AGV double gripper material taking mechanism

Abstract

The application provides an AGV double-material-claw material taking mechanism, which realizes automatic feeding and discharging of frame material boxes and cutting material boxes and is accurate and reliable. The mechanism comprises an AGV walking module, an arm control and sub-control system module, an upper casing, a multi-axis manipulator, a visual positioning mounting module and a double-material-claw module. The length direction of the upper casing is provided with material box storage work area on both sides, and the middle of the length direction of the upper casing is provided with a mounting seat. The upper part of the mounting seat is fixed with the base of the multi-axis manipulator. The output end of the multi-axis manipulator is provided with a connecting plate. The connecting plate is provided with the visual positioning mounting module and the double-material-claw module. Each material box storage work area comprises a frame material box storage work area and a cutting material box storage work area. The multi-axis manipulator drives the double-material-claw module to clamp the frame material box or the cutting material box. The lens of the visual positioning mounting module is used for capturing the action image of the double-material-claw module and completing the positioning and placement of the corresponding material box.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of material box feeding and discharging, in particular to an AGV double-material-claw material taking mechanism. BACKGROUND

[0002] Currently, the frame material box and cutting material box are manually transferred by personnel. When feeding, personnel respectively place the full material boxes corresponding to the frame material box and cutting material box to the corresponding workstations. After the operation is completed, personnel respectively take down the empty material boxes and then manually carry them to the recycling storage position. This wastes manpower and is inefficient, and there are certain problems in taking and placing. SUMMARY

[0003] In view of the above problems, the present application provides an AGV double-material-claw material taking mechanism, which realizes automatic feeding and discharging of frame material boxes and cutting material boxes and is accurate and reliable.

[0004] The AGV double-material-claw material taking mechanism comprises:

[0005] an AGV walking module;

[0006] an arm control and sub-control system module;

[0007] an upper housing, both sides of the length direction of which are respectively provided with material box storage workstation areas, and a mounting seat is arranged at the middle of the length direction of the upper housing;

[0008] a multi-axis manipulator;

[0009] a visual positioning carrying module;

[0010] and a double-material-claw module;

[0011] The mounting seat is fixed with a machine seat of the multi-axis manipulator at the upper part, the output end of the multi-axis manipulator is provided with a connecting plate, and the connecting plate is provided with the visual positioning carrying module and the double-material-claw module. Each side of the material box storage workstation area comprises a frame material box storage workstation area and a cutting material box storage workstation area.

[0012] The multi-axis manipulator drives the double-material-claw module to respectively clamp the frame material box or the cutting material box, and the lens of the visual positioning carrying module is used to capture the action image of the double-material-claw module and complete the positioning and placement of the corresponding material box.

[0013] Further features are as follows:

[0014] The double material claw module comprises a connecting frame, an opening and closing mechanism, a frame magazine clamping mechanism and a cutting magazine clamping mechanism, the connecting frame comprises an upper connecting plate, a connecting vertical plate and a connecting bottom frame, the end of the multi-shaft manipulator is a rotary motor, the output end of the rotary motor is connected with the connecting plate, the connecting plate is connected with the upper connecting plate, one side of the upper connecting plate is connected with the connecting bottom frame through the connecting vertical plate, the connecting bottom frame comprises a preliminary positioning frame corresponding to the cutting magazine, the upper part of the opening and closing mechanism is fixed to the upper connecting plate, the lower part of the opening and closing mechanism is respectively fixed to the corresponding side strip through the transmission plate on both sides, the side strip on each side comprises a frame magazine transmission rod and a cutting magazine transmission rod, the length direction of the frame magazine transmission rod is respectively fixed with a lower protruding clamping rod at both ends, the upper center of the cutting magazine transmission rod is respectively fixed with a clamping block, and the cutting magazine transmission rod is arranged outside the preliminary positioning frame.

[0015] The visual positioning module is fixed to the lower part of the connecting plate, adopts a 3D visual camera, and can realize accurate taking and placing of the magazine through shooting and identification of the position mark before taking and placing the material.

[0016] The inner side of the clamping rod is provided with a rubber cushion, so that the friction is increased and the deformation of the magazine caused by excessive clamping force is prevented, and the bottom end of the clamping rod is provided with a hook structure, so that the magazine is prevented from falling off.

[0017] The preliminary positioning frame is provided with a notched frame, the upper surface of the notched frame is concave to form a groove structure, the groove structure and the notched frame are combined to be connected to the top mushroom head structure of the cutting magazine, then the clamping block is moved to the upper part of the mushroom head structure, and the stable and reliable transfer is ensured.

[0018] The magazine storage station area on each side comprises a frame magazine storage mechanism on the upper part and a cutting magazine storage mechanism on the lower part, the cutting magazine storage mechanism comprises two layers, the upper layer of the cutting magazine storage mechanism is provided with the frame magazine storage mechanism, and the corresponding side plate of the frame magazine storage mechanism is fixed to the inner cavity of the upper layer of the cutting magazine storage mechanism.

[0019] After the AGV double material claw taking mechanism is adopted, the frame magazine and the cutting magazine are respectively arranged in the frame magazine storage station area and the cutting magazine storage station area, the visual positioning module is used to identify and position the mark before the material claw grasps the material, the position is accurate when the material is taken and placed, the double material claw module is used to grasp the frame magazine and the cutting magazine, the two kinds of magazines can be respectively grasped through rotation switching, the multi-shaft manipulator facilitates stable and reliable movement of the double material claw module, the automatic feeding and discharging of the frame magazine and the cutting magazine are realized, and the feeding and discharging are accurate and reliable. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a perspective view of the application;

[0021] Figure 2 is a perspective view of the frame magazine storage mechanism of the present application;

[0022] Figure 3 is a perspective view of the cutting magazine storage mechanism of the present application;

[0023] Figure 4 is a perspective view of a multi-axis robot suitable for use in the present application;

[0024] Figure 5 is a perspective view of a double magazine module suitable for use in the present application;

[0025] The names corresponding to the numbers in the figures are as follows:

[0026] AGV walking module 10, arm control and sub-control system module 20, upper housing 30, magazine storage station area 301, mounting seat 302, multi-axis robot 40, connecting plate 41, rotary motor 42, double magazine module 50, connecting frame 51, upper connecting plate 511, connecting upright plate 512, connecting bottom frame 513, preliminary positioning frame 5131, opening and closing mechanism 52, transmission plate 521, frame magazine clamping mechanism 53, cutting magazine clamping mechanism 54, edge strip 55, frame magazine transmission rod 551, cutting magazine transmission rod 552, clamping rod 553, clamping block 554, rubber cushion 555, hook structure 556, visual positioning carrying module 60;

[0027] Notch frame 1, slot structure 2, frame magazine storage mechanism 3, cutting magazine storage mechanism 4. DETAILED DESCRIPTION

[0028] AGV double magazine taking mechanism, see Figures 1-5 , which includes AGV walking module 10, arm control and sub-control system module 20, upper housing 30, multi-axis robot 40, visual positioning carrying module 60, and double magazine module 50;

[0029] The upper housing 30 is provided with a magazine storage station area 301 on both sides in the length direction, and a mounting seat 302 is arranged in the middle of the length direction of the upper housing;

[0030] The mounting seat 302 is fixed with the machine base of the multi-axis robot 40 on the upper part, the output end of the multi-axis robot 40 is provided with a connecting plate 41, and the visual positioning carrying module 60 and the double magazine module 50 are mounted on the connecting plate 41, and each side of the magazine storage station area 301 includes a frame magazine storage station area and a cutting magazine storage station area;

[0031] The multi-axis robot 40 drives the double magazine module 50 to clamp the frame magazine or the cutting magazine, and the lens of the visual positioning carrying module 60 is used to capture the action image of the double magazine module 50 and complete the positioning and placement of the corresponding magazine.

[0032] In specific implementation: the double material claw module 50 includes a connecting frame 51, an opening and closing mechanism 52, a frame magazine clamping mechanism 53, and a cutting magazine clamping mechanism 54. The connecting frame 51 includes an upper connecting plate 511, a connecting vertical plate 512, and a connecting bottom frame 513. The end of the multi-axis manipulator 40 is a rotary motor 42. The output end of the rotary motor 42 is connected to a connecting plate 41. The connecting plate 41 is connected to the upper connecting plate 511. One side of the upper connecting plate 511 is connected to the connecting bottom frame 513 through the connecting vertical plate 512. The connecting bottom frame 513 includes a preliminary positioning frame 5131 corresponding to the cutting magazine. The upper part of the opening and closing mechanism 52 is fixed to the upper connecting plate 511. The lower part of the opening and closing mechanism 52 is respectively fixed to the corresponding side strip 55 through the transmission plate 521 on both sides. Each side strip 55 includes a frame magazine transmission rod 551 and a cutting magazine transmission rod 552. The length direction both ends of the frame magazine transmission rod 551 are respectively fixed with a lower protruding clamping rod 553. The upper center position of the cutting magazine transmission rod 552 is respectively fixed with a clamping block 554. The cutting magazine transmission rod 552 is arranged outside the preliminary positioning frame 5131.

[0033] The visual positioning module 60 is fixed to the lower part of the connecting plate 41. A 3D visual camera is adopted. The accurate taking and placing of the magazine can be realized by shooting and identifying the position mark point before taking and placing the material.

[0034] The inner side of the clamping rod 553 is provided with a rubber cushion 555, which increases the friction and prevents the deformation of the magazine due to excessive clamping force. The bottom end of the clamping rod 553 is a hook-shaped structure 556, thereby preventing the magazine from falling off.

[0035] The preliminary positioning frame 5131 is provided with a notch frame 1. The upper surface of the notch frame 1 is concave, forming a groove structure 2. The groove structure 2 and the notch frame 1 are combined to butt the top mushroom head structure of the cutting magazine, and then the clamping block 554 is clamped and moved to the upper part of the mushroom head structure, ensuring stable and reliable transfer.

[0036] Each side of the magazine storage station area includes an upper frame magazine storage mechanism 3 and a lower cutting magazine storage mechanism 4. The cutting magazine storage mechanism 4 includes upper and lower two layers. The upper layer of the cutting box storage mechanism 4 is provided with the frame magazine storage mechanism 3. The corresponding side plate of the frame magazine storage mechanism 3 is fixed to the inner cavity of the upper layer of the cutting box storage mechanism 4.

[0037] In specific implementation, the AGV walking module 10 is controlled by the upper computer and system according to the material information and machine state, receives real-time commands, and walks in the Stocker according to the set route.

[0038] The arm control and sub-control system module 20 is used for receiving the upper control command and controlling the action of the collaborative robot, including a carrying frame and an electrical control system.

[0039] The frame magazine storage mechanism 3 is mainly used for temporarily storing frame magazines, and can be compatible with various frame magazines;

[0040] The cutting magazine storage mechanism 4 is mainly used for temporarily storing cutting magazines, and can be compatible with 8&12-inch cutting magazines;

[0041] The multi-axis robot 40 is used for taking and placing materials, and makes corresponding actions when taking different materials through system control;

[0042] Before the material gripper grabs the material, the visual positioning module is used to identify and position the identification mark, so as to ensure the accurate position when taking and placing the material.

[0043] The double-gripper module 50 is used for grabbing frame magazines and cutting magazines, and can be switched by rotation to grab the two kinds of magazines respectively.

[0044] In specific implementation, the frame magazine and the cutting magazine are taken from the transfer temporary storage position to the storage station on the vehicle body by the double-gripper module. There are 8 frame magazine storage positions and 4 cutting magazine storage positions on the double sides of the area. A single frame magazine storage position can be compatible with frame magazines of various sizes, and is limited by shape, contains a material sensing device, and has a double-gripper avoidance slot. A single cutting magazine storage position can be compatible with 8&12-inch cutting magazines, and is limited by shape, contains a material sensing device, and can store full and empty magazines.

[0045] The working principle is as follows: the frame magazine and the cutting magazine are respectively arranged in the frame magazine storage station area and the cutting magazine storage station area. Before the material gripper grabs the material, the visual positioning module is used to identify and position the identification mark, so as to ensure the accurate position when taking and placing the material. The double-gripper module is used for grabbing frame magazines and cutting magazines, and can be switched by rotation to grab the two kinds of magazines respectively. The multi-axis robot facilitates the stable and reliable movement of the double-gripper module. The frame magazine and the cutting magazine are automatically fed and discharged, and the feeding and discharging are accurate and reliable.

[0046] It is apparent to those skilled in the art that the present application is not limited to the details of the foregoing exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the foregoing description, and all changes falling within the meaning and range of equivalents of the essential elements of the claims are intended to be encompassed by the present application. Any reference signs in the claims should not be considered as limiting the claims involved.

[0047] Furthermore, it should be understood that although the specification is described in terms of embodiments, not every embodiment includes every feature described. The specification can include implicit combinations of explicitly mentioned features and / or explicit combinations of implicitely mentioned features. Each embodiment depends on the explicit combinations of features and / or the implicit combinations of features made specifically within that embodiment, and each such embodiment can be combined with every other such embodiment to create further embodiments.

Claims

1. An AGV dual-claw material handling mechanism, characterized in that, It includes: AGV walking module; Arm control and sub-control system module; The upper casing has material box storage areas on both sides along its length, and a mounting base is located in the middle along its length. Multi-axis robotic arm; Visual positioning module; And a dual-claw module; The upper part of the mounting base is fixedly equipped with the base of the multi-axis robot arm. The output end of the multi-axis robot arm is equipped with a connecting plate. The connecting plate is equipped with a vision positioning module and a dual-claw module. The material box storage station area on each side includes a frame material box storage station area and a cutting material box storage station area. The multi-axis robotic arm drives the dual-claw module to clamp the frame box or the cutting box respectively. The lens of the vision positioning module is used to capture the motion image of the dual-claw module and complete the positioning and placement of the corresponding box. The dual-claw module includes a connecting frame, an opening and closing mechanism, a frame material box clamping mechanism, and a cutting material box clamping mechanism. The connecting frame includes an upper connecting plate, a connecting vertical plate, and a connecting bottom frame. The end of the multi-axis manipulator is a rotary motor, and the output end of the rotary motor is connected to the connecting plate. The connecting plate is connected to the upper connecting plate. One side of the upper connecting plate is connected to the connecting bottom frame through the connecting vertical plate. The connecting bottom frame includes a preliminary positioning frame corresponding to the cutting material box. The upper part of the opening and closing mechanism is fixed to the upper connecting plate. The lower two opening and closing sides of the opening and closing mechanism are respectively fixed to corresponding side strips through transmission plates. Each side strip includes a frame material box transmission rod and a cutting material box transmission rod. The two ends of the frame material box transmission rod along its length are respectively fixed with downward protruding clamping rods. The upper center position of the cutting material box transmission rod is respectively fixed with a clamping block. The cutting material box transmission rod is arranged outside the preliminary positioning frame.

2. The AGV dual-claw material handling mechanism as described in claim 1, characterized in that: The visual positioning module is fixed to the lower part of the connecting plate and uses a 3D vision camera. Before picking up or placing materials, the position markers can be identified by taking pictures to achieve accurate picking and placing of the material box.

3. The AGV dual-claw material handling mechanism as described in claim 1, characterized in that: The inner side of the clamping rod is fitted with a rubber pad, and the bottom end of the clamping rod has a hook-shaped structure.

4. The AGV dual-claw material handling mechanism as described in claim 1, characterized in that: The initial positioning frame has a notch frame with an indented upper surface forming a groove structure. The groove structure and the notch frame are combined to align with the top mushroom head structure of the cutting box, and then the clamping block moves to the upper part of the mushroom head structure.

5. The AGV dual-claw material handling mechanism as described in claim 1, characterized in that: Each side of the material box storage station area includes an upper frame material box storage mechanism and a lower cutting material box storage mechanism. The cutting material box storage mechanism includes upper and lower layers. The upper layer of the cutting material box storage mechanism is equipped with a frame material box storage mechanism, and the corresponding side plate of the frame material box storage mechanism is fixed to the inner cavity of the upper layer of the cutting material box storage mechanism.

Images