CN206066423U

CN206066423U - A kind of self-travel type both arms industrial robot device based on AGV

Info

Publication number: CN206066423U
Application number: CN201620979183.0U
Authority: CN
Inventors: 唐火红; 董伯麟
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-08-27
Filing date: 2016-08-27
Publication date: 2017-04-05
Anticipated expiration: 2026-08-27

Abstract

This utility model is related to 3C Industrial Robot Technologies field, a kind of especially self-travel type both arms industrial robot device based on AGV, including AGV dollies and the grasping mechanism on AGV dollies, grasping mechanism includes the pedestal being fixed on AGV dollies and the grabbing assembly on pedestal, grabbing assembly includes large arm, forearm and executor, and grabbing assembly has four degree of freedom.It is of the present utility model simple based on the self-travel type both arms industrial robot device compact conformation of AGV, transmission, and using cooperatively by multiple motors, multiple decelerators and ball-screw and splined shaft, reach the effect of two groups of grabbing assembly collaborative works, and industrial robot of the present utility model changes the drive mechanism that wrist is driven using traditional pulley and Timing Belt, avoid pulley and Timing Belt and the damaged, lax and aging etc. of idle running phenomenon and belt occur, high accuracy operation can be maintained for a long time, realized long-term non-maintaining.

Description

A kind of self-travel type both arms industrial robot device based on AGV

Technical field

This utility model is related to 3C Industrial Robot Technologies field, is based especially on the self-travel type both arms industrial machine of AGV Device people.

Background technology

In the work that some carrying, feedings etc. repeat, it is often necessary to industrial robot replacing human work, to improve Efficiency.Selective compliance assembly robot arm has good rigidity, and cost is relatively low.At present, robot on the market only has single armed mostly, Its working range is narrow and small, is unfavorable for the work such as carrying, feeding, is badly in need of a kind of tow-armed robot and expands its working range.At present, greatly Most industrial robots are unable to automatic moving, can only limit the work of robot in fixed station operation, a dead lift trouble Make space and utilization rate, be badly in need of a kind of robot that is mobile, possessing multi-faceted crawl that can control oneself.Existing some industrial machines People, its wrist adopt pulley and Timing Belt to drive, it may appear that idle running phenomenon and belt it is damaged, lax and aging etc., it is unfavorable High accuracy is maintained in long-term.

Utility model content

The purpose of this utility model is the defect for overcoming prior art to exist, there is provided a kind of compact conformation, transmission it is simple and The self-travel type both arms industrial robot device based on AGV of high accuracy operation is maintained for a long time can.

In order to realize the purpose of this utility model, the technical scheme for being adopted is：

Self-travel type both arms industrial robot device based on AGV of the present utility model includes AGV dollies and installed in AGV Grasping mechanism on dolly, the grasping mechanism include the pedestal being fixed on AGV dollies and the crawl group on pedestal Part, the grabbing assembly include large arm, forearm and executor, and the grabbing assembly has four degree of freedom, and the first degree of freedom is Driving means I on pedestal drive large arm rotation, and the second degree of freedom is II driving of driving means on forearm Forearm rotates, and Three Degree Of Freedom is that driving means III on forearm drive executor along Z axis to moving up and down, four selfs It is that driving means IV on forearm drive executor to rotate by spending.

AGV dollies described in the utility model include navigation system on car body, control system, drive system and dynamic Force system, wherein, the navigation system includes magnetic sensor and metal tape, and the navigation system passes through magnetic field deviation measuring Control drives steering to adjust car body travel direction, and the control system includes controller and ground controller on car, the car Using fixed point optical communications or WLAN communication between upper controller and ground controller, the drive system includes driving Motor, decelerator, chain, driving wheel and directive wheel, the motor are passed sequentially through Wheel is rotated.

Dynamical system described in the utility model includes accumulator and charging device, and the accumulator is that the industry of 48V direct currents stores Battery, the accumulator are that AGV dollies and grasping mechanism are powered.

Pedestal described in the utility model is T-shaped pedestal, the T-shaped pedestal include frame and be fixed in frame laterally Frame, grabbing assembly described in one group of each installation in two ends of the horizontal support, the height of grabbing assembly described in one of which is higher than another The height of crawl group described in outer one group.

The end of horizontal support described in the utility model is provided with mounting disc I, and the driving means I are arranged on mounting disc I In through hole, the driving means I include servomotor I and decelerator I, and the outfan of the decelerator I connects the big arm rest One end of nearly pedestal, the servomotor I drive the large arm rotation by the decelerator I.

Forearm described in the utility model is provided with mounting disc II near one end of pedestal, and driving means II are arranged on the installation In the through hole of disk II, the driving means II include servomotor II and decelerator II, the outfan connection of the decelerator II The one end of the large arm away from pedestal, the servomotor II drive the forearm rotation by the decelerator II.

Driving means described in the utility model III include servomotor III on the forearm, by servomotor III The ball-screw of driving, the connecting plate being screwed onto on the ball-screw and the splined shaft being rotatably assorted with the connecting plate, institute The one end for stating splined shaft is connected with the connecting plate by bearing, and the other end of the splined shaft passes through the forearm and at this The executor is installed at end, and the splined shaft is slidably matched with the forearm, the servomotor III pass sequentially through ball-screw, Connecting plate and splined shaft drive the executor along Z-motion.

Driving means described in the utility model IV include hollow motor and the hollow decelerator being fixed on the forearm, institute Splined shaft is stated through the hollow motor and hollow reducer, the outfan of the hollow reducer is provided with ring flange, the flower Key axle is connected by flat key with the ring flange, and the splined shaft is vertically slidable relative to the ring flange, the hollow motor Pass sequentially through hollow reducer, ring flange, flat key and splined shaft and drive executor's rotation.

The beneficial effect of the self-travel type both arms industrial robot device based on AGV of the present utility model is：This practicality is new Type it is simple based on the self-travel type both arms industrial robot device compact conformation of AGV, transmission, and by multiple motors, many Using cooperatively for individual decelerator and ball-screw and splined shaft, reaches the effect of two groups of grabbing assembly collaborative works, Er Qieben The pedestal of utility model is shaped as T-shaped pedestal, is capable of achieving that two grabbing assemblies are contour to be installed with having drop, and working range expands Greatly, motion is non-interference, can carry out feeding and blanking work etc. simultaneously, broaden the scope of work, improve work efficiency.Additionally, this The industrial robot of utility model changes the drive mechanism that wrist is driven using traditional pulley and Timing Belt, it is to avoid pulley There is the damaged, lax and aging etc. of idle running phenomenon and belt with Timing Belt, high accuracy operation can be maintained for a long time, length is realized Phase is non-maintaining.

Description of the drawings

With reference to the accompanying drawings and detailed description this utility model is described in further detail.

Fig. 1 is the structural representation of the self-travel type both arms industrial robot device based on AGV of the present utility model；

Fig. 2 is the side view of the self-travel type both arms industrial robot device based on AGV of the present utility model；

Fig. 3 is the structural representation of driving means of the present utility model I；

Fig. 4 is the assembling structure schematic diagram of driving means of the present utility model II, driving means III and driving means IV；

Fig. 5 is AGV vehicle structures schematic diagram of the present utility model.

Wherein：AGV dollies 1, navigation system 11, control system 12, drive system 14, dynamical system 15；T-shaped pedestal 2；Greatly Arm 3, servomotor I 31, decelerator I 32；Forearm 4, servomotor II 41, decelerator II 42；Executor 5, servomotor III 51, Ball-screw 52, connecting plate 53, splined shaft 54；Hollow motor 61, hollow reducer 62, ring flange 63.

Specific embodiment

In description of the present utility model, it is to be understood that term " radial direction ", " axial direction ", " on ", D score, " top ", The orientation or position relationship of the instruction such as " bottom ", " interior ", " outward " is based on orientation shown in the drawings or position relationship, merely to just In description this utility model and simplified description, rather than indicate or imply that the device or element of indication there must be specifically side Position, with specific azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.In description of the present utility model In, unless otherwise stated, " multiple " are meant that two or more.

In description of the present utility model, it should be noted that unless otherwise clearly defined and limited, term " peace Dress ", " setting ", " connection " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or integratedly Connection；Can be joined directly together, it is also possible to be indirectly connected to by intermediary.For the ordinary skill in the art, Concrete meaning of the above-mentioned term in this utility model can be understood as the case may be.

As Figure 1-5, the present embodiment includes AGV dollies 1 based on the self-travel type both arms industrial robot device of AGV With the grasping mechanism on the AGV dollies 1, AGV dollies 1 walk along running route planned in advance, and while can be real The grasping movement of existing four degree of freedom, its specific embodiment are as follows：

Grasping mechanism includes the pedestal being fixed on AGV dollies 1 and the grabbing assembly on pedestal, wherein, pedestal For T-shaped pedestal 2, T-shaped pedestal 2 includes frame and the horizontal support being fixed in frame, and the two ends of horizontal support respectively install one group Grabbing assembly, the height of the height of one of which grabbing assembly higher than another set crawl group, two groups of grabbing assemblies are contour to be had Poorly install, job enlargement, motion is non-interference, and its drop mounting structure can be realized using various ways, for example, exist One end installation base of horizontal support, is fitted into one group of grabbing assembly on boss, or the installation straggly of two groups of grabbing assemblies.

Grabbing assembly in the present embodiment includes large arm 3, forearm 4 and executor 5, and grabbing assembly has four degree of freedom.

Wherein, the first degree of freedom is that driving means I on pedestal drive large arm 3 to rotate, specifically, horizontal support End be provided with mounting disc I and interfixed by screw, driving means I are arranged in the through hole of mounting disc I and by screw Fixed, driving means I include servomotor I 31 and decelerator I 32, and servomotor I 31 is DC servo motor, servomotor I 31 power transmission shaft is connected by flat key with decelerator I 32, and outfan and the large arm 3 of decelerator I 32 pass through near one end of pedestal Screw is connected, and servomotor I 31 drives the rotation of large arm 3 to realize the first degree of freedom by decelerator I 32.

Wherein, the second degree of freedom is that driving means II on forearm 4 drive forearm 4 to rotate, specifically, forearm 4 One end near pedestal is provided with mounting disc II and is interfixed by screw, and driving means II are arranged in the through hole of mounting disc II And fixed by screw, driving means II include servomotor II 41 and decelerator II 42, and servomotor II 41 is also watched for direct current Motor is taken, the power transmission shaft of servomotor II 41 is connected by flat key with decelerator II 42, outfan and the large arm 3 of decelerator II 42 It is connected away from one end of pedestal, servomotor II 41 drives the rotation of forearm 4 to realize the second degree of freedom by decelerator II 42.

Wherein, Three Degree Of Freedom is that driving means III on forearm 4 drive executor 5 along Z axis to moving up and down, Specifically, driving means III include servomotor III 51 on forearm 4, the ball-screw driven by servomotor III 51 52nd, the connecting plate 53 being screwed onto on ball-screw 52 and the splined shaft 54 being rotatably assorted with connecting plate 53, servomotor III 51 are pacified The centre position of forearm 4 is mounted in, one end of splined shaft 54 is connected with connecting plate 53 by bearing, and the other end of splined shaft 54 is worn Cross forearm 4 and executor 5 is installed at the end, the one end of splined shaft 54 with forearm 4 away from pedestal is slidably matched, servomotor III 51 Passing sequentially through ball-screw 52, connecting plate 53 and splined shaft 54 drives executor 5 to realize Three Degree Of Freedom along Z-motion.

Wherein, four-degree-of-freedom is that driving means IV on forearm 4 drive executor 5 to rotate, driving means IV Including the hollow motor 61 and hollow decelerator that are fixed on forearm 4, splined shaft 54 runs through hollow motor 61 and hollow reducer 62, the outfan of hollow reducer 62 is provided with ring flange 63, and power transmission shaft and the hollow reducer 62 of hollow motor 61 pass through flat key Connection, and ring flange 63 is imparted power to, splined shaft 54 is connected by flat key with ring flange 63, and splined shaft 54 can be relative to method Blue disk 63 is vertically slidable, and hollow motor 61 passes sequentially through flat key and spline on hollow reducer 62, ring flange 63, ring flange 63 Axle 54 drives the rotation of executor 5 to realize four-degree-of-freedom.

Industrial robot structure in the present embodiment is compact, transmission is simple, and by multiple motors, multiple decelerators with And ball-screw 52 and splined shaft 54 are used cooperatively, the effect of two groups of grabbing assembly collaborative works is reached.In the present embodiment Pedestal is shaped as T-shaped pedestal 2, is capable of achieving that two grabbing assemblies are contour to be installed with having drop, job enlargement, and motion is mutually not Interfere, feeding and blanking work etc. can be carried out simultaneously, broadened the scope of work, improve work efficiency.Additionally, the work in the present embodiment Industry robot changes the drive mechanism that wrist is driven using traditional pulley and Timing Belt, it is to avoid pulley and Timing Belt occur Idle running phenomenon and belt it is damaged, lax and aging etc., high accuracy operation can be maintained for a long time, realized long-term non-maintaining.

AGV dollies 1 in the present embodiment include navigation system 11 on car body 13, control system 12, drivetrain System 14 and dynamical system 15, wherein, navigation system 11 includes magnetic sensor and metal tape, and navigation system 11 is inclined by magnetic field Difference determines control and drives steering to adjust 13 travel direction of car body, and control system 12 includes controller and ground controller on car, Using fixed point optical communications or WLAN communication between controller and ground controller on car, drive system 14 includes driving Motor, decelerator, chain, driving wheel and directive wheel, motor passes sequentially through decelerator and chain drive driving wheel is rotated, and drives Driving wheel drives AGV dollies 1 to run, and has speed controling ability, and directive wheel is preferably universal wheel.Dynamical system 15 includes electric power storage Pond and charging device, accumulator adopt 48V direct currents industrial storage battery for power, can be that AGV dollies 1 and grasping mechanism are carried simultaneously For power.

Industrial robot in the present embodiment is coordinated with AGV dollies 1, is realized crawl transport two and, is possessed multi-functional, many The crawl function in orientation.

The operation principle of the above-mentioned self-travel type both arms industrial robot device based on AGV is as follows：AGV dollies 1 receive ground The command information of face controller, in the presence of navigation system 11, reaches predetermined operation position along metal tape, pedestal and big There is a rotary freedom between arm 3, large arm 3 and forearm 4, between forearm 4 and executor 5, have one to move down along Z axis Dynamic degree of freedom and rotary freedom.Under the driving of onboard power systems 15, servomotor I 31 and servomotor II 41 are driven respectively Dynamic large arm 3 and forearm 4 rotate, and the servomotor III 51 on forearm 4 passes through ball-screw 52 and connecting plate 53 drives flower Key axle 54 realizes that executor 5Z is axially moved up and down, while hollow motor 61 and hollow reducer 62 impart power to ring flange 63, so as to drive the rotation of splined shaft 54 and executor 5, two-arm is realized in the feeding of predetermined station or carry work.

It should be appreciated that specific embodiment described above is only used for explaining this utility model, it is not used to limit this reality With new.By spirit of the present utility model it is extended obvious change or change still in protection of the present utility model Among scope.

Claims

1. a kind of self-travel type both arms industrial robot device based on AGV, including AGV dollies (1) and be arranged on AGV dollies (1) grasping mechanism on, it is characterised in that：The grasping mechanism includes the pedestal being fixed on AGV dollies (1) and is arranged on base Grabbing assembly on seat, the grabbing assembly include large arm (3), forearm (4) and executor (5), and the grabbing assembly has four Individual degree of freedom, the first degree of freedom are that the driving means I on pedestal drive large arm (3) rotation, the second degree of freedom to be installation Driving means II on forearm (4) drive forearm (4) rotation, and Three Degree Of Freedom is the driving means on forearm (4) Along Z axis to moving up and down, four-degree-of-freedom is that the driving of driving means IV on forearm (4) is held for III driving executor (5) Row device (5) rotates.

2. the self-travel type both arms industrial robot device based on AGV according to claim 1, it is characterised in that：It is described AGV dollies (1) include navigation system (11) on car body (13), control system (12), drive system (14) and power System (15), wherein, the navigation system (11) includes magnetic sensor and metal tape, and the navigation system (11) is by magnetic The control of deviation measuring drives steering to adjust car body (13) travel direction, the control system (12) including controller on car and Ground controller, using fixed point optical communications or WLAN communication, institute between controller and ground controller on the car Drive system (14) is stated including motor, decelerator, chain, driving wheel and directive wheel, the motor is passed sequentially through and subtracted Driving wheel described in fast device and chain drive is rotated.

3. the self-travel type both arms industrial robot device based on AGV according to claim 2, it is characterised in that：It is described Dynamical system (15) includes accumulator and charging device, and the accumulator is 48V direct current industrial storage batteries, and the accumulator is AGV dollies (1) and grasping mechanism are powered.

4. the self-travel type both arms industrial robot device based on AGV according to claim 1, it is characterised in that：It is described Pedestal is T-shaped pedestal (2), and the T-shaped pedestal (2) includes frame and the horizontal support that is fixed in frame, the horizontal support Two ends respectively install one group described in grabbing assembly, the height of grabbing assembly described in one of which is higher than crawl group described in another set Height.

5. the self-travel type both arms industrial robot device based on AGV according to claim 4, it is characterised in that：It is described The end of horizontal support is provided with mounting disc I, and the driving means I are arranged in the through hole of mounting disc I, and the driving means I are wrapped Servomotor I (31) and decelerator I (32) are included, the outfan of the decelerator I (32) connects the large arm (3) near pedestal One end, the servomotor I (31) drive large arm (3) rotation by the decelerator I (32).

6. the self-travel type both arms industrial robot device based on AGV according to claim 5, it is characterised in that：It is described Forearm (4) is provided with mounting disc II near one end of pedestal, and driving means II are arranged in the through hole of the mounting disc II, the drive Dynamic device II includes servomotor II (41) and decelerator II (42), and the outfan of the decelerator II (42) connects the large arm (3) away from one end of pedestal, the servomotor II (41) drives forearm (4) rotation by the decelerator II (42).

7. the self-travel type both arms industrial robot device based on AGV according to claim 6, it is characterised in that：It is described Driving means III include servomotor III (51) on the forearm (4), the ball driven by servomotor III (51) Leading screw (52), the connecting plate (53) being screwed onto on the ball-screw (52) and the spline being rotatably assorted with the connecting plate (53) Axle (54), one end of the splined shaft (54) are connected with the connecting plate (53) by bearing, and the splined shaft (54) is in addition One end passes through the forearm (4) and installs the executor (5) at the end, and the splined shaft (54) is slided with the forearm (4) Coordinate, the servomotor III (51) is passed sequentially through to be held described in the driving of ball-screw (52), connecting plate (53) and splined shaft (54) Row device (5) is along Z-motion.

8. the self-travel type both arms industrial robot device based on AGV according to claim 7, it is characterised in that：It is described Driving means IV include the hollow motor (61) being fixed on the forearm (4) and hollow decelerator, and the splined shaft (54) is passed through The hollow motor (61) and hollow reducer (62) are worn, the outfan of the hollow reducer (62) is provided with ring flange (63), The splined shaft (54) is connected by flat key with the ring flange (63), and the splined shaft (54) is relative to the ring flange (63) Vertically slidable, the hollow motor (61) passes sequentially through hollow reducer (62), ring flange (63), flat key and splined shaft (54) and drives Dynamic executor (5) rotation.