CN117183876A - AGV trolley carrying manipulator - Google Patents

Abstract

The invention relates to an AGV trolley carrying a manipulator, and belongs to the technical field of mechanical equipment; the automatic feeding device comprises an AGV trolley body, a control box body assembly, a six-degree-of-freedom mechanical arm assembly, a terminal material taking assembly and a tray assembly; wherein, AGV dolly body level is placed; the control box body assembly is fixedly arranged on the upper surface of the AGV trolley body; the root of the mechanical arm assembly is arranged at the top end of the control box body assembly; the terminal material taking assembly is arranged at the extending end of the mechanical arm assembly; the tray component is stored at the top of the control box component; the pallet assembly is grabbed and moved from the top of the control box assembly through the six-degree-of-freedom mechanical arm assembly and the terminal material taking assembly; the automatic batch part feeding, discharging and transferring device realizes automatic batch part feeding, discharging and transferring, has a simple structure and occupies a small space; and the trolley is provided with a storage area, so that the transfer efficiency is high, and the automation degree and the production efficiency of industrial production can be greatly improved.

Description

AGV trolley carrying manipulator

Technical Field

The invention belongs to the technical field of mechanical equipment, and relates to an AGV trolley carrying a manipulator.

Background

An AGV carriage (automatic guided transport vehicle) is equipped with an automatic guiding device such as an electromagnetic or optical device, can travel along a predetermined guide path, has a safety protection function, various transfer functions, and is driven automatically, and uses a rechargeable battery as a power source. The travel route and behavior of the vehicle can be controlled by a computer, or the movement route of the vehicle can be established by optical guidance, track information is established on the ground, and the vehicle can move and act by means of information brought by visual scanning.

A manipulator (manipulator) refers to an automatic operating device that mimics certain action functions of a human hand and arm for grasping, handling objects or operating tools in a fixed program. Mainly comprises an executing mechanism, a driving mechanism and a control system. The device can replace heavy labor of people to realize mechanization and automation of production, can work under harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacture, metallurgy, electronics, light industry, atomic energy and the like, and meanwhile, the device is also widely applied to storage.

Along with the requirements of industrial automation and intellectualization, the requirements of various industries, particularly the industries of storage industry, transportation industry and the like, on the aspects of automatic loading, unloading, transporting and production of goods and materials, reducing the dependence on manpower, improving the safety in the working process, cleaning production and the like are increasingly expanded. However, in the prior art, on one hand, the AGV trolley can only transport materials, but cannot automatically grab the materials, and an additional feeding and discharging manipulator is arranged at a position where a fixed device is needed, so that the degree of automation is not high, and the quantity of the cooperative manipulators is more; in addition, due to the differences of various industries, the common clamping type, supporting type and adsorption type execution tail ends of the mechanical arm can only finish the taking and unloading of single parts at a time, have no storage function, have low transfer efficiency, and are not suitable for scenes needing to carry out multi-specification and batch long-distance rapid transfer. Therefore, this is a problem to be solved.

Disclosure of Invention

The invention solves the technical problems that: the AGV trolley with the mechanical arm overcomes the defects of the prior art, realizes automatic batch part loading and unloading and transferring, has a simple structure and occupies a small space; and the trolley is provided with a storage area, so that the transfer efficiency is high, and the automation degree and the production efficiency of industrial production can be greatly improved.

The solution of the invention is as follows:

an AGV trolley carrying a manipulator comprises an AGV trolley body, a control box body assembly, a six-degree-of-freedom mechanical arm assembly, a terminal material taking assembly and a tray assembly; wherein, AGV dolly body level is placed; the control box body assembly is fixedly arranged on the upper surface of the AGV trolley body; the root of the mechanical arm assembly is arranged at the top end of the control box body assembly; the terminal material taking assembly is arranged at the extending end of the mechanical arm assembly; the tray component is stored at the top of the control box component; the pallet assembly is grabbed and moved from the top of the control box assembly through the six-degree-of-freedom mechanical arm assembly and the terminal material taking assembly.

In the above-mentioned AGV trolley carrying a manipulator, the AGV trolley body comprises a trolley body, wheels, a navigation guide and a driving motor; wherein the vehicle body is horizontally arranged; wheels are arranged at the bottom of the vehicle body; the navigation guide is arranged at the middle position of the front side of the vehicle body; the driving motor is arranged in the inner cavity of the vehicle body.

In the AGV trolley carrying the manipulator, the wheels comprise 2 driving wheels and 2 driven wheels;

the 2 driving wheels are symmetrically arranged at the bottom of the vehicle body and positioned at the middle positions of the left side edge and the right side edge of the vehicle body in the advancing direction, and the 2 driving wheels are connected with different driving motors; the driving motor drives the corresponding driving wheel to realize the actions of forward, backward, steering and the like of the vehicle body respectively;

the 2 driven wheels are respectively arranged at the middle positions of the front side and the rear side of the vehicle body, and the driven wheels are universal wheels.

In the AGV trolley carrying the manipulator, the AGV trolley body adopts a two-dimensional code navigation mode, and tracking, route correction and obstacle avoidance are performed through navigation guidance;

the AGV dolly body possesses automatic charging function, when detecting that battery electric quantity is less than the setting value, the AGV dolly body is automatic to be gone to appointed charging area and carry out automatic charging.

The AGV trolley carrying the manipulator comprises a control box body, a touch screen, equipment status lamps, emergency stop operation buttons, a tray bracket assembly, a manipulator mounting flange, a battery pack and a control board card;

the control box body is horizontally arranged at the top of the AGV trolley body; the touch screen is arranged at the middle position in front of the control box body; the equipment status lamp is arranged at the front side position of the top of the control box body; the emergency stop operation button is arranged at the top of the control box body; the tray bracket component is arranged on the top plane of the control box body and is used for placing the tray component; the mechanical arm mounting flange is mounted at the top of the control box body; the battery pack and the control board card are arranged in the control box body; the battery pack is used for providing power for the control box body assembly; and one or more communication modules of Bluetooth, WIFI and RFID are arranged on the control board card, so that real-time interconnection of workshops is realized.

In the above-mentioned AGV trolley carrying a manipulator, the six-degree-of-freedom mechanical arm assembly includes a base flange, a base, a shoulder joint, a large arm, an elbow joint, a small arm, a first wrist joint and a second wrist joint;

wherein, the base flange is arranged at the top of the mechanical arm mounting flange; the base is hinged to the top of the base flange; the root of the big arm is hinged with the base through a shoulder joint; the root of the forearm is hinged with the head end of the big arm through an elbow joint; the first wrist is articulated to the head end of the forearm by a second wrist.

In the above AGV trolley carrying with a manipulator, the terminal material taking assembly comprises a connecting flange, a top thread block, a spring, a bottom mounting block, a thrust bearing, a central shaft, a pin shaft, a guide rod, an industrial camera, a camera bracket and an aperture;

wherein, the thrust bearing is arranged in the bottom mounting groove of the bottom mounting block; the thrust bearing race is upward, the shaft collar is downward, the thrust bearing race is in interference fit with the bottom mounting block mounting groove, and the thrust bearing shaft collar is in clearance fit with the bottom mounting block mounting groove; the bottom of the central shaft is provided with a convex shaft shoulder, and two orthogonal groups of round holes are arranged at the circumference of the shaft shoulder; the center of the bottom and top surfaces of the central shaft is provided with a threaded hole; the outer circle at the top of the central shaft is provided with mounting threads; the whole body formed by the bottom mounting block and the thrust bearing is in clearance fit with the central shaft hole; the top thread block is in threaded fit with the top of the central shaft to compress the spring, so that the bottom mounting block and the thrust bearing are compressed to the shaft shoulder at the bottom of the central shaft; the top of the central shaft is connected with the mounting flange through screws; the guide rod is arranged at the bottom of the central shaft through threads; the pin shaft is installed in a circumferential hole of a shaft shoulder at the bottom of the central shaft in an interference manner; the industrial camera is mounted on the connecting flange through the camera bracket; the aperture is fixed on the camera bracket; the terminal material taking assembly is fixedly arranged on the end face of the wrist joint through a connecting flange; the bottom mounting block and the thrust bearing realize axial movement along the central shaft, and the shaft collar of the thrust bearing, the bottom mounting block and the central shaft realize relative rotation.

In the AGV trolley carrying the manipulator, the tray assembly comprises a tray body, a central hole pressing plate, a guide rod, a handle and a tray identification code;

wherein, workpiece placing grooves which are uniformly distributed are respectively arranged on the front surface and the back surface of the tray body; the central pressing plate is provided with a clearance groove, a positioning groove, a central hole and an azimuth recognition hole; the diameter of the central hole is larger than the outer diameter of the shaft shoulder of the central shaft, and the diameter of the central hole is smaller than the outer diameter of the shaft collar of the thrust bearing; the top surface and the bottom surface of the central hole of the tray body are respectively provided with a central pressing plate, and the position avoiding grooves on the central pressing plates on the top surface and the bottom surface are mutually aligned; the top of the guide rod is a conical surface and is provided with a shaft shoulder, and the bottom of the guide rod is provided with a conical groove; the conical surface at the top of the guide rod is matched with the conical groove at the bottom of the guide rod for positioning; the tray body is fixedly provided with 4 groups of guide rods; the 4 groups of guide rods are arranged at four corners of the tray body; the handle and the tray identification code are fixedly arranged on the tray body.

In the above AGV trolley carrying with the manipulator, the number of the emergency stop operation buttons is two, and the emergency stop operation buttons are respectively arranged at the front side and the rear side of the top of the control box body, so that the emergency stop buttons can be rapidly operated in different directions of the trolley when an emergency situation is met;

the number of the tray bracket components is four, the tray bracket components are fixedly installed at the top position of the control box body in a central symmetry mode, and the top storage space is utilized to the greatest extent.

In the AGV trolley carrying the manipulator, two groups of through circumference holes are orthogonally arranged on the shaft shoulder at the bottom of the central shaft; the number of the pin shafts is 4; the pin shaft is installed in the shoulder round hole of the central shaft in an interference mode, and the length of the protruding portion is smaller than that of the clearance groove and larger than that of the central hole.

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

(1) The AGV trolley can realize the automatic loading, unloading, storing and transferring of all-round and batch workpieces, and has high working efficiency;

(2) The terminal material taking assembly has the advantages of small space volume, simple and reliable structure and low realization cost;

(3) The tray assembly is suitable for storing workpieces with various specifications, supports stacking and placing, greatly improves single transfer capacity of the AGV trolley, is designed in a standardized manner, and can be used for automatic or manual transfer among different stations and working procedures of an automatic line.

Drawings

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

FIG. 2 is a front view of the AGV of the present invention;

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

FIG. 4 is a schematic diagram of a control box assembly according to the present invention;

FIG. 5 is a schematic illustration of a robotic arm assembly according to the present invention;

FIG. 6 is a schematic cross-sectional view of a take-off terminal assembly according to the present invention;

FIG. 7 is a schematic view of a pallet assembly of the present invention;

FIG. 8 is a schematic view of the back side of FIG. 7 in accordance with the present invention;

FIG. 9 is a schematic illustration of the central bore feature of FIG. 7 in accordance with the present invention.

Detailed Description

The invention is further illustrated below with reference to examples.

The invention provides an AGV trolley scheme for carrying a six-axis manipulator, wherein the trolley scheme has the advantages that the manipulator terminal and the workpiece carrier can realize automatic batch part loading and unloading and transferring, the structure is simple, and the occupied space is small; and the trolley is provided with a storage area, so that the transfer efficiency is high, and the automation degree and the production efficiency of industrial production can be greatly improved.

As shown in fig. 1 and 2, an AGV trolley carrying a six-axis manipulator comprises an AGV trolley body 1, a control box assembly 2, a six-degree-of-freedom mechanical arm assembly 3, a terminal material taking assembly 4 and a tray assembly 5; wherein, control box body assembly 2 is fixed to be set up in the upper surface of AGV dolly body 1, and arm module 3 is fixed to be set up in the top installation piece of control box body assembly 2 upper surface arm mounting flange department, and terminal is got material subassembly 4 and is fixed to be set up on the terminal ring flange of arm module 3, and tray subassembly 5 can be deposited in four centrosymmetric storage areas at control box assembly 2 top.

As shown in fig. 2 and 3, the AGV trolley body 1 includes a vehicle body 11, wheels 12, a navigation guide 13, and a driving motor; the wheel 12 is mounted on the bottom of the vehicle body 11, and the wheel 12 comprises a driving wheel 121 and a driven wheel 122; the navigation guide 13 is arranged at the middle position near the front side of the vehicle body 11; the drive motor is mounted in the vehicle body 11.

As shown in fig. 4, the control box assembly 2 includes a control box body 21, a touch screen 22, an equipment status lamp 23, an emergency stop operation button 24, a tray bracket assembly 25, a mechanical arm mounting flange 26, a battery pack and a control board card; the control box body 21 is arranged at the top of the trolley 11, and the touch screen 22 is arranged at the front middle position of the control box body 21; the equipment status lamp 23 is arranged at the front side position of the top of the control box body 21; the emergency stop operation button 24 is arranged at the top position of the control box body 21; the tray bracket assembly 25 is mounted on the top plane of the control box body 21, the tray bracket comprises a tray bracket 251 and a sensor 252, and the tray bracket 251 is provided with a central avoidance hole 251a and a tray positioning hole 251b; the mechanical arm mounting flange 26 comprises a longitudinal mounting plate 261, a transverse mounting plate 262, a threading hole mounting plate 263 and a top mounting plate 264, and the mechanical arm mounting flange 26 is mounted on the top of the control box body 21; the battery pack and the control board card are installed in the control box body 21.

As shown in fig. 5, the mechanical arm assembly 3 includes a base flange 31, a base 32, a shoulder joint 33, a large arm 34, an elbow joint 35, a small arm 36, a first wrist joint 37, and a second wrist joint 38; the base 32 is hinged to the base flange 32, the large arm 34 is hinged to the base 32 through a shoulder joint 33, the small arm 36 is hinged to the large arm 34 through an elbow joint 35, and the first wrist joint 38 is hinged to the small arm 36 through the second wrist joint 37; the robot arm assembly 3 is secured to the top mounting plate 264 of the robot arm mounting flange 26 by a base flange 31.

As shown in fig. 6, the terminal take off assembly 4 includes a connecting flange 41, a top screw block 42, a spring 43, a bottom mounting block 44, a thrust bearing 45, a central shaft 46, a pin 47, a guide bar 48, an industrial camera 491, a camera bracket 492, and an aperture 493; the thrust bearing 45 is arranged in a bottom mounting groove of the bottom mounting block 44, a thrust bearing 45 seat ring faces upwards and a thrust bearing 45 shaft ring faces downwards, the thrust bearing 45 seat ring is in interference fit with the bottom mounting block 44 mounting groove, and the thrust bearing 45 shaft ring is in clearance fit with the bottom mounting block 44 mounting groove; the bottom of the central shaft 46 is provided with a convex shaft shoulder, two orthogonal groups of round holes are formed in the circumference of the shaft shoulder, the centers of the bottom and top surfaces of the central shaft 46 are provided with threaded holes, and the outer circle of the top of the central shaft 46 is provided with mounting threads; the whole body formed by the bottom mounting block 44 and the thrust bearing 45 is in clearance fit with the shaft hole of the central shaft 46; the top thread block 42 is in threaded fit with the top of the central shaft 46 to compress the spring 43, so as to compress the bottom mounting block 44 and the thrust bearing 45 to the bottom shaft shoulder of the central shaft 46; the top of the central shaft is connected with the mounting flange 41 through screws; the guide rod 48 is mounted at the bottom of the central shaft 46 through threads; the pin shaft 47 is installed in a circumferential hole of a shaft shoulder at the bottom of the central shaft 46 in an interference manner; the industrial camera 491 is mounted on the connecting flange through the camera bracket 492, and the aperture 493 is fixed on the camera bracket 492; the terminal material taking assembly 4 is fixedly arranged on the end face of the wrist joint 38 through the connecting flange 41; the bottom mounting block 44 and the thrust bearing 45 can move axially along the central shaft 46, and the shaft collar of the thrust bearing 45 can rotate relative to the bottom mounting block 44 and the central shaft 45.

As shown in fig. 7, 8 and 9, the tray assembly 5 includes a tray body 51, a center Kong Yaban, a guide bar 53, a handle 54 and a tray identification code 55; workpiece placing grooves 51a and 51b which are uniformly distributed are respectively arranged on the front surface and the back surface of the tray body 51; the central pressing plate 52 is provided with a clearance groove 52a, a positioning groove 52b, a central hole 52c and an azimuth identifying hole 52d; the diameter of the central hole 52c is larger than the outer diameter of the shaft shoulder of the central shaft 46, and the diameter of the central hole 52c is smaller than the outer diameter of the shaft collar of the thrust bearing 45; the top surface and the bottom surface of the central hole of the tray body 51 are respectively provided with the central pressing plate 52, and the clearance grooves 52a on the central pressing plates 52 on the top surface and the bottom surface are mutually aligned; the top of the guide rod 53 is a conical surface and is provided with a shaft shoulder, the bottom of the guide rod 53 is provided with a conical groove, and the conical surface at the top of the guide rod 53 and the conical groove at the bottom of the guide rod can be mutually matched and positioned; the tray body 51 is fixedly provided with 4 groups of guide rods 53; the handle 54 and the tray identification code 55 are fixedly mounted on the tray body 51.

Preferably, the number of the trolley driving wheels 121 is two, and the trolley driving wheels are symmetrically installed at the middle positions of the left side and the right side of the travelling direction of the trolley body 11, and the two driving wheels are connected with different driving motors, and the driving motors respectively drive the driving wheels at the two sides to realize the actions of travelling forward, retracting, steering and the like of the trolley.

Preferably, the number of the driven wheels 122 of the trolley is two, the driven wheels 122 are respectively installed at the middle positions of the front side and the rear side of the trolley body 11, and the driven wheels 122 are universal wheels.

Preferably, the AGV trolley body 1 adopts a two-dimensional code navigation method, and performs tracking, route correction and obstacle avoidance through the navigation guidance 13.

Preferably, the AGV trolley body 1 has an automatic charging function, and when the trolley detects that the battery power is lower than a set value, the AGV trolley automatically travels to a designated charging area for automatic charging.

Preferably, the control board card comprises one or more of Bluetooth, WIFI, RFID and other communication modules, so that the control board card is convenient to interconnect with a workshop in real time.

Preferably, the left and right sides of the control box body 21 are provided with maintenance cabinet doors, so that the equipment is convenient for daily maintenance.

Preferably, the number of the emergency stop operation buttons 24 is two, and the emergency stop operation buttons are respectively arranged at the front side and the rear side of the top of the control box body 21, so that the emergency stop operation buttons can be conveniently and rapidly operated from different directions of the trolley when an emergency is met.

Preferably, the mechanical arm mounting flange 26 is fixedly mounted at the top center of the control box 21.

Preferably, the number of the tray bracket assemblies 25 is four, and the tray bracket assemblies are fixedly installed at the top position of the control box 21 in a central symmetry manner, so that the top storage space is utilized to the greatest extent.

Preferably, two sets of through circumferential holes are orthogonally arranged on the bottom shoulder of the central shaft 46, the number of the pins 47 is 4, the pins 47 are installed in the round holes of the shoulder of the central shaft 46 in an interference manner, and the length of the protruding portion is smaller than that of the clearance groove 52a and larger than that of the central hole 52c.

The working principle of the invention is as follows:

when the AGV trolley works, the AGV trolley body 1 automatically runs to target equipment through navigation guidance according to loading and unloading tasks and planned paths received by a dispatching system; when the position of the target equipment is about to be reached, the industrial camera 491 on the terminal material taking assembly 4 is controlled by the movement of the mechanical arm assembly 3 to acquire the indication code information of the target equipment in real time, so that the relative position of the mechanical arm assembly and the target equipment is accurately adjusted.

The space information of the tray assembly 5 to be assembled and disassembled in the storage area of the tray at the top of the target equipment and the control box is acquired through the industrial camera 491, and the real-time space information is acquired through the mechanical arm assembly 3 and the industrial camera 491; continuously adjusting the posture of the terminal material taking assembly, vertically aligning the central shaft of the material taking assembly with the central hole of the target tray assembly 5, aligning the position of the pin shaft 47 with the avoidance groove 52a, continuously vertically moving downwards, sequentially penetrating the guide pin 48 and the shaft shoulder at the bottom of the central shaft 46 through the central hole of the tray assembly 5, and driving the pin shaft 47 to downwards move relative to the thrust bearing 45 by the central shaft 46 after the thrust bearing 45 starts to contact with the central pressing plate 52; the mechanical arm assembly 3 is controlled to continuously control the specified distance vertically downwards, the terminal material taking assembly 4 is controlled to rotate for 45 degrees, the central shaft 46 drives the pin shaft 47 to rotate and the thrust bearing 45 to generate relative rotation movement, and the pin shaft 47 is aligned with the positioning groove 52b on the central pressing plate; the whole terminal material taking assembly is controlled to vertically move upwards, the central shaft 46 drives the pin shaft 47 and the thrust bearing 45 to generate relative axial movement, the upper side and the lower side of the tray assembly 5 are clamped, and the tray assembly keeps moving horizontally along with the terminal material taking assembly.

After the tray component 5 is taken out, selecting and moving the clamped tray component to a target storage area according to the space information of the tray storage area, which is acquired in advance by a camera, vertically aligning the central shaft of the material taking component with the central hole of the target tray bracket component 25 or the tray component 5, and aligning the bottom of the guide rod 53 with the tray positioning hole 251b or the conical surface at the top of the guide rod 53; continuing the vertical downward movement, the tray assembly 5 is placed on the tray bracket assembly 25 or the tray assembly 5 by the guide bar 53; continuing to move downwards, the central shaft 46 drives the pin shaft 47 to move downwards and generate relative axial movement with the thrust bearing 45, and the clamping action is released; after the terminal material taking assembly 4 is controlled to rotate 45 degrees after the terminal material taking assembly moves downwards for a specified distance, the central shaft 46 drives the pin shaft 47 to rotate and the thrust bearing 45 to generate relative rotation movement, so that the pin shaft 47 is aligned with the clearance groove 52a on the central pressing plate; the terminal material taking assembly is controlled to vertically move upwards, and the central shaft 46 drives the pin shaft 47 and the thrust bearing 45 to axially move relatively until the terminal material taking assembly is completely separated from the tray.

When a plurality of tray components and a multi-station loading and unloading task exist, the material taking and unloading steps are repeated until the task is completed.

The AGV trolley can realize the automatic loading, unloading, storing and transferring of all-round and batch workpieces, and has high working efficiency. The terminal material taking assembly has the advantages of small space volume, simple and reliable structure and low realization cost; the tray assembly is suitable for storing workpieces with various specifications, supports stacking and placing, greatly improves single transfer capacity of the AGV trolley, is designed in a standardized manner, and can be used for automatic or manual transfer among different stations and working procedures of an automatic line.

Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.

Claims (10)

1. An AGV dolly of carrying manipulator, its characterized in that: the automatic feeding device comprises an AGV trolley body (1), a control box body assembly (2), a six-degree-of-freedom mechanical arm assembly (3), a terminal material taking assembly (4) and a tray assembly (5); wherein, the AGV trolley body (1) is horizontally arranged; the control box body assembly (2) is fixedly arranged on the upper surface of the AGV trolley body (1); the root of the mechanical arm assembly (3) is arranged at the top end of the control box body assembly (2); the terminal material taking assembly (4) is arranged at the extending end of the mechanical arm assembly (3); the tray component (5) is stored at the top of the control box component (2); the tray assembly (5) is grabbed and moved from the top of the control box assembly (2) through the six-degree-of-freedom mechanical arm assembly (3) and the terminal material taking assembly (4).

2. The manipulator-mounted AGV cart of claim 1, wherein: the AGV trolley body (1) comprises a trolley body (11), wheels (12), navigation guides (13) and a driving motor; wherein the vehicle body (11) is horizontally arranged; the wheels (12) are arranged at the bottom of the vehicle body (11); the navigation guide (13) is arranged at the middle position of the front side of the vehicle body (11); the driving motor is arranged in the inner cavity of the vehicle body (11).

3. The manipulator-mounted AGV cart of claim 2, wherein: the wheel (12) comprises 2 driving wheels (121) and 2 driven wheels (122);

the 2 driving wheels (121) are symmetrically arranged at the bottom of the vehicle body (11) and positioned at the middle positions of the left side and the right side of the advancing direction of the vehicle body (11), and the 2 driving wheels (121) are connected with different driving motors (14); the driving motor (14) respectively drives the corresponding driving wheels (121) to realize the actions of forward, backward, steering and the like of the vehicle body (11);

the 2 driven wheels (122) are respectively arranged at the middle positions of the front side and the rear side of the vehicle body (11), and the driven wheels (122) are universal wheels.

4. The manipulator-mounted AGV cart according to claim 3, wherein: the AGV trolley body (1) adopts a two-dimensional code navigation mode, and carries out tracking, route correction and obstacle avoidance through a navigation guide (13);

the AGV trolley body (1) has an automatic charging function, and when the battery power is detected to be lower than a set value, the AGV trolley body (1) automatically runs to a specified charging area to be automatically charged.

5. The manipulator-mounted AGV cart of claim 1, wherein: the control box body assembly (2) comprises a control box body (21), a touch screen (22), equipment status lamps (23), emergency stop operation buttons (24), a tray bracket assembly (25), a mechanical arm mounting flange (26), a battery pack and a control board card;

the control box body (21) is horizontally arranged at the top of the AGV trolley body (1); the touch screen (22) is arranged at the front middle position of the control box body (21); the equipment status lamp (23) is arranged at the front side position of the top of the control box body (21); the emergency stop operation button (24) is arranged at the top position of the control box body (21); the tray bracket assembly (25) is arranged on the top plane of the control box body (21) and is used for placing the tray assembly (5); the mechanical arm mounting flange (26) is mounted at the top of the control box body (21); the battery pack and the control board card are arranged in the control box body (21); the battery pack is used for providing power for the control box body assembly (2); and one or more communication modules of Bluetooth, WIFI and RFID are arranged on the control board card, so that real-time interconnection of workshops is realized.

6. The manipulator-mounted AGV cart of claim 5, wherein: the six-degree-of-freedom mechanical arm assembly (3) comprises a base flange (31), a base (32), a shoulder joint (33), a big arm (34), an elbow joint (35), a small arm (36), a first wrist joint (37) and a second wrist joint (38);

wherein, the base flange (31) is arranged at the top of the mechanical arm mounting flange (26); the base (32) is hinged to the top of the base flange (31); the root of the big arm (34) is hinged with the base (32) through a shoulder joint (33); the root of the forearm (36) is hinged to the head end of the big arm (34) through an elbow joint (35); the first wrist joint (38) is hinged to the head end of the forearm (36) by a second wrist joint (37).

7. The manipulator-mounted AGV cart of claim 6, wherein: the terminal material taking assembly (4) comprises a connecting flange (41), a top thread block (42), a spring (43), a bottom mounting block (44), a thrust bearing (45), a central shaft (46), a pin shaft (47), a guide rod (48), an industrial camera (491), a camera bracket (492) and an aperture (493);

wherein, the thrust bearing (45) is installed in the bottom installation groove of the bottom installation block (44); the thrust bearing (45) is arranged with the seat ring upward and the shaft ring downward, the seat ring of the thrust bearing (45) is in interference fit with the mounting groove of the bottom mounting block (44), and the shaft ring of the thrust bearing (45) is in clearance fit with the mounting groove of the bottom mounting block (44); the bottom of the central shaft (46) is provided with a convex shaft shoulder, and two orthogonal groups of round holes are arranged at the circumference of the shaft shoulder; the center of the bottom and top surfaces of the central shaft (46) is provided with a threaded hole; the top excircle of the central shaft (46) is provided with a mounting thread; the whole body formed by the bottom mounting block (44) and the thrust bearing (45) is in clearance fit with the shaft hole of the central shaft (46); the top thread block (42) is in threaded fit with the top of the central shaft (46) to compress the spring (43), so that the bottom mounting block (44) and the thrust bearing (45) are compressed to the bottom shaft shoulder of the central shaft (46); the top of the central shaft (46) is connected with the mounting flange (41) through screws; the guide rod (48) is arranged at the bottom of the central shaft (46) through threads; the pin shaft (47) is installed in a circumferential hole of a shaft shoulder at the bottom of the central shaft (46) in an interference manner; an industrial camera (491) is mounted to the connection flange (41) by the camera mount (492); the aperture (493) is fixed to the camera support (492); the terminal material taking assembly (4) is fixedly arranged on the end face of the wrist joint (38) through a connecting flange (41); the bottom mounting block (44) and the thrust bearing (45) axially move along the central shaft (46), and the shaft collar of the thrust bearing (45) rotates relative to the bottom mounting block (44) and the central shaft (45).

8. The manipulator-mounted AGV cart of claim 6, wherein: the tray assembly (5) comprises a tray body (51), a center Kong Yaban (52), a guide rod (53), a handle (54) and a tray identification code (55);

wherein, workpiece placing grooves (51 a) and (51 b) which are uniformly distributed are respectively arranged on the front surface and the back surface of the tray body (51); a clearance groove (52 a), a positioning groove (52 b), a central hole (52 c) and an azimuth recognition hole (52 d) are formed in the central pressing plate (52); the diameter of the central hole (52 c) is larger than the outer diameter of the shaft shoulder of the central shaft (46), and the diameter of the central hole (52 c) is smaller than the outer diameter of the shaft collar of the thrust bearing (45); the top surface and the bottom surface of the central hole of the tray body (51) are respectively provided with a central pressing plate (52), and the clearance grooves (52 a) on the central pressing plates (52) on the top surface and the bottom surface are mutually aligned; the top of the guide rod (53) is a conical surface and is provided with a shaft shoulder, and the bottom of the guide rod is provided with a conical groove; the conical surface at the top of the guide rod (53) is matched with the conical groove at the bottom for positioning; the tray body (51) is fixedly provided with 4 groups of guide rods (53); the 4 groups of guide rods (53) are arranged at four corners of the tray body (51); the handle (54) and the tray identification code (55) are fixedly arranged on the tray body (51).

9. The manipulator-mounted AGV cart of claim 5, wherein: the number of the emergency stop operation buttons (24) is two, the emergency stop operation buttons are respectively arranged at the front side and the rear side of the top of the control box body (21), and the emergency stop buttons are rapidly operated in different directions from the trolley when an emergency is met;

the number of the tray bracket components (25) is four, the tray bracket components are fixedly arranged at the top position of the control box body (21) in a central symmetry mode, and the top storage space is utilized to the greatest extent.

10. The manipulator-mounted AGV cart of claim 7, wherein: two groups of through circumference holes are orthogonally arranged on the bottom shaft shoulder of the central shaft (46); the number of the pin shafts (47) is 4; the pin shaft (47) is installed in the shoulder round hole of the central shaft (46) in an interference mode, and the length of the protruding portion is smaller than that of the clearance groove (52 a) and larger than that of the central hole (52 c).