of another orientation of a clamping mechanism provided by an embodiment of the present invention;
FIG. 6 is a schematic structural view of a storage rack provided in an embodiment of the present invention;
FIG. 7 is a flowchart illustrating a method for controlling a pick-up robot based on an AGV according to an embodiment of the present invention.
The reference numbers are as follows:
1. an AGV trolley, 2, an elevating mechanism, 3, a storage rack, 3a, an opening, 4, a multi-shaft mechanical arm, 41, a mounting seat, 42, a first rotating arm, 43, a second rotating arm, 44, a third rotating arm, 45, a fourth rotating arm, 46, a fifth rotating arm, 47, a sixth rotating arm, 5, a clamping mechanism, 51, a mounting rack, 51a, a guide part, 511, a first fixing plate, 511a, a mounting groove, 511b, a mounting hole, 512, a bearing plate, 513, a vertical plate, 514, a second fixing plate, 52, an electric cylinder, 53, a first slider, 54, a second slider, 55, a clamping plate, 55a, a sliding part, 55b, a second guide inclined plane, 56, a supporting plate, 6, a horizontal sliding mechanism, 61, a motor, 62, a screw rod, 63, a slider, 64, a guide rail, 7, an image acquisition unit, 8, a light supplement lamp, 9, a partition board, 9a, a first guide inclined plane, 10, a supporting boss, 11. the device comprises an operation platform, 12, an operation panel, 13, a main control box, 14, a chassis, 15, a shell, 16, a driving wheel, 17, universal wheels, 18, a drag chain box, 19 and a lifting drag chain.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
Example 1
Referring to fig. 1-7, the manipulator for picking up articles based on an AGV provided by the invention comprises an AGV 1, wherein an elevating mechanism 2 and a storage rack 3 for temporarily storing articles are arranged on the AGV 1, the articles are folders, files, books and the like, a multi-axis mechanical arm 4 is arranged on the elevating mechanism 2, a clamping mechanism 5 for grabbing the articles from the storage rack 3 or placing the grabbed articles on the storage rack 3 is arranged on the multi-axis mechanical arm 4, a horizontal sliding mechanism 6 is arranged at the lower end of the storage rack 3, the horizontal sliding mechanism 6 is fixed on the AGV 1 and is positioned on the rotation path of the multi-axis mechanical arm 4, and the clamping mechanism 5 is matched with the storage rack 3.
The clamping mechanism 5 comprises a mounting frame 51 fixed on the multi-axis mechanical arm 4, an electric cylinder 52 is arranged on the mounting frame 51, a first sliding block 53 and a second sliding block 54 which are arranged in parallel are mounted on the electric cylinder 52, clamping plates 55 which are arranged oppositely are mounted on the first sliding block 53 and the second sliding block 54 respectively, and the first sliding block 53 and the second sliding block 54 keep sliding in opposite directions to enable the two clamping plates 55 to be close to or far away from each other. The reaction is fast, the reliability is high, and the electric cylinder 52 drives the two sliding blocks to move oppositely to realize that the two clamping plates 55 clamp the object or release the object. The AGV trolley 1, the lifting mechanism 2, the multi-axis mechanical arm 4, the clamping mechanism 5, the horizontal sliding mechanism 6, the image acquisition unit 7 and the electric cylinder 52 are respectively connected with a controller, and the piece taking mechanical arm is controlled by electric power.
Specifically, the multi-axis robot arm 4 includes an installation seat 41, a first rotating arm 42, a second rotating arm 43, a third rotating arm 44, a fourth rotating arm 45, a fifth rotating arm 46 and a sixth rotating arm 47, the installation seat 41 is fixed on the lifting mechanism 2, a first rotating motor for driving the first rotating arm 42 to rotate along the installation seat 41 is arranged on the installation seat 41, a second rotating motor for driving the second rotating arm 43 to rotate along the first rotating arm 42 is arranged on the first rotating arm 42, a third rotating motor for driving the third rotating arm 44 to rotate along the second rotating arm 43 is arranged on the second rotating arm 43, a fourth rotating motor for driving the fourth rotating arm 45 to rotate along the third rotating arm 44 is arranged on the third rotating arm 44, a fifth rotating motor for driving the fifth rotating arm 46 to rotate along the fourth rotating arm 45 is arranged on the fourth rotating arm 45, and a sixth rotating motor for driving the sixth rotating arm 47 to rotate along the fifth rotating arm 46 is arranged on the fifth rotating arm 46 The gripper mechanism 5 is mounted on the sixth rotary arm 47. The first rotating motor, the second rotating motor, the third rotating motor, the fourth rotating motor, the fifth rotating motor and the sixth rotating arm are respectively electrically connected with the controller. Can realize the rotation of any angle range and provide a wider grabbing space for the clamping mechanism 5.
Specifically, an operating platform 11 is arranged on the AGV trolley 1, an operating panel 12 is installed on the operating platform 11, a main control box 13 is arranged on the operating platform 11, a controller is installed in the main control box 13, the lifting mechanism 2 is vertically fixed on the operating platform 11 and clamped in the front of the main control box 13, and the horizontal sliding mechanism 6 is fixed on the operating platform 11. The AGV trolley 1 comprises a chassis 14 and a shell 15 which are connected, wherein a driving wheel 16 driven by a power device is arranged on the chassis 14, and a universal wheel 17 arranged through the chassis 14 is arranged on the shell 15. The AGV trolley 1 adopts the existing SLAM navigation technology, and the moving direction of the AGV trolley 1 can be changed through the universal wheels 17.
Specifically, the storage rack 3 is disposed on a side surface of the main control box 13, and the storage rack 3 can be moved along the horizontal sliding mechanism 6 to be exposed outside the main control box 13 or hidden on the side surface of the main control box 13.
Preferably, the mounting bracket 51 is mounted to an end of the sixth rotating arm 47. The mounting frame 51 comprises a first fixing plate 511 fixed on the multi-axis mechanical arm, the electric cylinder 52 is fixed at the lower end of the first fixing plate 511, the lower end of the electric cylinder 52 is provided with a bearing plate 512, the lower end of the bearing plate 512 is provided with a vertical plate 513, the lower end of the electric cylinder 52 is provided with a second fixing plate 514 fixed with the vertical plate 513, the clamping plate 55 is slidably mounted on the second fixing plate 514, and the supporting plate 56 is mounted at the lower end of the vertical plate 513. Wherein, two groups are arranged at intervals on the clamping plate 55.
Specifically, the mounting bracket 51 is provided with a supporting plate 56 located below the clamping plates 55, and the supporting plate 56 is disposed between the two clamping plates 55. The supporting plate 56 supports the bottom of the object, and the clamping plates 55 clamp two side faces of the object, so that the feeding and discharging reliability of the clamping mechanism 5 is improved. The second fixing plate 514 of the mounting bracket 51 is provided with a guide portion 51a provided in parallel with the first slider 53, the clamp plate 55 is provided with a slide portion 55a, and the slide portion 55a is slidably attached to the guide portion 51 a. The guide portion 51a functions as a support and a slide guide for the chucking plate 55, and can improve the stability of the movement of the chucking plate 55. The guide portion 51a is a guide block or a guide groove. The sliding portion 55a is a chute or a slider.
Specifically, a mounting groove 511a is formed in the first fixing plate 511, a mounting hole 511b is formed in the mounting groove 511a, an image collecting unit 7 passing through the mounting hole 511b is arranged on the first fixing plate 511, an annular light supplement lamp 8 arranged around the image collecting unit 7 is installed in the mounting groove 511a, and the annular light supplement lamp 8 is electrically connected with the controller. Wherein, annular light filling lamp 8 can increase local light luminance, and image acquisition unit 7 is the camera, and the camera transmits the image information of storage rack 3 to master control case 14, and the manipulator of being convenient for fixes a position the direction and the position of article more accurately.
Preferably, the storage rack 3 is provided with an opening 3a for the articles to enter and exit, the storage rack 3 is provided with a plurality of partitions 9 arranged along the opening 3a and supporting bosses 10 for supporting the articles, and the supporting bosses 10 are provided at the lower ends of both sides of the partitions 9 and extend in the same direction as the partitions 9. Support boss 10 and play the supporting role to the article bottom, baffle 9 is spacing to article both sides, support boss 10 through setting up, make things convenient for layer board 56 to insert the space between two support bosses and hold up the article, splint 55 inserts and presss from both sides tightly the article between two baffles 9 from both sides simultaneously, perhaps splint 55 releases the article from both sides, layer board 56 can directly be followed the smooth release in bottom space, three point simultaneous movement, can show the centre gripping that improves fixture 5, the accuracy of release article, it is convenient to go up, the unloading.
Specifically, storage rack 3 includes bottom plate, curb plate and backplate, is equipped with the curb plate on the relative both sides limit of bottom plate, is connected with the backplate fixed with the bottom plate between the board of both sides, and the bottom plate is installed on horizontal sliding mechanism 6, and baffle 9 and curb plate syntropy extend and the interval sets up on the bottom plate.
Specifically, the support bosses 10 are provided around both sides of the lower end of the partition plate 9. Baffle 9 is fixed on the backplate of storage rack 3 along horizontal extension, is equipped with the observation breach unanimous with opening 3a direction on the baffle 9, conveniently looks over the article state in adjacent baffle district, prevents to produce and shelters from, save material. The end of the partition board 9 is provided with a first guide inclined surface 9a, the outer side surface of the clamping board 55 is provided with a second guide inclined surface 55b, and the second guide inclined surface 55b is matched with the first guide inclined surface 9 a. The side of the support boss 10 is obliquely fitted with the side of the retainer plate 56.
Or the supporting boss 10 can also be arranged between the two partition plates 9, and the two supporting plates 56 are correspondingly arranged to be inserted into the space between the supporting boss 10 and the partition plates in a matching way.
Preferably, the horizontal sliding mechanism 6 comprises a motor 61, a screw rod 62, a sliding block 63 and a guide rail 64, the motor 61 and the guide rail 64 are installed on the AGV trolley 1, the screw rod 62 is installed above the guide rail 64 in the same direction, the motor 61 is rotatably connected with one end of the screw rod 62, the sliding block 64 is installed on the screw rod 62 and the guide rail 64 in a matching manner, and the storage rack 3 is installed on the sliding block 64. The lifting mechanism 2 is the same as the horizontal sliding mechanism 6. In addition, the lifting mechanism 2 is installed on the bracket, and a supporting seat connected with the installation seat 41 is arranged on a sliding block of the lifting mechanism 2.
Specifically, a drag chain box 18 is arranged on the lifting mechanism 2, and a lifting drag chain 19 connected with the lower end of a support seat on a sliding block of the lifting mechanism 2 is fixed in the drag chain box 18.
The invention also provides a control method of the workpiece taking manipulator based on the AGV trolley, which comprises the following steps:
the controller controls the rotating arm on the multi-axis mechanical arm 4 to rotate horizontally or vertically, so that the image acquisition unit 7 acquires the azimuth information of the storage rack 3 and sends the azimuth information to the controller;
the controller controls the multi-axis mechanical arm 4 to rotate and the lifting mechanism 2 to move up and down according to the acquired azimuth information, so that the clamping mechanism 5 is horizontally aligned with the storage rack 3;
Specifically, the image acquisition unit 7 is a camera.
The invention provides an AGV trolley-based workpiece taking manipulator, which has the following working principle:
when taking archives from storage rack 3, manual archives that will deposit on the archives rack one-to-one is placed on the support boss 10 between two baffles 9, AGV dolly 1 moves to the archives rack, the rotating electrical machines action that multiaxis arm 4 corresponds, acquire storage rack 3's position information through the camera, multiaxis arm 4 is rotatory and elevating system 2 adjusts multiaxis arm 4's height, make fixture 5 aim at storage rack 3 along the level, slider 64 on the storage rack 3 slides to splint 55 and layer board 56 along lead screw 62 and inserts in the baffle district that storage rack 3 corresponds this moment, electric cylinder 52 control splint 55 presss from both sides tight archives, motor 61 drive lead screw 62 reverse rotation, slider 64 on the storage rack 3 slides along lead screw 62 in order to keep away from fixture 5, realize the snatching of splint 55 to archives.
When files need to be temporarily stored on the storage rack 3, the multi-axis mechanical arm 4 rotates and the lifting mechanism 2 adjusts the height of the multi-axis mechanical arm 4, the files on the clamping plate 55 are aligned to the storage rack 3, the motor 61 drives the screw rod 62 to rotate, the sliding block 64 on the storage rack 3 slides along the screw rod 62 to be close to and far away from the clamping mechanism 5, the clamping plate 55 and the supporting plate 56 are inserted into the partition plate area corresponding to the storage rack 3 by continuous sliding, the electric cylinder 52 controls the clamping plate 55 to be loosened to release the files on the storage rack 3, the motor 61 drives the screw rod 62 to rotate reversely, the sliding block 64 on the storage rack 3 slides along the screw rod 62 to be far away from the clamping mechanism 5, and temporary storage.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (9)
1. The utility model provides a get a manipulator based on AGV dolly which characterized in that: the automatic storage device comprises an AGV trolley (1), wherein a controller is arranged on the AGV trolley (1), an elevating mechanism (2) and a storage rack (3) used for temporarily storing articles are installed on the AGV trolley (1), a multi-shaft mechanical arm (4) is installed on the elevating mechanism (2), a clamping mechanism (5) used for grabbing articles from the storage rack (3) or placing the grabbed articles on the storage rack (3) is installed on the multi-shaft mechanical arm (4), a horizontal sliding mechanism (6) is installed at the lower end of the storage rack (3), the horizontal sliding mechanism (6) is fixed on the AGV trolley (1), the horizontal sliding mechanism (6) is partially located on a rotating path of the multi-shaft mechanical arm (4), and the clamping mechanism (5) is matched with the storage rack (3);
the clamping mechanism (5) comprises a mounting frame (51) fixed on the multi-axis mechanical arm (4), an image acquisition unit (7) and an electric cylinder (52) are arranged on the mounting frame (1), a first sliding block (53) and a second sliding block (54) which are arranged in parallel are arranged on the electric cylinder (52), clamping plates (55) which are arranged oppositely are respectively arranged on the first sliding block (53) and the second sliding block (54), a supporting plate (56) positioned below the clamping plates (55) is arranged on the mounting frame (51), the supporting plate (56) is arranged between the two clamping plates (55), and the first sliding block (53) and the second sliding block (54) slide in opposite directions to enable the two clamping plates (55) to be close to or far away from each other;
the AGV comprises an AGV trolley (1), a lifting mechanism (2), a multi-axis mechanical arm (4), a clamping mechanism (5), a horizontal sliding mechanism (6), an image acquisition unit (7) and an electric cylinder (52), wherein the AGV trolley is connected with a controller respectively, and the AGV trolley is used for controlling a piece taking mechanical arm.
2. The AGV manipulator of claim 1 wherein: the storage rack (3) is provided with an opening (3a) for articles to pass in and out, the storage rack (3) is provided with a plurality of partition plates (9) arranged along the opening (3a) and supporting bosses (10) used for supporting the bottoms of the articles, and the supporting bosses (10) are arranged at the lower ends of two sides of the partition plates (9) and extend in the same direction as the partition plates (9).
3. The AGV manipulator of claim 1 wherein: the multi-axis mechanical arm (4) comprises a mounting seat (41), a first rotating arm (42), a second rotating arm (43), a third rotating arm (44), a fourth rotating arm (45), a fifth rotating arm (46) and a sixth rotating arm (47), wherein the mounting seat (41) is fixed on the lifting mechanism (2), a first rotating motor for driving the first rotating arm (42) to rotate along the mounting seat (41) is arranged on the mounting seat (41), a second rotating motor for driving the second rotating arm (43) to rotate along the first rotating arm (42) is arranged on the first rotating arm (42), a third rotating motor for driving the third rotating arm (44) to rotate along the second rotating arm (43) is arranged on the second rotating arm (43), a fourth rotating motor for driving the fourth rotating arm (45) to rotate along the third rotating arm (44) is arranged on the third rotating arm (44), a fifth rotating motor for driving a fifth rotating arm (46) to rotate along the fourth rotating arm (45) is arranged on the fourth rotating arm (45), a sixth rotating motor for driving a sixth rotating arm (47) to rotate along the fifth rotating arm (46) is arranged on the fifth rotating arm (46), and the clamping mechanism (5) is installed on the sixth rotating arm (47);
the first rotating motor, the second rotating motor, the third rotating motor, the fourth rotating motor, the fifth rotating motor and the sixth rotating arm are respectively and electrically connected with the controller.
4. The AGV manipulator of claim 1 wherein: mounting bracket (51) are including fixing first fixed plate (511) on multiaxis machinery arm (4), the lower extreme at first fixed plate (511) is fixed in electric cylinder (52), the lower extreme of electric cylinder (52) is equipped with loading board (512), the lower extreme of loading board (512) is equipped with riser (513), the lower extreme of electric cylinder (52) is equipped with second fixed plate (514) fixed with riser (513), splint (55) slidable mounting is on second fixed plate (514), the lower extreme at riser (513) is installed in layer board (56).
5. The AGV manipulator of claim 4 further comprising: the second fixing plate (514) is provided with a guide part (51a) arranged in parallel with the first slider (53), the clamping plate (55) is provided with a sliding part (55a), and the sliding part (55a) is slidably mounted on the guide part (51 a).
6. The AGV manipulator of claim 4 further comprising: be equipped with mounting groove (511a) on first fixed plate (511), be equipped with mounting hole (511b) in mounting groove (511a), be equipped with image acquisition unit (7) that pass mounting hole (511b) and set up on first fixed plate (511), install annular light filling lamp (8) around image acquisition unit (7) setting in mounting groove (511a), annular light filling lamp (8) are connected with the controller electricity.
7. The AGV manipulator of claim 1 wherein: be equipped with operation platform (11) on AGV dolly (1), install operating panel (12) on operation platform (11), the side of operation platform (11) is equipped with master control case (13), the controller is installed in master control case (13), elevating system (2) are along vertical fixing on operation platform (11), horizontal sliding mechanism (6) are fixed on operation platform (11) along the level.
8. A control method of a workpiece taking manipulator based on an AGV trolley is characterized by comprising the following steps:
the controller controls a rotating arm on the multi-axis mechanical arm (4) to rotate horizontally or vertically, so that the image acquisition unit (7) acquires azimuth information of the storage rack (3) and sends the azimuth information to the controller;
the controller controls the multi-axis mechanical arm (4) to rotate and the lifting mechanism (2) to move up and down according to the acquired azimuth information, so that the clamping mechanism (5) is horizontally aligned with the storage rack (3);
storage rack (3) along lateral shifting in order to be close to fixture (5), make fixture (5) stretch into the parking space of storage rack (3), fixture (5) control splint (55) press from both sides tight archives bag or loosen the archives bag, storage rack (3) along lateral shifting in order to keep away from fixture (5), accomplish upper and lower material.
9. The AGV-cart based manipulator control method according to claim 8, characterised in that the image pick-up unit (7) is a camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011015526.9A CN112125230A (en) | 2020-09-24 | 2020-09-24 | Workpiece taking manipulator based on AGV trolley and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011015526.9A CN112125230A (en) | 2020-09-24 | 2020-09-24 | Workpiece taking manipulator based on AGV trolley and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112125230A true CN112125230A (en) | 2020-12-25 |
Family
ID=73839990
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011015526.9A Pending CN112125230A (en) | 2020-09-24 | 2020-09-24 | Workpiece taking manipulator based on AGV trolley and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112125230A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112828874A (en) * | 2021-02-25 | 2021-05-25 | 宁波万金现代钣金有限公司 | Mobile robot |
| CN113401840A (en) * | 2021-06-16 | 2021-09-17 | 北京机械设备研究所 | Auxiliary assembling power-assisted arm of movable special vehicle |
| CN113798890A (en) * | 2021-10-28 | 2021-12-17 | 深圳市东汇精密机电有限公司 | Workpiece fixing device, machine tool loading and unloading device and loading and unloading method |
| CN114919988A (en) * | 2022-05-18 | 2022-08-19 | 合肥工业大学 | Mechanical device for grabbing synthetic cavity of cubic press |
| CN117445013A (en) * | 2023-12-22 | 2024-01-26 | 吉林省吉邦自动化科技有限公司 | VGA platform and six-degree-of-freedom manipulator fusion control system |
-
2020
- 2020-09-24 CN CN202011015526.9A patent/CN112125230A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112828874A (en) * | 2021-02-25 | 2021-05-25 | 宁波万金现代钣金有限公司 | Mobile robot |
| CN113401840A (en) * | 2021-06-16 | 2021-09-17 | 北京机械设备研究所 | Auxiliary assembling power-assisted arm of movable special vehicle |
| CN113798890A (en) * | 2021-10-28 | 2021-12-17 | 深圳市东汇精密机电有限公司 | Workpiece fixing device, machine tool loading and unloading device and loading and unloading method |
| CN113798890B (en) * | 2021-10-28 | 2024-03-19 | 深圳市东汇精密机电有限公司 | Workpiece fixing device, machine tool loading and unloading device and loading and unloading method |
| CN114919988A (en) * | 2022-05-18 | 2022-08-19 | 合肥工业大学 | Mechanical device for grabbing synthetic cavity of cubic press |
| CN117445013A (en) * | 2023-12-22 | 2024-01-26 | 吉林省吉邦自动化科技有限公司 | VGA platform and six-degree-of-freedom manipulator fusion control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112125230A (en) | Workpiece taking manipulator based on AGV trolley and control method thereof | |
| CN107878989B (en) | Automatic reclaimer of storage | |
| CN107840059B (en) | Automatic reclaimer of two-way storage | |
| CN110937391B (en) | Tray processing device and tray processing method | |
| CN113431354B (en) | Bricklaying equipment | |
| CN214399033U (en) | Intelligent loading and unloading vehicle system based on visual servo | |
| CN111847004A (en) | Intelligent loading and unloading vehicle system based on visual servo | |
| CN216470826U (en) | Battery box snatchs transfer device | |
| CN217074095U (en) | Battery changing station | |
| CN210256211U (en) | Automatic change mechanical arm device | |
| CN213171346U (en) | Get a manipulator based on AGV dolly | |
| CN112758588A (en) | Container carrying system, robot and container carrying method | |
| CN110282330B (en) | Storage carrying robot and working method thereof | |
| CN210452716U (en) | Feeding and discharging unit of hybrid robot | |
| CN110253604B (en) | Material box transferring device | |
| CN111376044B (en) | Automatic production line of clothes airing machine | |
| CN214651096U (en) | Packing box carrying system and robot | |
| CN113002494A (en) | Quick replacement mounting system of new energy automobile power battery group | |
| CN109465842B (en) | Material tray material taking manipulator | |
| CN111376014B (en) | Buckle and soundproof cotton rigging equipment | |
| CN111071780A (en) | Automatic product conveying device and operation method thereof | |
| CN218965443U (en) | Copper wire ingot snatchs rotatory arm fast | |
| CN218402150U (en) | Gripping device, carrying device and refrigeration bin | |
| CN215796882U (en) | Memory bank plug-in unit feeding device | |
| CN212502972U (en) | Intelligent loading and unloading robot based on visual servo |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |