CN208616844U - Full-automatic Roll-material conveying AGV robot - Google Patents
Full-automatic Roll-material conveying AGV robot Download PDFInfo
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- CN208616844U CN208616844U CN201821309786.5U CN201821309786U CN208616844U CN 208616844 U CN208616844 U CN 208616844U CN 201821309786 U CN201821309786 U CN 201821309786U CN 208616844 U CN208616844 U CN 208616844U
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Abstract
The utility model relates to robot production technical field, in particular to a kind of full-automatic Roll-material conveying AGV robot；Including vehicle frame, the inside of vehicle frame is equipped with Vehicle Controller, power unit, and vehicle frame is equipped with man-machine interface operating unit, lifting executing agency, navigation elements, and the bottom of vehicle frame is equipped with driving wheel；The Vehicle Controller is electrically connected with power unit, man-machine interface operating unit, lifting executing agency, navigation elements, driving wheel respectively.The utility model has the beneficial effects that: providing a kind of full-automatic Roll-material conveying AGV robot, high accuracy positioning can be realized, feeding and blowing accuracy are high, can improve loading and unloading and transport the efficiency of material.
Description
Technical field
The utility model relates to robot production technical field, in particular to a kind of full-automatic Roll-material conveying AGV machine
People.
Background technique
Currently, for the transport process for the reel type material produced by production lines such as lithium battery, copper foil, power diaphragms
Usually realized by motorized forklift, hand fork lifter or manual handling.It is however generally that coiled strip weight is 300~2000kg,
Diameter is 200mm~1200mm, and length is 400mm~1000mm, and figure and weight are larger.Fork truck figure is more heavy, uses
The method device configuration that manual operation motorized forklift and cantilever crane are carried is more, and human cost is high.Therefore, using AGV machine
It is the inexorable trend of development that people, which replaces man-handling of materials coiled strip, helps to improve dustless workshop environment, promotes product quality,
Reduce cost of wheeling.
AGV robot in the prior art has that positioning accuracy is low when handling are with transhipment coiled strip, is not able to satisfy
Production scene coiled strip accurately docks problem with process equipment, cannot achieve overall process Unmanned operation.
In view of this, needing to make improvement.
Utility model content
The technical problem to be solved by the utility model is to the positioning accuracy of existing AGV robot is low.
In order to solve the above technical problems, technical solution adopted in the utility model is: a kind of full-automatic Roll-material conveying AGV
Robot, including vehicle frame, the inside of vehicle frame are equipped with Vehicle Controller, power unit, vehicle frame be equipped with man-machine interface operating unit,
Executing agency, navigation elements are lifted, the bottom of vehicle frame is equipped with driving wheel；
The Vehicle Controller respectively with power unit, man-machine interface operating unit, lifting executing agency, navigation elements,
Driving wheel electrical connection.
Further, the power unit includes accumulator cell assembly and automatic charge device, accumulator cell assembly respectively with vehicle
Set controller and automatic charge device electrical connection.
Further, the man-machine interface operating unit includes operation panel, operation touch-screen and indicator light, man-machine interface
Operating unit is installed on the side wall of vehicle frame.
Further, the lifting executing agency includes the DC servo motor being electrically connected with the vehicle-mounted controller, and direct current is watched
The output shaft for taking motor is connected with speed reducer, and the output end of speed reducer is connected with screw rod, and screw rod is vertically laid on vehicle frame, screw rod
Top be equipped with V-arrangement support object block, it is described lifting executing agency vehicle frame arranged on left and right sides be symmetrical arranged.
Further, laser range sensor, laser range sensor and vehicle-mounted control are connected on the V-arrangement support object block
Device electrical connection.
Further, the navigation elements include being laid in the optical code readers PGV in bottom of frame center and being laid in vehicle
Two laser scanning heads in frame front and rear direction, laser scanning head and optical code readers PGV are electrically connected with Vehicle Controller respectively
It connects.
Further, the driving wheel includes that DC servo motor and the Mike being connected with DC servo motor output shaft receive
The power intake of nurse wheel, DC servo motor is electrically connected with the vehicle-mounted controller.
Further, the driving wheel further includes speed reducer, the input terminal and output end of speed reducer respectively with DC servo
Output shaft, the Mecanum wheel of motor are connected；The driving wheel is symmetrically laid in the four corners of bottom of frame, and vehicle frame passes through driving
Wheel constitutes with ground and rolls cooperation.
It further, further include security protection unit, the security protection unit includes being overhung on vehicle frame two sides
Touch panel and two laser scanning heads with touch panel disposed adjacent, laser scanning head and touch panel are electrically connected with the vehicle-mounted controller respectively.
Further, institute's vehicle frame is in box shell shape, states the shell of vehicle frame by high-tensile structural steel casing play and is covered in skeleton
Metal plate surface layer on layer is combined.
The utility model has the beneficial effects that: providing a kind of full-automatic Roll-material conveying AGV robot, can be realized high-precision
Degree positioning, feeding and blowing accuracy are high, can improve loading and unloading and transport the efficiency of material.
Detailed description of the invention
Fig. 1 is the main diagram of the utility model embodiment；
Fig. 2 is the side diagram of the utility model embodiment；
Fig. 3 is the diagram of bowing of the utility model embodiment；
Fig. 4 is the partial structural diagram of vehicle frame in Fig. 1.
Specific embodiment
The utility model is described in detail below in conjunction with attached drawing 1-4.
Embodiment 1:
As shown in Figs 1-4, a kind of full-automatic Roll-material conveying AGV robot (automated warehousing transfer robot), including vehicle
Frame 10, Vehicle Controller (figure does not indicate), power unit (figure does not indicate), man-machine interface operating unit 40, lifting executing agency
(figure does not indicate), navigation elements (figure does not indicate), driving wheel (figure does not indicate), security protection unit (figure does not indicate).
The vehicle frame 10 is in box shell shape, and the shell of vehicle frame 10 by high-tensile structural steel casing play 11 and is covered in casing play 11
On metal plate surface layer 12 be combined.
The inside of the vehicle frame 10 is equipped with Vehicle Controller and power unit, and power unit includes accumulator cell assembly and automatic
Charging unit, accumulator cell assembly are electrically connected with Vehicle Controller, automatic charge device respectively.
The man-machine interface operating unit 40 includes operation panel 41, operation touch-screen 42 and indicator light 43, man-machine interface
Operating unit 40 is installed on the side wall of vehicle frame 10.
The lifting executing agency includes the DC servo motor (figure does not indicate) being electrically connected with the vehicle-mounted controller, and direct current is watched
The output shaft for taking motor is connected with speed reducer (figure does not indicate), and the output end of speed reducer is connected with screw rod 51, the vertical cloth of screw rod 51
On vehicle frame 10, the top of screw rod 51 is equipped with V-arrangement support object block 511, is connected with laser range sensor on V shape support object block 511
80, laser range sensor 80 is electrically connected with the vehicle-mounted controller, and the lifting executing agency is symmetrical in the arranged on left and right sides of vehicle frame 10
Setting.
The navigation elements include before being laid in the optical code readers PGV of 10 bottom center of vehicle frame and being laid in vehicle frame 10,
Two laser scanning heads 62 in rear direction, laser scanning head 62 and optical code readers PGV are electrically connected with the vehicle-mounted controller respectively,
It is tightly connected between optical code readers PGV and laser scanning head 62 and vehicle frame 10.
The driving wheel includes DC servo motor and speed reducer, and the input terminal and output end of speed reducer are watched with direct current respectively
Output shaft, the Mecanum wheel 71 for taking motor are connected, and the power intake of DC servo motor is electrically connected with the vehicle-mounted controller；It drives
Four corners of the driving wheel in 10 bottom of vehicle frame are symmetrically laid, and vehicle frame 10 is made up of driving wheel and ground and rolls cooperation.
The security protection unit include the touch panel 91 being overhung on 10 two sides of vehicle frame and with 91 disposed adjacent of touch panel
Two laser scanning heads (figure does not indicate), laser scanning head and touch panel 91 are electrically connected with the vehicle-mounted controller respectively.Laser scanning head
Navigation function is provided for the movement of robot, and safe range is set.When barrier present position is proximal or into safe range
When, induction information is passed to Vehicle Controller by laser scanning head, and barrier bullet is walked in the Vehicle Controller control stretching of touch panel 91,
Robot stops in emergency and disconnects with power unit simultaneously.
A kind of application method of full-automatic Roll-material conveying AGV robot of the utility model is as follows: setting in Vehicle Controller
After good program, start machine on man-machine interface operating unit, robot can start to work.Wherein, navigation elements are detectable
Barrier situation in working range simultaneously generates static map, with environment change again self-recision at new map and by information
Vehicle Controller is passed to, Vehicle Controller controls driving wheel and moves to feeding position from standby station, after reaching feeding position, driving
Wheel stops working, and navigation elements pass information to Vehicle Controller, Vehicle Controller control lifting executing agency's setting in motion
And feeding operation is completed, Vehicle Controller controls driving wheel and moves to blowing position from standby station later, completes blowing operation.
The high accuracy positioning of the utility model is accomplished in that one is laser range sensor 80 can detect V
Shape support object block with take/blowing interdigit at a distance from, so as to precisely adjust V-arrangement support object block 511 lift height to facilitate feeding
And blowing.The second is navigation elements include optical code readers PGV and laser scanning head 62, wherein in long distance running process
In, using SLAM (positioning and map building) navigation mode of laser scanning head 62, navigation accuracy can reach ± 40mm, such as
This can meet service requirement in workshop, and when laser scanning head 62 detects that robot and target position are closer, robot is cut
Change vision PGV navigation mode into, the optical code readers PGV of Vehicle Controller control at this time starts to work, and PGV passes through a distance
The navigation of (being no more than 500mm), carries out the adjustment of AGV robot pose, and executing precision is the " STOP " movement within ± 1mm.
Claims (10)
1. a kind of full-automatic Roll-material conveying AGV robot, including vehicle frame (10), it is characterised in that: the inside of vehicle frame (10) is equipped with
Vehicle Controller, power unit, vehicle frame (10) are equipped with man-machine interface operating unit (40), lifting executing agency, navigation elements,
The bottom of vehicle frame (10) is equipped with driving wheel；
The Vehicle Controller respectively with power unit, man-machine interface operating unit (40), lifting executing agency, navigation elements,
Driving wheel electrical connection.
2. full-automatic Roll-material conveying AGV robot according to claim 1, it is characterised in that: the power unit includes
Accumulator cell assembly and automatic charge device, accumulator cell assembly are electrically connected with Vehicle Controller, automatic charge device respectively.
3. full-automatic Roll-material conveying AGV robot according to claim 1, it is characterised in that: the man-machine interface operation
Unit (40) includes operation panel (41), operation touch-screen (42) and indicator light (43), man-machine interface operating unit (40) installation
In on the side wall of vehicle frame (10).
4. full-automatic Roll-material conveying AGV robot according to claim 1, it is characterised in that: the lifting executing agency
Including the DC servo motor being electrically connected with the vehicle-mounted controller, the output shaft of DC servo motor is connected with speed reducer, speed reducer
Output end be connected with screw rod (51), screw rod (51) is vertically laid on vehicle frame (10), and the top of screw rod (51) is equipped with V-arrangement support object
Block (511), the lifting executing agency are symmetrical arranged in the arranged on left and right sides of vehicle frame (10).
5. full-automatic Roll-material conveying AGV robot according to claim 4, it is characterised in that: the V-arrangement support object block
(511) it is connected on laser range sensor (80), laser range sensor (80) is electrically connected with the vehicle-mounted controller.
6. full-automatic Roll-material conveying AGV robot according to claim 1, it is characterised in that: the navigation elements include
The optical code readers PGV for being laid in vehicle frame (10) bottom center and two laser being laid in vehicle frame (10) front and rear direction are swept
It retouches head (62), laser scanning head (62) and optical code readers PGV are electrically connected with the vehicle-mounted controller respectively.
7. full-automatic Roll-material conveying AGV robot according to claim 1, it is characterised in that: the driving wheel includes straight
Flow servo motor and the Mecanum wheel being connected with DC servo motor output shaft (71), the power intake of DC servo motor
It is electrically connected with the vehicle-mounted controller.
8. full-automatic Roll-material conveying AGV robot according to claim 7, it is characterised in that: the driving wheel further includes
Speed reducer, the input terminal and output end of speed reducer are connected with the output shaft of DC servo motor, Mecanum wheel (71) respectively；Institute
It states four corners of the driving wheel in vehicle frame (10) bottom symmetrically to lay, vehicle frame (10) is made up of driving wheel and ground and rolls cooperation.
9. full-automatic Roll-material conveying AGV robot according to claim 1, it is characterised in that: further include safeguard protection list
Member, the security protection unit be the touch panel (91) being overhung on vehicle frame (10) two sides and with touch panel (91) disposed adjacent two
A laser scanning head, laser scanning head and touch panel (91) are electrically connected with the vehicle-mounted controller respectively.
10. full-automatic Roll-material conveying AGV robot according to claim 1, it is characterised in that: the vehicle frame (10) is in case
Shelly-shaped, the shell of vehicle frame (10) is by high-tensile structural steel casing play (11) and the metal plate surface layer (12) being covered on casing play (11)
It is combined.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821309786.5U CN208616844U (en) | 2018-08-14 | 2018-08-14 | Full-automatic Roll-material conveying AGV robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821309786.5U CN208616844U (en) | 2018-08-14 | 2018-08-14 | Full-automatic Roll-material conveying AGV robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208616844U true CN208616844U (en) | 2019-03-19 |
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ID=65715641
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821309786.5U Active CN208616844U (en) | 2018-08-14 | 2018-08-14 | Full-automatic Roll-material conveying AGV robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108861514A (en) * | 2018-08-14 | 2018-11-23 | 哈工大机器人（合肥）国际创新研究院 | Full-automatic Roll-material conveying AGV robot and its control method |
| CN110002159A (en) * | 2019-04-09 | 2019-07-12 | 中节能西安启源机电装备有限公司 | A kind of cut-to-length automatic feeding cart system and its control method |
| CN111391938A (en) * | 2020-03-09 | 2020-07-10 | 西安理工大学 | AGV (automatic guided vehicle) for conveying copper foil spools |
| CN111689432A (en) * | 2020-06-08 | 2020-09-22 | 杭州蓝芯科技有限公司 | Automatic feeding system and method for soft package printing equipment |
| CN114355885A (en) * | 2021-12-03 | 2022-04-15 | 中国信息通信研究院 | Cooperative robot carrying system and method based on AGV |
-
2018
- 2018-08-14 CN CN201821309786.5U patent/CN208616844U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108861514A (en) * | 2018-08-14 | 2018-11-23 | 哈工大机器人（合肥）国际创新研究院 | Full-automatic Roll-material conveying AGV robot and its control method |
| CN108861514B (en) * | 2018-08-14 | 2023-08-29 | 合肥哈工图南智控机器人有限公司 | Full-automatic coil stock carrying AGV robot and control method thereof |
| CN110002159A (en) * | 2019-04-09 | 2019-07-12 | 中节能西安启源机电装备有限公司 | A kind of cut-to-length automatic feeding cart system and its control method |
| CN111391938A (en) * | 2020-03-09 | 2020-07-10 | 西安理工大学 | AGV (automatic guided vehicle) for conveying copper foil spools |
| CN111689432A (en) * | 2020-06-08 | 2020-09-22 | 杭州蓝芯科技有限公司 | Automatic feeding system and method for soft package printing equipment |
| CN114355885A (en) * | 2021-12-03 | 2022-04-15 | 中国信息通信研究院 | Cooperative robot carrying system and method based on AGV |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220926 Address after: 236000 room 304, building 3, Zone C, intelligent equipment science and Technology Park, 3963 Susong Road, Hefei Economic and Technological Development Zone, Anhui Province Patentee after: Hefei Hagong Tunan intelligent control robot Co.,Ltd. Address before: Room 6012, Haiheng building, No.6 Cuiwei Road, Hefei Economic and Technological Development Zone, Anhui Province Patentee before: HRG INTERNATIONAL INSTITUTE FOR RESEARCH & INNOVATION |
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| TR01 | Transfer of patent right |