CN211055272U - Automatic AGV dolly of loading and unloading material - Google Patents
Automatic AGV dolly of loading and unloading material Download PDFInfo
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- CN211055272U CN211055272U CN201921871825.5U CN201921871825U CN211055272U CN 211055272 U CN211055272 U CN 211055272U CN 201921871825 U CN201921871825 U CN 201921871825U CN 211055272 U CN211055272 U CN 211055272U
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Abstract
The utility model discloses an automatic AGV dolly of loading and unloading material, including the base, set up in the electronic walking wheel of base bottom, set up controller and power supply in inner chamber of the base, be fixed in multiaxis manipulator, tray frame and the surveillance camera head of base up end, set up the navigation sensor on the base, be fixed in the material identification equipment on the multiaxis manipulator top to and be fixed in the spacing photoelectric sensor on the tray frame. The utility model discloses a multiaxis manipulator realizes auto-control handling, and material identification equipment automatic identification material realizes transporting according to setting for the navigation, has guaranteed the automatic purpose of loading and unloading the material, and the tray frame that sets up can carry out the automatic rising according to spacing photoelectric sensor's acquisition signal, improves the stability that the material was transported greatly.
Description
Technical Field
The utility model relates to a AGV technical field specifically is an automatic AGV dolly of loading and unloading material.
Background
AGV is an abbreviation for Automated Guided Vehicle, i.e., "Automated Guided Vehicle". At present, an AGV is a key device for carrying goods in modern industrial intelligent manufacturing, and the AGV schedules the AGV to carry the goods at a fixed point by a total scheduling system under the ground index navigation and the determination of a space coordinate. The AGV has the working principle that the total control processor receives and processes various sensors and wireless transmission signals and then controls the motor to enable the AGV to accurately convey goods. At present, the AGV trolley is only used as a transportation carrier after being mature in design on how to move, and the loaded goods are assisted by auxiliary tools such as a manual work, a conveying belt, a forklift and a transfer robot to complete the work of loading and unloading materials, so that the cooperation control of the AGV trolley and the conveying belt needs to be accurately debugged, and the space and the efficiency of production and manufacturing are greatly occupied.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide an automatic AGV dolly of loading and unloading material adopts the multiaxis manipulator to realize auto-control handling, and material identification equipment automatic identification material realizes transporting according to setting for the navigation, has guaranteed the automatic purpose of loading and unloading the material.
The technical scheme of the utility model is that:
An AGV trolley capable of automatically loading and unloading materials comprises a base, electric travelling wheels connected to the bottom of the base, a controller and a power supply arranged in an inner cavity of the base, a multi-shaft manipulator fixed on the upper end surface of the base, a tray frame and a monitoring camera, a navigation sensor arranged on the base, material identification equipment fixed on the top end of the multi-shaft manipulator, and a limiting photoelectric sensor fixed on the tray frame; the multi-axis manipulator comprises a turntable, a multi-axis mechanical arm with the bottom end fixed on the turntable and an electric gripper connected to the top end of the multi-axis mechanical arm, the turntable is adjacent to the rear end of the base, and the material identification equipment is fixed on the electric gripper; the monitoring camera is adjacent to the front end of the base, the tray frame is positioned between the monitoring camera and the multi-shaft manipulator, the tray frame comprises a tray body fixed on the upper end surface of the base and two electric lifting limiting rods of which the bottom ends are fixed on the tray body, the two electric lifting limiting rods are fixed at the edge of the tray body and are symmetrical along the central axis of the tray body, and a photoelectric emitter and a photoelectric receiver of a limiting photoelectric sensor are respectively fixed on the tops of the two electric lifting limiting rods and have consistent horizontal height; the driving motor of the electric walking wheel, the driving motor of the monitoring camera, the driving motor of the navigation sensor, the material identification device, the driving motor of the turntable, the driving motor of the multi-shaft mechanical arm, the driving motor of the electric gripper, the driving motor of the electric lifting limiting rod and the limiting photoelectric sensor are all connected with the controller, and the driving motor of the electric walking wheel, the driving motor of the monitoring camera, the navigation sensor, the material identification device, the driving motor of the turntable, the driving motor of the multi-shaft mechanical arm, the driving motor of the electric gripper, the driving motor of the electric lifting limiting rod, the limiting photoelectric sensor and the controller are all connected with the power supply to realize power supply.
The monitoring camera adopts a 360-degree free rotation monitoring camera.
The navigation sensor comprises a gyroscope sensor and a magnetic navigation sensor which are fixed on the base, ultrasonic sensing modules which are fixed on two opposite side surfaces of the base and an infrared obstacle avoidance sensor which is fixed on the front side surface of the base.
The material identification equipment is two-dimensional code identification equipment, RFID identification equipment or NFC identification equipment.
The multi-axis mechanical arm is a three-axis mechanical arm.
The controller including STM32 singlechip, the wiFi wireless communication module of being connected with STM32 singlechip, driving motor, surveillance camera head, navigation sensor, material identification equipment, the driving motor of carousel, multiaxis robotic arm's driving motor, the driving motor of electronic tongs, the driving motor of electric lift gag lever post, spacing photoelectric sensor all be connected with the pin that the STM32 singlechip corresponds.
The power supply comprises a lithium battery, a charger and a power supply conversion module, wherein the charger and the power supply conversion module are respectively connected with the lithium battery, and a driving motor of the electric walking wheel, a monitoring camera, a navigation sensor, material identification equipment, a driving motor of the turntable, a driving motor of the multi-shaft mechanical arm, a driving motor of the electric gripper, a driving motor of the electric lifting limiting rod, a limiting photoelectric sensor and a controller are all connected with a power output end of the power supply conversion module.
The rotary table is a 90-degree rotary table.
The utility model has the advantages that:
The utility model discloses a multiaxis manipulator can be controlled according to setting for and realize that the material snatchs, and the material snatchs simultaneously through material identification equipment automatic identification material information to realize transporting according to the navigation of setting for that material information corresponds, and multiaxis manipulator controls according to setting for after arriving the transportation destination and realizes the material uninstallation, and whole handling process is quick accurate; the multi-shaft manipulator of the utility model consists of a turntable, a multi-shaft manipulator arm and an electric gripper, and can realize the steps of steering, lifting and electric gripping, thereby greatly improving the efficiency of material loading and unloading; the utility model discloses be provided with the tray frame, the material that snatchs is steadily placed on the tray frame, and two electric lifting type gag lever posts of tray frame can carry out the automatic rising according to the height of material, guarantees that the material is arranged in all the time between two electric lifting type gag lever posts, improves the stability that the material was transported greatly.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a block diagram of the control principle of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1 and 2, an AGV cart capable of automatically loading and unloading materials comprises a base 1, electric traveling wheels 2 (mecanum wheels) connected to the bottom of the base 1, a controller 3 and a power supply 4 arranged in an inner cavity of the base 1, a three-axis manipulator fixed on the upper end surface of the base 1, a tray frame and a 360-degree free rotation monitoring camera 5, a navigation sensor 13 arranged on the base 1, a material recognition device 6 fixed on the top end of the multi-axis manipulator, and a limit photoelectric sensor 12 fixed on the tray frame;
The three-axis manipulator comprises a 90-degree turntable 7, a three-axis manipulator arm 8 with the bottom end fixed on the 90-degree turntable 7 and an electric gripper 9 connected to the top end of the three-axis manipulator arm 8, the 90-degree turntable 7 is adjacent to the rear end of the base 1, and the material identification device 6 is fixed on the electric gripper 9;
The automatic monitoring device comprises a 360-degree free rotation monitoring camera 5, a tray frame, a multi-shaft manipulator and a photoelectric sensor, wherein the 360-degree free rotation monitoring camera 5 is adjacent to the front end of a base 1, the tray frame is located between the 360-degree free rotation monitoring camera 5 and the multi-shaft manipulator, the tray frame comprises a tray body 10 fixed on the upper end face of the base 1 and two electric lifting limiting rods 11 of which the bottom ends are fixed on the tray body 10, the two electric lifting limiting rods 11 are fixed at the edge of the tray body 10 and are symmetrical along the central axis of the tray body 10, and a photoelectric transmitter and a photoelectric receiver of a limiting photoelectric sensor 12 are respectively fixed on the tops of the two electric lifting limiting rods;
The controller 3 comprises a WiFi wireless communication module 32 connected with an STM32 single chip microcomputer 31, a driving motor of an electric walking wheel 2, a 360-degree free rotation monitoring camera 5, a navigation sensor 13, a material identification device 6, a driving motor of a 90-degree turntable 7, a driving motor of a three-axis mechanical arm 8, a driving motor of an electric gripper 9, a driving motor of an electric lifting limiting rod 11 and a limiting photoelectric sensor 12 are all connected with pins corresponding to the STM32 single chip microcomputer 31, a power supply 4 comprises a lithium battery, a charger and a power supply conversion module which are respectively connected with the lithium battery, a driving motor of the electric walking wheel 2, a 360-degree free rotation monitoring camera 5, a navigation sensor 13, a material identification device 6, a driving motor of a 90-degree turntable 7, a driving motor of a three-axis mechanical arm 8, a driving motor of the electric gripper 9, a driving motor of the electric lifting limiting rod 11, The limit photoelectric sensor 12 and the controller 3 are both connected with the power output end of the power conversion module.
The navigation sensor 13 comprises a gyroscope sensor and a magnetic navigation sensor which are fixed on the base 1, ultrasonic sensing modules which are fixed on two opposite side surfaces of the base 1 and an infrared obstacle avoidance sensor which is fixed on the front side surface of the base 1; the material identification equipment 6 selects two-dimension code identification equipment, RFID identification equipment or NFC identification equipment, and two-dimension code labels, RFID labels or NFC identification cards are correspondingly adhered to the materials and used for identifying material information.
The utility model discloses a theory of operation:
Firstly, the controller 3 controls the traveling wheels 2 according to the acquisition signals of the navigation sensor 13 to move the AGV to a loading station, then the controller 3 controls the three-axis manipulator to grab the materials onto the tray body 10 according to the set control steps, when the limit photoelectric sensor 12 senses the materials, the height of the materials is higher than that of the electric lifting limiting rods 11, then the controller controls the two electric lifting limiting rods 11 to rise simultaneously until the limit photoelectric sensor 12 cannot sense the materials, at the moment, the materials are positioned between the two electric lifting limiting rods 11 to realize the enclosure protection, the three-axis manipulator grabs the materials while the material identification equipment 6 identifies the material information, then the controller controls the AGV to move to an unloading station according to the set navigation route corresponding to the material information, and finally the controller 3 controls the three-axis manipulator to stably place the materials at the unloading station according to the set control steps, namely completing the loading and unloading of the material at one time.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides an automatic AGV dolly of loading and unloading material which characterized in that: the automatic material detection device comprises a base, electric travelling wheels connected to the bottom of the base, a controller and a power supply arranged in an inner cavity of the base, a multi-shaft manipulator, a tray frame and a monitoring camera which are fixed on the upper end surface of the base, a navigation sensor arranged on the base, material identification equipment fixed on the top end of the multi-shaft manipulator, and a limiting photoelectric sensor fixed on the tray frame; the multi-axis manipulator comprises a turntable, a multi-axis mechanical arm with the bottom end fixed on the turntable and an electric gripper connected to the top end of the multi-axis mechanical arm, the turntable is adjacent to the rear end of the base, and the material identification equipment is fixed on the electric gripper; the monitoring camera is adjacent to the front end of the base, the tray frame is positioned between the monitoring camera and the multi-shaft manipulator, the tray frame comprises a tray body fixed on the upper end surface of the base and two electric lifting limiting rods of which the bottom ends are fixed on the tray body, the two electric lifting limiting rods are fixed at the edge of the tray body and are symmetrical along the central axis of the tray body, and a photoelectric emitter and a photoelectric receiver of a limiting photoelectric sensor are respectively fixed on the tops of the two electric lifting limiting rods and have consistent horizontal height; the driving motor of the electric walking wheel, the driving motor of the monitoring camera, the driving motor of the navigation sensor, the material identification device, the driving motor of the turntable, the driving motor of the multi-shaft mechanical arm, the driving motor of the electric gripper, the driving motor of the electric lifting limiting rod and the limiting photoelectric sensor are all connected with the controller, and the driving motor of the electric walking wheel, the driving motor of the monitoring camera, the navigation sensor, the material identification device, the driving motor of the turntable, the driving motor of the multi-shaft mechanical arm, the driving motor of the electric gripper, the driving motor of the electric lifting limiting rod, the limiting photoelectric sensor and the controller are all connected with the power supply to realize power supply.
2. The AGV of claim 1, wherein: the monitoring camera adopts a 360-degree free rotation monitoring camera.
3. The AGV of claim 1, wherein: the navigation sensor comprises a gyroscope sensor and a magnetic navigation sensor which are fixed on the base, ultrasonic sensing modules which are fixed on two opposite side surfaces of the base and an infrared obstacle avoidance sensor which is fixed on the front side surface of the base.
4. The AGV of claim 1, wherein: the material identification equipment is two-dimensional code identification equipment, RFID identification equipment or NFC identification equipment.
5. The AGV of claim 1, wherein: the multi-axis mechanical arm is a three-axis mechanical arm.
6. The AGV of claim 1, wherein: the controller including STM32 singlechip, the wiFi wireless communication module of being connected with STM32 singlechip, driving motor, surveillance camera head, navigation sensor, material identification equipment, the driving motor of carousel, multiaxis robotic arm's driving motor, the driving motor of electronic tongs, the driving motor of electric lift gag lever post, spacing photoelectric sensor all be connected with the pin that the STM32 singlechip corresponds.
7. The AGV of claim 1, wherein: the power supply comprises a lithium battery, a charger and a power supply conversion module, wherein the charger and the power supply conversion module are respectively connected with the lithium battery, and a driving motor of the electric walking wheel, a monitoring camera, a navigation sensor, material identification equipment, a driving motor of the turntable, a driving motor of the multi-shaft mechanical arm, a driving motor of the electric gripper, a driving motor of the electric lifting limiting rod, a limiting photoelectric sensor and a controller are all connected with a power output end of the power supply conversion module.
8. The AGV of claim 1, wherein: the rotary table is a 90-degree rotary table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921871825.5U CN211055272U (en) | 2019-11-02 | 2019-11-02 | Automatic AGV dolly of loading and unloading material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921871825.5U CN211055272U (en) | 2019-11-02 | 2019-11-02 | Automatic AGV dolly of loading and unloading material |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211055272U true CN211055272U (en) | 2020-07-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921871825.5U Expired - Fee Related CN211055272U (en) | 2019-11-02 | 2019-11-02 | Automatic AGV dolly of loading and unloading material |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110667737A (en) * | 2019-11-02 | 2020-01-10 | 蚌埠学院 | Automatic AGV dolly of loading and unloading material |
| CN114476541A (en) * | 2022-01-05 | 2022-05-13 | 天能电池集团(马鞍山)新能源科技有限公司 | Automatic carrying device for battery grading |
-
2019
- 2019-11-02 CN CN201921871825.5U patent/CN211055272U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110667737A (en) * | 2019-11-02 | 2020-01-10 | 蚌埠学院 | Automatic AGV dolly of loading and unloading material |
| CN114476541A (en) * | 2022-01-05 | 2022-05-13 | 天能电池集团(马鞍山)新能源科技有限公司 | Automatic carrying device for battery grading |
| CN114476541B (en) * | 2022-01-05 | 2024-04-02 | 天能电池集团(马鞍山)新能源科技有限公司 | Automatic carrying device for battery grading |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200721 Termination date: 20201102 |
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| CF01 | Termination of patent right due to non-payment of annual fee |