CN205272074U

CN205272074U - Support differential AGV platform of arm

Info

Publication number: CN205272074U
Application number: CN201521120090.4U
Authority: CN
Inventors: 王斌; 李再金
Original assignee: Shenzhen Lzrobotics Co Ltd
Current assignee: Shenzhen Zhumang Technology Co ltd
Priority date: 2015-12-30
Filing date: 2015-12-30
Publication date: 2016-06-01
Anticipated expiration: 2025-12-30

Abstract

The utility model discloses a support differential AGV platform of arm belongs to arm supporting platform technical field. The utility model aims to provide a with enterprise's existing machinery arm constitution removal arm, abundant performance advantage between them, realize the higher automatic support differential AGV platform of arm of mill, including the dolly main part, navigation module, the anticollision module, control module and drive module, navigation module, the anticollision module, control module and drive module install in the dolly main part, the dolly main part includes the battery, battery securing device, automatic charging device, arm supporting platform, arm supporting platform sets up at dolly main part top, navigation module includes RFID sensor and magnetism strip sensor. The utility model discloses not only can be arranged in the well smallclothes solidity material of mill or have the transportation of the fluid nature material of solid shell, it is still useful in to other application scenarios, the operation of arm fungible people in the hazardous environment etc. Is explored, cooperated like the outer space.

Description

A kind of differential AGV platform supporting mechanical arm

Technical field

This utility model is specifically related to a kind of differential AGV platform supporting mechanical arm, belongs to mechanical arm and supports platform technology field.

Background technology

Along with the development of industrial automation, factory automation is had higher requirement by enterprise. The domestic state each independent with mobile platform AGV still in mechanical arm at present, it is impossible to give full play to both potential advantages.

AGV is the abbreviation of automatic guided vehicle (AutomatedGuidedVehicle); refer to equipped with the homing guidance device such as electromagnetism or photoelectricity; can travel along regulation terrestrial path homing guidance, possess man-machine interaction, safeguard protection, transfer function and the transfer robot being power with battery. AGV is a typical electromechanical integration multi-disciplinary integrated system of many technology. Its application is also in continuous extension, and achieves good effect. In general, be mainly used in logistics carrying, Flexible assembling line, processing line and the special occasions of AGV is used.

In current automated factory, the figure of AGV dolly and mechanical arm is usually visible, but the common factor between them is less, therefore, it is impossible to give full play to the mobility of AGV dolly and three-dimensional character that mechanical arm operates in a certain space. Most current AGV still focuses on the logistics carrying characteristic of platform and the less portable combination considering AGV and mechanical arm.

What patent (CN104085313A) described is the 8 degree-of-freedom manipulator systems on a kind of AGV chassis, including six shaft mechanical arm systems and wheeled AGV carrier car, releases the mobile very flexible of conventional machine mechanical arm, the shortcoming that difficult in maintenance and floor space is big; AGV carrier car includes car body, headstock and wheel, is wherein provided with mechanical arm, infrared distance sensor, accumulator, attention device, control panel, wireless transport module, photographic head, controller and obstacle sensor on car body. Though this technology its relieve the common disadvantage of mechanical arm, it may be achieved the efficient utilization of mechanical arm, but AGV carrier car body shape is relatively big, there is blind area, dead angle in motion, it is easy to causes that dolly and surrounding collide, and the relative inspectable space of mechanical arm diminishes.

What patent (CN201711963U) described is a kind of movable mechanical arm platform, including the wheeled AGV carrier car of omnidirectional and six shaft mechanical arms; Wherein omni-directional wheel AGV carrier car includes car body, headstock and wheel, is wherein provided with mechanical arm, accumulator, 360 degree of rotations processing platform, controller, wireless transport modules etc. on car body. It relieves the common disadvantage of mechanical arm, it may be achieved the efficient utilization of mechanical arm, and can move flexibly, but AGV carrier car body shape is relatively big, and the omni-directional wheel adopted is relatively costly, and AGV platform mechanism is complex.

What patent (CN203283786U) described is a kind of AGV logistics carrying robot, is made up of car body, guiding, vehicle-mounted conveying, man machine interface and controller module; Wherein car body includes driving mechanism, hitch, control chamber, set of cells, anticollision mechanism, magnetic conductance module and RFID RF Reader; Guiding module is to be made up of magnetic stripe and rfid card sheet. This technology adopts tape navigation mode, and for the mainstay of current most AGV platforms, its build is for common machine mechanical arm, and build is relatively big and higher without docking structure and cost.

Therefore, it is necessary to a kind of relative inexpensiveness of design, chassis are reliable and stable, simple in construction and can realize with mechanical arm simple and easy and reliably dock requirement, the use scope of extension AGV, make the differential AGV platform supporting mechanical arm of the more complicated environment of adaptation.

Utility model content

Therefore, the purpose of this utility model is to provide a kind of novel differential AGV mobile platform for supporting mechanical arm, with enterprise's existing machinery arm composition mobile mechanical arm, fully play both advantages, realize the differential AGV platform supporting mechanical arm of higher factory automation, including little vehicle main body, navigation module, crashproof module, control module and drive module, navigation module, crashproof module, control module and drive module to be arranged in little vehicle main body, described little vehicle main body includes accumulator, cell fixing device, automatic charge device, mechanical arm supports platform, mechanical arm supports platform and is arranged on dolly body top, described navigation module includes RFID sensor and tape sensors.

Further, described little vehicle main body also includes electric quantity display device, key switch and sound prompt device.

Further, described control module includes controller and radio communication device, and described controller is single chip control module.

Further, described crashproof module includes sonar sensor, laser sensor and machinery anticollision device, collision-prevention device.

This utility model additionally provides the mobile charging platform of the applicable above-mentioned novel differential AGV mobile platform for supporting mechanical arm, and described mobile charging platform includes platform with slope, charging to receiving electrode, handle.

The beneficial effects of the utility model are in that: a kind of novel differential AGV mobile platform supporting mechanical arm of the present utility model, can reliably, stable, portable realization docks with mechanical arm, can be not only used for the medium and small solidity material in factory or have the transport of fluidity material of solid shell, can dock with mechanical arm, realize the advantage functions such as mobile crawl, button, possess tape navigation and stablize easy advantage and its simple in construction, control and task scheduling is easy. This utility model can be not only used for the middle smallclothes solidity material in factory or has the transport of fluidity material of solid shell, it is also possible to for other application scenarios, as outer space explore, cooperative mechanical arm alternative people operation etc. in hazardous environment.

Accompanying drawing explanation

Fig. 1 is the front view of a kind of novel differential AGV mobile platform supporting mechanical arm of the present utility model;

Fig. 2 is the left view of a kind of novel differential AGV mobile platform supporting mechanical arm of the present utility model;

Fig. 3 is the upward view of a kind of novel differential AGV mobile platform supporting mechanical arm of the present utility model;

Fig. 4 is the top view of a kind of novel differential AGV mobile platform supporting mechanical arm of the present utility model;

Fig. 5 is the overall structure schematic diagram of a kind of novel differential AGV mobile platform supporting mechanical arm of the present utility model;

Fig. 6 is the structural representation of the mobile charging platform of a kind of novel differential AGV mobile platform supporting mechanical arm of the present utility model.

Accompanying drawing labelling is as follows:

1, little vehicle main body; 2, navigation module; 3, crashproof module; 4, module is controlled; 5, module is driven; 6, accumulator; 7, cell fixing device; 8, automatic charge device; 9, mechanical arm supports platform; 10, RFID sensor; 11, tape sensors; 12, sonar sensor; 13, laser sensor; 14, machinery anticollision device, collision-prevention device; 15, platform with slope; 16, charging is to receiving electrode; 17, handle.

Detailed description of the invention

Below in conjunction with accompanying drawing, detailed description of the invention of the present utility model is illustrated:

As shown in Figures 1 to 5, a kind of differential AGV platform supporting mechanical arm, including little vehicle main body 1, navigation module 2, crashproof module 3, control module 4 and drive module 5, navigation module 2, crashproof module 3, control module 4 and driving module 5 are arranged in little vehicle main body 1, described little vehicle main body 1 includes accumulator 6, cell fixing device 7, automatic charge device 8, mechanical arm support platform 9, mechanical arm supports platform 9 and is arranged on little vehicle main body 1 top, and described navigation module 2 includes RFID sensor 10 and tape sensors 11.

Navigation module 2 includes RFID sensor 10 and tape sensors 11. Wherein tape sensors 11 is as AGV positioner, runs to materials vehicle position for accurately guiding AGV; RFID sensor 10 also serves as AGV auxiliary locator, arranges rfid card sheet data for reading on tape, positions AGV parking spot on tape.

Little vehicle main body 1 may also include electric quantity display device, key switch and sound prompt device, little vehicle main body 1 is used for placing navigation module 2, crashproof module 3, controlling module 4 and drive module 5, also has the self-condition to AGV and path peripheral situation to react and process.

Controlling module 4 and include controller and radio communication device, its middle controller is single chip control module, and Main Function is to receive AGV central dispatch system and AGV client software instruction by wireless network; Receive the data perception external environment of laser sensor 13, sonar sensor 12, machinery anticollision device, collision-prevention device 14, RFID sensor 10 and tape sensors 11. Radio communication device accepts host computer instruction, and sends an instruction to control module 4 and process.

Drive module 5 mainly to include two d.c. motors and supporting damping thereof, belong to AGV power executing device. Adopt the independent differential of bi-motor to drive, hang damping and four servo-actuated universal wheels, dolly can be made to make any action, simplify and control and navigation algorithm, improve its reliability and stability, reduce cost. After controlling, when driving module 5 to receive, the instruction message that module 4 sends, motor operates according to instruction, after gear reduction box, is output on driving wheel, promotes AGV dolly to move ahead along the guide path of planning.

Crashproof module 3 includes long-range protection, short range protection and body protection, wherein laser sensor 13 remotely protects for the one-level that AGV platform is crashproof, sonar sensor 12 protection is for the two grades of short range protection of AGV platform, anti-collision mechanical device 14 is positioned at each one of little vehicle main body front and back, for body three grades protection; When one-level protect lasing safety lost efficacy with the protection of two grades of sonars time, and when barrier run into by AGV dolly, anti-collision mechanical device 14 and barrier making contact, trigger alarm, promote AGV dolly out of service, provide two grades of protection for AGV, it is to avoid AGV dolly is damaged; After impact force disappears, AGV resumes operation. It is crashproof without dead angle that this utility model achieves 360 degree of comprehensive nothings, thus ensureing the safety of modules in AGV platform.

During work, all electrical equipments that accumulator 6 in little vehicle main body 1 is AGV provide power source, first sent instructions to control module 4 by host computer, control module 4 explains orally instruction and forms a series of action message, it is sent to navigation module 2 and drives module 5, promote the command request that dolly sends according to host computer, travel along guide path; Little vehicle main body experiences ambient condition information simultaneously, and feeds back to control module 4, controls module 4 according to feedack, makes next step decision-making.

As shown in Figure 6, this utility model additionally provides the mobile charging platform of the applicable above-mentioned novel differential AGV mobile platform for supporting mechanical arm, and mobile charging platform includes platform with slope 15, charging to receiving electrode 16, handle 17. Charging and with AGV platform charging electrode, receiving electrode 16 is docked formation closed-loop path, the control module 4 through AGV platform detects, it is achieved whether Guan Bi docks; Handle 17 is used for being moved easily charging platform. When AGV dolly electricity low to electricity lower bound time, trigger AGV automatic charging order, AGV is by automatic running to charging zone, and during to charge position point, AGV, according to instruction, will be charged by automatic charge device 8 voluntarily; After charging, automatic charge device 8 disconnects charge circuit automatically. Its external button is for carrying out the manual operation such as jerk, electric power on/off to AGV dolly.

The above is preferred implementation of the present utility model; should be understood that; for those skilled in the art; under the premise without departing from principle described in the utility model; can also making some improvements and modifications, these improvements and modifications also should be regarded as protection domain of the present utility model.

Claims

1. the differential AGV platform supporting mechanical arm, including little vehicle main body, navigation module, crashproof module, control module and drive module, navigation module, crashproof module, control module and driving module are arranged in little vehicle main body, it is characterized in that, described little vehicle main body includes accumulator, cell fixing device, automatic charge device, mechanical arm support platform, mechanical arm supports platform and is arranged on dolly body top, and described navigation module includes RFID sensor and tape sensors.

2. the differential AGV platform supporting mechanical arm as claimed in claim 1, it is characterised in that described little vehicle main body also includes electric quantity display device, key switch and sound prompt device.

3. the differential AGV platform supporting mechanical arm as claimed in claim 1, it is characterised in that described control module includes controller and radio communication device, and described controller is single chip control module.

4. the differential AGV platform supporting mechanical arm as claimed in claim 1, it is characterised in that described crashproof module includes sonar sensor, laser sensor and machinery anticollision device, collision-prevention device.

5. the differential AGV platform supporting mechanical arm as described in any one of Claims 1-4, it is characterised in that the differential AGV platform of described support mechanical arm also includes mobile charging platform, described mobile charging platform includes platform with slope, charging to receiving electrode, handle.