TWM606600U - Auto-mounting self-propelled vehicle - Google Patents

Abstract

An automatic loading self-propelled vehicle, comprising a vehicle body, a control module arranged on the vehicle body, a plurality of track marks arranged on the ground at intervals along a moving path, and a vision capable of sensing and tracking the track marks The module, at least one lifting platform arranged on the vehicle body, and a multi-axis clamping device arranged on the vehicle body. The control module can control the vehicle body to move on the movement path along the track marks, and transfer workpieces such as materials or jigs from the at least one lifting table to the machine table through the multi-axis clamping device, or The aforementioned workpiece is transferred from the machine to the at least one lifting platform, and the control module can control the vehicle body to move along the trajectory marks on the moving path, so that the transfer distance is not limited, and it can even be moved Shuttle in the complex environment of the factory, greatly improving the flexibility and convenience of configuration.

Description

Self-propelled car

The new model relates to an automatic refueling equipment, in particular to a self-propelled vehicle with automatic loading.

In the process of processing, it is often necessary to transfer materials or processing jigs from the upstream machine or material preparation area to the downstream machine for processing. At present, the materials or processing jigs are manually placed in position, and then the CNC processing machine is used. For processing, this method is not only easy to be interfered by human factors, and the positioning accuracy is low, and it is difficult to control the length of time. It is time-consuming and labor-intensive, which is not conducive to automation. Therefore, there are also mechanical arms to grip materials or processing fixtures. It uses automatic procedures for loading and unloading, but the range of objects gripped by the robotic arm is limited by its radius of rotation. Therefore, the installation distance between the machines is greatly limited, which limits the installation and configuration of the machines on the production line, and greatly increases the number of factories. The investment cost and impact on production efficiency.

Therefore, the purpose of the present invention is to provide a self-propelled vehicle with an unlimited range of automatic loading.

Therefore, the new type automatic loading self-propelled vehicle defines a moving path, a loading direction perpendicular to the moving path and extending horizontally, and a height direction perpendicular to the moving direction and the loading direction. The automatic loading is self-propelled The vehicle includes a vehicle body, a control module arranged on the vehicle body, a plurality of track marks arranged on the ground at intervals along the moving path, a visual module capable of sensing and tracking the track marks, and at least one The lifting platform on the vehicle body and a multi-axis clamping device arranged on the vehicle body.

The vehicle body includes a vehicle frame defining a working space, and a plurality of wheels arranged on the vehicle frame. The control module is arranged on the frame and can control the steering and rotation of the wheels. The vision module is arranged on the frame and is signal connected with the control module. The at least one lifting platform is arranged in the work space, and can be controlled by the control module to lift relative to the frame in the work space along the height direction. The multi-axis clamping device is arranged in the working space and above the at least one lifting platform. The multi-axis clamping device can be controlled by the control module to move along the upper part direction and the height direction, and can be controlled Clamp the at least one work piece on the lifting platform.

The effect of the present invention is that the control module can control the vehicle body to move along the trajectory marks on the movement path, and transfer materials or jigs and other workpieces from the at least one lifting platform through the multi-axis clamping device On the machine platform, or from the machine platform, transfer the aforementioned workpieces to the at least one lifting platform, and drive the frame to move through the wheels, so that the transfer distance is not limited, and it can even shuttle in the factory with complex environment , Which greatly improves configuration flexibility and convenience.

Refer to Figure 1, which is an embodiment of the new type automatic loading self-propelled vehicle 1, defining a moving path A, a loading direction B perpendicular to the moving path A and extending horizontally, and a vertical moving path A and the loading The height direction C of the piece direction B. The automatic loading self-propelled vehicle 1 includes a vehicle body 11, a control module 12 arranged on the vehicle body 11, a plurality of track marks 13 arranged on the ground at intervals along the movement path A, and a vehicle body 11 and a vision module 14 signal-connected to the control module 12, a lifting platform 15 arranged on the vehicle body 11, a plurality of bases 16 stacked on the lifting platform 15 along the height direction C, and a A multi-axis clamping device 17 arranged on the vehicle body 11 and located above the lifting platform 15.

The vehicle body 11 includes a vehicle frame 112 defining a work space 111 and four wheels 113 respectively arranged in front of and behind the vehicle frame 112. The control module 12 is disposed on the frame 112 and can control the steering and rotation of the wheels 113. The vision module 14 is arranged on the frame 112 and includes four positioning sensors 141 arranged in groups of two at the front and rear of the frame 112. The positioning sensors 141 can sense and track the track marks 13 through image detection or optical detection. Through the control of the control module 12, the vehicle body 11 can be moved along the movement path A and Stay on the moving path A.

The lifting platform 15 is disposed in the work space 111 and can be controlled by the control module 12 to lift relative to the frame 112 in the work space 111 along the height direction C. It should be noted that the number of the lifting platform 15 can also be plural according to actual needs. The multi-axis clamping device 17 includes two displacement hydraulic cylinders 171 arranged on the frame 112 and spaced apart from each other, and a base 172 located between the displacement hydraulic cylinders 171 and connected to the displacement hydraulic cylinders 171 2. A lifting hydraulic cylinder 173 arranged on the pedestal 172 and partially penetrating the pedestal 172 downwards, and a clamping between the lifting hydraulic cylinders 173 and located below the pedestal 172 and above the bases 16器174. The displacement hydraulic cylinders 171, the lifting hydraulic cylinders 173, and the clamper 174 are signally connected to the control module 12. The displacement hydraulic cylinders 171 can drive the base 172 to move relative to the frame 112 along the upper part direction B, and the lifting hydraulic cylinders 173 can drive the holder 174 relative to the base 172 along the height direction C Moving up and down.

The automatic operation procedure of this embodiment will be described below. First, the vehicle body 11 will move along the movement path A toward a machine station 2. The machine station 2 is provided with a sensing device 21 corresponding to the positioning sensors 141. After the positioning sensor 141 senses the sensing device 21 and is located at the set position (that is, next to the machine 2), the control module 12 will control the wheels 113 to stop so that the frame 112 is located on the machine. Next to station 2. Then the machine 2 will control the safety door 22 to open to expose the internal space, and the control module 12 will perform alignment again, and then confirm whether there are materials or jigs and other workpieces 3 in the internal space of the machine 2, if If there is no workpiece 3 in the internal space, the bases 16 with the workpiece 3 are moved and locked in the internal space through the multi-axis clamping device 17 to complete the loading. The lifting platform 15 can drive the bases 16 rises in the height direction C to facilitate the gripping by the holder 174. If there is a completed workpiece 3 in the internal space, the base 16 and the completed workpiece 3 are moved and placed on the lifting platform 15 through the multi-axis clamping device 17 to complete the replacement. The carriage 1 can be moved after the refueling is completed to load parts next to the next machine 2, or return to the original place to reload. When there is an abnormality in the foregoing process, the control module 12 will issue an alarm to warn the operator.

In summary, the present invention can improve the situation that the traditional machine cantilever is limited by the radius of gyration, and greatly increase the transfer distance, and the track marks 13 can be arranged along a curve, so that the moving path A can bypass or pass through obstacles, and improve The configuration of the production line is flexible, so it can indeed achieve the goal of new cost.

However, the above-mentioned are only examples of the present model, and should not be used to limit the scope of implementation of the present model, all simple equivalent changes and modifications made in accordance with the patent scope of the present model application and the contents of the patent specification still belong to This new patent covers the scope.

1: Automatic loading self-propelled car 11: Car body 111: working space 112: Frame 113: Wheel 12: Control module 13: Track mark 14: Vision module 141: Positioning sensor 15: Lifting platform 16: base 17: Multi-axis clamping device 171: displacement hydraulic cylinder 172: Pedestal 173: Lifting hydraulic cylinder 174: gripper 2: Machine 21: sensing device 22: Security door 3: Workpiece A: Moving path B: Loading direction C: height direction

The other features and effects of the present invention will be clearly presented in the embodiments with reference to the drawings, among which: Fig. 1 is a perspective view illustrating an embodiment of the self-propelled vehicle with automatic loading.

1: Automatic loading self-propelled car

11: Car body

111: working space

112: Frame

113: Wheel

12: Control module

13: Track mark

14: Vision module

141: Positioning sensor

15: Lifting platform

16: base

17: Multi-axis clamping device

171: displacement hydraulic cylinder

172: Pedestal

173: Lifting hydraulic cylinder

174: gripper

2: Machine

21: sensing device

22: Security door

3: Workpiece

A: Moving path

B: Loading direction

C: height direction

Claims (5)

An automatic loading self-propelled vehicle, which defines a moving path, a loading direction perpendicular to the moving path and extending horizontally, and a height direction perpendicular to the moving path and the loading direction. The automatic loading self-propelled vehicle includes: A vehicle body, including a frame that defines a working space, and a plurality of wheels arranged on the frame; A control module, which is installed on the frame and can control the steering and rotation of the wheels; Multiple track marks, arranged on the ground at intervals along the moving path; A vision module, which is arranged on the frame and can sense and track the track marks, and the vision module is connected with the control module signal; At least one lifting platform is arranged in the work space and can be controlled by the control module to lift relative to the frame in the work space along the height direction; and A multi-axis clamping device is arranged in the working space and above the at least one lifting platform. The multi-axis clamping device can be controlled by the control module to move along the upper part direction and the height direction, and can be controlled by Controlling and clamping a workpiece on the at least one lifting platform. The automatic loading self-propelled vehicle according to claim 1, wherein the multi-axis clamping device includes two displacement hydraulic cylinders arranged on the frame and spaced apart from each other, and one is located between the displacement hydraulic cylinders And a pedestal connected to the displacement hydraulic cylinders, at least one lifting hydraulic cylinder provided on the pedestal and partially penetrating the pedestal downwards, and a lifting hydraulic cylinder connected to the at least one lifting hydraulic cylinder and located below the pedestal and the at least one A holder above a lifting platform, the displacement hydraulic cylinder signals are connected to the control module, and can drive the base to move relative to the frame in the direction of the upper part, the at least one lifting hydraulic cylinder signal is connected to the control The module can drive the holder to rise and fall in the height direction relative to the base, and the holder signal is connected to the control module. The automatic loading self-propelled vehicle according to claim 1, wherein the vision module includes four positioning sensors arranged on the frame and capable of sensing and tracking the track marks, and the positioning sensors are paired by two One group is respectively arranged at the front and rear of the frame. The automatic loading self-propelled vehicle according to claim 1, wherein the vision module senses and tracks the track marks through image detection or optical detection. The automatic loading and self-propelled vehicle according to claim 1, further comprising a plurality of bases stacked on the at least one lifting platform along the height direction.

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