CN213325541U - AGV trolley capable of automatically selecting and grabbing materials - Google Patents
AGV trolley capable of automatically selecting and grabbing materials Download PDFInfo
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- CN213325541U CN213325541U CN202021557914.5U CN202021557914U CN213325541U CN 213325541 U CN213325541 U CN 213325541U CN 202021557914 U CN202021557914 U CN 202021557914U CN 213325541 U CN213325541 U CN 213325541U
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- 239000000463 material Substances 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 238000012937 correction Methods 0.000 claims abstract description 12
- 238000005259 measurement Methods 0.000 claims abstract description 9
- 230000035939 shock Effects 0.000 claims abstract description 5
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 4
- 238000013016 damping Methods 0.000 abstract description 4
- 210000001503 joint Anatomy 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000703 anti-shock Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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Abstract
The utility model discloses a can select AGV dolly of snatching material automatically, it includes the AVG automobile body, sets up on the AVG automobile body and carries out the grabbing device of material loading unloading with the material, sets up safety sensor on four right angles of AVG automobile body periphery, sets up at the safe edge of touching of AVG automobile body bottom periphery, vertically set up in AVG automobile body bottom and the drive arrangement that is parallel to each other, set up at the drive arrangement both ends and receive the damping universal wheel that the drive arrangement drive was removed, set up the location correction device in the middle of AVG automobile body bottom, set up at AVG automobile body bottom one side and when the AGV automobile body idle automatic charging's charging device, set up the vehicle event data recorder in the vertical top both sides of AVG automobile body. The utility model, by arranging the vision acquisition mechanism and the inertia measurement sensor, not only improves the positioning accuracy and error correction capability of the AVG, but also has high universality; the safety protection level is improved by arranging the safety sensor and the safety contact edge; through setting up the shock attenuation universal wheel, improved shock-absorbing function.
Description
[ technical field ] A method for producing a semiconductor device
The utility model belongs to the technical field of the AGV, especially, relate to a can select AGV dolly that snatchs material automatically.
[ background of the invention ]
In modern mechanical industry, various kinds of batch automatic production is carried out by automatic machines such as a program control machine tool, a numerical control machine tool, a machining center and the like, but the production of machining, assembly and the like is discontinuous. In addition to the cutting process itself, there are a lot of operations such as handling, carrying, and assembling, and further mechanization is to be achieved. Most of transfer robots in the market can not autonomously transfer objects, and need to be matched with robots at fixed positions, and the process needs two systems to cooperate, so that unstable factors are increased. When transporting a plurality of different target objects simultaneously, can't differentiate object size and shape, the target object problem is snatched to the mistake that easily appears, and causes the damage to the object of snatching easily, needs to transport one by one at the in-process of snatching moreover, transports efficiency ten minutes lowly. The existing transfer robot is simple in structure, poor in anti-shock capability after passing the ridge, poor in positioning accuracy and full of limitation in butt joint with different equipment.
Therefore, there is a need to provide a new AGV that can automatically pick and grab materials to solve the above problems.
[ Utility model ] content
The utility model mainly aims at providing an AGV trolley capable of automatically selecting and grabbing materials, which can effectively solve the problem of good over-threshold shock-absorbing capability, adopts a two-dimensional code and inertial navigation combination mode to improve the positioning precision and error correction capability of the AGV and can be butted with various devices simultaneously; the safety sensor is combined with the safety contact edge, so that the safety protection level is improved.
The utility model discloses a following technical scheme realizes above-mentioned purpose: it includes the AVG automobile body, sets up on the AVG automobile body and carry out material loading unloading grabbing device, setting with the material and be in safety inductor on four right angles in AVG automobile body periphery, setting are in the safe limit of touching of AVG automobile body bottom periphery, vertically set up in the AVG automobile body bottom and drive arrangement, the setting that is parallel to each other are in the drive arrangement both ends and receive the drive arrangement drive carries out the shock attenuation universal wheel that removes, sets up in the middle of the AVG automobile body bottom and with its location correction device, the setting that fixes a position and correct the error AVG automobile body bottom one side and work as automatic charging's charging device, the setting are in when the AVG automobile body is idle the vehicle event data recorder of the vertical top both sides of AVG automobile body.
Furthermore, the AVG automobile body includes bottom plate, work panel, is used for supporting the bottom plate with the support column of work panel, still be provided with the material rack that can place the material on the work panel.
Furthermore, the grabbing device comprises a base fixedly arranged at one end of the working panel, a first connecting arm hinged to the base, a second connecting arm hinged to the third connecting arm and having one end hinged to the first connecting arm and the other end hinged to the third connecting arm, an electric gripper arranged at the tail end of the third connecting arm, and a first vision acquisition mechanism fixedly arranged on the third connecting arm and located on one side of the electric gripper.
Furthermore, the driving device comprises a servo motor, a speed reducer connected with the output end of the servo motor, and a driving wheel movably connected with the output end of the speed reducer.
Furthermore, the device is corrected including the second vision collection mechanism that can effectively discern the two-dimensional code fast, set up second vision collection mechanism one side just is used for detecting AGV speed and directional inertial measurement sensor.
Furthermore, the system also comprises a PIO, and the PIO reads and exchanges data through an instruction transmitted by the port.
Compared with the prior art, the utility model relates to a can select AGV dolly of snatching material automatically beneficial effect lies in: by arranging the visual acquisition mechanism and the inertial measurement sensor, the positioning accuracy and the error correction capability of the AVG are improved, and the universality of butt joint with different devices is met; the safety protection level is greatly improved by arranging the safety sensor and the safety contact edge; through setting up the shock attenuation universal wheel, improved shock-absorbing function greatly.
[ description of the drawings ]
Fig. 1 is a schematic structural diagram of an embodiment of the present invention;
fig. 2 is a schematic view of a back structure of an embodiment of the present invention;
FIG. 3 is a schematic bottom structure diagram in an embodiment of the present invention;
the figures in the drawings represent:
100, an AGV trolley capable of automatically selecting and grabbing materials;
1AVG vehicle body; 11 a base plate; 12 a working panel; 13 placing a material rack; 2, a grabbing device; 21 a base; 22 a first connecting arm; 23 a second connecting arm; 24 a third connecting arm; 25 electric gripper; 26 a first vision collection mechanism; 3, a safety sensor; 4, safe edge contact; 5 a drive device; 51 a servo motor; a 52 speed reducer; 53 driving wheels; 6 damping universal wheels; 7 positioning and correcting the device; 71 a second vision acquisition mechanism; 72 an inertial measurement sensor; 8 a charging device; 9, a vehicle event data recorder; 10 PIO.
[ detailed description ] embodiments
Example (b):
referring to fig. 1 to 3, the AGV cart 100 capable of automatically picking and grabbing materials in this embodiment includes an AVG body 1, a grabbing device 2 disposed on the AVG body 1 and used for feeding and discharging materials, safety sensors 3 disposed on four right angles of the periphery of the AVG body 1, a safety contact edge 4 disposed on the periphery of the bottom of the AVG body, driving devices 5 longitudinally disposed in the bottom of the AVG body and parallel to each other, damping universal wheels 6 disposed at two ends of the driving devices 5 and driven by the driving devices 5 to move 360 degrees, a positioning and correcting device 7 disposed in the middle of the bottom of the AVG body 1 and used for positioning and correcting the AVG body, a charging device 8 disposed on one side of the bottom of the AVG body 1 and automatically charging when the AGV body 1 is idle, and a driving recorder 9 disposed on two sides of the top of the AVG body.
The AVG vehicle body 1 comprises a bottom plate 11, a working panel 12 and a supporting column 13 for supporting the bottom plate 11 and the working panel 12, and the working panel 12 is further provided with a material placing rack 13 capable of placing materials.
The grabbing device 2 comprises a base 21 fixedly arranged at one end of the working panel 12, a first connecting arm 22 hinged to the base 21, a second connecting arm 23 with one end hinged to the first connecting arm 22 and the other end hinged to a third connecting arm 24, an electric gripper 25 arranged at the tail end of the third connecting arm 24, and a first vision acquisition mechanism 26 fixedly arranged on the third connecting arm 24 and located on one side of the electric gripper 25. When transporting multiple objects simultaneously, first vision acquisition mechanism 26 carries out information acquisition, analysis and differentiation to the target object, improves the accuracy that electric gripper 25 was taking the target object greatly.
The driving device 5 comprises a servo motor 51, a speed reducer 52 connected with the output end of the servo motor 51, and a driving wheel 53 movably connected with the output end of the speed reducer 52. The driving device 5 drives the AVG vehicle body to perform horizontal linear motion.
The positioning correction device 7 comprises a second vision acquisition mechanism 71 capable of rapidly and effectively identifying the two-dimensional code, and an inertial measurement sensor 72 arranged on one side of the second vision acquisition mechanism 71 and used for detecting the speed and orientation of the AGV. The positioning correction device 7 realizes the height positioning precision and the error correction capability of the AGV by matching the two-dimensional code scanned and identified by the second vision acquisition mechanism 71 with the inertial measurement sensor 72.
The embodiment also comprises a PIO10, wherein the PIO10 reads data through an instruction transmitted from the port, then transmits the data to the AVG, and finally finishes the material grabbing action of the AVG.
In the AGV trolley 100 capable of automatically picking and grabbing materials, an AVG receives a signal instruction transmitted by a PIO (particle image analyzer) through the AVG, the AVG drives a damping universal wheel 6 to move to an appointed code shooting position through a driving device 5, a two-dimensional code of equipment is scanned through a second vision acquisition mechanism 71 of a positioning correction device 7 for identification and positioning, then an inertia measurement sensor 72 detects the movement speed of the AVG and corrects displacement deviation, in the operation process of the AVG, a safety sensor 3 senses surrounding obstacles, and when the obstacles touch a safety touch edge 4, the safety touch edge 4 is pressed and transmits a signal to a power source to stop the movement of the parts; after the positioning is completed, the gripping device 2 is identified and analyzed by the first vision collecting mechanism 26, and the electric gripper 25 grips the material on the equipment to complete the feeding and discharging gripping of the material.
According to the AGV trolley 100 capable of automatically picking and grabbing materials, due to the arrangement of the visual acquisition mechanism and the inertial measurement sensor, the positioning accuracy and the error correction capability of the AVG are improved, and the universality of butt joint with different devices is met; the safety protection level is greatly improved by arranging the safety sensor and the safety contact edge; through setting up the shock attenuation universal wheel, improved shock-absorbing function greatly.
What has been described above are only some embodiments of the invention. For those skilled in the art, without departing from the inventive concept, several modifications and improvements can be made, which are within the scope of the invention.
Claims (6)
1. The utility model provides a can select AGV dolly of snatching material automatically which characterized in that: it includes the AVG automobile body, sets up on the AVG automobile body and carry out material loading unloading grabbing device, setting with the material and be in safety inductor on four right angles in AVG automobile body periphery, setting are in the safe limit of touching of AVG automobile body bottom periphery, vertically set up in the AVG automobile body bottom and drive arrangement, the setting that is parallel to each other are in the drive arrangement both ends and receive the drive arrangement drive carries out the shock attenuation universal wheel that removes, sets up in the middle of the AVG automobile body bottom and with its location correction device, the setting that fixes a position and correct the error AVG automobile body bottom one side and work as automatic charging's charging device, the setting are in when the AVG automobile body is idle the vehicle event data recorder of the vertical top both sides of AVG automobile body.
2. The AGV cart for automatically picking and grabbing objects of claim 1, further comprising: the AVG vehicle body comprises a bottom plate, a working panel and a supporting column for supporting the bottom plate and the working panel, and the working panel is further provided with a material placing rack capable of placing materials.
3. The AGV cart for automatically picking and grabbing objects of claim 2, further comprising: the grabbing device comprises a base fixedly arranged at one end of the working panel, a first connecting arm hinged to the base, a second connecting arm, an electric gripper and a first visual acquisition mechanism, wherein one end of the second connecting arm is hinged to the first connecting arm, the other end of the second connecting arm is hinged to the third connecting arm, the electric gripper is arranged at the tail end of the third connecting arm, and the first visual acquisition mechanism is fixedly arranged on the third connecting arm and is located on one side of the electric gripper.
4. The AGV cart for automatically picking and grabbing objects of claim 1, further comprising: the driving device comprises a servo motor, a speed reducer connected with the output end of the servo motor and a driving wheel movably connected with the output end of the speed reducer.
5. The AGV cart for automatically picking and grabbing objects of claim 1, further comprising: the positioning correction device comprises a second vision acquisition mechanism capable of rapidly and effectively identifying the two-dimensional code, and an inertial measurement sensor arranged on one side of the second vision acquisition mechanism and used for detecting the speed and orientation of the AGV.
6. The AGV cart for automatically picking and grabbing objects of claim 1, further comprising: the system also comprises a PIO, and the PIO reads and exchanges data through an instruction transmitted by the port.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021557914.5U CN213325541U (en) | 2020-07-31 | 2020-07-31 | AGV trolley capable of automatically selecting and grabbing materials |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021557914.5U CN213325541U (en) | 2020-07-31 | 2020-07-31 | AGV trolley capable of automatically selecting and grabbing materials |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213325541U true CN213325541U (en) | 2021-06-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021557914.5U Active CN213325541U (en) | 2020-07-31 | 2020-07-31 | AGV trolley capable of automatically selecting and grabbing materials |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213325541U (en) |
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2020
- 2020-07-31 CN CN202021557914.5U patent/CN213325541U/en active Active
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Address after: 215300 room 1, No. 1187, Foxconn Road, north of Yushan Town, Kunshan City, Suzhou City, Jiangsu Province Patentee after: Jiangsu Jianrui Intelligent Technology Co.,Ltd. Country or region after: China Address before: 215300 1st floor, building 1, No.15, Huanqing Road, north of Yushan Town, Kunshan City, Suzhou City, Jiangsu Province Patentee before: JIANRUI INTELLIGENT TECHNOLOGY (KUNSHAN) CO.,LTD. Country or region before: China |