CN2328020Y - Laser guiding material conveying and stacking apparatus - Google Patents
Laser guiding material conveying and stacking apparatus Download PDFInfo
- Publication number
- CN2328020Y CN2328020Y CN 97246543 CN97246543U CN2328020Y CN 2328020 Y CN2328020 Y CN 2328020Y CN 97246543 CN97246543 CN 97246543 CN 97246543 U CN97246543 U CN 97246543U CN 2328020 Y CN2328020 Y CN 2328020Y
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- CN
- China
- Prior art keywords
- laser
- mechanical arm
- guided vehicle
- automatic guided
- model
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The utility model discloses a laser guiding material conveying and stacking apparatus, comprising an automatic guiding vehicle and a mechanical hand. The guiding mechanism of the automatic guiding vehicle adopts a laser automatic guiding technology, and the utility model is characterized in that the laser automatic guiding vehicle and the mechanical hand are overlapped regularly in space and form the utility model. The laser automatic guiding vehicle can be used as a fixed platform, and the mechanical hand has a fixed base seat. The laser automatic guiding vehicle is in fixed connection with the mechanical hand through screws, and the mechanical hand is a joint mechanical hand with six free degrees. The utility model has a flat flexible running path, simultaneously, the mechanical hand on the utility model can change the work postures of elements according to actual needs, and the spacial flexible conveyance of the elements can be finished.
Description
The utility model relate to a kind of be used for material or workpiece tear sign indicating number, flexible carrying and palletizing apparatus open.
In the prior art, the equipment that is used for material handling is a lot, as conveyor, automatic guided vehicle (AGV), robot etc.But part all also comes with some shortcomings: conveyor generally can only be carried along fixed route, and path change is flexible poor.Automatic guided vehicle (AGV) is though be flexible conveying system, and by there not being mechanical arm thereon, upper and lower material mechanism very flexible if require to change the attitude of workpiece when carrying, very big inconvenience takes place then.
The purpose of this utility model is at the deficiencies in the prior art, and the mechanical part of automatic guided vehicle is improved with perfect, and a kind of flexible delivery path that both had been fit to is provided, and can change the workpiece spatial attitude again, can tear the mechanical hook-up of sign indicating number, piling to material open.
The purpose of this utility model is achieved in that and comprises automatic guided vehicle and two parts of mechanical arm, the guide mechanism of automatic guided vehicle adopts the laser guidance technology, promptly constitute laser guidance car (LGV), it is characterized in that laser automatic guided vehicle and mechanical arm are that the space is organic and are formed by stacking, the laser automatic guided vehicle can be used as stationary platform, but mechanical arm has fixed pedestal, adopts screw retention to connect between laser automatic guided vehicle and the mechanical arm, and mechanical arm is a six degree of freedom joint type mechanical arm.
Below in conjunction with accompanying drawing and embodiment shown in the drawings the utility model is elaborated, but content of the present utility model is not limited to shown in the accompanying drawing.
Fig. 1 is a physical construction synoptic diagram of the present utility model;
Fig. 2 is a course of work synoptic diagram of the present utility model.
Among the embodiment shown in the drawings, the utility model comprises laser automatic guided vehicle and mechanical arm two parts, and the laser automatic guided vehicle is by car body 14, engaged wheel 15, drive front-wheel 1, buffering hinders hurdle 2, scram button 3, battery side cover plate 4, master control borad 5, laser scanning head 6 and worktable 13 are formed, and drive front-wheel 1 and are fixed on the base of car body with engaged wheel 15, buffering obstruction hurdle 2 is located at and is installed in car body 14 by driving front-wheel 1 one sides, and laser scanning head 6 places the top of master control borad 5.Mechanical arm comprises balancing weight 7, linkage assembly 8; forearm 9; paw 10; big arm 11 and fixed pedestal 12; mechanical arm is whole fixedlys connected with automatic guided vehicle by fixed pedestal 12 usefulness bolts; mechanical arm can adopt six joint shafts, and the working range of six joint shafts and maximal rate difference are as follows: joint shaft working range maximal rate 1; C rotates 360 ° 115 °/second 2; 210 ° 115 of B arm °/second 3; 120 ° 115 of A arm °/second 4; 400 ° 280 of D wrist °/second 5; 240 ° 300 of E bend °/second 6; P reverses 600 ° 300 °/second
Control section of the present utility model is the rotary encoder control device that adopts Sweden ABB AB to produce.
The course of work of the present utility model as shown in Figure 2, after the laser automatic guided vehicle of lower floor is received instruction, stop in the place that runs to appointment, path in accordance with regulations, the mechanical arm on wait upper strata is got workpiece, mechanical arm is got workpiece or workpiece is torn open sign indicating number according to on-site signal and the program that configures in advance, treat workpiece get finish after, the laser automatic guided vehicle of the lower floor path workpiece that reruns is in accordance with regulations stacked the appointed place and is stopped, the upper strata mechanical arm puts down workpiece or workpiece is carried out pile, so periodic duty of the utility model.
Compared with prior art, the utlity model has following advantage:
The six degree of freedom manipulator is folded on the laser automatic guided vehicle, and the laser automatic guided vehicle can be walked on the ground, Have the planar flexible walking path, simultaneously, the manipulator on it can be finished rotation, move radially, press from both sides (inhale, Grab) play material or workpiece, paw loosens, the various compulsory exercises such as reset, and can according to actual needs, change the worker The attitude of part is finished the spatial flexible carrying of workpiece. The six joint shaft manipulators that adopt can be at a big sky Between in the scope carrying reach ten kilograms load, can tear code and piling open to workpiece. The utility model floor space Little, simple and reasonable, debug easy to maintenance. The laser automatic guided vehicle only moves when manipulator picks and places workpiece Interruption is just slightly arranged, and the location of workpiece, and the adjustment of workpiece attitude, all can be at the row of laser automatic guided vehicle Carry out simultaneously in advancing, shortened the handling time of workpiece, improved the operating efficiency of system.
Claims (2)
1, a kind of laser guiding material handling, palletizing apparatus, comprise two parts of automatic guided vehicle and mechanical arm, the guide mechanism of automatic guided vehicle adopts the laser guidance technology, promptly constitute laser guidance car (LGV), it is characterized in that laser automatic guided vehicle and mechanical arm are that the space is organic and are formed by stacking, the laser automatic guided vehicle can be used as stationary platform, but mechanical arm has fixed pedestal, adopt screw retention to connect between laser automatic guided vehicle and the mechanical arm, mechanical arm is a six degree of freedom joint type mechanical arm.
2, device according to claim 1, it is characterized in that the laser automatic guided vehicle is by car body (14) engaged wheel (15), drive front-wheel (1), buffering hinders hurdle (2), scram button (3), battery side cover plate (4), master control borad (5), laser scanning head (6) and worktable (13) are formed, driving front-wheel (1) is fixed on the base of car body (14) with engaged wheel (15), buffering obstruction hurdle (2) is located at and is installed in car body (14) by driving front-wheel (1) one side, and laser scanning head (6) places the top of master control borad (5); Mechanical arm comprises balancing weight (7), linkage assembly (8), and forearm (9), paw (10), big arm (11) and fixed pedestal (12), mechanical arm is whole fixedlys connected with automatic guided vehicle with bolt by fixed pedestal (12), and mechanical arm can adopt six joint shafts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 97246543 CN2328020Y (en) | 1997-12-27 | 1997-12-27 | Laser guiding material conveying and stacking apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 97246543 CN2328020Y (en) | 1997-12-27 | 1997-12-27 | Laser guiding material conveying and stacking apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2328020Y true CN2328020Y (en) | 1999-07-07 |
Family
ID=33954712
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 97246543 Expired - Fee Related CN2328020Y (en) | 1997-12-27 | 1997-12-27 | Laser guiding material conveying and stacking apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2328020Y (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103600997A (en) * | 2013-11-29 | 2014-02-26 | 上海集成电路研发中心有限公司 | Stacking machine, automatic material conveying system and platform |
| CN104044136A (en) * | 2013-03-14 | 2014-09-17 | 株式会社安川电机 | Robot System, Crane Tool, And Conveyance Method |
| CN107813882A (en) * | 2017-10-24 | 2018-03-20 | 杭州南江机器人股份有限公司 | A kind of hopper carries AGV, method for carrying and SMT production line automatic butt systems |
| US10450001B2 (en) | 2016-08-26 | 2019-10-22 | Crown Equipment Corporation | Materials handling vehicle obstacle scanning tools |
| US10775805B2 (en) | 2016-08-26 | 2020-09-15 | Crown Equipment Limited | Materials handling vehicle path validation and dynamic path modification |
| US10800640B2 (en) | 2016-08-26 | 2020-10-13 | Crown Equipment Corporation | Multi-field scanning tools in materials handling vehicles |
-
1997
- 1997-12-27 CN CN 97246543 patent/CN2328020Y/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104044136A (en) * | 2013-03-14 | 2014-09-17 | 株式会社安川电机 | Robot System, Crane Tool, And Conveyance Method |
| CN103600997A (en) * | 2013-11-29 | 2014-02-26 | 上海集成电路研发中心有限公司 | Stacking machine, automatic material conveying system and platform |
| CN103600997B (en) * | 2013-11-29 | 2017-12-15 | 上海集成电路研发中心有限公司 | Piler, automated material induction system and platform |
| US10450001B2 (en) | 2016-08-26 | 2019-10-22 | Crown Equipment Corporation | Materials handling vehicle obstacle scanning tools |
| US10597074B2 (en) | 2016-08-26 | 2020-03-24 | Crown Equipment Corporation | Materials handling vehicle obstacle scanning tools |
| US10775805B2 (en) | 2016-08-26 | 2020-09-15 | Crown Equipment Limited | Materials handling vehicle path validation and dynamic path modification |
| US10800640B2 (en) | 2016-08-26 | 2020-10-13 | Crown Equipment Corporation | Multi-field scanning tools in materials handling vehicles |
| US11110957B2 (en) | 2016-08-26 | 2021-09-07 | Crown Equipment Corporation | Materials handling vehicle obstacle scanning tools |
| US11294393B2 (en) | 2016-08-26 | 2022-04-05 | Crown Equipment Corporation | Materials handling vehicle path validation and dynamic path modification |
| US11447377B2 (en) | 2016-08-26 | 2022-09-20 | Crown Equipment Corporation | Multi-field scanning tools in materials handling vehicles |
| US11914394B2 (en) | 2016-08-26 | 2024-02-27 | Crown Equipment Corporation | Materials handling vehicle path validation and dynamic path modification |
| CN107813882A (en) * | 2017-10-24 | 2018-03-20 | 杭州南江机器人股份有限公司 | A kind of hopper carries AGV, method for carrying and SMT production line automatic butt systems |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |