CN211393000U

CN211393000U - Load compound AGV of arm

Info

Publication number: CN211393000U
Application number: CN201922047714.9U
Authority: CN
Inventors: 吕明忠; 李波
Original assignee: Nanjing Omark Robot Technology Co ltd
Current assignee: Nanjing Omark Robot Technology Co ltd
Priority date: 2019-11-25
Filing date: 2019-11-25
Publication date: 2020-09-01
Anticipated expiration: 2029-11-25

Abstract

The utility model belongs to the AGV field, and relates to a composite AGV with mechanical arms, wherein the mechanical arms are arranged on an AGV carrier vehicle, the AGV carrier vehicle is used for replacing the traditional track form, thereby realizing convenient movement of equipment, being applicable to different scenes, having high repeated utilization rate, thereby reducing the cost of equipment investment, comprising an AGV carrier vehicle (2) and a mechanical arm grabbing system (1) arranged on the AGV carrier vehicle (2), the mechanical arm grabbing system (1) comprises a mechanical arm (11), an electric clamping jaw (12), a two-dimensional code reading device (13) and a laser ranging sensor (14), the base of the mechanical arm (11) is arranged on the AGV carrier vehicle (2), the free end of the mechanical arm (11) is provided with an electric clamping jaw (12), electronic clamping jaw (12) are other to be equipped with two-dimensional code reading device (13), laser rangefinder sensor (14) are also established by electronic clamping jaw (12).

Description

Load compound AGV of arm

Technical Field

The utility model belongs to the AGV field relates to a load compound AGV of arm.

Background

Fixed arm working range is limited, and traditional portable arm makes the arm can remove in certain extent with the help of the track usually, has increased the working range of arm, nevertheless because of the track need be laid on ground, this also leads to traditional portable arm to need occupy great ground space, and its range of movement also receives orbital restriction simultaneously, can only be applied to single removal route, and is not flexible enough.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem, the utility model provides a load compound AGV of arm sets up the arm on AGV carrier car, replaces traditional track form with AGV carrier car, has realized that equipment is convenient for remove, can use with different scenes, reuse rate is high to the cost that equipment drops into has been reduced.

For solving the technical problem, the utility model discloses the technical scheme who adopts does: the utility model provides a load compound AGV of arm, includes AGV carrier vehicle and establishes the arm grasping system on AGV carrier vehicle, the arm grasping system includes arm, electronic clamping jaw, two-dimensional code reading device and laser ranging sensor, the pedestal mounting of arm is on AGV carrier vehicle, install electronic clamping jaw on the free end of arm, the other two-dimensional code reading device that is equipped with of electronic clamping jaw, laser ranging sensor also establishes by electronic clamping jaw.

Preferably, AGV carrier car keeps away barrier sensor and two-dimensional code navigation orientation module including automobile body, wheel, laser, the wheel is installed in the automobile body bottom, the laser is kept away the barrier sensor and is established the edge at the automobile body, two-dimensional code navigation orientation module installs in the automobile body bottom.

Preferably, the vehicle body further comprises a safety touch edge which is arranged at the bottom edge of the vehicle body.

Preferably, the vehicle further comprises an automatic charging assembly, and the automatic charging assembly is mounted at the bottom of the vehicle body.

Preferably, the automatic charging assembly comprises an electrode block and an electric push rod, one end of the electric push rod is connected with the bottom of the vehicle body, and the other end of the electric push rod is connected with the electrode block.

Preferably, the safety touch edge is an elastic anti-collision strip.

The utility model discloses the beneficial effect who reaches: the utility model adopts AGV to replace the track of traditional mobile mechanical arm, reduces the construction to the ground, saves space, and has flexible and changeable movement route; mecanum wheels can be used as driving wheels, and four Mecanum wheels are independently controlled, so that the AGV can realize actions such as forward and backward straight movement, left and right transverse movement, zero-radius in-situ rotation and the like, can realize flexible transportation in a narrow passageway, and greatly increases the working range and flexibility of the mechanical arm; the precise positioning of the target grabbing object is realized through the two-dimensional code and the laser ranging sensor, and the positioning precision is high and reliable; the non-contact detection of the barrier can be realized through 2 laser obstacle avoidance sensors arranged at opposite angles, the contact detection of the barrier is realized through 2 safe contact edges arranged in the front and back, the two sensors are combined with stroke dual protection, and the safety and the reliability are greatly improved.

Drawings

FIG. 1 is a schematic diagram of a composite AGV with a robotic arm according to the present invention;

fig. 2 is a schematic structural view of the robot arm loaded with the robot arm of the present invention;

FIG. 3 is a schematic diagram of an AGV carrier vehicle of the present invention with a composite AGV carrying a robotic arm;

FIG. 4 is a schematic bottom view of the AGV carrier vehicle of the present invention with a composite AGV having a robot arm;

fig. 5 is a schematic bottom structure diagram of the AGV carrier vehicle of the composite AGV with mechanical arm of the present invention.

Description of the drawings: 1. mechanical arm grasping system, 2, AGV carrier car, 11, mechanical arm, 12, electronic clamping jaw, 13, two-dimensional code reading device, 14, laser ranging sensor, 21, automobile body, 22, wheel, 211, laser obstacle avoidance sensor, 212, safe touch edge, 214, automatic charging assembly, 2141, electric putter, 2142, electrode block, 2143, electrode plate.

Detailed Description

The present invention will be further described with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.

As shown in fig. 1, a composite AGV loaded with a mechanical arm includes an AGV carrier vehicle 2 and a mechanical arm grasping system 1 provided on the AGV carrier vehicle 2.

As shown in fig. 2, the mechanical arm grasping system 1 includes a mechanical arm 11, an electric clamping jaw 12 disposed at a free end of the mechanical arm 11, a two-dimensional code reading device 13 disposed at one side of the electric clamping jaw 12, and a laser ranging sensor 14 disposed at one side of the electric clamping jaw 12 and arranged in parallel with the two-dimensional code reading device 13, wherein the two-dimensional code reading device 13 at the free end of the mechanical arm is used for reading a two-dimensional identification code on a target grasping object and obtaining an accurate position of the target grasping object, the laser ranging device 14 at the end of the mechanical arm is used for measuring a distance from the electric clamping jaw 12 to the target grasping object, and the mechanical arm grasping system realizes accurate positioning of the target object through information obtained by the two-dimensional code reading device 13 and.

As shown in fig. 3 and 4, the AGV carrier vehicle 2 includes a vehicle body 21, wheels 22 disposed at the bottom of the vehicle body 21, a laser obstacle avoidance sensor 211 is disposed at a diagonal of the vehicle body 21 for detecting an obstacle on a running path, after the obstacle is detected, the AGV gives an alarm, decelerates, stops suddenly, and avoids the obstacle, a safety contact edge 212 is disposed in a front-back direction of the vehicle body 21, when the safety contact edge 212 touches the obstacle, the AGV stops suddenly, a two-dimensional code navigation positioning system 213 and an automatic charging assembly 214 are disposed at the bottom of the vehicle body 21, the two-dimensional code navigation positioning system 213 reads two-dimensional codes spaced on the ground, the position and posture information of the AGV can be obtained, and the AGV can realize autonomous navigation and accurate positioning according to the obtained.

As shown in fig. 5, after the AGV is moved to the charging position, the electric push rod 2141 of the automatic charging assembly 214 pushes the electrode block 2142 connected to the battery charging port downward, so that the electrode block 2142 is connected to the electrode plate 2143 disposed on the ground and connected to the charger, and the charger charges the battery.

The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims

1. The utility model provides a load compound AGV of arm which characterized in that: include AGV carrier car (2) and establish arm grasping system (1) on AGV carrier car (2), the arm grasping system (1) includes arm (11), electronic clamping jaw (12), two-dimensional code reading device (13) and laser ranging sensor (14), the pedestal mounting of arm (11) is on AGV carrier car (2), install electronic clamping jaw (12) on the free end of arm (11), electronic clamping jaw (12) other is equipped with two-dimensional code reading device (13), laser ranging sensor (14) are also established by electronic clamping jaw (12).

2. A composite AGV loaded robotic arm according to claim 1, wherein: AGV carrier car (2) keep away barrier sensor (211) and two-dimensional code navigation orientation module (23) including automobile body (21), wheel (22), laser, wheel (22) are installed in automobile body (21) bottom, laser is kept away barrier sensor (211) and is established the edge department at automobile body (21), two-dimensional code navigation orientation module (23) are installed in automobile body (21) bottom.

3. A composite AGV loaded robotic arm according to claim 2, characterised in that: the safety device also comprises a safety contact edge (212), wherein the safety contact edge (212) is arranged at the bottom edge of the vehicle body (21).

4. A composite AGV loaded robotic arm according to claim 3, characterised in that: the automatic charging device further comprises an automatic charging assembly (24), and the automatic charging assembly (24) is installed at the bottom of the vehicle body (21).

5. A composite AGV according to claim 4, including: the automatic charging assembly (24) comprises an electrode block (2142) and an electric push rod (2141), one end of the electric push rod (2141) is connected with the bottom of the vehicle body (21), and the other end of the electric push rod is connected with the electrode block (2142).

6. A composite AGV loaded robotic arm according to claim 3, characterised in that: the safety contact edge (212) is an elastic anti-collision strip.