CN211928440U

CN211928440U - Automatic AGV transport navigation positioning device of mill

Info

Publication number: CN211928440U
Application number: CN202021058056.XU
Authority: CN
Inventors: 崔伟; 陈涛; 张鹏; 金明
Original assignee: Shandong Kuangwei Information Technology Co ltd
Current assignee: Shandong Kuangwei Information Technology Co ltd
Priority date: 2020-06-10
Filing date: 2020-06-10
Publication date: 2020-11-13
Anticipated expiration: 2030-06-10

Abstract

The utility model discloses an automatic AGV transport navigation positioning device of mill, including the chassis, the first motor of bottom intermediate position fixedly connected with of chassis, and the output shaft of first motor runs through the bottom of chassis and extends to the top side, the output shaft fixedly connected with of first motor supports the base, the lateral wall of supporting the base rotates and is connected with first support frame, the lateral wall fixedly connected with second motor of first support frame. The utility model discloses in, because be equipped with the AGV control box on the chassis of this equipment, consequently this equipment is based on local AGV's SLAM safety navigation, combine the line production task of mill, information such as upper software platform to all AGV's that insert the platform real-time station, operating condition, equipment state carry out distributed intelligent scheduling, the utilization ratio of AGV equipment of maximum efficiency performance mill, indoor location combines the inside mode that combines together from taking laser scanning map navigation of UWB + SLAM, realize robot AGV automatic operation.

Description

Automatic AGV transport navigation positioning device of mill

Technical Field

The utility model relates to an automatic transport field especially relates to an automatic AGV transport navigation positioning device of mill.

Background

The AGV equipment is provided with an electromagnetic or optical automatic guiding device, can run along a specified guiding path, has safety protection and various transfer functions, does not need a carrying vehicle of a driver in industrial application, takes a rechargeable storage battery as a power source, can generally control a running route and behaviors thereof through a computer, or establishes the running route by utilizing an electromagnetic track, the electromagnetic track is adhered to a floor, and an unmanned carrying vehicle moves and acts by depending on information brought by the electromagnetic track;

at present, most of the existing conveying robots used in factories can only be fixed at a certain position for assisting in manual conveying, and the robots are difficult to completely replace manual conveying, so that the working efficiency is difficult to further improve.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the shortcoming that exists among the prior art, and the automatic AGV transport navigation positioning device of mill that provides.

In order to achieve the above purpose, the utility model adopts the following technical scheme: the utility model provides an automatic AGV transport navigation positioning device of mill, includes the chassis, the bottom intermediate position fixedly connected with first motor of chassis, and the output shaft of first motor runs through the bottom of chassis and extends to the top side, the output shaft fixedly connected with of first motor supports the base, the lateral wall of supporting the base rotates and is connected with first support frame, the lateral wall fixedly connected with second motor of first support frame, and fixedly connected between the output shaft of second motor and the support base, the top side of first support frame rotates and is connected with the second support frame, the lateral wall top side fixedly connected with third motor of second support frame, and fixedly connected between the output shaft of third motor and the second support frame, the lateral wall top side fixedly connected with fourth motor of second support frame, the output shaft fixedly connected with third support frame of fourth motor, and rotate between third support frame and the second support frame and be connected, the top side edge fixedly connected with fixation clamp hand of third support frame, the top side of third support frame is close to one side of fixation clamp hand and has seted up spacing spout, spacing spout embedding is connected with the removal clamp hand, one side that the top of chassis is close to the support base is provided with the AGV control box.

As a further description of the above technical solution:

the bottom of the bottom frame is provided with a driving wheel.

As a further description of the above technical solution:

the position fixedly connected with that the top side surface of the third support frame is close to the fixed clamping hand drives a cylinder, and the piston end of the driving cylinder penetrates through the outer surface of the third support frame and extends to the inner side of the limiting sliding groove, and the piston end of the driving cylinder is fixedly connected with the movable clamping hand.

As a further description of the above technical solution:

and a camera is fixedly connected to one side of the outer surface of the fixed clamping hand, which is far away from the movable clamping hand.

As a further description of the above technical solution:

and the movable clamping hand and the fixed clamping hand are close to a common fixedly connected telescopic cover of the limiting sliding groove.

As a further description of the above technical solution:

AGV control box and camera, first motor, second motor, third motor, fourth motor, drive equal electric connection between actuating cylinder, the action wheel.

The utility model discloses following beneficial effect has:

1. this automatic AGV transport navigation positioning device of mill, because be equipped with the AGV control box on the chassis of this equipment, consequently this equipment is based on local AGV's SLAM safety navigation, combine the line production task of mill, upper software platform is to all the AGV's that insert the platform real-time station, operating condition, information such as equipment state carries out distributed intelligent scheduling, the utilization ratio of AGV equipment of maximum efficiency performance mill, indoor location combines the inside mode that combines together of taking laser scanning map navigation certainly of UWB + SLAM, realize the automatic operation of robot AGV.

2. The navigation and positioning device for automatic AGV transportation in a factory is characterized in that the AGV control box is controlled by an upper software platform and moves through a traveling wheel according to a specified route, a support base is driven by a first motor to rotate so that a clamping hand of the equipment can adjust the position in the horizontal direction, a first support frame, a second support frame and a third support frame are respectively driven by a second motor, a third motor and a fourth motor to rotate so that the height and the angle of the clamping hand can be adjusted to be beneficial to aligning a workpiece to be clamped, after the clamping hand is completely aligned with the workpiece through the assistance of a camera, the movable clamping hand is driven by a driving cylinder to move towards a fixed clamping hand at a limiting sliding groove so as to enable the equipment to clamp the workpiece, then the equipment completes the transportation of the workpiece through the traveling wheel according to the specified route again, and the navigation and positioning device is very convenient to completely replace manpower, thereby being convenient for improving the working efficiency.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic side view of the present invention;

fig. 3 is a schematic structural diagram of a position a of the present invention.

Illustration of the drawings: 1. a chassis; 2. a first motor; 3. a support base; 4. a running wheel; 5. a second motor; 6. a first support frame; 7. a third motor; 8. a second support frame; 9. a fourth motor; 10. a third support frame; 11. moving the clamping hands; 12. an AGV control box; 13. fixing the clamping hands; 14. a driving cylinder; 15. a camera; 16. a telescopic cover; 17. and a limiting sliding groove.

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.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and furthermore, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1-3, the present invention provides an embodiment: a factory automation AGV carrying navigation positioning device comprises a chassis 1, a first motor 2 is fixedly connected to the middle position of the bottom end of the chassis 1, an output shaft of the first motor 2 penetrates through the bottom end of the chassis 1 and extends to the top side, a supporting base 3 is fixedly connected to the output shaft of the first motor 2, a first supporting frame 6 is rotatably connected to the outer side wall of the supporting base 3, a second motor 5 is fixedly connected to the outer side wall of the first supporting frame 6, the output shaft of the second motor 5 is fixedly connected with the supporting base 3, a second supporting frame 8 is rotatably connected to the top side of the first supporting frame 6, a third motor 7 is fixedly connected to the top side of the outer side wall of the second supporting frame 8, the output shaft of the third motor 7 is fixedly connected with the second supporting frame 8, a fourth motor 9 is fixedly connected to the top side of the outer side wall of the second supporting frame 8, and a third supporting frame, and rotate between third support frame 10 and the second support frame 8 and be connected, the top side edge fixedly connected with fixed tong 13 of third support frame 10, spacing spout 17 has been seted up to the one side that the top side of third support frame 10 is close to fixed tong 13, and spacing spout 17 embedding is connected with and removes tong 11, and the one side that the top of chassis 1 is close to support base 3 is provided with AGV control box 12.

The bottom end of the underframe 1 is provided with a driving wheel 4, which is convenient for completing the integral movement of the device; a driving cylinder 14 is fixedly connected to the position, close to the fixed clamping jaw 13, of the outer surface of the top side of the third support frame 10, a piston end of the driving cylinder 14 penetrates through the outer surface of the third support frame 10 and extends to the inner side of the limiting sliding groove 17, and the piston end of the driving cylinder 14 is fixedly connected with the movable clamping jaw 11, so that the position of the movable clamping jaw 11 can be conveniently adjusted; a camera 15 is fixedly connected to one side of the outer surface of the fixed clamping hand 13, which is far away from the movable clamping hand 11, so that the auxiliary clamping hand can be conveniently aligned to a workpiece; a telescopic cover 16 is fixedly connected to the movable clamping hand 11 and the fixed clamping hand 13 close to the limiting sliding groove 17, so that clamped workpieces are prevented from being embedded into the limiting sliding groove 17; AGV control box 12 and camera 15, first motor 2, second motor 5, third motor 7, fourth motor 9, drive actuating cylinder 14, all electric connection between action wheel 4, the operation of each electronic parts is controlled according to the control of upper software platform to the AGV control box 12 of being convenient for.

The working principle is as follows: when the navigation and positioning device for automatic AGV transportation in a factory is used, because the underframe 1 of the device is provided with the AGV control box 12, the device performs distributed intelligent scheduling on the information of real-time station positions, whether working state working tasks are saturated, whether equipment state equipment is normal, shutdown, maintenance and the like of all AGV connected to a platform based on local AGV SLAM safety navigation and combined with factory line production tasks, the utilization rate of the AGV equipment in the factory is exerted to the maximum efficiency, indoor positioning is combined with a combined mode of centimeter level + SLAM internal self-carrying laser scanning map navigation, automatic operation of the AGV of a robot is realized, the AGV control box 12 completes movement through the traveling wheels 4 according to a specified route and the control of the upper software platform, the support base 3 is driven by the first motor 2 to complete rotation so as to facilitate the clamping hands of the device to adjust the position in the horizontal direction, through the second motor 5, the third motor 7, the fourth motor 9 drives first support frame 6 respectively, the second support frame 8, the rotation of third support frame 10, so that this tong height-adjusting and angle, be favorable to aliging the work piece that needs the centre gripping, after the tong aimed at the work piece completely through camera 15's assistance, drive removal tong 11 and remove to fixed tong 13 department at spacing spout 17 through driving actuating cylinder 14, so that make the completion of equipment press from both sides the clamp to the work piece, then equipment passes through action wheel 4 completion to the transport of work piece according to the route of regulation once more, and is very convenient, so as to do benefit to comparatively thorough replacement manpower, and then be convenient for promote work efficiency, have certain practicality.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and variations can be made in the embodiments or in part of the technical features of the embodiments without departing from the spirit and the principles of the present invention.

Claims

1. The utility model provides an automatic AGV transport navigation positioning device of mill, includes chassis (1), its characterized in that: a first motor (2) is fixedly connected to the middle position of the bottom end of the bottom frame (1), an output shaft of the first motor (2) penetrates through the bottom end of the bottom frame (1) and extends to the top side, a supporting base (3) is fixedly connected to the output shaft of the first motor (2), a first supporting frame (6) is rotatably connected to the outer side wall of the supporting base (3), a second motor (5) is fixedly connected to the outer side wall of the first supporting frame (6), the output shaft of the second motor (5) is fixedly connected with the supporting base (3), a second supporting frame (8) is rotatably connected to the top side of the first supporting frame (6), a third motor (7) is fixedly connected to the top side of the outer side wall of the second supporting frame (8), the output shaft of the third motor (7) is fixedly connected with the second supporting frame (8), a fourth motor (9) is fixedly connected to the top side of the outer side wall of the second supporting frame, output shaft fixedly connected with third support frame (10) of fourth motor (9), and rotate between third support frame (10) and second support frame (8) and be connected, the top side edge fixedly connected with fixation clamp hand (13) of third support frame (10), spacing spout (17) have been seted up to one side that the top side of third support frame (10) is close to fixation clamp hand (13), spacing spout (17) embedding is connected with removal clamp hand (11), one side that the top of chassis (1) is close to support base (3) is provided with AGV control box (12).

2. The automated AGV transport navigation positioner of claim 1, wherein: the bottom end of the underframe (1) is provided with a driving wheel (4).

3. The automated AGV transport navigation positioner of claim 1, wherein: the position fixedly connected with that the top side surface of third support frame (10) is close to fixed tong (13) drives actuating cylinder (14), and the surface that drives actuating cylinder (14) runs through third support frame (10) extends to the inboard of spacing spout (17), drive the piston end of actuating cylinder (14) and remove between tong (11) fixed connection.

4. The automated AGV transport navigation positioner of claim 1, wherein: the outer surface of the fixed tong (13) is fixedly connected with a camera (15) at one side far away from the movable tong (11).

5. The automated AGV transport navigation positioner of claim 1, wherein: and the movable clamping hand (11) and the fixed clamping hand (13) are close to a common fixedly connected telescopic cover (16) of the limiting sliding groove (17).

6. The automated AGV transport navigation positioner of claim 1, wherein: AGV control box (12) and camera (15), first motor (2), second motor (5), third motor (7), fourth motor (9), drive actuating cylinder (14), equal electric connection between action wheel (4).