High-bearing-capacity self-adaptive lifting workbench and AGV omni-directional movement collaborative operation system

Abstract

The invention relates to a high-bearing-capacity self-adaptive lifting workbench and AGV omni-directional movement collaborative operation system, and belongs to the technical field of auxiliary hoisting and automatic transferring. In order to achieve the flexible hoisting and transferring requirements of heavy and large products, the high-bearing-capacity self-adaptive lifting workbench and the AGV omni-directional moving vehicle are combined together to form a collaborative operation system, the traditional hoisting mode of the products is changed, and product transferring is completed through cooperation with a piggyback type AGV. Meanwhile, in order to avoid the overturning risk in the AGV moving process, a visual camera and two-dimensional code cooperative positioning mode is used, and the positioning precision of the cooperative operation system is improved. Practical application verification shows that an effective solution is provided for flexible hoisting and transferring requirements of heavy and large products, and the method has practical reference value in the technical field of auxiliary hoisting and automatic transferring.

Description

Technical Field

[0001] The present invention belongs to the technical field of auxiliary lifting and automatic transportation, and specifically relates to a high-load-bearing adaptive lifting workbench and AGV omnidirectional mobile collaborative operation system. Background Art

[0002] At present, the products produced in large manufacturing workshops are gradually showing a trend of being large, heavy, and integrated. Especially for products that need to be assembled, during their production process, the products will be frequently lifted and circulated between various workstations. At present, the commonly used lifting methods are: one is to use a heavy truss crane to lift the product to the AGV through a combination of hooks, slings, and lugs, and the AGV completes the product transfer; the other is to use a forklift to directly transfer the product from one workstation to another, and the forklift completes the lifting and transfer operations. The former requires the manufacturing workshop to install a heavy truss crane, which is costly, inflexible, and inefficient, and there is a product quality risk in the secondary conversion; the latter, because the forklift cannot move in all directions and is large in size, it has a high space requirement on its travel path, which indirectly increases the production and manufacturing costs. Therefore, there is an urgent need for a flexible product lifting + transfer method to reduce quality risks and production costs and improve production efficiency. Summary of the invention

[0003] The technical problem solved by the present invention is to overcome the deficiencies of the prior art and provide a high-load-bearing adaptive lifting workbench and AGV omnidirectional mobile collaborative operation system.

[0004] The technical solution provided by the present invention is: a high-load adaptive lifting workbench and AGV omnidirectional mobile collaborative operation system, the system includes: a lifting workbench, an omnidirectional mobile AGV, a visual recognition sensor, and a QR code label;

[0005] The lifting platform is used to support the products to be transported and drive them to complete the lifting action; the QR code mark is located at the bottom of the lifting platform, and the visual recognition sensor is located at the top of the omnidirectional mobile AGV. The distribution positions of the visual recognition sensor and the QR code mark on their respective carrying platforms correspond; the visual recognition sensor is used to identify the QR code mark; the QR code mark provides a reference for the position of the omnidirectional mobile AGV at the bottom of the lifting platform to avoid misalignment of the two, which may cause the center of gravity to be unstable and overturn during transportation;

[0006] The omnidirectional mobile AGV enters under the raised lifting workbench. When the visual recognition sensor recognizes the QR code logo, it means that the positions of the omnidirectional mobile AGV and the lifting workbench are aligned. The lifting workbench descends and docks with the omnidirectional mobile AGV. The omnidirectional mobile AGV carries the lifting workbench and the products to be transported to complete the transfer work between each workstation.

[0007] Preferably, the lifting workbench comprises a fixed base, a scissor assembly, and a lifting work plane;

[0008] A fixed base is installed at each end below the lifting work plane. The fixed base is in direct contact with the ground and is symmetrically distributed along the center line of the long side of the lifting work plane, which increases the space for the omnidirectional mobile AGV at the bottom of the lifting work platform and improves the convenience and safety of operation. The scissor assembly is installed between the fixed base and the lifting work plane to adjust the height between the fixed base and the lifting work plane.

[0009] Preferably, the scissor assembly comprises a rotating scissor arm and a moving scissor arm;

[0010] Each of the rotating scissor arm and the movable scissor arm has a center hole at both ends. The lower end of the rotating scissor arm is hinged to the fixed base through a pin shaft, and the upper end is rollingly connected to the first slide rail through pulley II. The lower end of the movable scissor arm is rollingly connected to the second slide rail through pulley I, and the upper end is hinged to the lifting work plane through a pin shaft. The two scissor arms are connected together at the center hole through the pin shaft to form a scissor assembly.

[0011] Preferably, two scissor assemblies are installed in parallel on each fixed base.

[0012] Preferably, two sets of power assembly hydraulic cylinders are installed between the two scissor assemblies, and the two scissor assemblies are welded together with the corresponding rotating scissor arms and movable scissor arms through a crossbeam. The lower end of the power assembly hydraulic cylinder is hinged to the crossbeam, and the upper end is hinged to the hinge bracket, and the hinge bracket is welded to the corresponding rotating scissor arms in each scissor assembly.

[0013] Preferably, a high-load-bearing adaptive lifting workbench and AGV omnidirectional mobile collaborative operation system further includes a lifting control module;

[0014] Control the movement of the hydraulic cylinder of the power assembly, which drives the scissor assembly to move, and complete the rising, falling and stopping of the lifting work plane according to the needs of the operation.

[0015] The present invention also provides a working method of a high-load-bearing adaptive lifting workbench and AGV omnidirectional mobile collaborative operation system, the method comprising the following steps:

[0016] Step 1: Raise the lifting platform to a certain height to ensure that the omnidirectional mobile AGV can move freely at its bottom;

[0017] Step 2: Control the omnidirectional mobile AGV to move from the outside to the bottom of the lifting work plane. The two visual recognition sensors on the top of the omnidirectional mobile AGV start working. When the QR code mark at the bottom of the lifting work plane is recognized, it is considered that the omnidirectional mobile AGV has completed positioning with the bottom of the lifting work plane, and then proceed to step 3;

[0018] Step 3: The two scissor arm assemblies are retracted, driving the lifting work plane to descend until the bottom of the lifting work plane contacts the top of the omnidirectional mobile AGV, and the two scissor arm assemblies continue to be retracted. At this time, the fixed base is retracted upward and leaves the ground;

[0019] Step 4: Control the omnidirectional mobile AGV to carry the lifting worktable and the products to be transported to the preset position, and the two scissor arm assemblies extend downward to drive the fixed base to contact the ground. The two scissor arm assemblies continue to extend downward, and at this time, the lifting work plane begins to move upward and separates from the omnidirectional mobile AGV;

[0020] Step 5: Control the omnidirectional mobile AGV to move out from the bottom of the lifting work plane;

[0021] Step 6: Control the lifting work plane to descend until the bottom is completely in contact with the ground, and finally complete the transfer operation of the product to be transported.

[0022] The beneficial effects of the present invention compared with the prior art are:

[0023] (1) The present invention innovatively combines a high-load adaptive lifting workbench with an AGV omnidirectional mobile vehicle to form a collaborative operation system, changing the traditional lifting method of heavy and large products, and using it in collaboration with a piggyback AGV to achieve fast, accurate and stable product transfer operations.

[0024] (2) The present invention reduces manual intervention, and the improvement of automation improves work efficiency and work safety.

[0025] (3) The collaborative operation system of the present invention occupies a small area, has high flexibility, and greatly reduces manufacturing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0027] Figure 2 It is a schematic diagram of a single-sided three-dimensional structure of the present invention;

[0028] Figure 3 It is a schematic diagram of the main structure of the present invention;

[0029] Figure 4 It is a side view structural schematic diagram of the present invention;

[0030] Figure 5 This is a schematic diagram of the lifting platform positioning QR code pasting location of the present invention;

[0031] Figure 6 This is a schematic diagram of the AGV vehicle visual recognition sensor of the present invention;

[0032] Figure 7 It is a schematic diagram of the working process of the present invention;

[0033] Figure 8 It is a schematic diagram of the working state of the present invention. DETAILED DESCRIPTION

[0034] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] like Figure 1 As shown, the present invention provides a high-load adaptive lifting workbench and AGV omnidirectional mobile collaborative operation system. The system aims to achieve the flexible lifting and transportation requirements of heavy and large products. It innovatively combines the high-load adaptive lifting workbench with the AGV omnidirectional mobile vehicle to form a collaborative operation system, changing the traditional lifting method of the product, and using it in collaboration with the piggyback AGV to complete the transportation of the product. At the same time, in order to avoid the risk of overturning during the movement of the AGV, the visual camera + QR code collaborative positioning method is used to improve the positioning accuracy of the collaborative operation system, and the feasibility and effectiveness of the operation system have been demonstrated through engineering practice.

[0036] like Figure 1 As shown, the system includes: a lifting workbench 1, an omnidirectional mobile automatic guided vehicle AGV 2, a visual recognition sensor 3, and a QR code label 4; the omnidirectional mobile AGV, AGV is an automatic guided vehicle, which is a transportation equipment that can automatically travel along a preset path and is widely used in industrial production, logistics warehousing and other fields.

[0037] The lifting platform 1 is used to support the product 5 to be transported, and drive the product 5 to be transported to complete the lifting action; the QR code mark 4 is located at the bottom of the lifting platform 1, and the visual recognition sensor 3 is located at the top of the omnidirectional mobile AGV 2, and the visual recognition sensor 3 is used to identify the QR code mark 4; the QR code mark 4 provides a reference for the position of the omnidirectional mobile AGV 2 at the bottom of the lifting platform 1, so as to avoid the misalignment of the two and cause the center of gravity to be unstable and overturned during the transportation process;

[0038] The omnidirectional mobile AGV 2 enters under the raised lifting work platform 1. When the visual recognition sensor 3 recognizes the QR code logo 4, it indicates that the positions of the omnidirectional mobile AGV 2 and the lifting work platform 1 are aligned. The lifting work platform 1 descends and docks with the omnidirectional mobile AGV 2. The omnidirectional mobile AGV 2 carries the lifting work platform 1 and the products to be transported 5 to complete the transfer work between each work station.

[0039] like Figure 2 As shown, the lifting workbench 1 comprises a fixed base 6, a scissor assembly 18, and a lifting work plane 13;

[0040] A fixed base 6 is installed at each end below the lifting work plane 13. The fixed base 6 is in direct contact with the ground and is symmetrically distributed along the center line of the long side of the lifting work plane 13, thereby increasing the space for the omnidirectional mobile AGV 2 at the bottom of the lifting work platform 1 and improving the convenience and safety of operation. The scissor assembly 18 is installed between the fixed base 6 and the lifting work plane 13 to adjust the height between the fixed base 6 and the lifting work plane 13.

[0041] Preferably, the scissor assembly comprises a rotating scissor arm 7 and a movable scissor arm 8;

[0042] Each of the rotating scissor arm 7 and the movable scissor arm 8 has a center hole at both ends. The lower end of the rotating scissor arm 7 is hinged to the fixed base 6 through a pin shaft, and the upper end is rollingly connected to the first slide rail 14 through a pulley II 15. The lower end of the movable scissor arm 8 is rollingly connected to the second slide rail 19 through a pulley I 10, and the upper end is hinged to the lifting work plane 13 through a pin shaft. The two scissor arms are connected together at the center hole through the pin shaft to form a scissor assembly.

[0043] Two scissor assemblies 18 are installed in parallel on each fixed base 6, which can better withstand the force and thus provide stable support.

[0044] like Figure 3 , Figure 4 As shown, two groups of power assembly hydraulic cylinders 11 are installed between the two scissor assemblies 18, and the power assembly hydraulic cylinders 11 provide sufficient power source for the rise and fall of the lifting work plane 13. The two scissor assemblies 18 are welded together with the corresponding rotating scissor arms 7 and the movable scissor arms 8 through the cross beam 9. The lower end of the power assembly hydraulic cylinder 11 is hinged to the cross beam 9, and the upper end is hinged to the hinge bracket 16. The hinge bracket 16 is welded to the corresponding rotating scissor arm 7 in each scissor assembly 18.

[0045] like Figure 5 As shown, the visual recognition sensor 3 and the two-dimensional code mark 4 are distributed in corresponding positions on their respective carrying platforms. For example, the visual recognition sensor 3 and the two-dimensional code mark 4 are distributed in the same position along the X-axis and Y-axis directions on their respective carrying platforms.

[0046] The above-mentioned high-load-bearing adaptive lifting workbench and AGV omnidirectional mobile collaborative operation system also includes a lifting control module 17;

[0047] The power assembly hydraulic cylinder 11 is controlled to move, and the power assembly hydraulic cylinder 11 drives the scissor assembly 18 to move, and the lifting work plane 13 is raised, lowered and stopped according to the operation needs to ensure the smooth docking and separation with the omnidirectional mobile AGV 2.

[0048] The present invention also provides a working method of a high-load-bearing adaptive lifting workbench and AGV omnidirectional mobile collaborative operation system, the method comprising the following steps:

[0049] Step 1: Raise the lifting platform 1 to a certain height to ensure that the omnidirectional mobile AGV 2 can move freely at its bottom;

[0050] Step 2: Control the omnidirectional mobile AGV 2 to move from the outside to the bottom of the lifting work plane 13, as shown in FIG. Figure 7 As shown, the two visual recognition sensors 3 on the top of the omnidirectional mobile AGV 2 start working, and when the two-dimensional code mark 4 at the bottom of the lifting working plane 13 is recognized, it is considered that the omnidirectional mobile AGV 2 has completed positioning with the bottom of the lifting working plane 13, as shown in FIG. Figure 8 As shown, proceed to step three;

[0051] Step 3: The two scissor arm assemblies 18 are retracted, driving the lifting work plane 13 to descend until the bottom of the lifting work plane 13 contacts the top of the omnidirectional mobile AGV 2. The two scissor arm assemblies 18 continue to be retracted, at which time, the fixed base 6 is retracted upward and off the ground;

[0052] Step 4: Control the omnidirectional mobile AGV 2 to carry the lifting work platform 1 and the product to be transported 5 to the preset position, and the two scissor arm assemblies extend downward 18 to drive the fixed base 6 to contact the ground. The two scissor arm assemblies 18 continue to extend downward, and at this time, the lifting work plane 13 starts to move upward and separates from the omnidirectional mobile AGV 2;

[0053] Step 5: Control the omnidirectional mobile AGV2 to move out from the bottom of the lifting work plane 13;

[0054] Step 6: Control the lifting work plane 13 to descend until the bottom is completely in contact with the ground, and finally complete the transfer operation of the product 5 to be transported.

[0055] The working principle of the operation system provided by the present invention is that when using the high-load adaptive lifting work platform 1, the lifting control module 17 controls the lifting work plane 13 to stop or start at any position in the height direction, and uses two sets of power component hydraulic cylinders 11 to provide a power source to drive the rotating scissor arm 7 in the scissor assembly 18 to rotate, thereby driving the moving scissor arm 8 to move. The opening and closing of the scissor assembly 18 completes the lifting of the lifting work plane 13 once, indirectly replacing the heavy crane lifting operation to complete the lifting of the product;

[0056] The product transfer operation is changed as follows: first, the lifting work plane 13 is raised to a certain height, and then the omnidirectional mobile AGV2 moves to the position directly below the lifting work plane 13, and then the lifting work plane 13 descends and docks with the omnidirectional mobile AGV 2, and the product transfer operation is completed through the movement of the omnidirectional mobile AGV 2.

[0057] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A high-load adaptive lifting workbench and AGV omnidirectional mobile collaborative operation system, characterized in that include: Lifting workbench (1), omnidirectional mobile AGV (2), visual recognition sensor (3), QR code label (4); The lifting platform (1) is used to support the product (5) to be transported and drive the product (5) to be transported to complete the lifting action; the two-dimensional code mark (4) is located at the bottom of the lifting platform (1), the visual recognition sensor (3) is located at the top of the omnidirectional mobile AGV (2), and the distribution positions of the visual recognition sensor (3) and the two-dimensional code mark (4) on their respective carrying platforms correspond; the visual recognition sensor (3) is used to identify the two-dimensional code mark (4); the two-dimensional code mark (4) provides a reference for the position of the omnidirectional mobile AGV (2) at the bottom of the lifting platform (1), so as to avoid the misalignment of the two causing the center of gravity to be unstable during transportation and thus overturning; The omnidirectional mobile AGV (2) enters under the raised lifting platform (1). When the visual recognition sensor (3) recognizes the QR code mark (4), it indicates that the positions of the omnidirectional mobile AGV (2) and the lifting platform (1) have been aligned. The lifting platform (1) descends and docks with the omnidirectional mobile AGV (2). The omnidirectional mobile AGV (2) carries the lifting platform (1) and the products to be transported (5) to complete the transfer work between various workstations.

2. According to claim 1, a high-load-bearing adaptive lifting workbench and AGV omnidirectional mobile collaborative operation system is characterized by: The lifting work platform (1) comprises a fixed base (6), a scissor assembly (18), and a lifting work plane (13); A fixed base (6) is installed at each end below the lifting work plane (13), the fixed base (6) is in direct contact with the ground, and is symmetrically distributed along the long side center line of the lifting work plane (13), thereby increasing the space for the omnidirectional mobile AGV (2) at the bottom of the lifting work platform (1), and improving the convenience and safety of operation. A scissor assembly (18) is installed between the fixed base (6) and the lifting work plane (13), and is used to adjust the height between the fixed base (6) and the lifting work plane (13).

3. According to claim 2, a high-load-bearing adaptive lifting workbench and AGV omnidirectional mobile collaborative operation system is characterized by: The scissor assembly comprises a rotating scissor arm (7) and a movable scissor arm (8); Each of the rotating scissor arms (7) and the movable scissor arms (8) has a center hole at both ends. The lower end of the rotating scissor arm (7) is hingedly connected to the fixed base (6) through a pin shaft, and the upper end is rollingly connected to the first slide rail (14) through a pulley II (15). The lower end of the movable scissor arm (8) is rollingly connected to the second slide rail (19) through a pulley I (10), and the upper end is hingedly connected to the lifting working plane (13) through a pin shaft. The two scissor arms are connected together at the center hole through the pin shaft to form a scissor assembly.

4. The high-load-bearing adaptive lifting workbench and AGV omnidirectional mobile collaborative operation system according to claim 1 is characterized by: Two scissor-fork assemblies (18) are installed in parallel on each fixed base (6).

5. The high-load-bearing adaptive lifting workbench and AGV omnidirectional mobile collaborative operation system according to claim 2 is characterized by: Two groups of power assembly hydraulic cylinders (11) are installed between the two scissor assembly (18). The two scissor assembly (18) are welded together with the corresponding rotating scissor arm (7) and the movable scissor arm (8) through the cross beam (9). The lower end of the power assembly hydraulic cylinder (11) is hingedly connected to the cross beam (9), and the upper end is hingedly connected to the hinge bracket (16). The hinge bracket (16) is welded together with the corresponding rotating scissor arm (7) in each scissor assembly (18).

6. The high-load-bearing adaptive lifting workbench and AGV omnidirectional mobile collaborative operation system according to claim 2 is characterized by: Also includes a lifting control module (17); The hydraulic cylinder (11) of the power assembly is controlled to move, and the hydraulic cylinder (11) of the power assembly drives the scissor assembly (18) to move, so as to complete the rising, falling and stopping actions of the lifting working plane (13) according to the operation requirements.

7. A method for working a high-load adaptive lifting workbench and AGV omnidirectional mobile collaborative operation system, characterized in that The steps include: Step 1: Raise the lifting platform (1) to a certain height to ensure that the omnidirectional mobile AGV (2) can move freely at its bottom; Step 2: Control the omnidirectional mobile AGV (2) to move from the outside to the bottom of the lifting work plane (13), and the two visual recognition sensors (3) on the top of the omnidirectional mobile AGV (2) start to work. When the QR code mark (4) at the bottom of the lifting work plane (13) is recognized, it is considered that the omnidirectional mobile AGV (2) and the bottom of the lifting work plane (13) are positioned, and the process goes to step 3; Step 3: The two scissor arm assemblies (18) are retracted, driving the lifting work plane (13) to descend until the bottom of the lifting work plane (13) contacts the top of the omnidirectional mobile AGV (2), and the two scissor arm assemblies (18) continue to be retracted. At this time, the fixed base (6) is retracted upward and leaves the ground; Step 4: Control the omnidirectional mobile AGV (2) to carry the lifting work platform (1) and the product to be transported (5) to a preset position, and the two scissor arm assemblies extend downward (18), driving the fixed base (6) to contact the ground. The two scissor arm assemblies (18) continue to extend downward, at which time the lifting work plane (13) begins to move upward and separates from the omnidirectional mobile AGV (2); Step 5: Control the omnidirectional mobile AGV (2) to move out from the bottom of the lifting working plane (13); Step 6: Control the lifting work plane (13) to descend until the bottom is completely in contact with the ground, and finally complete the transfer operation of the product to be transported (5).

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