CN114939879A

CN114939879A - Multifunctional composite AGV robot and implementation method thereof

Info

Publication number: CN114939879A
Application number: CN202210629229.6A
Authority: CN
Inventors: 于健旺; 郭洪涛; 曾峰; 曾海芩; 李梅; 戴宇辉
Original assignee: Tianjin Shanshi Robot Co ltd
Current assignee: Tianjin Shanshi Robot Co ltd
Priority date: 2022-05-31
Filing date: 2022-05-31
Publication date: 2022-08-26

Abstract

The invention discloses a multifunctional composite AGV robot and an implementation method thereof, and relates to the technical field of automation logistics. This multi-functional composite robot scheme can realize the material with the transfer chain butt joint the operation of unloading on transplanting, transporting, snatching, clamping etc, can pass through actions such as sideslip, skew, rotation in less space and shuttle in a flexible way, can realize realizing the full flow realization in the automation field, with cooperating robots, AGV, transfer chain, mecanum wheel etc. integrated in an organic whole to realized accomplishing multiple functions such as the dispatch of material, lathe clamping, AGV's sideslip, side shift in narrow and small space.

Description

Multifunctional composite AGV robot and implementation method thereof

Technical Field

The invention relates to the technical field of automatic logistics and machining production, in particular to a multifunctional composite AGV robot and an implementation method thereof.

Background

In the field of automatic machining production, logistics are distributed by loading and unloading of an AGV, material clamping is completed by a truss manipulator, and an automatic guided transport vehicle, namely the AGV is a transport vehicle which is provided with an automatic guiding device such as an electromagnetic or optical device and can run along a specified guiding path and has safety protection and various transfer functions, belongs to the category of wheel type mobile robots, does not need a transport vehicle of a driver in industrial application, takes a rechargeable storage battery as a power source, generally controls the running route and behavior of the transport vehicle through a computer, or establishes the running route by using an electromagnetic track, is adhered to a floor, and moves and acts along information brought by the electromagnetic track; the truss manipulator is a full-automatic industrial device which is established on the basis of a rectangular X, Y and Z coordinate system and used for adjusting stations of workpieces or realizing functions of track movement and the like of the workpieces, the control core of the truss manipulator is realized by an industrial controller, various input signals are analyzed and processed by the controller, and after certain logic judgment is made, execution commands are issued to various output elements to complete the joint movement among the X, Y and Z three axes, so that a whole set of full-automatic operation flow is realized.

The whole process is completed by adopting the two modes, the manufacturing cost is high, the software control operation difficulty is high, the intermediate process is complicated, and at present, no robot in China can meet the requirement of one-time realization of all processes.

Disclosure of Invention

The invention aims to: in order to solve the problem that the AGV and the truss manipulator cannot be jointed and completed, a multifunctional composite AGV robot and an implementation method thereof are provided.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a multi-functional compound AGV robot, includes automobile body, cooperation arm install in automobile body top one end, cooperation arm is rotated relatively by a plurality of armshaft and is connected, and is a plurality of junction between the armshaft is equipped with rotation module, the end of cooperation arm is equipped with three fingers clamping jaw, one side of three fingers clamping jaw is equipped with visual module, visual module with through connecting plate fixed connection between the three fingers clamping jaw, the automobile body top is close to one side position department of cooperation arm has seted up the conveyer trough, the internally mounted of conveyer trough has the transfer chain, the top fixedly connected with stopper at automobile body both ends, two pairs of universal wheels are installed respectively at the bottom both ends of automobile body, automobile body bottom mid-mounting has the mecanum wheel that is used for the drive walking, and this multi-functional compound robot scheme can realize the transplanting of material with the transfer chain butt joint, The loading and unloading operations such as transferring, grabbing and clamping can be flexibly shuttled in a small space through actions such as transverse moving, oblique moving and autorotation, and the full flow realization in the automation field can be realized.

As a still further scheme of the invention: the laser navigator is installed to the both sides lower extreme of automobile body, one side below of laser navigator is provided with keeps away the barrier ware with automobile body fixed connection's laser, the bottom of automobile body is provided with the touching and keeps away the barrier pad, makes the laser navigator firm the installation inside the both sides of automobile body through the installation fixed slot to carry out convenient maintenance to the laser navigator.

As a still further scheme of the invention: the laser navigator comprises a navigation module and a control module, the navigation module is in communication connection with the control module, the navigation module comprises a positioning unit and a path unit, and the positioning unit, the path unit and the laser obstacle avoidance device are in communication connection with the navigation module respectively, so that the intelligence of the walking path of the vehicle body is improved, and the vehicle body can accurately walk along a set route.

As a still further scheme of the invention: the lower extreme of automobile body one end is provided with the charging panel, the tristimulus designation lamp is installed respectively on the both sides top of automobile body, the automobile body is kept away from one side top of cooperation arm and is installed emergency stop button, the automobile body is located one side below of emergency stop button and installs the human-computer interaction controller, makes transmission control signal between human-computer interaction controller and tristimulus designation lamp, the emergency stop button through the wire.

As a still further scheme of the invention: the transfer chain is by the electronic roller of many equidistance distributions, many electronic roller with rotate through the bearing between the arm of conveyer trough both sides and connect, many the gear is all installed to the syntropy end of electronic roller, and is a plurality of connect through chain drive between the gear.

As a still further scheme of the invention: the internal drive module who is used for the drive of installing of automobile the transfer chain, drive module includes servo motor, driver, through direction electric connection between servo motor, driver and the human-computer interaction controller three.

As a still further scheme of the invention: the storage battery is arranged in the vehicle body and is electrically connected with the charging panel and the human-computer interaction controller through conducting wires.

As a still further scheme of the invention: the using method comprises the following steps of firstly, placing a raw material connecting line and a finished product connecting line on one side of the intelligent vertical warehouse, wherein one line is used for discharging raw materials out of the warehouse, and the other line is used for warehousing finished product warehouse materials; secondly, arranging machine tools face to face, placing two line side connecting lines beside the machine tools, wherein one line side connecting line is used for placing a finished product tray, and the other line side connecting line is used for placing a raw material tray; after receiving the instruction sent by the control module, the composite AGV robot starts from a standby position to a raw material connecting line for connection, and the raw material trays are conveyed to the conveying line through the connecting line; step four, when the robot moves to a line edge connecting line of a machine tool through the laser navigator, the conveying line on the composite AGV robot starts to move after being driven by the driving module, and the tray is conveyed to the raw material connecting line; step five, after the conveying is finished, the composite AGV robot retreats to the position of a machine tool door, and transverse movement is carried out by driving Mecanum wheels to rotate in opposite directions; step six, after the raw materials are positioned in place, the cooperative mechanical arm on the composite AGV robot positions the raw materials through a visual module, the cooperative mechanical arm is matched with the three-finger clamping jaws to grab the blank and transport the blank to a specified position, the cooperative mechanical arm moves according to a preset track, meanwhile, the three-finger clamping jaws clamp the blank, the blank is moved out of the machine tool and clamped, the cooperative mechanical arm is moved out of the machine tool after the completion, and the machine tool door is closed; and step seven, the composite AGV robot moves to the aisle through two wheels of Mecanum wheels in a forward and reverse rotating mode, and the composite robot rotates in the same direction and moves forwards to a standby position.

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

this multi-functional composite robot scheme can with the transfer chain butt joint realize the material transplant, the transportation, snatch, the unloading operation such as clamping, can pass through actions such as sideslip, skew, rotation in less space and move about in a flexible way, can realize realizing the full flow in the automation field and realize, with cooperation robot, AGV, transfer chain, mecanum wheel etc. integration in an organic whole to realized accomplishing multiple functions such as the group sending of material, lathe clamping, AGV's sideslip, side shift in narrow and small space.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic side view of the present invention;

FIG. 3 is a schematic bottom view of the present invention;

FIG. 4 is a schematic view of a Mecanum wheel of the present invention;

FIG. 5 is a schematic flow chart of the present invention.

In the figure: 1. a vehicle body; 2. a cooperating robotic arm; 3. a conveying line; 4. a laser navigator; 5. a laser obstacle avoidance device; 6. touching an obstacle avoidance pad; 7. a charging plate; 8. a stopper; 9. a human-computer interaction controller; 10. a three-color indicator light; 11. a vision module; 12. three-finger clamping jaws; 13. an emergency stop button; 14. a universal wheel; 15. a Mecanum wheel; 16. a conveying trough.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 5, in the embodiment of the invention, a multifunctional composite AGV robot and an implementation method thereof include a vehicle body 1, a cooperative mechanical arm 2 is mounted at the top end of one side of the vehicle body 1, a three-finger clamping jaw 12 is mounted at the top end of the cooperative mechanical arm 2, a vision module 11 is fixedly connected to one end of the three-finger clamping jaw 12, laser navigators 4 are mounted at the lower ends of the two sides of the vehicle body 1, a laser obstacle avoidance device 5 fixedly connected to the vehicle body 1 is disposed below one side of the laser navigator 4, a touch obstacle avoidance pad 6 is disposed at the bottom end of the vehicle body 1, a charging plate 7 is disposed at the lower end of one end of the vehicle body 1, a conveying groove 16 is disposed at the top end of the vehicle body 1, a conveying line 3 is mounted inside the conveying groove 16, stoppers 8 are fixedly connected to the top ends of the two ends of the vehicle body 1, three-color indicating lamps 10 are respectively mounted at the top ends of the two sides of the vehicle body 1 far away from the cooperative mechanical arm 2, an emergency stop button 13 is mounted at the top end of the vehicle body 1, a man-machine interaction controller 9 is installed below one side of the vehicle body 1, which is located at the emergency stop button 13, universal wheels 14 are installed at the bottom ends of two sides of the vehicle body 1 respectively, and Mecanum wheels 15 are installed at the bottom ends of two ends of the vehicle body 1.

In this embodiment: when the intelligent vertical warehouse is used, raw materials or finished products can be transported between the intelligent vertical warehouse and the numerical control machine tool through the vehicle body 1, the raw materials or the finished products are basically transported by moving the material trays, the intelligent vertical warehouse comprises the raw material warehouse and the finished product warehouse, a raw material connection line and a finished product connection line are arranged on one side of the intelligent vertical warehouse, the raw material connection line is used for discharging the raw materials, the finished product connection line is used for storing the finished product warehouse materials, a workpiece tool fixture is arranged inside the numerical control machine tool, the machine tool is arranged face to face, two line edge connection lines are arranged on one side, close to each other, of the machine tool, one line edge connection line is used for placing the finished product tray, the other line edge connection line is used for placing the raw material tray, the vehicle body 1 starts from a standby position to the raw material connection line after receiving a task to connect the raw materials, and the raw material tray is conveyed to the vehicle body 1 through the raw material connection line to be positioned inside the conveying groove 16, the material tray is placed on the upper surface of the conveying line 3, the material tray on the upper surface of the conveying line 3 is blocked by the vehicle body 1 through the stopper 8 so as to avoid the material tray from falling, then the vehicle body 1 determines a running route through the laser navigator 4 and effectively avoids two sides of the vehicle body 1 from colliding with sundries during moving through the laser obstacle-avoiding device 5, at the moment, the vehicle body 1 moves through the universal wheel 14 so that the vehicle body 1 drives the material tray to move to a line edge connection line position of the numerical control machine, at the moment, the conveying line 3 on the vehicle body 1 starts to rotate through a rotating shaft so as to convey the material tray to a line edge connection line for placing the material tray, after conveying, the vehicle body 1 retreats to one side of a door of the numerical control machine through the universal wheel 14, and at the same time, the human-computer interaction controller 9 drives the two Mecanum wheels 15 to rotate in opposite directions through the driving rotating shaft, so that the vehicle body 1 transversely moves to the appointed position of the numerical control machine tool door, and simultaneously, the collision between two ends of the vehicle body 1 and sundries during moving is effectively avoided by touching the obstacle avoidance pad 6, at the moment, the cooperative mechanical arm 2 positions raw materials through the vision module 11 and grabs raw material blanks through the three-finger clamping jaw 12, then the cooperative mechanical arm 2 positions a workpiece tool clamp through the vision module 11 and drives the raw material blanks to move to the appointed position through the three-finger clamping jaw 12, at the moment, the blank is clamped and fixed through the workpiece tool clamp, then the cooperative mechanical arm 2 drives the vision module 11 and the three-finger clamping jaw 12 to move out of the interior of the numerical control machine tool, at the moment, the numerical control machine tool door is closed, at the same time, the vehicle body 1 transversely translates to the passageway through the mecanum wheel 15 in a forward and reverse rotation manner, and the universal wheel 14 moves to the standby position to wait through repeated operation of the operations, come to the transport warehouse entry of finished product material, 1 carries out convenient suggestion through two sets of tristimulus designation lamps 10 simultaneously, if automobile body 1 can't independently stop, carries out the stop fast to 1 through scram button 13 this moment, when 1 inside battery electric quantity of automobile body is not enough, makes charging plate 7 carry out charging operation to the battery through the wire this moment to realize accomplishing in narrow and small space that the dispatch of material is sent, the lathe clamping, AGV's sideslip, side move multiple functions such as.

Please refer to fig. 2-4, the laser navigator includes a navigation module and a control module, the navigation module is in communication connection with the control module, the navigation module includes a positioning unit and a path unit, and the positioning unit, the path unit and the laser obstacle avoidance device 5 are in communication connection with the navigation module respectively.

In this embodiment: the main part 1 is provided with the installation fixed slot with the position department that meets of laser navigation ware 4, makes laser navigation ware 4 firm installation inside the both sides of automobile body 1 through the installation fixed slot to in carrying out convenient maintenance to laser navigation ware 4, this structure improves the intelligence of automobile body walking route, so that the automobile body is along the accurate walking of the route of setting for.

Please refer to fig. 2-4, the conveying line 3 is composed of a plurality of electric rollers distributed at equal intervals, the electric rollers are rotatably connected with arms at two sides of the conveying trough 16 through bearings, gears are mounted at the same-direction ends of the electric rollers, and the gears are in transmission connection through connecting chains; a driving module used for driving the conveying line 3 is installed in the vehicle body 1 and comprises a servo motor and a driver, and the servo motor, the driver and the human-computer interaction controller 9 are electrically connected through guiding.

In this embodiment: the drive end of the servo motor is connected with the electric roller on the conveying line 3 through belt transmission, and the movement of the conveying line 3 controlled through the servo motor is more accurate.

Please refer to fig. 2-4, a storage battery is disposed inside the vehicle body 1, and the storage battery is electrically connected to the charging board 7 and the human-computer interaction controller 9 through wires.

In this embodiment: the vehicle body 1 is provided with moving power by a battery, and the battery is charged by the charging plate 7 through a wire.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.

Claims

1. The utility model provides a multi-functional compound AGV robot, includes automobile body (1), cooperation arm (2) install in automobile body (1) top one end, cooperation arm (2) are rotated relatively by a plurality of armshafts and are connected, and is a plurality of junction between the armshaft is equipped with the rotation module, its characterized in that, the end of cooperation arm (2) is equipped with three and indicates clamping jaw (12), one side of three indicates clamping jaw (12) is equipped with vision module (11), vision module (11) with three indicate through connecting plate fixed connection between clamping jaw (12), conveying trough (16) have been seted up to one side position department that automobile body (1) top is close to cooperation arm (2), the internally mounted of conveying trough (16) has transfer chain (3), the top fixedly connected with stopper (8) at automobile body (1) both ends, two pairs of universal wheels (14) are installed respectively at the bottom both ends of automobile body (1), automobile body (1) bottom mid-mounting has mecanum wheel (15) that are used for the drive walking.

2. A multi-functional compound AGV robot according to claim 1, characterized in that laser navigator (4) is installed to the both sides lower extreme of automobile body (1), one side below of laser navigator (4) is provided with keeps away barrier ware (5) with automobile body (1) fixed connection's laser, the bottom of automobile body (1) is provided with the touching and keeps away barrier pad (6).

3. A multifunctional composite AGV robot according to claim 2, characterized in that said laser navigator comprises a navigation module and a control module, said navigation module is in communication connection with said control module, said navigation module comprises a positioning unit and a path unit, said positioning unit, path unit and laser obstacle avoidance device (5) are in communication connection with said navigation module respectively.

4. A multi-functional compound AGV robot according to claim 1, characterized in that, the lower extreme of automobile body (1) one end is provided with charging panel (7), tristimulus designation lamp (10) are installed respectively to the both sides top of automobile body (1), one side top that cooperation arm (2) was kept away from to automobile body (1) is installed emergency stop button (13), one side below that automobile body (1) is located emergency stop button (13) is installed human-computer interaction controller (9).

5. A multifunctional composite AGV robot according to claim 4 characterized in that the conveying line (3) is composed of a plurality of electric rollers distributed at equal intervals, the electric rollers are rotatably connected with the arms at two sides of the conveying groove (16) through bearings, gears are mounted at the same direction ends of the electric rollers, and the gears are connected through chain transmission.

6. A multifunctional composite AGV robot and its implementation method according to claim 5, characterized in that a driving module for driving the conveyor lines (3) is installed in the vehicle body (1), and the driving module comprises a servo motor and a driver, and the servo motor, the driver and the human-computer interaction controller (9) are electrically connected through guidance.

7. A multifunctional composite AGV robot and its implementation method according to claim 4, characterized in that a storage battery is arranged inside the vehicle body (1), and the storage battery is electrically connected with the charging plate (7) and the human-computer interaction controller (9) through wires.

8. A method for implementing a multi-functional composite AGV robot according to any one of claims 1 to 8, characterized in that the method of use comprises the following steps:

placing a raw material connecting line and a finished product connecting line on one side of an intelligent vertical warehouse, wherein one line is used for discharging raw materials out of the warehouse, and the other line is used for warehousing finished product warehouse materials;

secondly, arranging machine tools face to face, placing two line side connecting lines beside the machine tools, wherein one line side connecting line is used for placing a finished product tray, and the other line side connecting line is used for placing a raw material tray;

after receiving the instruction sent by the control module, the composite AGV robot starts from a standby position to a raw material connecting line for connection, and the raw material trays are conveyed to the conveying line (3) through the connecting line;

when the robot moves to a line edge connection line of a machine tool through the laser navigator (4), the conveying line (3) on the composite AGV robot starts to move after being driven by the driving module, and the tray is conveyed to a raw material connection line;

step five, after the conveying is finished, the composite AGV robot retreats to the position of a machine tool door, and moves transversely by driving Mecanum wheels (15) to rotate in opposite directions;

step six, after the raw materials are positioned in place, the cooperative mechanical arm (2) on the composite AGV robot positions the raw materials through a vision module (11), the cooperative mechanical arm (2) and the three-finger clamping jaws (12) are matched to grab blanks and transport the blanks to an appointed position, the blanks are moved according to a preset track through the cooperative mechanical arm (2), the three-finger clamping jaws (12) clamp the blanks, the blanks are moved out of the machine tool and clamped tightly, the cooperative mechanical arm (2) is moved out of the machine tool after the completion, and the machine tool door is closed;

and seventhly, the composite AGV robot moves to the aisle through two wheels of Mecanum wheels (15) in a forward and reverse rotating mode, and the composite robot rotates in the same direction and moves forwards to a standby position.