CN217554993U

CN217554993U - Butt joint platform for butt joint of AGV and providing matched hand grips for robot

Info

Publication number: CN217554993U
Application number: CN202221425515.2U
Authority: CN
Inventors: 邓典; 张翔; 余凯; 董彪
Original assignee: Wuhan Tianzhiyi Technology Co ltd
Current assignee: Wuhan Tianzhiyi Technology Co ltd
Priority date: 2022-06-06
Filing date: 2022-06-06
Publication date: 2022-10-11
Anticipated expiration: 2032-06-06

Abstract

The utility model relates to a supporting equipment technical field of robot, a butt joint AGV provides the butt joint platform of supporting tongs for the robot, wherein mechanical mounting plate sets up the top surface at the base, the baffle has threely and sets up respectively in the position that mechanical mounting plate top surface is followed near side edge and back edge, belt conveyor sets up at mechanical mounting plate top surface, belt conveyor's direction of delivery is along enclosing the anterior open backward direction of baffle structure, the material photoelectric sensing ware that targets in place and material get into the photoelectric sensing ware and set up respectively at the anterior portion and the rear portion of mechanical mounting plate top surface, jacking locating component sets up and closes the anterior opening part of baffle structure at mechanical mounting plate and close on, this jacking locating component jacking after-fit rear portion baffle is in order to fix a position the product material frame at X axle direction. The butt joint platform capable of providing the matched gripper realizes stable and accurate butt joint of the material tray and the material frame with the matched AGV trolley, and simultaneously realizes that various materials are taken and placed by the matched clamping jaw for pneumatic reloading of the robot.

Description

Butt joint platform for butt joint of AGV and providing matched hand grips for robot

Technical Field

The utility model relates to a corollary equipment technical field of robot, a butt joint AGV provides butt joint platform of supporting tongs for the robot

Background

At present, with the development of electronic technology, the application range of AGVs (Automated Guided vehicles) is expanding continuously, and their application in the aspect of intelligent manufacturing automation systems is becoming more and more popular. In practical applications, an AGV, also commonly referred to as an AGV cart, can place materials on a docking platform according to a predetermined route and can also take the materials away from the docking platform; simultaneously in intelligent manufacturing automation system, the handling module uses seven robots to require can follow the accurate material raw materials that snatchs of butt joint platform, also can be simultaneously with will process the accurate butt joint platform of putting into of finished product. When producing line raw materials transportation and using plastic basket or tray to hold multiple specification raw materials product, the robot needs the pneumatic tongs of multiple specification to accomplish taking out to different specification models raw materials.

AGV butt joint platform on the present market mainly is transported to the butt joint of single material, when involving multiple material or material frame transportation butt joint, and the single tongs of robot is difficult to deal with the snatching and placing of the semi-manufactured goods material after multiple material and the processing of multiple material.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem, the utility model provides a butt joint AGV provides the dock platform of supporting tongs for the robot, and this dock platform can provide the dock platform of supporting tongs realize with the stability of supporting AGV dolly, accurate butt joint material tray and material frame, realize satisfying the pneumatic supporting clamping jaw of reloading of robot simultaneously and get and put multiple material.

In order to achieve the purpose, the utility model adopts the technical proposal that:

the utility model provides a butt joint AGV provides butt joint platform of supporting tongs for robot, includes base, mechanical mounting plate, baffle, belt conveyor, jacking locating component, material photoelectric sensor and the material entering photoelectric sensor that targets in place, wherein mechanical mounting plate sets up the top surface at the base, the baffle has threely and sets up respectively near side edge and back edge's position near the mechanical mounting plate top surface, and is three the baffle forms openly enclosing and closes the baffle structure, belt conveyor sets up at mechanical mounting plate top surface and lies in and closes in the middle of the baffle structure, and belt conveyor's direction of delivery is along enclosing the anterior open backward direction of baffle structure, the material targets in place photoelectric sensor and material entering photoelectric sensor and sets up respectively at the anterior and the rear portion of mechanical mounting plate top surface, jacking locating component sets up at mechanical mounting plate and closes the anterior opening part of baffle structure, and this jacking locating component cooperation rear portion baffle is in order to fix a position the product material frame in the X axle direction, and side direction two the baffle is fixing a position the product material frame in the Y axle direction, X axle and Y axle are mutually perpendicular's horizontal axis.

Preferably, the belt conveyor comprises two driving assemblies, two connecting rod mounting blocks, two connecting rod mounting bearings, two moving connecting rods, two conveying belt transmission gears and two conveying belts, wherein the two moving connecting rods are arranged at the front part and the rear part of the top surface of the mechanical mounting base plate respectively along the width direction of the mechanical mounting base plate, the two ends of each moving connecting rod are respectively sleeved with the corresponding connecting rod mounting bearing, the outer rings of the connecting rod mounting bearings are mounted on the mechanical mounting base plate through the corresponding connecting rod mounting blocks, the conveying belt transmission gears are four in number, the four conveying belt transmission gears are respectively sleeved at the two ends of the moving connecting rods, the conveying belt transmission gears at the same side of the two moving connecting rods are respectively wound with the conveying belts, and the power end of each driving assembly is in power connection with one moving connecting rod.

Preferably, the driving assembly comprises a speed reducer, a direct current motor, a power motor gear, a power transmission belt and a power transmission gear, wherein the output end of the direct current motor is in power connection with the input end of the speed reducer, the power motor gear is sleeved at the output end of the speed reducer, the power transmission gear is sleeved outside one of the motion connecting rods, and the power transmission belt is sleeved outside the power motor gear and the power transmission gear to realize transmission.

Preferably, the baffle is provided with a belt bearing supporting plate for bearing the product material frame at the position corresponding to the belt conveying mechanism.

As preferred, the base top is installed and is traded the outfit instrument mounting panel, should trade the outfit instrument mounting panel and extend to base outside level, trade the outfit instrument mounting panel and extend outward and seted up a plurality of fretwork opening, this fretwork opening is used for placing pneumatic clamping jaw to pneumatic clamping jaw is reserve.

Preferably, the baffles are aluminum alloy sections, the front ends of the two lateral baffles are provided with guide blocks, and a chamfer structure is formed between the front ends and the inner side wall of the guide blocks.

Use the utility model discloses a beneficial effect is:

this butt joint platform passes through belt conveyor to carry the product material frame, and after the product material frame moved suitable position, through the drive of jacking locating component for the product material frame can pinpoint at belt conveyor top, and the product material frame bottom all is fixed a position all around, and the butt joint product material frame that can be stable, accurate.

This butt joint platform side sets up the reloading instrument mounting panel, and a plurality of pneumatic clamping jaws can be put to the instrument mounting panel, realizes satisfying the pneumatic supporting clamping jaw of reloading of robot simultaneously and gets and put multiple material.

Drawings

Fig. 1 is the utility model discloses dock AGV and provide the butt joint platform's of supporting tongs for the robot structural sketch map.

Fig. 2 is the schematic diagram of the utility model discloses butt joint AGV provides the transmission positioning system in the butt joint platform of supporting tongs for the robot.

The reference numerals include:

1-base, 2-mechanical mounting bottom plate, 3-mechanical mounting cover plate, 4-material frame positioning block, 5-product material frame, 6-baffle, 7-guide block, 8-reloading tool mounting plate, 9-pneumatic reloading tool female end, 10-pneumatic clamping jaw cylinder, 11-clamping jaw first finger, 12-clamping jaw 2 finger, 13-connecting rod mounting block, 14-connecting rod mounting bearing, 15-motion connecting rod, 16-jacking positioning cylinder, 17-conveying belt transmission gear, 18-conveying belt, 19-belt bearing supporting plate, 20-power motor gear, 21-power transmission belt, 22-power transmission gear, 23-material in-place photoelectric sensor, 24-photoelectric light-turning mounting plate, 25-speed reducer, 26-direct current motor and 27-material entering photoelectric sensor.

Detailed Description

In order to make the purpose, technical solution and advantages of the present technical solution clearer, the present technical solution is further described in detail below with reference to specific embodiments. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present teachings.

As shown in fig. 1 and 2, the docking platform for docking the AGV and providing a matched gripper for the robot comprises a base 1, a mechanical mounting bottom plate 2, baffles 6, a belt type conveying mechanism, a jacking positioning assembly, a material-in-place photoelectric sensor 23 and a material-entering photoelectric sensor 27, wherein the mechanical mounting bottom plate 2 is arranged on the top surface of the base 1, the baffles 6 are arranged at positions close to the side edge and the rear edge of the top surface of the mechanical mounting bottom plate 2 respectively, the three baffles 6 form a closed baffle 6 structure with an open front surface, the belt type conveying mechanism is arranged on the top surface of the mechanical mounting bottom plate 2 and located in the middle of the closed baffle 6 structure, the conveying direction of the belt type conveying mechanism is backward along the open front part of the closed baffle 6 structure, the material-in-place photoelectric sensor 23 and the material-entering photoelectric sensor 27 are arranged at the front part and the rear part of the top surface of the mechanical mounting bottom plate 2 respectively, the jacking positioning assembly is arranged at an opening of the mechanical mounting bottom plate 2 close to the closed baffle 6 structure, the jacking positioning assembly is matched with the rear baffle 6 to position a product frame 5 in the X-axis direction, the lateral baffles 6 are positioned in the Y-axis direction, and the horizontal axis is vertical to each other.

In this embodiment, jacking locating component includes jacking location cylinder 16 and material frame locating piece 4, and jacking location cylinder 16 stretches out the end and sets up upwards, and material frame locating piece 4 is connected in the end that stretches out of jacking location cylinder 16. The top of the belt conveyor is covered by a mechanical mounting cover plate 3. The material-in-place photoelectric sensor 23 and the material-in photoelectric sensor 27 are respectively arranged on the top surface of the mechanical mounting bottom plate 2 through the photoelectric light-opening mounting plate 24. Preferably, the baffle plates 6 are aluminum alloy sections, guide blocks 7 are arranged at the front ends of the two side baffle plates 6, and a chamfer structure is formed between the front end and the inner side wall of each guide block 7.

In this embodiment, the belt conveyor includes a driving assembly, two link mounting blocks 13, two link mounting bearings 14, two moving links 15, two transmission gears 17 for the transport belts 18, and two transport belts 18, where the moving links 15 are respectively disposed at the front and the rear of the top surface of the mechanical mounting base plate 2 along the width direction of the mechanical mounting base plate 2, the two ends of the moving link 15 are respectively sleeved with the link mounting bearings 14, the outer ring of the link mounting bearings 14 is mounted on the mechanical mounting base plate 2 through the link mounting blocks 13, there are four transmission gears 17 for the transport belts 18, the four transmission gears 17 for the transport belts 18 are respectively sleeved at the two ends of the moving link 15, the transmission gears 17 for the transport belts 18 on the same side of the two moving links 15 are respectively wound with the transport belts 18, and the power end of the driving assembly is in power connection with one moving link 15.

The driving assembly comprises a speed reducer 25, a direct current motor 26, a power motor gear 20, a power transmission belt 21 and a power transmission gear 22, wherein the output end of the direct current motor 26 is in power connection with the input end of the speed reducer 25, the power motor gear 20 is sleeved on the output end of the speed reducer 25, the power transmission gear 22 is sleeved outside one of the motion connecting rods 15, and the power transmission belt 21 is sleeved outside the power motor gear 20 and the power transmission gear 22 to realize transmission.

Specifically, the AGV transmits signals in various modes such as a dispatching system or sensor signal interaction to the PLC control system, and the PLC controls the direct current motor 26 to rotate forwards; the direct current motor 26 drives the speed reducer 25 to rotate positively to drive the power motor gear 20 to move, and the power motor gear 20 drives the power transmission gear 22 to synchronously rotate through the power transmission belt 21; the power transmission gear 22 drives the transmission gear 17 of the transportation belt 18 to synchronously move through the movement connecting rod 15 so as to drive the transportation belt 18 to rotate forwards.

After the forward rotation of the conveying belt 18 is started, a belt starting operation signal is fed back to the AGV trolley system through the PLC control system, and the AGV trolley conveys the back-loaded product material frame 5 to the conveying belt 18 through the back-loading structure. The product material frame 5 is conveyed to the material in-place photoelectric sensor 23 by the forward rotation of the conveying belt 18; after the material in-place photoelectric sensor 23 senses that the product material frame 5 arrives, the direct current motor 26 is controlled to stop rotating through the PLC control system, and the transportation belt 18 stops rotating. And (4) jacking by a jacking positioning cylinder 16, and performing secondary positioning and clamping on the product material frame 5 through the material frame positioning block 4 and the three-edge baffle 6. Make things convenient for the robot to get and put the product in the product material frame 5 accurately.

The position of the baffle 6 corresponding to the belt type conveying mechanism is provided with a belt bearing supporting plate 19 for bearing the product material frame 5, so that the damage of too large bearing of the conveying belt 18 is avoided.

The tool mounting panel 8 that changes outfit is installed at 1 top of base, and this tool mounting panel 8 that changes outfit extends to 1 outside level of base, and tool mounting panel 8 that changes outfit extends and has seted up a plurality of fretwork opening, and this fretwork opening is used for placing pneumatic clamping jaw to pneumatic clamping jaw is reserve.

The PLC system starts the robot to run through communication with the seven-axis robot, and the robot clamps and releases a first finger 11 of the loading clamping jaw/a second finger 12 of the clamping jaw through a male end of a pneumatic reloading module arranged at the tail end of the robot and a female end 9 of a pneumatic reloading tool; after loading is finished, the pneumatic clamping jaw air cylinder 10 is controlled through the electromagnetic valve to control the clamping jaw first finger 11/the clamping jaw second finger 12 to clamp or release, so that the seven-axis robot can take and place materials with various sizes in the product material frame 5.

The robot system puts the finished product after processing into a product frame 5 through a first loading clamping jaw finger 11/a second clamping jaw finger 12, the robot system puts the first clamping jaw finger 11/the second clamping jaw finger 12 on a reloading tool mounting plate 8, and the robot releases the first loading clamping jaw finger 11/the second clamping jaw finger 12 through a male end of a pneumatic reloading module mounted at the tail end of the robot and a female end 9 of the pneumatic reloading tool; and after the completion, the current state is transmitted to the PLC system through communication.

After the robot system finishes taking the product, the PLC controls the jacking positioning cylinder 16 to descend; the dc motor 26 is reversed; the direct current motor 26 drives the speed reducer 25 to rotate reversely to drive the power motor gear 20 to move, and the power motor gear 20 drives the power transmission gear 22 to synchronously rotate through the power transmission belt 21; the power transmission gear 22 drives the transportation belt 18 through the motion connecting rod 15, the transmission gear 17 synchronously moves to drive the transportation belt 18 to reversely rotate. The product material frame 5 is conveyed towards the material entering the photoelectric sensor 27 by the reverse rotation of the conveying belt 18; after the material enters the photoelectric sensor 27 and the signal of the product material frame 5 is sensed to disappear, the PLC control system delays to control the direct current motor 26 to stop rotating, and the transportation belt 18 stops rotating. The AGV carries away the product bin 5.

This docking platform passes through belt conveyor and carries product material frame 5, and after product material frame 5 moved suitable position, through the drive of jacking locating component for product material frame 5 can pinpoint at belt conveyor top, and product material frame 5 bottom all is fixed a position all around, and butt joint product material frame 5 that can be stable, accurate.

The foregoing is only a preferred embodiment of the present invention, and many variations can be made in the specific embodiments and applications of the present invention by those skilled in the art without departing from the spirit of the present invention.

Claims

1. The utility model provides a dock AGV and provide butt joint platform of supporting tongs for robot which characterized in that: including base, mechanical mounting plate, baffle, belt conveyor, jacking locating component, material photoelectric sensor and the material photoelectric sensor that targets in place, wherein mechanical mounting plate sets up the top surface at the base, the baffle has threely, and sets up respectively in the position that mechanical mounting plate top surface is close to near side edge and back edge, and is three the baffle forms openly enclosing the baffle structure that closes in front, belt conveyor sets up at mechanical mounting plate top surface and is located and encloses the baffle structure in the middle of, belt conveyor's direction of delivery is along enclosing the anterior open position backward direction of baffle structure, the material targets in place photoelectric sensor and material and gets into photoelectric sensor and sets up respectively at the front portion and the rear portion of mechanical mounting plate top surface, jacking locating component sets up at the anterior opening part of mechanical mounting plate enclosing the baffle structure, and this jacking locating component cooperation rear portion baffle is in order to position the product material frame in the X axle direction after the jacking, and the side direction is two the baffle is at Y axle direction location product material frame, X axle and Y axle are mutually perpendicular's horizontal axis.

2. The docking platform of claim 1 that docks an AGV and provides a mating gripper for a robot, wherein: the belt conveying mechanism comprises a driving assembly, a connecting rod mounting block, a connecting rod mounting bearing, two moving connecting rods, two conveying belt transmission gears and two conveying belts, wherein the two moving connecting rods are arranged at the front part and the rear part of the top surface of the mechanical mounting bottom plate respectively along the width direction of the mechanical mounting bottom plate, the two ends of each moving connecting rod are respectively sleeved with the corresponding connecting rod mounting bearing, the outer rings of the connecting rod mounting bearings are mounted on the mechanical mounting bottom plate through the connecting rod mounting block, the conveying belt transmission gears are four in number, the four conveying belt transmission gears are respectively sleeved at the two ends of the moving connecting rods, the conveying belt transmission gears at the same sides of the two moving connecting rods are respectively wound with the conveying belts, and the power end of the driving assembly is in power connection with one moving connecting rod.

3. The docking platform of claim 2 that docks the AGV and provides a mating grip for the robot, wherein: the driving assembly comprises a speed reducer, a direct current motor, a power motor gear, a power transmission belt and a power transmission gear, wherein the output end of the direct current motor is in power connection with the input end of the speed reducer, the power motor gear is sleeved at the output end of the speed reducer, the power transmission gear is sleeved outside one of the motion connecting rods, and the power transmission belt is sleeved outside the power motor gear and the power transmission gear to realize transmission.

4. The docking platform of claim 1 that docks the AGV and provides a mating grip for the robot, wherein: and the position of the baffle corresponding to the belt type conveying mechanism is provided with a belt bearing supporting plate for bearing the product material frame.

5. The docking platform of claim 1 that docks the AGV and provides a mating grip for the robot, wherein: the tool mounting panel that changes outfit is installed at the base top, should change outfit the tool mounting panel and extend to base outside level, the tool mounting panel that changes outfit is epitaxial to be seted up a plurality of fretwork opening, and this fretwork opening is used for placing pneumatic clamping jaw to pneumatic clamping jaw is reserve.

6. The docking platform of claim 1 that docks the AGV and provides a mating grip for the robot, wherein: the baffle is aluminum alloy section, and the guide block is installed to the front end of two baffles in the side direction, forms the chamfer structure between the front end of this guide block and the inside wall.