An AGV-based picking robot and its control method

Abstract

The present invention discloses an AGV-based retrieval robot, comprising an AGV, a controller, a lifting mechanism, and a storage rack. The lifting mechanism is provided with a multi-axis robotic arm, a clamping mechanism is provided on the multi-axis robotic arm, and a horizontal sliding mechanism is provided at the lower end of the storage rack, the horizontal sliding mechanism being partially located on the rotation path of the multi-axis robotic arm. The clamping mechanism is arranged in coordination with the storage rack. The clamping mechanism includes a mounting frame fixed to the multi-axis robotic arm, the mounting frame being provided with an image acquisition unit, an electric cylinder, and a support plate. The electric cylinder is provided with a first slider and a second slider arranged in parallel. A clamping plate is respectively mounted on the first and second sliders. The support plate is arranged between and below the two clamping plates. The first slider and the second slider slide toward each other to move the two clamping plates closer to or further away from each other. The electrically controlled retrieval robot realizes multi-directional displacement operation of the robotic arm and has high flexibility.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, in particular to an AGV (Automated Guided Vehicle)-based picking manipulator and a control method thereof. Background Art

[0002] A robotic arm is an automated device that mimics certain movements and functions of the human hand and arm, allowing it to grasp, move objects, or operate tools according to a fixed program. Its greatest advantage over the human arm is its ability to tirelessly repeat the same action, adapt to diverse working environments, and maintain high operational consistency. With advances in technology, robotic arms are widely used in a variety of technical fields, including machinery manufacturing, metallurgy, electronics, light industry, and atomic energy.

[0003] Today's robots can generally only move in two-dimensional space. Most robots that can move in three-dimensional space are large in size, resulting in poor flexibility and poor reliability in grasping and unloading. Summary of the Invention

[0004] In order to solve the above-mentioned technical defects, the technical solution adopted by the present invention is to provide a piece-picking robot based on an AGV cart, including an AGV cart, the AGV cart is provided with a controller, the AGV cart is equipped with a lifting mechanism and a storage rack for temporarily storing objects, the lifting mechanism is installed with a multi-axis robotic arm, the multi-axis robotic arm is installed with a clamping mechanism for grabbing objects from the storage rack or placing the grabbed objects on the storage rack, the lower end of the storage rack is equipped with a horizontal sliding mechanism, the horizontal sliding mechanism is fixed on the AGV cart, and the horizontal sliding mechanism is partially located on the rotation path of the multi-axis robotic arm, and the clamping mechanism is arranged in coordination with the storage rack.

[0005] The clamping mechanism includes a mounting frame fixed on the multi-axis robotic arm, an image acquisition unit and an electric cylinder are provided on the mounting frame, a first slider and a second slider are installed on the electric cylinder, and oppositely arranged clamping plates are respectively installed on the first slider and the second slider, a support plate is provided below the clamping plate on the mounting frame, and the support plate is arranged between the two clamping plates, and the first slider and the second slider keep sliding toward each other so that the two clamping plates are close to or away from each other.

[0006] The AGV trolley, lifting mechanism, multi-axis robotic arm, clamping mechanism, horizontal sliding mechanism, image acquisition unit and electric cylinder are respectively connected to the controller to control the picking robot with electricity.

[0007] Furthermore, the storage rack is provided with an opening for objects to enter and exit, and the storage rack is provided with a plurality of partitions arranged along the opening and a support boss for supporting the bottom of the objects. The support boss is arranged at the lower ends of both sides of the partition and extends in the same direction as the partition.

[0008] Furthermore, the multi-axis robotic arm includes a mounting base, a first rotating arm, a second rotating arm, a third rotating arm, a fourth rotating arm, a fifth rotating arm and a sixth rotating arm, the mounting base is fixed on the lifting mechanism, the mounting base is provided with a first rotating motor for driving the first rotating arm to rotate along the mounting base, the first rotating arm is provided with a second rotating motor for driving the second rotating arm to rotate along the first rotating arm, the second rotating arm is provided with a third rotating motor for driving the third rotating arm to rotate along the second rotating arm, the third rotating arm is provided with a fourth rotating motor for driving the fourth rotating arm to rotate along the third rotating arm, the fourth rotating arm is provided with a fifth rotating motor for driving the fifth rotating arm to rotate along the fourth rotating arm, the fifth rotating arm is provided with a sixth rotating motor for driving the sixth rotating arm to rotate along the fifth rotating arm, and the clamping mechanism is installed on the sixth rotating arm; the first rotating motor, the second rotating motor, the third rotating motor, the fourth rotating motor, the fifth rotating motor and the sixth rotating arm are electrically connected to the controller respectively.

[0009] Furthermore, the mounting frame includes a first fixed plate fixed on the multi-axis robotic arm, the electric cylinder is fixed to the lower end of the first fixed plate, the lower end of the electric cylinder is provided with a supporting plate, the lower end of the supporting plate is provided with a vertical plate, the lower end of the electric cylinder is provided with a second fixed plate fixed to the vertical plate, the clamping plate is slidably installed on the second fixed plate, and the support plate is installed at the lower end of the vertical plate.

[0010] Furthermore, the second fixing plate is provided with a guide portion arranged parallel to the first sliding block, and the clamping plate is provided with a sliding portion, and the sliding portion is slidably mounted on the guide portion.

[0011] Furthermore, a mounting groove is provided on the first fixing plate, a mounting hole is provided in the mounting groove, an image acquisition unit is provided on the first fixing plate and is arranged through the mounting hole, a ring-shaped fill light arranged around the image acquisition unit is installed in the mounting groove, and the ring-shaped fill light is electrically connected to the controller.

[0012] Furthermore, the AGV trolley is provided with an operating platform, an operating panel is installed on the operating platform, a main control box is provided on the side of the operating platform, the controller is installed in the main control box, the lifting mechanism is vertically fixed on the operating platform, and the horizontal sliding mechanism is horizontally fixed on the operating platform.

[0013] The present invention also provides a control method for a pickup manipulator based on an AGV, comprising the following steps:

[0014] The controller controls the rotating arm on the multi-axis robot arm to rotate horizontally or vertically, so that the image acquisition unit obtains the orientation information of the storage rack and sends it to the controller;

[0015] The controller controls the rotation of the multi-axis robot arm and the lifting and lowering movement of the lifting mechanism according to the acquired orientation information, so that the clamping mechanism is aligned with the storage rack;

[0016] The storage rack moves laterally to approach the clamping mechanism, so that the clamping mechanism extends into the storage space of the storage rack. The clamping mechanism controls the clamping plate to clamp the file bag or release the file bag. The storage rack moves laterally to move away from the clamping mechanism to complete loading and unloading.

[0017] Furthermore, the image acquisition unit is a camera.

[0018] Compared with the prior art, the beneficial effects of the technical solution of the present invention are as follows:

[0019] The present invention provides a retrieval robot based on an AGV and a control method thereof. The robot is controlled by electric drive, the multi-axis robot arm rotates and moves up and down, the storage rack moves horizontally, and the clamping mechanism clamps or releases objects. The image acquisition unit transmits the acquired orientation information to the controller. The controller controls the multi-axis robot arm to drive the clamping mechanism to move up and down along the lifting mechanism based on the above orientation information. The robot has multiple degrees of freedom. When grabbing or unloading, the robot arm rotates to be opposite to the storage rack. The storage rack slides horizontally along the plane where the AGV is located to approach the clamping mechanism, so that the clamping mechanism is inserted into the storage rack to grab the object or place the grabbed object in the storage rack, which can prevent the storage rack from blocking the movement path of the clamping mechanism. The robot is flexible to use, does not require track laying, and reduces the probability of objects falling from the clamping mechanism during object transfer. This simplifies the complexity of the robot arm and can improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 This is a three-dimensional diagram of an AGV-based retrieval robot provided by an embodiment of the present invention;

[0022] Figure 2 This is a three-dimensional diagram of another orientation of an AGV-based picking robot provided by an embodiment of the present invention;

[0023] Figure 3 This is a perspective view of a third position of an AGV-based picking robot provided by an embodiment of the present invention;

[0024] Figure 4 is a structural schematic diagram of a clamping mechanism provided by an embodiment of the present invention;

[0025] Figure 5 is a three-dimensional diagram of another orientation of the clamping mechanism provided by an embodiment of the present invention;

[0026] Figure 6 is a structural schematic diagram of a storage rack provided by an embodiment of the present invention;

[0027] Figure 7 The present invention provides a flowchart of a method for controlling an AGV-based picking robot.

[0028] The reference numerals are as follows:

[0029] 1. AGV, 2. Lifting mechanism, 3. Storage rack, 3a. Opening, 4. Multi-axis robotic arm, 41. Mounting base, 42. First rotating arm, 43. Second rotating arm, 44. Third rotating arm, 45. Fourth rotating arm, 46. Fifth rotating arm, 47. Sixth rotating arm, 5. Clamping mechanism, 51. Mounting rack, 51a. Guide, 511. First fixing plate, 511a. Mounting slot, 511b. Mounting hole, 512. Carrying plate, 513. Vertical plate, 514. Second fixing plate, 52. Electric cylinder, 53 , first slider, 54, second slider, 55, splint, 55a, sliding part, 55b, second guide slope, 56, support plate, 6, horizontal sliding mechanism, 61, motor, 62, screw rod, 63, slider, 64, guide rail, 7, image acquisition unit, 8, fill light, 9, partition, 9a, first guide slope, 10, support boss, 11, operating platform, 12, operating panel, 13, main control box, 14, chassis, 15, shell, 16, driving wheel, 17, universal wheel, 18, drag chain box, 19, lifting drag chain. DETAILED DESCRIPTION

[0030] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0031] Example 1

[0032] See also Figure 1-7 As shown, the present invention provides a piece-picking robot based on an AGV trolley, comprising an AGV trolley 1, on which is mounted a lifting mechanism 2 and a storage rack 3 for temporarily storing objects, wherein the objects are folders, file bags, books, etc. A multi-axis robotic arm 4 is mounted on the lifting mechanism 2, and a clamping mechanism 5 for grabbing objects from the storage rack 3 or placing the grabbed objects on the storage rack 3 is mounted on the multi-axis robotic arm 4. A horizontal sliding mechanism 6 is mounted at the lower end of the storage rack 3, which is fixed on the AGV trolley 1 and is located on the rotation path of the multi-axis robotic arm 4. The clamping mechanism 5 is arranged in coordination with the storage rack 3.

[0033] The clamping mechanism 5 includes a mounting frame 51 fixed to the multi-axis robotic arm 4. Mounting frame 51 is equipped with an electric cylinder 52, mounted on which are first and second sliders 53 and 54, respectively, arranged in parallel. Opposing clamping plates 55 are mounted on the first and second sliders 53 and 54, respectively. The first and second sliders 53 and 54 slide toward each other, moving the two clamping plates 55 closer or further apart. With fast response and high reliability, the electric cylinder 52 drives the two sliders toward each other, allowing the two clamping plates 55 to clamp or release an object. The AGV 1, lifting mechanism 2, multi-axis robotic arm 4, clamping mechanism 5, horizontal sliding mechanism 6, image acquisition unit 7, and electric cylinder 52 are each connected to a controller, which electrically controls the object-removing robot.

[0034] Specifically, the multi-axis robotic arm 4 includes a mounting base 41, a first rotating arm 42, a second rotating arm 43, a third rotating arm 44, a fourth rotating arm 45, a fifth rotating arm 46 and a sixth rotating arm 47. The mounting base 41 is fixed on the lifting mechanism 2. The mounting base 41 is provided with a first rotating motor for driving the first rotating arm 42 to rotate along the mounting base 41, the first rotating arm 42 is provided with a second rotating motor for driving the second rotating arm 43 to rotate along the first rotating arm 42, the second rotating arm 43 is provided with a third rotating motor for driving the third rotating arm 44 to rotate along the second rotating arm 43, the third rotating arm 44 is provided with a fourth rotating motor for driving the fourth rotating arm 45 to rotate along the third rotating arm 44, the fourth rotating arm 45 is provided with a fifth rotating motor for driving the fifth rotating arm 46 to rotate along the fourth rotating arm 45, the fifth rotating arm 46 is provided with a sixth rotating motor for driving the sixth rotating arm 47 to rotate along the fifth rotating arm 46, and the clamping mechanism 5 is installed on the sixth rotating arm 47. The first rotary motor, the second rotary motor, the third rotary motor, the fourth rotary motor, the fifth rotary motor and the sixth rotary arm are electrically connected to the controller respectively, so as to realize rotation within any angle range, thereby providing a wider range of gripping space for the clamping mechanism 5.

[0035] Specifically, the AGV 1 is provided with an operating platform 11, on which is mounted an operating panel 12, a main control box 13, a controller mounted within the main control box 13, a lifting mechanism 2 vertically fixed to the operating platform 11 and latched to the front of the main control box 13, and a horizontal sliding mechanism 6 fixed to the operating platform 11. The AGV 1 includes a connected chassis 14 and a housing 15. Drive wheels 16 driven by a power unit are mounted on the chassis 14, and universal wheels 17 extending through the housing 15 are mounted. The AGV 1 utilizes existing SLAM navigation technology, and the universal wheels 17 can change the direction of movement of the AGV 1.

[0036] Specifically, the storage rack 3 is disposed on a side of the main control box 13 , and the storage rack 3 can be moved along the horizontal sliding mechanism 6 to be exposed outside the main control box 13 or hidden at the side of the main control box 13 .

[0037] Preferably, the mounting frame 51 is mounted at the end of the sixth rotating arm 47. The mounting frame 51 includes a first fixing plate 511 fixed to the multi-axis robot arm. The electric cylinder 52 is fixed to the lower end of the first fixing plate 511. A supporting plate 512 is provided at the lower end of the electric cylinder 52. A vertical plate 513 is provided at the lower end of the supporting plate 512. A second fixing plate 514 is provided at the lower end of the electric cylinder 52, fixed to the vertical plate 513. A clamping plate 55 is slidably mounted on the second fixing plate 514, and a support plate 56 is mounted at the lower end of the vertical plate 513. Two sets of clamping plates 55 are provided at intervals.

[0038] Specifically, the mounting frame 51 is provided with a support plate 56 positioned below the clamping plates 55 and disposed between the two clamping plates 55. The support plate 56 supports the bottom of the object, while the clamping plates 55 clamp the sides of the object, thereby improving the reliability of the loading and unloading of materials by the clamping mechanism 5. The second fixed plate 514 of the mounting frame 51 is provided with a guide portion 51a arranged parallel to the first slider 53. The clamping plates 55 are provided with a sliding portion 55a, which is slidably mounted on the guide portion 51a. The guide portion 51a supports and guides the clamping plates 55, thereby improving the stability of the clamping plates 55. The guide portion 51a is a guide block or guide groove. The sliding portion 55a is a slide groove or slider.

[0039] Specifically, the first fixing plate 511 is provided with a mounting slot 511a, within which is a mounting hole 511b. An image acquisition unit 7 is disposed on the first fixing plate 511 and passes through the mounting hole 511b. An annular fill light 8 is mounted within the mounting slot 511a, surrounding the image acquisition unit 7. The annular fill light 8 is electrically connected to the controller. The annular fill light 8 increases local light brightness. The image acquisition unit 7 is a camera that transmits image information from the storage rack 3 to the main control box 14, enabling the robot to more accurately locate the orientation and position of objects.

[0040] Preferably, the storage rack 3 is provided with an opening 3a for objects to enter and exit, and is provided with a plurality of partitions 9 arranged along the opening 3a and support bosses 10 for supporting objects. The support bosses 10 are provided at the lower ends of both sides of the partitions 9 and extend in the same direction as the partitions 9. The support bosses 10 support the bottom of the object, and the partitions 9 limit the sides of the object. By providing the support bosses 10, it is convenient to insert the support plate 56 into the gap between the two support bosses to lift the object, while the clamping plates 55 are inserted between the two partitions 9 from both sides to clamp the object, or the clamping plates 55 release the object from both sides, and the support plate 56 can directly and smoothly exit from the bottom gap. The simultaneous action of the three points can significantly improve the accuracy of the clamping mechanism 5 in clamping and releasing objects, and facilitate loading and unloading.

[0041] Specifically, the storage rack 3 includes a bottom plate, side plates and a back plate. Side plates are provided on the opposite sides of the bottom plate. A back plate fixed to the bottom plate is connected between the two side plates. The bottom plate is installed on the horizontal sliding mechanism 6. The partition plates 9 extend in the same direction as the side plates and are spaced apart on the bottom plate.

[0042] Specifically, support bosses 10 are positioned around the lower ends of partitions 9 on both sides. Partitions 9 extend laterally and are fixed to the back panel of storage rack 3. A viewing notch aligns with opening 3a, facilitating inspection of items in adjacent partition areas, preventing obstructions and conserving material. The ends of partitions 9 are provided with first guide ramps 9a, while the outer surfaces of clamping plates 55 are provided with second guide ramps 55b, which mate with first guide ramps 9a. The side surfaces of support bosses 10 mate with the side surfaces of support plates 56 at an angle.

[0043] Alternatively, the supporting boss 10 may be provided between two partitions 9 , and two supporting plates 56 are provided to fit in the gaps between the supporting boss 10 and the partitions.

[0044] Preferably, the horizontal sliding mechanism 6 includes a motor 61, a screw rod 62, a slider 63, and a guide rail 64. The motor 61 and guide rail 64 are mounted on the AGV 1. The screw rod 62 is mounted in the same direction above the guide rail 64. The motor 61 is rotatably connected to one end of the screw rod 62. The slider 64 is cooperatively mounted on the screw rod 62 and the guide rail 64. The storage rack 3 is mounted on the slider 64. The lifting mechanism 2 has the same structure as the horizontal sliding mechanism 6. In addition, the lifting mechanism 2 is mounted on a bracket, and the slider of the lifting mechanism 2 is provided with a support seat connected to the mounting seat 41.

[0045] Specifically, the lifting mechanism 2 is provided with a drag chain box 18 , in which a lifting drag chain 19 connected to the lower end of the support seat on the slider of the lifting mechanism 2 is fixed.

[0046] The present invention also provides a control method for a pickup manipulator based on an AGV, comprising the following steps:

[0047] The controller controls the rotating arm on the multi-axis robot arm 4 to rotate horizontally or vertically, so that the image acquisition unit 7 obtains the orientation information of the storage rack 3 and sends it to the controller;

[0048] The controller controls the rotation of the multi-axis robot arm 4 and the lifting mechanism 2 according to the acquired orientation information, so that the clamping mechanism 5 is horizontally aligned with the storage rack 3;

[0049] The storage rack 3 moves laterally to approach the clamping mechanism 5, so that the clamping mechanism 5 extends into the storage space of the storage rack 3. The clamping mechanism 5 controls the clamping plate 55 to clamp or release the file bag. The storage rack 3 moves laterally to move away from the clamping mechanism 5 to complete loading and unloading.

[0050] Specifically, the image acquisition unit 7 is a camera.

[0051] The working principle of the AGV-based pick-up manipulator provided by the present invention is as follows:

[0052] When extracting the file bag from the storage rack 3, the file bags to be stored on the file rack are manually placed one by one on the supporting boss 10 between the two partitions 9. The AGV trolley 1 moves to the file rack, and the corresponding rotating motor of the multi-axis robotic arm 4 is activated. The orientation information of the storage rack 3 is obtained through the camera. The multi-axis robotic arm 4 rotates and the lifting mechanism 2 adjusts the height of the multi-axis robotic arm 4 so that the clamping mechanism 5 is horizontally aligned with the storage rack 3. At this time, the slider 64 on the storage rack 3 slides along the screw rod 62 to the splint 55 and the support plate 56 and is inserted into the corresponding partition area of ​​the storage rack 3. The electric cylinder 52 controls the splint 55 to clamp the file bag, and the motor 61 drives the screw rod 62 to rotate in the opposite direction. The slider 64 on the storage rack 3 slides along the screw rod 62 to move away from the clamping mechanism 5, so that the splint 55 can grab the file bag.

[0053] When the file bag needs to be temporarily stored on the storage rack 3, the multi-axis robot arm 4 rotates and the lifting mechanism 2 adjusts the height of the multi-axis robot arm 4, aligning the file bag on the splint 55 with the storage rack 3, and the motor 61 drives the screw rod 62 to rotate. The slider 64 on the storage rack 3 slides along the screw rod 62 to move closer to and away from the clamping mechanism 5, and continues to slide so that the splint 55 and the support plate 56 are inserted into the corresponding partition area of ​​the storage rack 3. The electric cylinder 52 controls the splint 55 to loosen to release the file bag on the storage rack 3. The motor 61 drives the screw rod 62 to rotate in the opposite direction, and the slider 64 on the storage rack 3 slides along the screw rod 62 to move away from the clamping mechanism 5, thereby realizing the temporary storage of the file bag by the splint 55.

[0054] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A retrieval robot based on an AGV, characterized by: The invention comprises an AGV trolley (1), wherein the AGV trolley (1) is provided with a controller, the AGV trolley (1) is equipped with a lifting mechanism (2) and a storage rack (3) for temporarily storing objects, the lifting mechanism (2) is equipped with a multi-axis robotic arm (4), the multi-axis robotic arm (4) is equipped with a clamping mechanism (5) for grabbing objects from the storage rack (3) or placing the grabbed objects on the storage rack (3), the lower end of the storage rack (3) is equipped with a horizontal sliding mechanism (6), the horizontal sliding mechanism (6) is fixed on the AGV trolley (1), and the horizontal sliding mechanism (6) is partially located on the rotation path of the multi-axis robotic arm (4), and the clamping mechanism (5) is arranged in coordination with the storage rack (3); The clamping mechanism (5) comprises a mounting frame (51) fixed on the multi-axis robot arm (4), the mounting frame (51) is provided with an image acquisition unit (7) and an electric cylinder (52), the electric cylinder (52) is provided with a first slider (53) and a second slider (54) arranged in parallel, the first slider (53) and the second slider (54) are respectively provided with oppositely arranged clamping plates (55), which are used to clamp the two sides of an object or release the object from both sides; the mounting frame (51) is provided with a supporting plate (56) located below the clamping plate (55), the supporting plate (56) is arranged between the two clamping plates (55), and the first slider (53) and the second slider (54) keep sliding towards each other so that the two clamping plates (55) are moved closer to or away from each other; The AGV trolley (1), lifting mechanism (2), multi-axis robotic arm (4), clamping mechanism (5), horizontal sliding mechanism (6), image acquisition unit (7) and electric cylinder (52) are respectively connected to the controller to control the picking robot with electricity; The storage rack (3) is provided with an opening (3a) for objects to enter and exit, and the storage rack (3) is provided with a plurality of partitions (9) arranged along the opening (3a) and a supporting boss (10) for supporting the bottom of the object, the supporting boss (10) is arranged at the lower ends of both sides of the partition (9) and extends in the same direction as the partition (9), and the objects are file bags placed one by one on the supporting boss (10) between the two partitions (9); The partition (9) is used to limit the two sides of the object. By providing the supporting boss (10), it is convenient for the support plate (56) to be inserted into the gap between the two supporting bosses (10) to lift the object or to smoothly withdraw from the bottom gap.

2. The AGV-based pick-up manipulator according to claim 1, characterized in that: The multi-axis robot arm (4) comprises a mounting seat (41), a first rotating arm (42), a second rotating arm (43), a third rotating arm (44), a fourth rotating arm (45), a fifth rotating arm (46) and a sixth rotating arm (47), wherein the mounting seat (41) is fixed on the lifting mechanism (2), a first rotating motor for driving the first rotating arm (42) to rotate along the mounting seat (41) is provided on the mounting seat (41), a second rotating motor for driving the second rotating arm (43) to rotate along the first rotating arm (42) is provided on the first rotating arm (42), and the second rotating arm (43) is provided on the first rotating arm (42). A third rotating motor is provided on the third rotating arm (44) for driving the third rotating arm (44) to rotate along the second rotating arm (43); a fourth rotating motor is provided on the third rotating arm (44) for driving the fourth rotating arm (45) to rotate along the third rotating arm (44); a fifth rotating motor is provided on the fourth rotating arm (45) for driving the fifth rotating arm (46) to rotate along the fourth rotating arm (45); a sixth rotating motor is provided on the fifth rotating arm (46) for driving the sixth rotating arm (47) to rotate along the fifth rotating arm (46); and the clamping mechanism (5) is mounted on the sixth rotating arm (47); The first rotating motor, the second rotating motor, the third rotating motor, the fourth rotating motor, the fifth rotating motor and the sixth rotating arm are electrically connected to the controller respectively.

3. The AGV-based pick-up robot according to claim 1, characterized in that: The mounting frame (51) includes a first fixing plate (511) fixed on the multi-axis robot arm (4), the electric cylinder (52) is fixed to the lower end of the first fixing plate (511), the lower end of the electric cylinder (52) is provided with a supporting plate (512), the lower end of the supporting plate (512) is provided with a vertical plate (513), the lower end of the electric cylinder (52) is provided with a second fixing plate (514) fixed to the vertical plate (513), the clamping plate (55) is slidably mounted on the second fixing plate (514), and the supporting plate (56) is mounted on the lower end of the vertical plate (513).

4. The AGV-based pick-up manipulator according to claim 3, characterized in that: The second fixed plate (514) is provided with a guide portion (51a) arranged parallel to the first sliding block (53), and the clamping plate (55) is provided with a sliding portion (55a), and the sliding portion (55a) is slidably mounted on the guide portion (51a).

5. The AGV-based pick-up robot according to claim 3, characterized in that: The first fixing plate (511) is provided with a mounting groove (511a), a mounting hole (511b) is provided in the mounting groove (511a), an image acquisition unit (7) is provided on the first fixing plate (511) and is arranged through the mounting hole (511b), an annular fill light (8) is installed in the mounting groove (511a) and is arranged around the image acquisition unit (7), and the annular fill light (8) is electrically connected to the controller.

6. The AGV-based pick-up robot according to claim 1, characterized in that: The AGV trolley (1) is provided with an operating platform (11), an operating panel (12) is installed on the operating platform (11), a main control box (13) is provided on the side of the operating platform (11), the controller is installed in the main control box (13), the lifting mechanism (2) is fixed on the operating platform (11) in the vertical direction, and the horizontal sliding mechanism (6) is fixed on the operating platform (11) in the horizontal direction.

7. A control method for an AGV-based pickup manipulator, implemented using the AGV-based pickup manipulator according to any one of claims 1 to 6, characterized in that: The steps include: The controller controls the rotating arm on the multi-axis robotic arm (4) to rotate horizontally or vertically, so that the image acquisition unit (7) obtains the orientation information of the storage rack (3) and sends it to the controller; The controller controls the rotation of the multi-axis robot arm (4) and the lifting and lowering movement of the lifting mechanism (2) based on the acquired orientation information, and adjusts the height of the multi-axis robot arm (4) so ​​that the clamping mechanism (5) is horizontally aligned with the storage rack (3); The storage rack (3) moves laterally to approach the clamping mechanism (5), so that the clamping mechanism (5) extends into the storage space of the storage rack (3); When extracting the file bag from the storage rack (3), the storage rack (3) slides until the clamping plate (55) and the support plate (56) are inserted into the partition area corresponding to the storage rack (3), and the electric cylinder (52) controls the clamping plate (55) to clamp the file bag, so that the clamping plate (55) can grab the file bag, and the storage rack (3) moves laterally to move away from the clamping mechanism (5), completing the loading; When the file bag is temporarily stored on the storage rack (3), the storage rack (3) slides so that the clamping plate (55) and the supporting plate (56) are inserted into the corresponding partition area of ​​the storage rack (3), and the electric cylinder (52) controls the clamping plate (55) to loosen to release the file bag on the storage rack (3). The storage rack (3) moves horizontally to move away from the clamping mechanism (5), completing the unloading.

8. The control method of the AGV-based picking robot according to claim 7, characterized in that: The image acquisition unit (7) is a camera.

Images