Laser AGV robot for picking and placing workpieces

Abstract

The utility model provides a take and put work piece with laser AGV robot relates to AGV robot technical field, the utility model discloses the bottom of car body is provided with the movable wheel of can rotate, the inside of car body is provided with the drive arrangement for driving movable wheel rotation, the top of car body is provided with two laser radar and a group of extension device and a group of clamping components, the extension device includes the bearing disc, and the disc is circumferentially distributed on the outer surface of bearing disc, the utility model discloses a bearing disc is set through the extension device, when AGV robot takes and puts work piece, through placing work piece on the top of bearing disc, the position of work piece is limited to each disc surface through the clamping block on bearing disc, and can be through the operation servo motor control bearing disc rotation adjustment angle, and the single placement of multiple work pieces is convenient for transportation.

Description

Technical Field

[0001] This utility model relates to the field of AGV robot technology, and in particular to a laser AGV robot for picking up and placing workpieces. Background Technology

[0002] The laser AGV robot for picking up and placing workpieces is an automated guided vehicle based on laser navigation technology. It is equipped with a robotic arm on the top of the vehicle body and can automatically drive according to a preset program and path without human intervention to complete tasks such as material handling and warehouse management.

[0003] When laser AGV robots move workpieces, they typically clamp the workpieces onto the robotic arm and move them to the desired location before lowering them. During this process, the workpieces may fall off. Alternatively, the workpieces can be placed directly on top of the vehicle body, but they may still slide on top of the vehicle body during movement. Furthermore, directly stacking workpieces on top of the vehicle body makes it inconvenient for the robotic arm to grip and retrieve them. As a result, the practicality of using laser AGV robots for workpiece retrieval is not high, and there are certain limitations. Utility Model Content

[0004] The purpose of this utility model is to solve the problem of a laser AGV robot for picking up and placing workpieces.

[0005] To achieve the above objectives, this utility model adopts the following technical solution: a laser AGV robot for picking up and placing workpieces, comprising a vehicle body, with rotatable wheels at the bottom of the vehicle body, a drive device for driving the wheels to rotate inside the vehicle body, two laser radars, an extension device, and a clamping assembly at the top of the vehicle body, the clamping assembly comprising a base fixed to the top of the vehicle body, a servo drive motor for driving the base to rotate inside the base, a support arm rotatably connected to the top of the support arm, a servo drive motor for driving the support arm to rotate inside the base, a shaft arm rotatably connected to the top of the support arm, a servo drive motor for driving the shaft arm to rotate inside the support arm, a chuck rotatably mounted at one end of the shaft arm, a servo drive motor for driving the chuck to rotate inside the shaft arm, a clamping rod that rotates pneumatically on the outer surface of the chuck, and an industrial camera mounted on one side of the chuck.

[0006] Furthermore, the expansion device includes a support plate, which is rotatably mounted on the top of the vehicle body via a shaft. A servo motor is installed on one side of the interior of the vehicle body, and the output end of the servo motor is connected to the shaft at the bottom of the support plate via a coupling. Several discs are fixedly connected to the outer surface of the support plate, and the discs are circumferentially distributed on the outer surface of the support plate. Baffles are fixedly connected to both sides of the discs, and an L-shaped block is fixedly connected to one side of the baffle. A round rod is slidably connected to the inner wall of the baffle, and one end of the round rod slides on the inner wall of the L-shaped block. A clamping block is fixedly connected to one end of the round rod, and the top edge of the clamping block is arc-shaped. A spring is installed on the outer surface of the round rod, and the two ends of the spring are fixedly connected to one side of the round rod and one side of the L-shaped block, respectively.

[0007] Furthermore, a number of rubber protrusions are fixedly connected to one side of the clamping block, and the protrusions are arranged linearly on one side of the clamping block.

[0008] Furthermore, a positioning rod is fixedly connected to the top of the clamping block, and the bottom end of the positioning rod slides on the top of the baffle.

[0009] Furthermore, a fastening component is provided on one side of the disc to further restrict the position of the rod and the clamping block and improve the clamping effect.

[0010] Furthermore, the fastening assembly includes a miniature hydraulic pump mounted on one side of the disc. Two infusion tubes are installed at one end of the miniature hydraulic pump. The infusion tubes are equipped with hydraulic oil. The end of the infusion tube away from the miniature hydraulic pump is located on the inner wall of the L-shaped block. A circular expansion plate is provided on one side of the inner wall of the L-shaped block. A patch pressure sensor is provided at the top of the disc.

[0011] Furthermore, positioning cylinders are fixedly connected to both sides of the disc, and the outer surface of the infusion tube is located inside the positioning cylinder.

[0012] Furthermore, auxiliary rings are fixedly connected to both ends of the inner wall of the positioning cylinder, and the inner edge of the auxiliary ring is arc-shaped.

[0013] Compared with the prior art, the advantages and positive effects of this utility model are as follows:

[0014] In this invention, by setting up an extension device and using a carrier plate, when the AGV robot picks up and places workpieces, the workpiece is placed on the top of the carrier plate, and the position of the workpiece is restricted by the clamps on the surface of each disc on the carrier plate. The angle of the carrier plate can be adjusted by controlling the rotation of the carrier plate by operating a servo motor, which facilitates the placement of multiple workpieces for transportation at one time and minimizes the occurrence of workpieces falling during the movement of the vehicle, thereby improving the practicality of using the laser AGV robot for picking up and placing workpieces. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0016] Figure 2 This is a three-dimensional structural diagram of the vehicle body of this utility model;

[0017] Figure 3 This is a three-dimensional structural diagram of the disc portion of this utility model;

[0018] Figure 4 This is a three-dimensional structural diagram of the clamping block of this utility model.

[0019] Legend: 1. Vehicle body; 2. Extension device; 21. Servo motor; 22. Bearing plate; 23. Disc; 24. Baffle; 25. Round rod; 26. Spring; 27. Clamping block; 28. Protruding strip; 29. ​​Fastening assembly; 291. Miniature hydraulic pump; 292. Infusion tube; 293. Expansion plate; 294. Positioning cylinder; 295. Auxiliary ring; 296. Surface-mount pressure sensor; 210. L-shaped block; 211. Positioning rod; 3. Clamping assembly; 31. Base; 32. Base; 33. Support arm; 34. Shaft arm; 35. Chuck; 36. Clamping rod; 37. Industrial camera; 4. LiDAR. Detailed Implementation

[0020] Example 1, such as Figure 1-2As shown, the laser AGV robot for picking up and placing workpieces includes a vehicle body 1. The bottom of the vehicle body 1 is equipped with rotatable wheels. A drive device for rotating the wheels is installed inside the vehicle body 1. Two laser radars 4, an extension device 2, and a clamping assembly 3 are installed at the top of the vehicle body 1. The clamping assembly 3 includes a base 31, which is fixed to the top of the vehicle body 1. A base 32 is rotatably connected to the top of the base 31. A servo drive motor for rotating the base 32 is installed inside the base 31. The top of the base 32 is rotatably connected to... The system includes a support arm 33 and a base 32 containing a servo drive motor for rotating the support arm 33. A shaft arm 34 is rotatably connected to the top of the support arm 33, and a servo drive motor for rotating the shaft arm 34 is also located inside the support arm 33. A chuck 35 is rotatably mounted at one end of the shaft arm 34, and a servo drive motor for rotating the chuck 35 is located inside the shaft arm 34. A clamping rod 36, which rotates pneumatically, is mounted on the outer surface of the chuck 35. An industrial camera 37 is mounted on one side of the chuck 35. The system utilizes an AGV robot for picking up and placing workpieces. During operation, the robot moves by controlling the rotation of the wheels through the drive unit inside the vehicle body 1. During the movement of the vehicle body 1, the two lidars 4 on the top are activated. The lidars 4 scan the surrounding environment 360 degrees, identify static objects such as walls, shelves, and pillars, find feature points that match the map, and thus determine its own position and orientation. According to the task instructions, the robot automatically plans the best path from the current position to the target position. When an obstacle is detected, the vehicle body 1 will immediately identify it and replan the route to achieve dynamic obstacle avoidance. After moving to the side of the workpiece, the industrial camera 37 detects the position of the workpiece. The servo drive motor inside the base 31 controls the rotation of the base 32. The servo drive motor inside the base 32 controls the rotation of the support arm 33. Then, the servo drive motor inside the support arm 33 controls the rotation of the shaft arm 34 to adjust the position and height, so that the clamping rod 36 is located on both sides of the workpiece. The pneumatic component inside the chuck 35 drives the clamping rod 36 to move and clamp the workpiece. Then, the vehicle body 1 continues to move to the unloading point, where the pneumatic component inside the chuck 35 drives the clamping rod 36 to move and put the workpiece down.

[0021] Reference Figure 1-4As shown in this embodiment: the extension device 2 includes a support plate 22, which is rotatably mounted on the top of the vehicle body 1 via a shaft. A servo motor 21 is installed on one side of the interior of the vehicle body 1. The output end of the servo motor 21 is connected to the shaft at the bottom of the support plate 22 via a coupling. Several discs 23 are fixedly connected to the outer surface of the support plate 22. The discs 23 are circumferentially distributed on the outer surface of the support plate 22. Baffles 24 are fixedly connected to both sides of the discs 23. An L-shaped block 210 is fixedly connected to one side of the baffle 24. A round rod 25 is slidably connected to the inner wall of the baffle 24. The end slides on the inner wall of the L-shaped block 210. One end of the round rod 25 is fixedly connected to a clamping block 27. The top edge of the clamping block 27 is arc-shaped. A spring 26 is provided on the outer surface of the round rod 25. The two ends of the spring 26 are fixedly connected to one side of the round rod 25 and one side of the L-shaped block 210, respectively. When the vehicle body 1 moves to the workpiece placement position, the workpiece is taken out by the clamping assembly 3 and placed on a disc 23 at the top of the bearing plate 22. When the bottom end of the workpiece contacts the top of the two clamping blocks 27 above the disc 23, it will enter between the two clamping blocks 27 through the arc-shaped top of the two clamping blocks 27, pushing... Two clamping blocks 27 move away from each other and compress the spring 26 on the outer surface of the round rod 25. During this process, the industrial camera 37 continuously observes the workpiece. After the bottom end of the workpiece contacts the surface of the disc 23, the clamping assembly 3 releases the workpiece. The spring 26 on the outer side of the round rod 25 pushes the clamping blocks 27 to clamp the workpiece. Then, the clamping assembly 3 picks up the workpiece again. The servo motor 21 operates to control the carrier plate 22 to rotate a certain angle so that the disc 23 without a workpiece is moved to a position closer to the clamping assembly 3. The workpiece picked up by the clamping assembly 3 is placed back on the disc 23. This process is repeated to clamp multiple workpieces. Placed on the carrier plate 22, the AGV robot moves to the unloading point via the vehicle body 1. By setting the extension device 2, the AGV robot picks up and places workpieces via the carrier plate 22. The workpieces are placed on the top of the carrier plate 22, and the position of the workpieces is restricted by the clamps 27 on the surface of each disc 23 on the carrier plate 22. The angle of the carrier plate 22 can be adjusted by operating the servo motor 21, which facilitates the placement of multiple workpieces for transportation at one time and minimizes the occurrence of workpieces falling during the movement of the vehicle body 1, thereby improving the practicality of using the laser AGV robot for picking up and placing workpieces.

[0022] Reference Figure 2-4As shown in this embodiment: a plurality of rubber protrusions 28 are fixedly connected to one side of the clamping block 27. The protrusions 28 are arranged linearly on one side of the clamping block 27. By setting the rubber protrusions 28, the friction force when the workpiece is clamped by the clamping block 27 can be increased, and the clamping block 27 can be prevented from causing wear on the surface of the workpiece. A positioning rod 211 is fixedly connected to the top of the clamping block 27. The bottom end of the positioning rod 211 slides on the top of the baffle 24. When the clamping block 27 moves, the bottom end of the positioning rod 211 will slide on the top of the baffle 24. The positioning rod 211 can further limit the angle between the clamping block 27 and the disc 23 and the baffle 24, and prevent the angle of the clamping block 27 from deflecting.

[0023] Reference Figure 2-4 As shown in this embodiment: A fastening assembly 29 is provided on one side of the disc 23 to further restrict the position of the circular rod 25 and the clamping block 27 and improve the clamping effect. The fastening assembly 29 includes a micro hydraulic pump 291, which is installed on one side of the disc 23. Two infusion tubes 292 are installed at one end of the micro hydraulic pump 291. The inside of the infusion tubes 292 is provided with hydraulic oil. The end of the infusion tube 292 away from the micro hydraulic pump 291 is located on the inner wall of the L-shaped block 210. A circular expansion plate 293 is provided on one side of the inner wall of the L-shaped block 210. A patch pressure sensor 296 is provided at the top of the disc 23. After the workpiece is placed on the outer surface of the disc 23 between the two clamping blocks 27 by the clamping assembly 3, the bottom end of the workpiece contacts the patch pressure sensor 296 at the top of the disc 23, which will cause the patch pressure sensor 296 to... The displacement of the elastic element causes a change in the resistance within the patch pressure sensor 296, generating a signal. The robot's control system receives the signal and controls the operation of the micro hydraulic pump 291. The micro hydraulic pump 291 applies pressure to the inside of the infusion tube 292, causing the hydraulic oil inside the infusion tube 292 to enter the L-shaped block 210. This causes the expansion plate 293 at one end of the inner wall of the L-shaped block 210 to expand outward and press against the outer surface of the round rod 25, further fixing the position of the round rod 25 and the clamping block 27, and further restricting the position of the workpiece on the disc 23. When the clamping assembly 3 removes the workpiece, the industrial camera 37 detects that the clamping rod 36 has clamped the workpiece. The control system then operates again to control the micro hydraulic pump 291 to extract the hydraulic oil inside the L-shaped block 210 through the infusion tube 292, releasing the position restriction on the clamping block 27 and the round rod 25, making it easier for the clamping assembly 3 to remove the workpiece.

[0024] Reference Figure 2-4As shown in this embodiment: positioning cylinders 294 are fixedly connected to both sides of the disc 23. The outer surface of the infusion tube 292 is located inside the positioning cylinder 294. By setting the positioning cylinder 294, the position of the infusion tube 292 outside the disc 23 can be restricted, so as to avoid the infusion tube 292 from being blocked or entangled with other components on the disc 23. Auxiliary rings 295 are fixedly connected to both ends of the inner wall of the positioning cylinder 294. The inner edge of the auxiliary ring 295 is arc-shaped. By setting the arc-shaped auxiliary ring 295, the contact point between the outer surface of the infusion tube 292 and the positioning cylinder 294 is less likely to be worn.

[0025] Working Principle: When using an AGV robot to pick up and place workpieces for transportation, the robot moves by controlling the rotation of the wheels through the drive device inside the vehicle body 1. During the movement of the vehicle body 1, the two lidars 4 on the top are activated. The lidars 4 perform a 360-degree scan of the surrounding environment, identify static objects such as walls, shelves, and pillars, find feature points that match in the map, and thus determine its own position and orientation. According to the task instructions, it automatically plans the best path from the current position to the target position. When an obstacle is detected, the vehicle body 1 will immediately identify it and replan the route to achieve dynamic obstacle avoidance. After moving to the side of the workpiece, the industrial camera 37 detects the position of the workpiece, and the servo drive motor inside the base 31 controls the base 32 to rotate. The servo drive motor inside the base 32 controls the rotation of the support arm 33. Then, the servo drive motor inside the support arm 33 controls the rotation of the shaft arm 34 to adjust its position and height, positioning the clamping rod 36 on both sides of the workpiece. The pneumatic component inside the chuck 35 drives the clamping rod 36 to move and clamp the workpiece, which is then placed on a disc 23 at the top of the support plate 22. When the bottom end of the workpiece contacts the tops of the two clamping blocks 27 above the disc 23, it enters between the two clamping blocks 27 through the arc-shaped tops of the two clamping blocks 27, pushing the two clamping blocks 27 to move away from each other and compressing the spring 26 on the outer surface of the round rod 25. During this process, the industrial camera 37 continuously observes the workpiece. After the bottom end of the workpiece contacts the surface of the disc 23, the clamping assembly 3... The workpiece is released, and the spring 26 on the outside of the round rod 25 pushes the clamping block 27 to hold the workpiece. The bottom end of the workpiece contacts the patch pressure sensor 296 on the top of the disc 23, causing the elastic element inside the patch pressure sensor 296 to displace, resulting in a change in the resistance inside the patch pressure sensor 296 and generating a signal. The robot's control system receives the signal and controls the micro hydraulic pump 291 to operate. The micro hydraulic pump 291 applies pressure to the inside of the infusion tube 292, causing the hydraulic oil inside the infusion tube 292 to enter the L-shaped block 210. This causes the expansion plate 293 at one end of the inner wall of the L-shaped block 210 to expand outward and press against the outer surface of the round rod 25, further fixing the position of the round rod 25 and the clamping block 27, and securing the workpiece on the disc 23. The position is further restricted, and then the clamping assembly 3 picks up the workpiece again. The servo motor 21 operates to control the carrier plate 22 to rotate a certain angle so that the disc 23 without the workpiece is moved to a position close to the clamping assembly 3. The workpiece picked up by the clamping assembly 3 is placed on the disc 23 again. This process is repeated to place most of the workpieces on the carrier plate 22. Then the vehicle body 1 moves to the unloading point. The clamping rod 36 of the clamping assembly 3 clamps the workpiece and picks it up. When the industrial camera 37 detects that the clamping rod 36 has clamped the workpiece, the control system operates again to control the micro hydraulic pump 291 to extract the hydraulic oil inside the L-shaped block 210 through the infusion pipe 292 to release the position restriction on the clamping block 27 and the round rod 25. The clamping assembly 3 operates to drive the clamping rod 36 to move and put the workpiece down.

[0026] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model in any other way. Any person skilled in the art may use the disclosed technical content to make changes or modifications to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of this utility model, without departing from the scope of the utility model's technical solution, still fall within the protection scope of this utility model's technical solution. In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood through specific circumstances.

Claims

1. A laser AGV robot for taking and placing workpieces, comprising a vehicle body (1), characterized in that: The bottom of the vehicle body (1) is provided with rotatable casters. The interior of the vehicle body (1) is provided with a drive device for driving the casters to rotate. The top of the vehicle body (1) is provided with two laser radars (4), an extension device (2), and a clamping assembly (3). The clamping assembly (3) includes a base (31), which is fixed to the top of the vehicle body (1). The top of the base (31) is rotatably connected to a base (32). The interior of the base (31) is provided with a servo drive motor for driving the base (32) to rotate. The top of the base (32) is rotatably connected to a support arm ( 33), The base (32) is equipped with a servo drive motor for driving the support arm (33) to rotate. The top of the support arm (33) is rotatably connected to the shaft arm (34). The support arm (33) is equipped with a servo drive motor for driving the shaft arm (34) to rotate. One end of the shaft arm (34) is rotatably equipped with a chuck (35). The shaft arm (34) is equipped with a servo drive motor for driving the chuck (35) to rotate. The outer surface of the chuck (35) is equipped with a clamping rod (36) that is pneumatically driven to rotate. An industrial camera (37) is equipped on one side of the chuck (35).

2. The laser AGV robot for picking and placing workpieces according to claim 1, characterized in that: The expansion device (2) includes a support plate (22), which is rotatably mounted on the top of the vehicle body (1) via a shaft. A servo motor (21) is provided on one side of the interior of the vehicle body (1). The output end of the servo motor (21) is connected to the shaft at the bottom of the support plate (22) via a coupling. Several discs (23) are fixedly connected to the outer surface of the support plate (22). The discs (23) are circumferentially distributed on the outer surface of the support plate (22). Baffles (24) are fixedly connected to both sides of the discs (23). An L-shaped block (210) is fixedly connected to one side of the baffle (24). A round rod (25) is slidably connected to the inner wall of the baffle (24). One end of the round rod (25) slides on the inner wall of the L-shaped block (210). A clamping block (27) is fixedly connected to one end of the round rod (25). The top edge of the clamping block (27) is arc-shaped. A spring (26) is provided on the outer surface of the round rod (25). The two ends of the spring (26) are fixedly connected to one side of the round rod (25) and one side of the L-shaped block (210), respectively.

3. The laser AGV robot for picking and placing workpieces according to claim 2, characterized in that: A number of rubber protrusions (28) are fixedly connected to one side of the clamping block (27), and the protrusions (28) are arranged linearly on one side of the clamping block (27).

4. The laser AGV robot for picking and placing workpieces according to claim 3, characterized in that: The top end of the clamping block (27) is fixedly connected to a positioning rod (211), and the bottom end of the positioning rod (211) slides on the top end of the baffle (24).

5. The laser AGV robot for picking and placing workpieces according to claim 2, characterized in that: One side of the disc (23) is provided with a fastening component (29) that can further restrict the position of the rod (25) and the clamping block (27) to improve the clamping effect.

6. The laser AGV robot for picking up and placing workpieces according to claim 5, characterized in that: The fastening assembly (29) includes a micro hydraulic pump (291), which is mounted on one side of the disc (23). Two infusion tubes (292) are installed at one end of the micro hydraulic pump (291). The infusion tubes (292) are equipped with hydraulic oil infusion tubes. The end of the infusion tubes (292) away from the micro hydraulic pump (291) is located on the inner wall of the L-shaped block (210). A circular expansion plate (293) is provided on one side of the inner wall of the L-shaped block (210). A patch pressure sensor (296) is provided on the top of the disc (23).

7. The laser AGV robot for picking up and placing workpieces according to claim 6, characterized in that: Positioning cylinders (294) are fixedly connected to both sides of the disc (23), and the outer surface of the infusion tube (292) is located inside the positioning cylinder (294).

8. The laser AGV robot for picking up and placing workpieces according to claim 7, characterized in that: The inner walls of the positioning cylinder (294) are fixedly connected to two auxiliary rings (295), and the inner edge of the auxiliary rings (295) is arc-shaped.

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