CN112173602A - Six-axis moving type automatic guide trolley - Google Patents

Abstract

The application provides six axis motion formula automated guidance dollies, includes following part: the frame comprises a first chamber and a second chamber; a plurality of cargo supports mounted in the second chamber; the moving mechanism is arranged in the first chamber; the first moving structure comprises an up-down displacement assembly and a first bearing plate; the second moving mechanism comprises a second bearing plate, a third bearing plate and a displacement rotating assembly which are sequentially stacked on the first bearing plate; the up-down displacement assembly is driven by the driving mechanism to drive the first bearing plate to move up and down; the displacement rotating assembly is driven to drive the second bearing plate and the third bearing plate to move front and back, left and right and rotate axially relative to the first bearing plate, and drive the third bearing plate to enter and exit the second cavity; the alignment mechanism comprises a coarse aligner arranged at the bottom of the front side of the rack and a fine alignment assembly arranged on the moving mechanism. The technical scheme of this application can realize the motion and the position adjustment in a plurality of directions for the work piece that awaits measuring can realize accurate counterpoint and place.

Description

Six-axis moving type automatic guide trolley

Technical Field

The application belongs to the technical field of automatic transportation equipment, and more specifically relates to a six-axis motion type automatic guide trolley.

Background

With the increase of labor cost and automation degree, an automatic Guided Vehicle (Automated Guided Vehicle) is also widely applied to various industries to safely transplant articles. For example, the automatic guided vehicle may be used to transfer the workpiece to be tested to a corresponding test cabinet, such as an aging test cabinet, for further performance testing. In actual test, the aging test cabinet is provided with a plurality of layers of test cavities which are arranged up and down, the rear part of each test cavity is provided with a test mother block, the workpiece to be tested is provided with a test sub-block, and only when the workpiece to be tested is placed in place, namely the test sub-block is connected with the test mother block in an accurate alignment mode, next test operation can be carried out. However, the existing automatic guiding trolley can only complete the transfer of the workpiece to be tested and the initial placement in the aging test cabinet, and the precise alignment placement of the workpiece to be tested and the test mother block in the test cavity still needs manual work, and the manual placement process is very tedious, time-consuming and labor-consuming.

Disclosure of Invention

An object of the embodiment of the application is to provide a six-axis motion type automatic guide trolley to solve the technical problem that the automatic guide trolley is not accurate enough when being used for aligning and placing a workpiece to be measured in the prior art.

In order to achieve the purpose, the technical scheme adopted by the application is as follows: a six-axis motion automated guided vehicle comprising:

the device comprises a rack, a first support and a second support, wherein the rack comprises a first cavity which is penetrated through from front to back and a second cavity which is positioned on one side of the first cavity along the left-right direction;

the cargo carrying mechanisms are arranged in the second chamber at intervals along the up-down direction;

the moving mechanism is arranged in the first chamber and comprises a first moving structure and a second moving structure; the first moving structure comprises an up-down displacement assembly arranged on the rack and a first bearing plate connected with the up-down displacement assembly; the second moving mechanism comprises a second bearing plate stacked on the first bearing plate, a third bearing plate stacked on the second bearing plate and a displacement rotating assembly arranged on the first bearing plate;

the driving mechanism is respectively connected with the upper and lower displacement assemblies and the displacement rotating assembly; the up-down displacement assembly is driven by the driving mechanism to drive the first bearing plate to move up and down; the displacement rotating assembly is driven by the driving mechanism to drive the second bearing plate and the third bearing plate to move front and back, left and right and axially rotate relative to the first bearing plate, and drive the third bearing plate to enter and exit the second cavity;

counterpoint mechanism, including thick counterpoint ware and smart alignment assembly, thick counterpoint ware is located the bottom of frame front side, smart alignment assembly is located moving mechanism is last.

Optionally, the up-down displacement assembly further comprises a plurality of slide rails, a plurality of lead screws, two slide rail gantries and a plurality of slide blocks;

two the slide rail portal frame is divided relatively and is located the left and right sides of first cavity, each the equal fixed mounting in both sides has a vertical around the slide rail portal frame the slide rail, all install one at least in the left and right sides of first cavity the lead screw, just the lead screw passes through the slider with sliding linkage, the edge of first loading board passes through the slider with sliding linkage.

Optionally, the number of the lead screws is three, two of the lead screws are located at one side adjacent to the second chamber and are arranged at intervals from front to back, the other lead screw is located at one side far away from the second chamber and is arranged between the two slide rails at the corresponding side, and the bottom ends of the three lead screws are connected in a linkage manner through corner devices located at the bottom of the rack.

Optionally, the second moving structure further comprises a second bottom plate, a driving mounting plate, a fixed upright post and a rotating shaft; the second bottom plate is arranged below the first bearing plate at intervals and is connected with the first bearing plate through a plurality of fixed stand columns;

the driving mounting plate is arranged between the second bottom plate and the first bearing plate, the driving mechanism comprises a second driving motor and a third driving motor which are arranged on the driving mounting plate, and the second driving motor is used for driving the second bearing plate to move along the front-back direction;

the bearing plate is characterized in that a first through hole is formed in the first bearing plate, one end of the rotating shaft is connected with the third driving motor, the other end of the rotating shaft penetrates through the first through hole, and the third driving motor is used for driving the rotating shaft to drive the second bearing plate and the third bearing plate to axially rotate.

Optionally, the fine alignment assembly comprises two midline alignment sensors and two angular alignment sensors; the two center line alignment sensors are arranged on the front side edge of the second bottom plate and are symmetrically distributed on two sides of the center line of the second bottom plate along the front-back direction; two of the angular alignment sensors are provided on a side edge of the second carrier plate facing the second cavity.

Optionally, the second moving structure further includes an extending arm disposed on the third bearing plate, the driving mechanism further includes a fourth driving motor disposed on the second bearing plate, a driving shaft of the fourth driving motor is connected to the third bearing plate, and the fourth driving motor drives the third bearing plate and the extending arm to move back and forth along the left-right direction.

Optionally, the cargo carrying mechanism comprises a carrying bottom plate, a retaining assembly, a two-dimensional code pasting plate, a guide plate, a position sensor and a baffle plate;

the baffle is arranged at one side edge of the bearing bottom plate far away from the first cavity, the two-dimensional code bonding plate is arranged at the edge of the other side of the bearing bottom plate opposite to the baffle, the retaining assembly is arranged on the bearing bottom plate and located at one side close to the baffle, the two opposite guide plates are respectively arranged at the edges of the front side and the rear side of the bearing bottom plate, and the top end of each guide plate is provided with the position sensor.

Optionally, a front side plate located below the first bearing plate is arranged on the front side of the rack, a first detection hole is formed in the front side plate, and a detection probe of the coarse alignment device extends out of the first detection hole.

Optionally, the six-axis moving type automatic guiding trolley further comprises a laser navigation assembly, wherein the laser navigation assembly comprises two laser sensors which are respectively arranged on the left side and the right side of the bottom of the rack, and obstacle avoidance sensors which are respectively arranged on the front side and the rear side of the rack.

Optionally, the driving mechanism includes a first steering wheel and a second steering wheel both disposed at the bottom of the frame, and the first steering wheel and the second steering wheel are disposed along a diagonal of the bottom of the frame.

The application provides a six axle motion formula automatic guide dolly's beneficial effect lies in: compared with the prior art, the six-axis moving type automatic guide trolley is provided with the cargo bearing mechanism, the moving mechanism, the driving mechanism and the aligning mechanism, wherein the moving mechanism comprises a first moving structure capable of realizing up-and-down displacement and a second moving structure capable of realizing front-and-back and left-and-right displacement and rotation around an axis, a coarse aligner is arranged at the bottom of the front side of the frame, and a fine aligning assembly is arranged on the moving mechanism, so that during actual operation, firstly, workpieces to be tested are loaded on each cargo bearing mechanism, and the automatic guide trolley is controlled to transfer the workpieces to be tested to the front of the aging test cabinet; then, the position of the corresponding parts on the coarse alignment device and the aging test cabinet is detected, and the automatic guide trolley is driven to move properly according to the detection result so as to realize coarse alignment; then, the up-down displacement assembly is driven to drive the first bearing plate to move up and down to the position where the workpiece to be measured needs to be taken out, and drives the third bearing plate to move left and right to enter the second cavity so as to take out and position the workpiece to be measured on the third bearing plate; then, the second loading plate and the third loading plate rotate by about 90 degrees, and the first loading plate moves up and down to the height of the test cavity to be placed, so that the test sub-blocks of the workpiece to be tested can basically face the aging test cabinet; then, the precise alignment assembly arranged on the moving mechanism and the corresponding component on the aging test cabinet carry out position detection to control the second bearing plate and the third bearing plate to carry out fine adjustment in the left-right direction and angle, so that the test sub-block of the workpiece to be tested can be precisely aligned with the test mother block in the test cavity; then, the third bearing plate moves forwards to place the workpiece to be tested into the test cavity, so that the test sub-block and the test mother block are connected in an accurate alignment manner; and finally, the third bearing plate retracts backwards to take and place the next workpiece to be tested. According to the technical scheme, the carrying device has the advantages that the moving mechanism and the aligning mechanism are matched, namely, the carrying workpiece to be tested and the aging test cabinet are accurately butted and placed in a mode of six-axis linkage through rough aligning and then precise aligning, so that the purposes of saving labor cost and improving test efficiency are achieved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of an angle of a six-axis moving type automatic guided vehicle according to an embodiment of the present application;

FIG. 2 is a schematic structural view of the six-axis mobile automatic guided vehicle according to the embodiment of the present disclosure at another angle after the housing is removed;

FIG. 3 is an enlarged schematic view at A in FIG. 2;

FIG. 4 is a schematic structural diagram of the six-axis moving type automatic guided vehicle provided by the embodiment of the present application after the housing and a part of the frame are removed;

FIG. 5 is an enlarged schematic view at B in FIG. 4;

FIG. 6 is a front view of a six-axis mobile self-guided vehicle provided in accordance with an embodiment of the present application with the housing removed;

fig. 7 is a partial structural schematic view of a six-axis moving type automatic guided vehicle provided in the embodiment of the present application.

The reference numbers illustrate:

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It should be noted that the terms of orientation such as left, right, up and down in the embodiments of the present application are only relative to each other or are referred to the normal use state of the product, and should not be considered as limiting.

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

The embodiment of the application provides a six-axis motion type automatic guide trolley.

Referring to fig. 1 to 3 and fig. 7, in an embodiment, the six-axis moving type automatic guided vehicle includes a frame 100, a plurality of cargo carrying mechanisms 200, a moving mechanism 300, a driving mechanism, and an alignment mechanism. The rack 100 includes a first chamber 110 penetrating front and back and a second chamber 120 located on one side of the first chamber 110 in the left-right direction; a plurality of cargo supports 200 are installed in the second chamber 120 at intervals in the up-down direction; the moving mechanism 300 is built in the first chamber 110, and the moving mechanism 300 includes a first moving structure 310 and a second moving structure 320; the first moving structure 310 includes an up-down displacement assembly 311 mounted on the frame 100 and a first bearing plate 312 connected to the up-down displacement assembly 311; the second moving mechanism 300 includes a second bearing plate 321 stacked on the first bearing plate 312, a third bearing plate 322 stacked on the second bearing plate 321, and a displacement rotating assembly 323 mounted on the first bearing plate 312; the driving mechanism is respectively connected with the upper and lower displacement components 311 and the displacement rotating component 323; the up-down displacement assembly 311 is driven by the driving mechanism to drive the first bearing plate 312 to move up and down; the displacement rotating assembly 323 is driven by the driving mechanism to drive the second bearing plate 321 and the third bearing plate 322 to move left and right and axially rotate relative to the first bearing plate 312, and drive the third bearing plate 322 to enter and exit the second chamber 120, so as to realize the taking and placing of a workpiece (not shown) to be tested from the cargo bearing mechanism 200; the alignment mechanism includes a coarse alignment device 410 and a fine alignment assembly, the coarse alignment device 410 is disposed at the bottom of the front side of the frame 100, and the fine alignment assembly is disposed on the moving mechanism 300.

It should be noted that, in this embodiment, the automatic guiding cart is mainly used to put the workpiece to be tested into the aging testing cabinet (not shown) or take the workpiece out of the aging testing cabinet, and of course, the automatic guiding cart may also be applied to any other type of cabinet body that needs to be accurately aligned with the workpiece. In this embodiment, the burn-in test cabinet has a plurality of test chambers arranged up and down, a test mother block (not shown) is disposed at the rear portion of each test chamber, and a test sub-block (not shown) capable of being adapted and butted with the test mother block is disposed on the workpiece or the tray for placing the workpiece.

Based on the structural design, in the embodiment, since the six-axis moving type automatic guiding trolley is provided with the cargo carrying mechanism 200, the moving mechanism 300, the driving mechanism and the aligning mechanism, wherein the moving mechanism 300 comprises the first moving structure 310 capable of realizing up-and-down displacement and the second moving structure 320 capable of realizing front-and-back and left-and-right displacement and axial rotation, and the bottom of the front side of the frame 100 is provided with the coarse aligner 410 and the moving mechanism 300 is provided with the fine aligning component, in actual operation, firstly, the workpiece to be tested is loaded on each cargo carrying mechanism 200, and the automatic guiding trolley is controlled to transfer the workpiece to be tested to the front of the aging test cabinet; then, the coarse aligner 410 performs position detection on corresponding parts on the aging test cabinet, and drives the automatic guide trolley to move properly according to the detection result so as to realize coarse alignment; then, the up-down displacement assembly 311 is driven to drive the first bearing plate 312 to move up and down to the position where the workpiece to be tested needs to be taken out, and drive the third bearing plate 322 to move left and right to enter the second cavity 120 so as to take out and position the workpiece to be tested on the third bearing plate 322; then, the second loading plate and the third loading plate both rotate by about 90 degrees, and the first loading plate 312 moves up and down to the height of the test cavity to be placed, so that the test sub-block of the workpiece to be tested can basically face the aging test cabinet; then, the precise alignment assembly arranged on the moving mechanism 300 and the corresponding component on the aging test cabinet perform position detection to control the second bearing plate 321 and the third bearing plate 322 to perform fine adjustment in the left-right direction and angle, so that the test sub-block of the workpiece to be tested can be precisely aligned with the test mother block in the test cavity; then, the third carrier plate 322 moves forward to place the workpiece to be tested into the test cavity, so that the test sub-block and the test mother block are connected in an accurate alignment manner; finally, the third carrier plate 322 retracts backward to take and place the next workpiece to be tested. According to the technical scheme, the carrying system has the advantages that the moving mechanism 300 and the aligning mechanism are matched, namely, the carrying workpiece to be tested and the aging test cabinet are accurately butted and placed in a mode of six-axis linkage through rough aligning and then precise aligning, so that the purposes of saving labor cost and improving test efficiency are achieved.

In addition, in the technical solution of the present application, the automatic guided vehicle further includes a housing 500 attached to an outer surface of the frame 100, and the second chamber 120 is located at a right side of the first chamber 110. The housing 500 is formed by splicing a plurality of plates, and includes a left side plate 510 located on the left side of the first chamber 110, a right side plate 520 located on the right side of the second chamber 120, a top cover plate 530 covering the top of the rack 100, a front side plate 540 and a rear side plate covering the front and rear sides of the rack 100 and located below the first chamber 110; an electric control board 610 is further arranged between the left side of the rack 100 and the left side board 510, the driving mechanism, the aligning mechanism and the like are electrically connected with the electric control board 610, a plurality of control keys 620 are further arranged on the left side board 510 to realize different function controls, and a plurality of emergency switch buttons 630 and the like are further respectively arranged on the left side board 510 and the right side board 520. It should be noted that, when the automatic guided vehicle is operated, the front end of the automatic guided vehicle is located on the left side of the vehicle, the tail end of the automatic guided vehicle is located on the right side of the vehicle, and the vehicle actually travels forward in the front direction, as shown in the direction of fig. 1.

Referring to fig. 4 and fig. 5, in the present embodiment, the up-down displacement assembly 311 further includes a plurality of slide rails 311a, a plurality of lead screws 311b, two slide rail gantry 311c, and a plurality of sliders 311 d; two slide rail portal frames 311c are respectively arranged on the left and right sides of the first chamber 110, a vertical slide rail 311a is fixedly arranged on each of the front and back sides of each slide rail portal frame 311c, at least one lead screw 311b is arranged on each of the left and right sides of the first chamber 110, the lead screw 311b is connected with the slide rail 311a through a slide block 311d, the edge of the first bearing plate 312 is connected with the slide rail through a slide block 311d, and therefore the first bearing plate 312 can be driven to move up and down through the up-and-down sliding of the slide block 311d relative to the slide rail 311 a. However, the design is not limited thereto, and in other embodiments, in addition to the lead screw 311b, the first supporting plate 312 can be moved up and down by using a jacking mechanism with a lifting shaft, for example, but not limited thereto. In addition, the first carrier plate 312 includes a first bottom plate 312a and a side wall 312b extending upward from the peripheral edge, and a clearance gap 312c is formed on the side wall 312b to facilitate the movement and rotation of the second carrier plate 321 and the third carrier plate 322.

Further, as shown in fig. 4, in this embodiment, the number of the lead screws 311b is three, wherein two lead screws 311b are located at one side adjacent to the second chamber 120 and are arranged at intervals in the front-back direction, another lead screw 311b is located at one side away from the second chamber 120 and is arranged between two slide rails 311a at the corresponding side, and the bottom ends of the three lead screws 311b are linked and connected through a corner device located at the bottom of the rack 100, so that the number of the lead screws is small, the structural design of the up-down displacement assembly 311 is simpler, and the design that the two lead screws 311b are located at one side adjacent to the second chamber 120 and are arranged at intervals in the front-back direction can also avoid blocking the third bearing plate 322 from getting into and out of the second. Specifically, a first driving motor 710 of the driving mechanism is disposed below the first chamber 110, i.e., at the bottom of the frame 100, the first driving motor 710 is connected to the up-down displacement assembly 311, and then the bottom ends of the three lead screws 311b are connected in series through a corner device, so that synchronous up-down displacement on the three lead screws 311b can be achieved. In addition, a first drag chain 311e is connected to the rail at the left rear corner of the first cavity 110 to protect the related cables and facilitate the up-and-down movement of the first loading plate 312.

Further, referring to fig. 3 and fig. 5, in the present embodiment, the second moving structure 320 further includes a second bottom plate 324, a driving installation plate 325, a fixed upright 326 and a rotating shaft 327; the second bottom plate 324 is spaced below the first carrier plate 312 and connected to the first carrier plate 312 by a plurality of fixing posts 326. The driving mounting plate 325 is disposed between the second base plate 324 and the first bearing plate 312, the driving mechanism includes a second driving motor 720 and a third driving motor 730 which are mounted on the driving mounting plate 325, and the second driving motor 720 is used for driving the second bearing plate 321 to move in the front-back and left-right directions; the first bearing plate 312 is provided with a first through hole, one end of the rotating shaft 327 is connected with the third driving motor 730, the other end of the rotating shaft 327 penetrates through the first through hole, and the third driving motor 730 is used for driving the rotating shaft 327 to drive the second bearing plate 321 and the third bearing plate 322 to axially rotate. Specifically, a plurality of fixed columns 326 are circumferentially arranged at intervals at the outer edge of the drive mounting plate 325, and the upper and lower ends of the fixed columns are respectively connected with the first bearing plate 312 and the drive mounting plate 325; the second driving motor 720 is a 750W dc servo motor, and the axial direction thereof is a front-back direction, and the third driving motor 730 is a 100W dc servo motor, and the axial direction thereof is a left-right direction.

To achieve the coarse alignment of the position of the automatic guided vehicle, please refer to fig. 1 to 4 and fig. 6, in this embodiment, a front side plate 540 is disposed on the front side of the frame 100 and below the first bearing plate 312, a first detecting hole 541 is disposed on the front side plate 540, and a detecting probe of the coarse aligner 410 extends out of the first detecting hole 541, so that when the vehicle moves to a predetermined position, that is, the detecting probe detects a corresponding component on the aging test cabinet, the coarse alignment process of the automatic guided vehicle is completed.

Further, referring to fig. 3 and fig. 7, in the present embodiment, the fine alignment assembly includes two centerline alignment sensors 421 and two angle alignment sensors 422; the two midline alignment sensors 421 are disposed at the front edge of the second bottom plate 324, and are symmetrically distributed at two sides of the midline of the second bottom plate 324 along the front-back direction; two angular alignment sensors 422 are provided on the side edge of the second carrier plate 321 facing the second compartment 120. After the cart is roughly aligned, the two centerline alignment sensors 421 face the burn-in tester, and the second carrier plate 321 and the third carrier plate 322 are rotated by 90 degrees, so that the two angular alignment sensors 422 also face the burn-in tester. Specifically, if the two centerline alignment sensors 421 cannot sense the position of the workpiece to be measured at the same time, it indicates that the position of the workpiece to be measured is not adjusted to the position of the centerline, and at this time, the second carrier plate 321 needs to be moved for fine adjustment in the left-right direction until the two centerline alignment sensors 421 can sense the detection target at the same time, which indicates that the position of the workpiece to be measured is completely adjusted to the position of the centerline; two angle alignment sensors 422 are specifically two-dimensional code scanners, and are equipped with the tablet on the test cabinet, and the tablet is the reflector panel and pastes materials such as two-dimensional code, if the distance that two angle alignment sensors 422 measured is different, then explain that the work piece that awaits measuring does not visit forward, at this moment, just can control third loading board 322 etc. and carry out certain rotation to the compensation angle, until the distance that two angle alignment sensors 422 measured is the same. Therefore, the accurate fine adjustment of the position of the workpiece to be tested can be realized, and the accurate alignment connection of the test sub-block of the workpiece to be tested and the test mother block in the test cavity can be further ensured.

Further, referring to fig. 4 to 7, in the present embodiment, the second moving structure 320 further includes an extending arm 328 disposed on the third supporting plate 322, the driving mechanism further includes a fourth driving motor 740 disposed on the second supporting plate 321, a driving shaft of the fourth driving motor 740 is connected to the third supporting plate 322, and the fourth driving motor 740 drives the third supporting plate 322 and the extending arm 328 to move back and forth along the left-right direction. Specifically, the extension arm 328 extends into the lower portion of the workpiece to be tested placed in the cargo carrying mechanism 200, then the first bearing plate 312 drives the second bearing plate 321, the third bearing plate 322, the extension arm 328 and other components to integrally ascend until the protruding clamping portion on the extension arm 328 can be just clamped in the clamping groove formed in the bottom surface of the workpiece to be tested, and then the third bearing plate 322 is driven to drive the extension arm 328 to retract, so that the workpiece to be tested can be conveniently and accurately pulled out of the cargo carrying mechanism 200. In addition, a pressure sensing display 329 is further disposed on the third carrier plate 322, a pressure sensor is disposed in the pressure sensing display 329, and a pressure detection result is displayed through the pressure sensing display 329; the pressure sensor is used for detecting the drawing force, so that the force control in the process of taking and placing the workpiece to be detected is realized, and the condition that other parts are damaged due to improper force control in the process of taking and placing the workpiece to be detected is prevented from occurring.

Further, referring to fig. 4 and 6, in the present embodiment, the cargo carrying mechanism 200 includes a carrying bottom plate 210, a retaining assembly 220, a two-dimensional code pasting plate 230, a guiding plate 240, a position sensor 250, and a baffle 260; the baffle 260 is disposed at an edge of one side of the load-bearing base plate 210 far away from the first chamber 110, the two-dimensional code bonding plate is disposed at an edge of the other side of the load-bearing base plate 210 opposite to the baffle 260, the retaining assembly 220 is disposed on the load-bearing base plate 210 and located at one side close to the baffle 260, the two opposite guide plates 240 are disposed at edges of the front and rear sides of the load-bearing base plate 210, and a position sensor 250 is disposed on a top end of each guide plate 240. It can be understood that the components such as the retaining assembly 220 arranged on the bearing bottom plate 210 and the position sensor 250 arranged on the guide plate 240 are beneficial to accurately determining the placing position of the workpiece to be detected and the stretching condition of the extension arm 328, the guide plate 240 provides a certain guiding effect for the placing and placing of the workpiece to be detected, and the two-dimensional code can be pasted on the two-dimensional code pasting plate 230, so that the corresponding specific information of the cargo bearing mechanism 200 and the workpiece to be detected can be identified, and the traceability of the information can be realized.

Referring to fig. 1 to 3, in the present embodiment, the six-axis moving type automatic guided vehicle further includes a laser navigation assembly, and the laser navigation assembly includes two laser sensors 810 respectively disposed at the left and right sides of the bottom of the machine frame 100, and obstacle avoidance sensors 820 disposed at the front side and the rear side of the machine frame 100. It can be understood that after the laser navigation assembly is installed, the position of the trolley can be accurately positioned by utilizing laser sensing, and then the walking of the trolley is guided. Of course, in other embodiments, the automated guided vehicle may also be equipped with a fluorescence navigation sensor to realize fluorescence navigation.

In addition, as shown in fig. 2, in the present embodiment, the driving mechanism includes a first steering wheel 910 and a second steering wheel 920 both provided at the bottom of the frame 100, and the first steering wheel 910 and the second steering wheel 920 are provided along a diagonal line of the bottom of the frame 100. Compared with a single steering wheel, the design of the double steering wheels in the embodiment can ensure that the automatic guide trolley can realize actions such as lane changing and steering by adjusting the angles and the speeds of the two steering wheels, thereby greatly improving the running flexibility of the trolley. In addition, a universal wheel 930 is provided at the bottom of the frame 100 adjacent each of the four corners to allow the cart to move in any direction.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. A six-axis motion type automatic guide trolley is characterized by comprising:

the device comprises a rack, a first support and a second support, wherein the rack comprises a first cavity which is penetrated through from front to back and a second cavity which is positioned on one side of the first cavity along the left-right direction;

the cargo carrying mechanisms are arranged in the second chamber at intervals along the up-down direction;

the moving mechanism is arranged in the first chamber and comprises a first moving structure and a second moving structure; the first moving structure comprises an up-down displacement assembly arranged on the rack and a first bearing plate connected with the up-down displacement assembly; the second moving mechanism comprises a second bearing plate stacked on the first bearing plate, a third bearing plate stacked on the second bearing plate and a displacement rotating assembly arranged on the first bearing plate;

the driving mechanism is connected with the upper and lower displacement assemblies and the displacement rotating assembly; the up-down displacement assembly is driven by the driving mechanism to drive the first bearing plate to move up and down; the displacement rotating assembly is driven by the driving mechanism to drive the second bearing plate and the third bearing plate to move front and back, left and right and axially rotate relative to the first bearing plate, and drive the third bearing plate to enter and exit the second cavity;

counterpoint mechanism, including thick counterpoint ware and smart alignment assembly, thick counterpoint ware is located the bottom of frame front side, smart alignment assembly is located moving mechanism is last.

2. The six-axis motion type automatic guided vehicle of claim 1, wherein the up-down displacement assembly further comprises a plurality of slide rails, a plurality of lead screws, two slide rail gantry frames, and a plurality of slide blocks;

two the slide rail portal frame is divided relatively and is located the left and right sides of first cavity, each the equal fixed mounting in both sides has a vertical around the slide rail portal frame the slide rail, all install one at least in the left and right sides of first cavity the lead screw, just the lead screw passes through the slider with sliding linkage, the edge of first loading board passes through the slider with sliding linkage.

3. The six-axis moving type automatic guide trolley according to claim 2, wherein the number of the lead screws is three, two of the lead screws are located at one side adjacent to the second chamber and are arranged at intervals from front to back, the other lead screw is located at one side far away from the second chamber and is arranged between the two slide rails at the corresponding side, and the bottom ends of the three lead screws are connected in a linkage manner through a corner device located at the bottom of the frame.

4. The six-axis kinematic automatic guided vehicle of claim 1, wherein the second moving structure further comprises a second base plate, a driving mounting plate, a fixed column, and a rotating shaft; the second bottom plate is arranged below the first bearing plate at intervals and is connected with the first bearing plate through a plurality of fixed stand columns;

the driving mounting plate is arranged between the second bottom plate and the first bearing plate, the driving mechanism comprises a second driving motor and a third driving motor which are arranged on the driving mounting plate, and the second driving motor is used for driving the second bearing plate to move along the front-back direction;

the bearing plate is characterized in that a first through hole is formed in the first bearing plate, one end of the rotating shaft is connected with the third driving motor, the other end of the rotating shaft penetrates through the first through hole, and the third driving motor is used for driving the rotating shaft to drive the second bearing plate and the third bearing plate to rotate axially.

5. The six-axis kinematic automatic guided vehicle of claim 4, wherein the fine alignment assembly comprises two centerline alignment sensors and two angular alignment sensors; the two center line alignment sensors are arranged on the front side edge of the second bottom plate and are symmetrically distributed on two sides of the center line of the second bottom plate along the front-back direction; two of the angular alignment sensors are provided on a side edge of the second carrier plate facing the second cavity.

6. The six-axis moving type automatic guided vehicle according to claim 4, wherein the second moving mechanism further comprises a boom provided on the third carrying plate, the driving mechanism further comprises a fourth driving motor provided on the second carrying plate, a driving shaft of the fourth driving motor is connected to the third carrying plate, and the fourth driving motor drives the third carrying plate and the boom to move back and forth in the left-right direction.

7. The six-axis moving type automatic guide trolley according to claim 1, wherein the cargo carrying mechanism comprises a carrying bottom plate, a retaining assembly, a two-dimensional code pasting plate, a guide plate, a position sensor and a baffle plate;

the baffle is arranged at one side edge of the bearing bottom plate far away from the first cavity, the two-dimensional code bonding plate is arranged at the edge of the other side of the bearing bottom plate opposite to the baffle, the retaining assembly is arranged on the bearing bottom plate and located at one side close to the baffle, the two opposite guide plates are respectively arranged at the edges of the front side and the rear side of the bearing bottom plate, and the top end of each guide plate is provided with the position sensor.

8. The six-axis movable automatic guided vehicle according to any one of claims 1 to 7, wherein a front plate is disposed on the front side of the frame below the first loading plate, a first detecting hole is disposed on the front plate, and a detecting probe of the coarse aligner extends out of the first detecting hole.

9. The six-axis moving type automatic guided vehicle as claimed in claim 8, further comprising a laser navigation assembly, wherein the laser navigation assembly comprises two laser sensors respectively disposed at the left and right sides of the bottom of the frame, and obstacle avoidance sensors disposed at the front side and the rear side of the frame.

10. The six-axis motion type automated guided vehicle of claim 1, wherein the driving mechanism comprises a first steering wheel and a second steering wheel both disposed at the bottom of the frame, and the first steering wheel and the second steering wheel are disposed along a diagonal of the bottom of the frame.

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