SMT goods shelf feeding and discharging mechanical arm type AGV

Abstract

The invention provides an SMT goods shelf feeding and discharging mechanical arm type AGV which comprises a main body assembly, and the main body assembly comprises an SMT vehicle-mounted goods shelf, an AGV main body and an AGV feeding and discharging gantry mechanism. By means of the SMT goods shelf feeding and discharging mechanical arm type AGV, feeding and discharging work of SMT material trays can be automatically completed, the requirement for manpower is greatly reduced, the manpower cost is reduced, meanwhile, efficient storage and taking can be conducted on the single SMT material trays, the goods shelf manufacturing cost and the goods shelf maintenance cost are reduced, and the AGV is compact in structure, small in occupied space and high in practicability. The automatic feeding and discharging device can flexibly operate in a limited space, meets the requirements of SMT storehouses of different scales, can independently complete feeding and discharging tasks, does not need additional equipment such as a conveying belt, and saves space and equipment cost; through accurate control of the AGV control system, automatic path planning, positioning, material taking and placing and other operations can be achieved, loading and unloading tasks can be accurately and rapidly completed, human errors are reduced, and the working accuracy and reliability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of SMT warehousing logistics applications, and particularly to an SMT shelf loading and unloading manipulator type AGV vehicle. Background Art

[0002] SMT (Surface Mount Technology, electronic circuit surface assembly technology) is a basic industry in the field of electronic manufacturing. In the field of SMT warehousing logistics applications, warehouse management personnel take out the corresponding SMT trays from the designated shelves in the warehouse according to the daily usage of SMT and interact with users. Generally, it is carried out manually, taking SMT trays from the warehouse and delivering them to users; or warehouse personnel put the SMT trays on the designated SMT shelf positions and set the signs of the SMT lights on the shelf positions in the management system. This requires a large amount of manpower and the production cost of the required SMT shelves is also very high.

[0003] In previous research, a ground rail type SMT box shelf was used in the newly built SMT computer room. Specifically, similar SMTs were packed into boxes, and then ground rails were set in each SMT shelf channel. Through a clamping manipulator, the SMT boxes were conveyed from the first position of a specific SMT shelf to a specific storage position, or taken out from the storage position and placed at the first position of a specific SMT shelf. The initial installation cost of such a shelf is very high, the maintenance cost is also high, and it cannot complete the access of a single SMT tray.

[0004] CN104003090B discloses a material automatic access device capable of intelligent sorting. The incoming and outgoing of SMT materials are completed through a roadway machine, an automatic feeding machine, and a material access robot with left and right turning functions. The degree of automation is currently a semi-automatic SMT intelligent shelf that is widely used. It has a low degree of automation, a large labor intensity of warehouse personnel, a low operation efficiency, and is prone to errors. The material automatic access device capable of intelligent sorting disclosed in CN104003090B has a large floor area, large equipment, and high costs, which is not conducive to large-area promotion.

[0005] CN215438127U discloses an SMT tray automatic sorting and access device. It adopts a fixed ground rail method to place the accessed SMT trays on a conveyor belt, and then a fixed rail type manipulator accesses them to the corresponding SMT shelves. Each SMT shelf channel requires an independent such SMT tray automatic sorting and access device and a conveyor belt, which is neither economical nor space-saving.

[0006] In previous studies, some people directly moved a six-axis manipulator onto an AGV cart, hoping to complete the loading and unloading work of SMT shelves. When the arm span of the six-axis manipulator reaches the height of 7 layers of SMT, its volume will be very large, and it cannot complete the picking and placing of SMT trays on the lower layers; if the six-axis manipulator can complete the picking and placing of the lower layers, its arm span cannot complete the picking and placing of the upper layers of the SMT shelf; if the six-axis manipulator can meet the requirements of picking both the upper and lower SMT trays, the volume of the AGV plus the manipulator will be very large, which cannot meet the requirements of the current SMT warehouse.

[0007] AGV has its own limitations. Its positioning accuracy is plus or minus 10 millimeters, while the placement interval of SMT trays in the SMT shelf is 20 millimeters, and the thickness of the SMT tray is 10 - 12 millimeters. Therefore, the current AGV positioning accuracy is not sufficient to pick and place the SMT trays on the SMT shelf.

[0008] The AGV shelf itself also has certain defects that are not suitable for automatic grasping. The support frame with a 20 - millimeter interval it uses makes the SMT tray with a thickness of only 10 millimeters may tilt in several directions in the support frame, which may cause the SMT trays to cross and overlap, resulting in the inability to complete the next step of automatic loading and unloading of SMT trays.

[0009] Therefore, a manipulator - type AGV cart for SMT shelf loading and unloading is proposed. Summary of the Invention

[0010] In view of this, the present invention hopes to provide a manipulator - type AGV cart for SMT shelf loading and unloading to solve or alleviate the technical problems existing in the prior art and at least provide a beneficial alternative.

[0011] The technical solution of the embodiment of the present invention is implemented as follows: A manipulator - type AGV cart for SMT shelf loading and unloading includes a main body component, and the main body component includes an SMT vehicle - mounted shelf, an AGV cart main body, an AGV up - and - down gantry mechanism, an AGV cart control system, an AGV up - and - down moving mechanism, an AGV mechanical finger rotation mechanism, an AGV arm main rotation mechanism, an SMT gripper mechanism, an SMT gripper forward extension mechanism, and an AGV left - and - right moving mechanism.

[0012] On one side of the upper surface of the AGV vehicle body, an SMT vehicle-mounted shelf is installed. On the other side of the upper surface of the AGV vehicle body, an AGV vehicle control system is installed. Inside the AGV vehicle control system, an AGV up and down gantry mechanism is installed. On one side of the AGV up and down gantry mechanism close to the SMT vehicle-mounted shelf, an AGV up and down moving mechanism is slidably connected. On the top of one side of the AGV up and down moving mechanism close to the SMT vehicle-mounted shelf, an AGV left and right moving mechanism is installed. On one side of the AGV left and right moving mechanism close to the SMT vehicle-mounted shelf, an AGV arm main rotation mechanism is installed. At the output end of the AGV arm main rotation mechanism, an SMT gripper forward extension mechanism is installed. At the output end of the SMT gripper forward extension mechanism, an AGV mechanical finger rotation mechanism is installed. At the output end of the AGV mechanical finger rotation mechanism, an SMT gripper mechanism is installed.

[0013] Further preferably, the SMT gripper mechanism includes a code reader body, a finger rotation detection block, a finger rotation connecting piece, a code reader mounting seat, an electric gripper, a gripper connecting seat, and an SMT mechanical finger;

[0014] On one side of the rear surface of the code reader mounting seat, a code reader body is installed. On the side of the front surface of the code reader mounting seat far from the code reader body, a finger rotation connecting piece penetrates through. On one side of the front surface of the finger rotation connecting piece close to the code reader body, a finger rotation detection block is installed. On the rear surface of the finger rotation connecting piece, an electric gripper is fixedly connected. On the upper and lower parts of the rear surface of the electric gripper, gripper connecting seats are installed. On the side of the two gripper connecting seats close to each other, SMT mechanical fingers are fixedly connected.

[0015] Further preferably, the AGV arm main rotation mechanism includes a rotation in-place indication block, a front extension synchronous pulley, a front extension bearing seat, a front extension synchronous belt, a front extension machine base, a front extension motor, a rotating arm, a front extension track, a front extension lead screw, a lead screw support bearing, a lead screw support seat, and a front extension drive pulley;

[0016] The upper part of the rear surface of the front extension machine base is fixedly connected with a front extension motor, the output end of the front extension motor is fixedly connected with a front extension driving wheel, the lower part of the rear surface of the front extension machine base penetrates through a front extension lead screw, the front part of the outer side wall of the front extension lead screw is fixedly connected with a front extension synchronous wheel, the outer side wall of the front extension driving wheel is rotationally connected to the outer side wall of the front extension synchronous wheel through a front extension synchronous belt, the lower part of the rear surface of the front extension machine base near the outer side of the front extension lead screw is fixedly connected with a front extension bearing seat, the lower surface of the front extension bearing seat is fixedly connected with a rotating arm, the bottom of the rotating arm is fixedly connected with a lead screw support seat, the inner side wall of the lead screw support seat is rotationally connected to the lower part of the outer side wall of the front extension lead screw through a lead screw support bearing, the front part of the upper surface of the rotating arm is fixedly connected with a rotation in-place indicating block, and the lower surface of the rotating arm is fixedly connected with a front extension track.

[0017] Further preferably, the AGV left-right movement mechanism includes an arm motor, a left-right movement motor, a left-right movement upper gear, an arm reducer, an arm in-place switch, a fixing plate, a left-right movement mounting seat, a left-right movement upper guide rail slider, a rotating mounting plate, and a left-right movement lower guide rail slider;

[0018] On the upper surface of the rotating mounting plate near one side of the SMT vehicle-mounted shelf, an arm motor is fixedly connected. The output end of the arm motor is provided with an arm reducer, and the output end of the arm reducer is fixedly connected to the front part of the upper surface of the rotating arm near the rotation in-place indicating block. On the upper surface of the rotating mounting plate near one side of the arm motor, an arm in-place switch is arranged. The front surface and the rear surface of the rotating mounting plate are fixedly connected with a left-right movement mounting seat through a fixing plate. On the upper surface of the left-right movement mounting seat near one side of the arm motor, a left-right movement motor is fixedly connected. The output end of the left-right movement motor is fixedly connected with a left-right movement upper gear. The respectively close sides of the rotating mounting plate and the left-right movement mounting seat are fixedly connected with a left-right movement lower guide rail slider and a left-right movement upper guide rail slider.

[0019] Further preferably, the AGV mechanical finger rotation mechanism includes a mechanical finger rotation motor, a mechanical finger rotation reducer, a mechanical finger rotation in-place switch, a rotation motor mounting seat, a mechanical finger forward extension mounting seat, a forward extension mounting seat slider, a forward extension mounting seat connecting piece, and a forward extension mounting seat lead screw sleeve;

[0020] The lower part of the front surface of the rotating motor mounting seat is fixedly connected with a mechanical finger rotating motor. The output end of the mechanical finger rotating motor is fixedly connected with a mechanical finger rotating speed reducer. The output end of the mechanical finger rotating speed reducer is fixedly connected to the middle part of the front surface of the finger rotating connecting piece. One side of the rear surface of the rotating motor mounting seat is provided with a mechanical finger rotation in-place switch. The top of the rear surface of the rotating motor mounting seat is fixedly connected with a mechanical finger forward extension mounting seat. The upper surface of the mechanical finger forward extension mounting seat is fixedly connected with a forward extension mounting seat slider. The inner side wall of the forward extension mounting seat slider is slidably connected to the outer side wall of the forward extension track. The rear surface of the mechanical finger forward extension mounting seat is fixedly connected with a forward extension mounting seat connecting piece. The front surface of the forward extension mounting seat connecting piece is fixedly connected with a forward extension mounting seat lead screw sleeve.

[0021] Further preferably, the AGV vertical movement mechanism includes a vertical movement guide rail slider, an upper bracket of the vertical movement protection cover, a left and right chain guide bracket for vertical movement, a chain guide bracket for vertical movement, a vertical movement support seat, a middle bracket of the vertical movement protection cover, left and right upper guide rails for vertical movement, left and right lower guide rails for vertical movement, left and right support seats for vertical movement, and a left and right movement rack;

[0022] The lower surface of the vertical movement support seat is fixedly connected with a left and right chain guide bracket for vertical movement. The lower surface of the left and right chain guide bracket for vertical movement is fixedly connected with an upper bracket of the vertical movement protection cover. Both sides of the upper surface of the upper bracket of the vertical movement protection cover are fixedly connected with a middle bracket of the vertical movement protection cover. The upper parts of the closer sides of the two middle brackets of the vertical movement protection cover are fixedly connected with left and right upper guide rails for vertical movement and left and right lower guide rails for vertical movement. The inner side walls of the left and right lower guide rail sliders and the left and right upper guide rail sliders are respectively slidably connected to the outer side walls of the left and right upper guide rails for vertical movement and the left and right lower guide rails for vertical movement. The closer sides of the left and right upper guide rails for vertical movement and the left and right lower guide rails for vertical movement are fixedly connected with left and right support seats for vertical movement. The upper surface of the left and right support seats for vertical movement is fixedly connected with a left and right movement rack. One side of the left and right movement rack is meshed and connected to the outer side wall of the left and right upper gears. The middle parts of the front surface and the rear surface of the vertical movement support seat are fixedly connected with a vertical movement guide rail slider through a chain guide bracket for vertical movement.

[0023] Further preferably, the AGV vertical gantry mechanism includes a gantry lead screw upper bearing seat, a gantry mechanism upper proximity switch, a gantry mechanism main mounting seat, a gantry mechanism lead screw, a gantry mechanism guide rail, a gantry mechanism lower proximity switch, a gantry mechanism drive motor, a gantry lead screw lower bearing seat, a gantry lead screw synchronous pulley, a synchronous pulley connecting expansion sleeve, a main mounting seat connecting plate, a gantry motor synchronous belt, a gantry motor mounting seat, and a gantry motor small synchronous pulley;

[0024] One side of the upper surface of the gantry motor mounting seat is fixedly connected with a gantry mechanism driving motor. The output end of the gantry mechanism driving motor is fixedly connected with a small gantry motor synchronous pulley. The other side of the upper surface of the gantry motor mounting seat is fixedly connected with a main mounting seat connecting plate. The upper surface of the main mounting seat connecting plate is fixedly connected with a gantry mechanism main mounting seat. The top and bottom of one side of the gantry mechanism main mounting seat away from the gantry mechanism driving motor are respectively fixedly connected with an upper gantry screw bearing seat and a lower gantry screw bearing seat. The inner side walls of the upper gantry screw bearing seat and the lower gantry screw bearing seat are rotationally connected with a gantry mechanism screw. The upper part and the lower part of one side of the gantry mechanism main mounting seat away from the gantry mechanism driving motor are respectively provided with an upper gantry mechanism proximity switch and a lower gantry mechanism proximity switch. The bottom of the outer side wall of the gantry mechanism screw is fixedly connected with a screw synchronous pulley connecting expansion sleeve. The outer side wall of the screw synchronous pulley connecting expansion sleeve is fixedly connected with a gantry screw synchronous pulley. The outer side wall of the small gantry motor synchronous pulley is rotationally connected to the outer side wall of the gantry screw synchronous pulley through a gantry motor synchronous belt. The front part and the rear part of one side of the gantry mechanism main mounting seat away from the gantry mechanism driving motor are both fixedly connected with gantry mechanism guide rails. The inner side walls of the up and down moving guide rail sliders are slidably connected to the outer side walls of the gantry mechanism guide rails.

[0025] Further preferably, the AGV vehicle control system includes an AGV vehicle display, an AGV vehicle computer mainframe, an AGV vehicle 485 controller, an AGV vehicle upper computer controller, an AGV vehicle main control switch, an AGV vehicle motor controller, an AGV vehicle electrical box ventilation fan, an AGV vehicle electrical mainframe housing, and an AGV lidar.

[0026] The bottom of the AGV vehicle electrical mainframe housing is fixedly connected to the upper surface of the AGV vehicle body on the side away from the SMT vehicle-mounted shelf. The interior of the AGV vehicle electrical mainframe housing is provided with an AGV vehicle computer mainframe, an AGV vehicle 485 controller, an AGV vehicle upper computer controller, an AGV vehicle main control switch, and an AGV vehicle motor controller. Two AGV vehicle electrical box ventilation fans are installed on the lower parts of the front surface and the rear surface of the AGV vehicle electrical mainframe housing. An AGV vehicle display is provided in the middle of one side of the AGV vehicle electrical mainframe housing away from the SMT vehicle-mounted shelf. AGV lidars are provided on both sides of the AGV vehicle electrical mainframe housing close to the AGV vehicle display.

[0027] Further preferably, the SMT vehicle-mounted shelf includes a shelf inner basket, a shelf label QR code, an SMT tray, a shelf outer frame, and inner basket mounting holes.

[0028] On one side of the outer frame of the shelf close to the AGV vehicle control system, a plurality of shelf label QR codes are fixedly connected. Inside the outer frame of the shelf, two inner baskets of the shelf are arranged. On the inner top wall and inner bottom wall of the outer frame of the shelf, a plurality of inner basket mounting holes are opened. Inside the inner basket of the shelf, a plurality of SMT trays are adhesively connected.

[0029] Further preferably, a finger front end indentation is provided on the rear surface of the SMT robotic finger. On the rear part of the side where the two SMT robotic fingers are close to each other, a finger middle protrusion is provided. On the front part of the side where the two SMT robotic fingers are close to each other, a finger tail indentation is provided. On the rear parts of both sides of the SMT robotic finger, finger side slopes are provided. On both sides where the two SMT robotic fingers are far from each other, a plurality of finger middle voids are opened. On the front surface of the SMT robotic finger, a finger mounting guide groove is opened.

[0030] Due to the adoption of the above technical solutions in the embodiments of the present invention, it has the following advantages:

[0031] 1. By using the SMT shelf loading and unloading manipulator type AGV vehicle, the present invention can automatically complete the loading and unloading work of SMT trays, greatly reducing the demand for manpower and lowering the labor cost. At the same time, it can efficiently access and store individual SMT trays, reducing the shelf manufacturing cost and maintenance cost. Moreover, the AGV vehicle has a compact structure, occupies a small space, can flexibly operate in a limited space, adapts to the needs of SMT warehouses of different scales, and can independently complete the loading and unloading tasks without additional equipment such as conveyors, saving space and equipment costs;

[0032] 2. Through the precise control of the AGV vehicle control system, the present invention can realize operations such as automatic path planning, positioning, picking and placing materials, etc., can accurately and quickly complete the loading and unloading tasks, reduce the occurrence of human errors, improve the accuracy and reliability of work, and greatly improve the operation efficiency;

[0033] 3. Through the collaborative work of multiple mechanisms, such as the reader body, the main rotation mechanism of the AGV arm, the left - right movement mechanism of the AGV, etc., the present invention can precisely adjust the position, make up for the deficiency of the AGV positioning accuracy, ensure the accurate picking and placing of SMT trays. At the same time, the SMT robotic finger has a unique design with structures such as finger front end indentation, middle protrusion, tail indentation, and side slopes, which can better adapt to and grasp SMT trays, avoid the inclination and crossing of trays, and ensure the smooth progress of automatic loading and unloading.

[0034] The above summary is only for the purpose of the specification and is not intended to be limiting in any way. In addition to the above - described illustrative aspects, embodiments, and features, further aspects, embodiments, and features of the present invention will be readily apparent by reference to the drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0036] Figure 1 It is the overall structure diagram of the present invention;

[0037] Figure 2 It is the structure diagram of the AGV vehicle control system of the present invention;

[0038] Figure 3 It is the structure diagram of the SMT gripper mechanism of the present invention;

[0039] Figure 4 It is the structure diagram of the SMT mechanical finger of the present invention;

[0040] Figure 5 It is for the present invention Figure 4 Another perspective structure diagram;

[0041] Figure 6 It is the structure diagram of the SMT vehicle-mounted shelf of the present invention;

[0042] Figure 7 It is the structure diagram of the main rotation mechanism of the AGV arm of the present invention;

[0043] Figure 8 It is the structure diagram of the left and right movement mechanism of the AGV of the present invention;

[0044] Figure 9 It is the structure diagram of the mechanical finger rotation mechanism of the AGV of the present invention;

[0045] Figure 10 It is the structure diagram of the up and down movement mechanism of the AGV of the present invention;

[0046] Figure 11 It is the structure diagram of the up and down gantry mechanism of the AGV of the present invention.

[0047] Reference Numerals: 1, main body assembly; 101, SMT vehicle-mounted shelf; 102, AGV vehicle main body; 103, AGV upper and lower gantry mechanism; 104, AGV vehicle control system; 105, AGV up and down movement mechanism; 106, AGV mechanical finger rotation mechanism; 107, AGV arm main rotation mechanism; 108, SMT gripper mechanism; 109, SMT gripper forward extension mechanism; 110, AGV left and right movement mechanism; 201, AGV vehicle display; 202, AGV vehicle computer mainframe; 203, AGV vehicle 485 controller; 204, AGV vehicle host controller; 205, AGV vehicle main control switch; 206, AGV vehicle motor controller; 207, AGV vehicle electrical box ventilation fan; 208, AGV vehicle electrical mainframe housing; 209, AGV lidar; 301, reader main body; 302, finger rotation detection block; 303, finger rotation connecting piece; 304, reader mounting seat; 305, electric gripper; 306, gripper connecting seat; 307, SMT mechanical finger; 401, finger front end indentation; 402, finger middle protrusion; 403, finger tail indentation; 404, finger two-side slope; 405, finger middle void; 406, finger mounting guide groove; 501, shelf inner basket; 502, shelf label QR code; 503, SMT tray; 504, shelf outer frame; 505, inner basket mounting hole; 601, rotation in-place indicator block; 602, forward extension synchronous pulley; 603, forward extension bearing seat; 604, forward extension synchronous belt; 605, forward extension machine base; 606, forward extension motor; 607, rotating arm; 608, forward extension track; 609, forward extension lead screw; 610, lead screw support bearing; 611, lead screw support seat; 612, forward extension drive wheel; 701, arm motor; 702, left and right movement motor; 703, left and right movement upper gear; 704, arm reducer; 705, arm in-place switch; 706, fixed plate; 707, left and right movement mounting seat; 708, left and right movement upper guide rail slider; 709, rotation mounting plate; 710, left and right movement lower guide rail slider; 801, mechanical finger rotation motor; 802, mechanical finger rotation reducer; 803, mechanical finger rotation in-place switch; 804, rotation motor mounting seat; 805, mechanical finger forward extension mounting seat; 806, forward extension mounting seat slider; 807, forward extension mounting seat connecting piece; 808, forward extension mounting seat lead screw sleeve; 901, up and down movement guide rail slider; 902, up and down movement protective cover upper bracket; 903, up and down movement left and right chain guide brackets; 904, up and down movement chain guide brackets; 905, up and down movement support seat; 906, up and down movement protective cover middle bracket; 907, up and down movement left and right upper guide rails; 908, up and down movement left and right lower guide rails; 909, up and down movement left and right support seats; 910, left and right movement rack; 1201, gantry lead screw upper bearing seat; 1202, gantry mechanism upper proximity switch; 1204, gantry mechanism main mounting seat; 1205, gantry mechanism lead screw1206. Gantry mechanism guide rail; 1207. Lower proximity switch of gantry mechanism; 1208. Driving motor of gantry mechanism; 1209. Lower bearing seat of gantry lead screw; 1210. Synchronous pulley of gantry lead screw; 1211. Connecting expansion bush for synchronous pulley of lead screw; 1212. Connecting plate of main mounting seat; 1213. Synchronous belt of gantry motor; 1214. Mounting seat of gantry motor; 1215. Small synchronous pulley of gantry motor. Detailed implementation manners

[0048] In the following, only some exemplary embodiments are simply described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present invention. Therefore, the drawings and the description are considered to be exemplary in nature rather than restrictive.

[0049] The embodiments of the present invention will be described in detail below with reference to the drawings.

[0050] As Figures 1 - 11 shown, an SMT shelf loading and unloading manipulator type AGV vehicle provided by an embodiment of the present invention includes a main body assembly 1. The main body assembly 1 includes an SMT vehicle-mounted shelf 101, an AGV vehicle main body 102, an AGV upper and lower gantry mechanism 103, an AGV vehicle control system 104, an AGV up and down moving mechanism 105, an AGV mechanical finger rotating mechanism 106, an AGV arm main rotating mechanism 107, an SMT gripper mechanism 108, an SMT gripper forward extending mechanism 109, and an AGV left and right moving mechanism 110;

[0051] On one side of the upper surface of the AGV vehicle main body 102, the SMT vehicle-mounted shelf 101 is installed. On the other side of the upper surface of the AGV vehicle main body 102, the AGV vehicle control system 104 is installed. Inside the AGV vehicle control system 104, the AGV upper and lower gantry mechanism 103 is installed. On one side of the AGV upper and lower gantry mechanism 103 close to the SMT vehicle-mounted shelf 101, the AGV up and down moving mechanism 105 is slidably connected. On the top of one side of the AGV up and down moving mechanism 105 close to the SMT vehicle-mounted shelf 101, the AGV left and right moving mechanism 110 is installed. On one side of the AGV left and right moving mechanism 110 close to the SMT vehicle-mounted shelf 101, the AGV arm main rotating mechanism 107 is installed. At the output end of the AGV arm main rotating mechanism 107, the SMT gripper forward extending mechanism 109 is installed. At the output end of the SMT gripper forward extending mechanism 109, the AGV mechanical finger rotating mechanism 106 is installed. At the output end of the AGV mechanical finger rotating mechanism 106, the SMT gripper mechanism 108 is installed. By adopting an integrated gantry mechanism such as the AGV vehicle main body 102 and the AGV upper and lower gantry mechanism 103, the mechanical structure is streamlined, the space from top to bottom is reduced, loading and unloading can be realized from top to bottom, and the volume of the AGV vehicle main body 102 is small enough to be fully suitable for walking between the current SMT warehouse shelves.

[0052] In one embodiment, specifically, the SMT gripper mechanism 108 includes a code reader body 301, a finger rotation detection block 302, a finger rotation connecting member 303, a code reader mounting seat 304, an electric gripper 305, a gripper connecting seat 306, and an SMT mechanical finger 307;

[0053] The code reader body 301 is mounted on one side of the rear surface of the code reader mounting seat 304. The finger rotation connecting member 303 penetrates through one side of the front surface of the code reader mounting seat 304 away from the code reader body 301. The finger rotation detection block 302 is mounted on one side of the front surface of the finger rotation connecting member 303 close to the code reader body 301. The electric gripper 305 is fixedly connected to the rear surface of the finger rotation connecting member 303. The gripper connecting seats 306 are mounted on both the upper and lower parts of the rear surface of the electric gripper 305. The SMT mechanical fingers 307 are fixedly connected to the closer sides of the two gripper connecting seats 306. Installing the SMT mechanical fingers 307 on the electric gripper 305 facilitates grasping the SMT tray 503.

[0054] In one embodiment, specifically, the AGV arm main rotation mechanism 107 includes a rotation in-place indication block 601, a front extension synchronous pulley 602, a front extension bearing seat 603, a front extension synchronous belt 604, a front extension machine base 605, a front extension motor 606, a rotating arm 607, a front extension track 608, a front extension lead screw 609, a lead screw support bearing 610, a lead screw support seat 611, and a front extension drive pulley 612;

[0055] The front extension motor 606 is fixedly connected to the upper part of the rear surface of the front extension machine base 605. The output end of the front extension motor 606 is fixedly connected to the front extension drive pulley 612. The front extension lead screw 609 penetrates through the lower part of the rear surface of the front extension machine base 605. The front extension synchronous pulley 602 is fixedly connected to the front part of the outer side wall of the front extension lead screw 609. The outer side wall of the front extension drive pulley 612 is rotationally connected to the outer side wall of the front extension synchronous pulley 602 through the front extension synchronous belt 604. The front extension bearing seat 603 is fixedly connected to the outer side of the lower part of the rear surface of the front extension machine base 605 close to the front extension lead screw 609. The rotating arm 607 is fixedly connected to the lower surface of the front extension bearing seat 603. The lead screw support seat 611 is fixedly connected to the bottom of the rotating arm 607. The inner side wall of the lead screw support seat 611 is rotationally connected to the lower part of the outer side wall of the front extension lead screw 609 through the lead screw support bearing 610. The rotation in-place indication block 601 is fixedly connected to the front part of the upper surface of the rotating arm 607. The front extension track 608 is fixedly connected to the lower surface of the rotating arm 607. The front extension motor 606 drives the front extension lead screw 609 to rotate, thereby driving the SMT gripper mechanism 108 to move back and forth.

[0056] In one embodiment, specifically: The AGV left - right movement mechanism 110 includes an arm motor 701, a left - right movement motor 702, a left - right movement upper gear 703, an arm speed reducer 704, an arm in - place switch 705, a fixed plate 706, a left - right movement mounting seat 707, a left - right movement upper guide rail slider 708, a rotating mounting plate 709, and a left - right movement lower guide rail slider 710;

[0057] On the upper surface of the rotating mounting plate 709, on the side close to the SMT vehicle - mounted shelf 101, an arm motor 701 is fixedly connected. The output end of the arm motor 701 is equipped with an arm speed reducer 704. The output end of the arm speed reducer 704 is fixedly connected to the upper surface of the rotating arm 607, in front of the rotating in - place indicator block 601. On the upper surface of the rotating mounting plate 709, on the side close to the arm motor 701, an arm in - place switch 705 is provided. The front surface and the rear surface of the rotating mounting plate 709 are fixedly connected to a left - right movement mounting seat 707 through a fixed plate 706. On the upper surface of the left - right movement mounting seat 707, on the side close to the arm motor 701, a left - right movement motor 702 is fixedly connected. The output end of the left - right movement motor 702 is fixedly connected to a left - right movement upper gear 703. On the side where the rotating mounting plate 709 and the left - right movement mounting seat 707 are close to each other, a left - right movement lower guide rail slider 710 and a left - right movement upper guide rail slider 708 are respectively fixedly connected. By driving the arm speed reducer 704 to work through the arm motor 701, the rotating arm 607 is driven to rotate.

[0058] In one embodiment, specifically: The AGV mechanical finger rotation mechanism 106 includes a mechanical finger rotation motor 801, a mechanical finger rotation speed reducer 802, a mechanical finger rotation in - place switch 803, a rotation motor mounting seat 804, a mechanical finger forward - extension mounting seat 805, a forward - extension mounting seat slider 806, a forward - extension mounting seat connecting piece 807, and a forward - extension mounting seat lead screw sleeve 808;

[0059] The lower part of the front surface of the rotary motor mounting base 804 is fixedly connected to the mechanical finger rotary motor 801. The output end of the mechanical finger rotary motor 801 is fixedly connected to the mechanical finger rotary reducer 802. The output end of the mechanical finger rotary reducer 802 is fixedly connected to the middle part of the front surface of the finger rotary connecting piece 303. One side of the rear surface of the rotary motor mounting base 804 is provided with a mechanical finger rotation in-place switch 803. The top of the rear surface of the rotary motor mounting base 804 is fixedly connected to the mechanical finger forward extension mounting base 805. The upper surface of the mechanical finger forward extension mounting base 805 is fixedly connected to the forward extension mounting base slider 806. The inner side wall of the forward extension mounting base slider 806 is slidably connected to the outer side wall of the forward extension track 608. The rear surface of the mechanical finger forward extension mounting base 805 is fixedly connected to the forward extension mounting base connecting piece 807. The front surface of the forward extension mounting base connecting piece 807 is fixedly connected to the forward extension mounting base lead screw sleeve 808. By sliding the inner side wall of the forward extension mounting base slider 806 along the outer side wall of the forward extension track 608, the stability of the movement of the AGV mechanical finger rotation mechanism 106 is increased.

[0060] In one embodiment, specifically: the AGV vertical movement mechanism 105 includes a vertical movement guide rail slider 901, an upper bracket of the vertical movement protective cover 902, a left and right chain guide bracket for vertical movement 903, a chain guide bracket for vertical movement 904, a vertical movement support seat 905, a middle bracket of the vertical movement protective cover 906, left and right upper guide rails for vertical movement 907, left and right lower guide rails for vertical movement 908, left and right support seats for vertical movement 909, and left and right movement racks 910;

[0061] The lower surface of the vertically moving support base 905 is fixedly connected to the vertically moving left and right chain guide brackets 903. The lower surface of the vertically moving left and right chain guide brackets 903 is fixedly connected to the upper bracket 902 of the vertically moving protective cover. On both sides of the upper surface of the upper bracket 902 of the vertically moving protective cover, there are fixedly connected the middle brackets 906 of the vertically moving protective cover. On the upper part of the closer side of the two middle brackets 906 of the vertically moving protective cover, there are fixedly connected the upper left and right guide rails 907 and the lower left and right guide rails 908 of the vertical movement. The inner side walls of the left and right moving lower guide rail sliders 710 and the left and right moving upper guide rail sliders 708 are respectively slidably connected to the outer side walls of the upper left and right guide rails 907 and the lower left and right guide rails 908 of the vertical movement. On the closer side of the upper left and right guide rails 907 and the lower left and right guide rails 908 of the vertical movement, there is fixedly connected the left and right support base 909 of the vertical movement. The upper surface of the left and right support base 909 of the vertical movement is fixedly connected to the left and right movement racks 910. One side of the left and right movement racks 910 is meshed and connected to the outer side wall of the left and right moving upper gears 703. In the middle of the front surface and the rear surface of the vertically moving support base 905, there are respectively fixedly connected the vertically moving guide rail sliders 901 through the vertically moving chain guide brackets 904. By the inner side walls of the left and right moving lower guide rail sliders 710 and the left and right moving upper guide rail sliders 708 respectively sliding along the outer side walls of the upper left and right guide rails 907 and the lower left and right guide rails 908 of the vertical movement, the stability of the movement of the AGV left and right movement mechanism 110 is increased.

[0062] In one embodiment, specifically: The AGV upper and lower gantry mechanism 103 includes a gantry screw upper bearing seat 1201, a gantry mechanism upper proximity switch 1202, a gantry mechanism main mounting seat 1204, a gantry mechanism screw 1205, a gantry mechanism guide rail 1206, a gantry mechanism lower proximity switch 1207, a gantry mechanism drive motor 1208, a gantry screw lower bearing seat 1209, a gantry screw synchronous pulley 1210, a screw synchronous pulley connecting expansion sleeve 1211, a main mounting seat connecting plate 1212, a gantry motor synchronous belt 1213, a gantry motor mounting seat 1214, and a gantry motor small synchronous pulley 1215;

[0063] On one side of the upper surface of the gantry motor mounting seat 1214, a gantry mechanism driving motor 1208 is fixedly connected. The output end of the gantry mechanism driving motor 1208 is fixedly connected with a gantry motor small synchronous pulley 1215. On the other side of the upper surface of the gantry motor mounting seat 1214, a main mounting seat connecting plate 1212 is fixedly connected. On the upper surface of the main mounting seat connecting plate 1212, a gantry mechanism main mounting seat 1204 is fixedly connected. On the top and bottom of one side of the gantry mechanism main mounting seat 1204 far from the gantry mechanism driving motor 1208, a gantry lead screw upper bearing seat 1201 and a gantry lead screw lower bearing seat 1209 are respectively fixedly connected. The inner side walls of the gantry lead screw upper bearing seat 1201 and the gantry lead screw lower bearing seat 1209 are rotationally connected with a gantry mechanism lead screw 1205. On the upper and lower parts of one side of the gantry mechanism main mounting seat 1204 far from the gantry mechanism driving motor 1208, a gantry mechanism upper proximity switch 1202 and a gantry mechanism lower proximity switch 1207 are respectively arranged. At the bottom of the outer side wall of the gantry mechanism lead screw 1205, a lead screw synchronous pulley connecting expansion sleeve 1211 is fixedly connected. On the outer side wall of the lead screw synchronous pulley connecting expansion sleeve 1211, a gantry lead screw synchronous pulley 1210 is fixedly connected. The outer side wall of the gantry motor small synchronous pulley 1215 is rotationally connected to the outer side wall of the gantry lead screw synchronous pulley 1210 through a gantry motor synchronous belt 1213. On the front and rear parts of one side of the gantry mechanism main mounting seat 1204 far from the gantry mechanism driving motor 1208, gantry mechanism guide rails 1206 are fixedly connected. The inner side wall of the up and down moving guide rail slider 901 is slidably connected to the outer side wall of the gantry mechanism guide rail 1206. By sliding the up and down moving guide rail slider 901 along the gantry mechanism guide rail 1206, the stability of the up and down movement of the AGV up and down movement mechanism 105 is increased. By driving the gantry mechanism lead screw 1205 to rotate through the gantry mechanism driving motor 1208, the AGV up and down movement mechanism 105 is driven to move up and down.

[0064] In one embodiment, specifically: The AGV vehicle control system 104 includes an AGV vehicle display 201, an AGV vehicle computer main unit 202, an AGV vehicle 485 controller 203, an AGV vehicle upper computer controller 204, an AGV vehicle main control switch 205, an AGV vehicle motor controller 206, an AGV vehicle electrical box ventilation fan 207, an AGV vehicle electrical main unit housing 208, and an AGV lidar 209;

[0065] The bottom of the AGV vehicle electrical mainframe housing 208 is fixedly connected to the upper surface of the AGV vehicle main body 102 on the side away from the SMT vehicle-mounted shelf 101. Inside the AGV vehicle electrical mainframe housing 208, there are an AGV vehicle computer mainframe 202, an AGV vehicle 485 controller 203, an AGV vehicle upper computer controller 204, an AGV vehicle main control switch 205, and an AGV vehicle motor controller 206. On the lower parts of the front surface and the rear surface of the AGV vehicle electrical mainframe housing 208, two AGV vehicle electrical box ventilation fans 207 are installed. In the middle of the side of the AGV vehicle electrical mainframe housing 208 away from the SMT vehicle-mounted shelf 101, there is an AGV vehicle display 201. On both sides of the AGV vehicle electrical mainframe housing 208 close to the AGV vehicle display 201, there are AGV lidar sensors 209. Among them, the AGV vehicle control system 104 consists of the AGV vehicle display 201. The interactive instructions are sent to the AGV vehicle upper computer controller 204 or the AGV vehicle 485 controller 203 through the AGV vehicle computer mainframe 202 to control the actions of the AGV vehicle motor controller 206 or the code reader main body 301, so as to drive the AGV vehicle main body 102 to complete various actions, be able to reach the SMT shelf according to various pre-planned paths, realize the automatic loading and unloading of the SMT trays 503 on the SMT shelf, and return to the initial working position. The AGV lidar sensors 209 are also used to plan paths and avoid obstacles in the space.

[0066] In one embodiment, specifically: The SMT vehicle-mounted shelf 101 includes a shelf inner basket 501, a shelf label QR code 502, an SMT tray 503, a shelf outer frame 504, and an inner basket mounting hole 505;

[0067] On the side of the shelf outer frame 504 close to the AGV vehicle control system 104, a plurality of shelf label QR codes 502 are fixedly connected. Inside the shelf outer frame 504, there are two shelf inner baskets 501. On the inner top wall and the inner bottom wall of the shelf outer frame 504, a plurality of inner basket mounting holes 505 are opened. Inside the shelf inner basket 501, a plurality of SMT trays 503 are fitted and connected. The shelf inner basket 501 can be fixedly installed conveniently through the inner basket mounting holes 505.

[0068] In one embodiment, specifically: a finger front end indentation 401 is provided on the rear surface of the SMT robotic finger 307, a finger middle protrusion 402 is provided at the rear of the closer side of the two SMT robotic fingers 307, a finger tail indentation 403 is provided at the front of the closer side of the two SMT robotic fingers 307, finger side slopes 404 are provided at the rear of both sides of the SMT robotic finger 307, a plurality of finger middle voids 405 are provided on both sides of the two SMT robotic fingers 307 away from each other, and a finger mounting guide groove 406 is provided on the front surface of the SMT robotic finger 307. Through the unique design of the SMT robotic finger 307, it can better adapt to and grasp the SMT tray 503, avoid the inclination and crossing of the tray, and ensure the smooth progress of automatic loading and unloading.

[0069] The material unloading process of the SMT shelf loading and unloading robotic arm type AGV vehicle provided by the present invention is as follows:

[0070] The AGV vehicle control system 104 on the AGV vehicle main body 102 receives the SMT shelf blanking coding group from the management service desk computer. The AGV vehicle control system 104 automatically completes the current coding optimization path. The AGV vehicle main body 102 starts the program according to the optimized path and begins to move along the path to the first coding of the shelf to be retrieved. The AGV vehicle main body 102 automatically scans the two-dimensional code at the head of the SMT shelf to obtain the exact distance between the current AGV vehicle main body 102 and the SMT tray 503 to be retrieved. The AGV vehicle main body 102 continues to move to the position of the SMT tray 503 to be retrieved according to the exact distance, and controls the AGV up and down moving mechanism 105 on the AGV up and down gantry mechanism 103 to reach the layer where the SMT tray 503 is located, performs two-dimensional code scanning, and obtains the two-dimensional code information. The AGV vehicle control system 104 starts the AGV arm main rotation mechanism 107 to work, making the robotic arm completely perpendicular to the SMT shelf. The code reader main body 301 on the SMT gripper mechanism 108 starts to work to obtain whether the current SMT tray 503 to be retrieved is exactly in the middle of the two SMT mechanical fingers 307. If there is a front-back error, the AGV vehicle main body 102 is started to move backward or forward to completely compensate for the error caused by the forward movement of the AGV vehicle main body 102. If there is a left-right error, the AGV left and right moving mechanism 110 controls the two SMT mechanical fingers 307 to move left and right. After the position adjustment is completed, the SMT gripper forward extension mechanism 109 controls the two SMT mechanical fingers 307 to reach the specified position, controls the electric gripper 305 to clamp the SMT tray 503, and sends it to the SMT vehicle-mounted shelf 101 on the specific unoccupied AGV vehicle main body 102. The AGV vehicle control system 104 on the AGV vehicle main body 102 restores all mechanisms to the initial state to grab the next SMT tray 503, and so on in a cycle until all the SMT trays 503 in the SMT shelf blanking coding group are retrieved and placed on the SMT vehicle-mounted shelf 101 on the AGV vehicle main body 102. The AGV vehicle main body 102 returns to the management service desk to complete the automatic material retrieval process.

[0071] The loading process of the SMT shelf loading and unloading manipulator type AGV vehicle provided by the present invention is as follows:

[0072] The management personnel place the SMT tray 503 to be placed on the SMT shelf on the SMT vehicle-mounted shelf 101 on the AGV vehicle body 102, and attach a labeled QR code 502 to the shelf. The AGV vehicle control system 104 on the AGV vehicle body 102 receives the SMT shelf loading code group from the management service desk computer. The AGV vehicle control system 104 automatically completes the current coding optimization path. The AGV vehicle body 102 starts the program according to the optimized path and begins to move along the path to the shelf where the SMT tray 503 is to be placed. The AGV vehicle body 102 automatically scans the SMT shelf QR code to obtain the exact distance of the current AGV vehicle body 102 from the target position and the code of the SMT tray 503 to be placed. After the AGV vehicle body 102 moves to the appropriate position according to the exact distance, it controls the SMT gripper mechanism 108 to pick up the SMT tray 503 to be placed from the SMT vehicle-mounted shelf 101. The AGV vehicle control system 104 starts the AGV up and down moving mechanism 105 on the AGV up and down gantry mechanism 103 to reach the corresponding layer of the target shelf. The AGV arm main rotation mechanism 107 starts to work, making the robotic arm completely perpendicular to the SMT shelf. The AGV left and right moving mechanism 110 adjusts the position so that the two SMT robotic fingers 307 are aligned with the position to be placed. The SMT gripper forward extension mechanism 109 controls the two SMT robotic fingers 307 to reach the specified position, controls the electric gripper 305 to release, and places the SMT tray 503 at the target position. The AGV vehicle control system 104 restores all mechanisms to the initial state to place the next SMT tray 503. This cycle continues until all the SMT trays 503 in the SMT shelf loading code group on the SMT vehicle-mounted shelf 101 are placed on the target shelf. The AGV vehicle body 102 returns to the management service desk to complete the automatic loading process.

[0073] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art in the technical field disclosed by the present invention can easily think of various changes or substitutions within the technical scope disclosed by the present invention, and these should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claimed rights.

Claims

1. A SMT shelf loading and unloading manipulator AGV vehicle, characterized by: The invention comprises a main body component (1), wherein the main body component (1) comprises an SMT vehicle-mounted shelf (101), an AGV vehicle body (102), an AGV upper and lower gantry mechanism (103), an AGV vehicle control system (104), an AGV upper and lower moving mechanism (105), an AGV mechanical finger rotating mechanism (106), an AGV arm main rotating mechanism (107), an SMT clamping claw mechanism (108), an SMT clamping claw forward extension mechanism (109), and an AGV left and right moving mechanism (110); An SMT vehicle-mounted shelf (101) is installed on one side of the upper surface of the AGV vehicle body (102), an AGV vehicle control system (104) is installed on the other side of the upper surface of the AGV vehicle body (102), an AGV upper and lower gantry mechanism (103) is installed inside the AGV vehicle control system (104), an AGV upper and lower gantry mechanism (103) is slidably connected to an AGV upper and lower moving mechanism (105) on one side of the AGV upper and lower gantry mechanism (103) close to the SMT vehicle-mounted shelf (101), and the AGV upper and lower moving mechanism (105) is close to the SMT vehicle-mounted shelf (101). An AGV left-right moving mechanism (110) is installed on the top of one side, an AGV arm main rotating mechanism (107) is installed on the side of the AGV left-right moving mechanism (110) close to the SMT vehicle-mounted shelf (101), an SMT gripper forward extension mechanism (109) is installed at the output end of the AGV arm main rotating mechanism (107), an AGV mechanical finger rotating mechanism (106) is installed at the output end of the SMT gripper forward extension mechanism (109), and an SMT gripper mechanism (108) is installed at the output end of the AGV mechanical finger rotating mechanism (106).

2. The SMT shelf loading and unloading manipulator AGV vehicle according to claim 1 is characterized by: The SMT clamping mechanism (108) comprises a code reader body (301), a finger rotation detection block (302), a finger rotation connection piece (303), a code reader mounting seat (304), an electric clamping jaw (305), a clamping jaw connection seat (306) and an SMT mechanical finger (307); A code reader body (301) is installed on one side of the rear surface of the code reader mounting seat (304); a finger rotation connector (303) is passed through the side of the front surface of the code reader mounting seat (304) away from the code reader body (301); a finger rotation detection block (302) is installed on the side of the front surface of the finger rotation connector (303) close to the code reader body (301); an electric clamp (305) is fixedly connected to the rear surface of the finger rotation connector (303); a clamp connection seat (306) is installed on the upper and lower parts of the rear surface of the electric clamp (305); and an SMT mechanical finger (307) is fixedly connected to the adjacent sides of the two clamp connection seats (306).

3. The SMT shelf loading and unloading manipulator AGV vehicle according to claim 1 is characterized by: The AGV arm main rotating mechanism (107) comprises a rotation position indicating block (601), a front extension synchronous wheel (602), a front extension bearing seat (603), a front extension synchronous belt (604), a front extension machine seat (605), a front extension motor (606), a rotating arm (607), a front extension track (608), a front extension screw (609), a screw support bearing (610), a screw support seat (611) and a front extension driving wheel (612); The upper part of the rear surface of the front extension machine base (605) is fixedly connected to a front extension motor (606), the output end of the front extension motor (606) is fixedly connected to a front extension driving wheel (612), the lower part of the rear surface of the front extension machine base (605) is penetrated by a front extension screw rod (609), the front part of the outer side wall of the front extension screw rod (609) is fixedly connected to a front extension synchronous wheel (602), the outer side wall of the front extension driving wheel (612) is rotatably connected to the outer side wall of the front extension synchronous wheel (602) through a front extension synchronous belt (604), and the lower part of the rear surface of the front extension machine base (605) is close to the front extension. The outer side of the extension screw rod (609) is fixedly connected to a front extension bearing seat (603), the lower surface of the front extension bearing seat (603) is fixedly connected to a rotating arm (607), the bottom of the rotating arm (607) is fixedly connected to a screw rod support seat (611), the inner side wall of the screw rod support seat (611) is rotatably connected to the lower part of the outer side wall of the front extension screw rod (609) through a screw rod support bearing (610), the front part of the upper surface of the rotating arm (607) is fixedly connected to a rotation position indicating block (601), and the lower surface of the rotating arm (607) is fixedly connected to a front extension track (608).

4. The SMT shelf loading and unloading manipulator AGV vehicle according to claims 1 and 3, characterized in that: The AGV left-right moving mechanism (110) comprises an arm motor (701), a left-right moving motor (702), a left-right moving upper gear (703), an arm reducer (704), an arm in-position switch (705), a fixing plate (706), a left-right moving mounting seat (707), a left-right moving upper guide rail slider (708), a rotating mounting plate (709) and a left-right moving lower guide rail slider (710); An arm motor (701) is fixedly connected to a side of the upper surface of the rotating mounting plate (709) close to the SMT vehicle-mounted shelf (101); an arm reducer (704) is installed at the output end of the arm motor (701); the output end of the arm reducer (704) is fixedly connected to the upper surface of the rotating arm (607) close to the front part of the rotation position indicating block (601); an arm position switch (705) is arranged on a side of the upper surface of the rotating mounting plate (709) close to the arm motor (701); The front surface and the rear surface are fixedly connected to a left-right movable mounting seat (707) via a fixing plate (706); a left-right movable motor (702) is fixedly connected to the upper surface of the left-right movable mounting seat (707) close to the arm motor (701); an output end of the left-right movable motor (702) is fixedly connected to an upper left-right movable gear (703); and a left-right movable lower guide rail slider (710) and a left-right movable upper guide rail slider (708) are fixedly connected to the adjacent sides of the rotating mounting plate (709) and the left-right movable mounting seat (707), respectively.

5. The SMT shelf loading and unloading manipulator AGV vehicle according to claims 1-3, characterized in that: The AGV mechanical finger rotating mechanism (106) comprises a mechanical finger rotating motor (801), a mechanical finger rotating reducer (802), a mechanical finger rotating in-position switch (803), a rotating motor mounting seat (804), a mechanical finger forward mounting seat (805), a forward mounting seat slider (806), a forward mounting seat connector (807) and a forward mounting seat screw sleeve (808); The lower part of the front surface of the rotating motor mounting seat (804) is fixedly connected to a mechanical finger rotating motor (801), the output end of the mechanical finger rotating motor (801) is fixedly connected to a mechanical finger rotating reducer (802), the output end of the mechanical finger rotating reducer (802) is fixedly connected to the middle part of the front surface of the finger rotating connecting piece (303), a mechanical finger rotating position switch (803) is arranged on one side of the rear surface of the rotating motor mounting seat (804), and the rear surface of the rotating motor mounting seat (804) is fixedly connected to the middle part of the front surface of the finger rotating connecting piece (303). A mechanical finger forward mounting seat (805) is fixedly connected to the top of the surface, a forward mounting seat slider (806) is fixedly connected to the upper surface of the mechanical finger forward mounting seat (805), an inner side wall of the forward mounting seat slider (806) is slidably connected to the outer side wall of the front extension track (608), a forward mounting seat connector (807) is fixedly connected to the rear surface of the mechanical finger forward mounting seat (805), and a forward mounting seat screw sleeve (808) is fixedly connected to the front surface of the forward mounting seat connector (807).

6. The SMT shelf loading and unloading manipulator AGV vehicle according to claims 1 and 4, characterized in that: The AGV up-and-down moving mechanism (105) comprises an up-and-down moving guide rail slider (901), an up-and-down moving protective cover upper bracket (902), an up-and-down moving left and right guide chain bracket (903), an up-and-down moving guide chain bracket (904), an up-and-down moving support seat (905), an up-and-down moving protective cover middle bracket (906), an up-and-down moving left and right upper guide rails (907), an up-and-down moving left and right lower guide rails (908), an up-and-down moving left and right support seats (909) and a left-and-right moving rack (910); The lower surface of the up-and-down movable support seat (905) is fixedly connected with a left and right chain guide bracket (903) that can be moved up and down, and the lower surface of the left and right chain guide bracket (903) that can be moved up and down is fixedly connected with an upper bracket (902) that can be moved up and down. Both sides of the upper surface of the upper bracket (902) that can be moved up and down are fixedly connected with a middle bracket (906) that can be moved up and down. The upper parts of the adjacent sides of the two middle brackets (906) that can be moved up and down are fixedly connected with an upper guide rail (907) that can be moved up and down and a lower guide rail (908) that can be moved up and down. The inner side walls of the left and right lower guide rail slider (710) and the left and right upper guide rail slider (708) slide respectively. Connected to the outer side walls of the left and right upper guide rails (907) and the left and right lower guide rails (908) that can be moved up and down, the adjacent sides of the left and right upper guide rails (907) and the left and right lower guide rails (908) that can be moved up and down are fixedly connected to a left and right support seat (909), the upper surface of the left and right support seat (909) that can be moved up and down is fixedly connected to a left and right moving rack (910), one side of the left and right moving rack (910) is meshedly connected to the outer side wall of the left and right moving upper gear (703), and the middle parts of the front surface and the rear surface of the up and down moving support seat (905) are fixedly connected to an up and down moving guide rail slider (901) through an up and down moving guide chain bracket (904).

7. The SMT shelf loading and unloading manipulator AGV vehicle according to claims 1 and 6, characterized in that: The AGV upper and lower gantry mechanism (103) comprises a gantry screw upper bearing seat (1201), a gantry mechanism upper proximity switch (1202), a gantry mechanism main mounting seat (1204), a gantry mechanism screw (1205), a gantry mechanism guide rail (1206), a gantry mechanism lower proximity switch (1207), a gantry mechanism drive motor (1208), a gantry screw lower bearing seat (1209), a gantry screw synchronous wheel (1210), a screw synchronous wheel connecting expansion sleeve (1211), a main mounting seat connecting plate (1212), a gantry motor synchronous belt (1213), a gantry motor mounting seat (1214) and a gantry motor small synchronous wheel (1215); A gantry mechanism drive motor (1208) is fixedly connected to one side of the upper surface of the gantry motor mounting seat (1214), and a gantry motor small synchronous wheel (1215) is fixedly connected to the output end of the gantry mechanism drive motor (1208). A main mounting seat connecting plate (1212) is fixedly connected to the other side of the upper surface of the gantry motor mounting seat (1214), and a gantry mechanism main mounting seat (1204) is fixedly connected to the upper surface of the main mounting seat connecting plate (1212). A gantry mechanism main mounting seat (1204) is fixedly connected to the top and bottom of a side of the gantry mechanism main mounting seat (1204) away from the gantry mechanism drive motor (1208), respectively. The inner side walls of the gantry mechanism upper bearing seat (1201) and the gantry mechanism lower bearing seat (1209) are rotatably connected to the gantry mechanism screw (1205). The gantry mechanism main mounting seat (120 4) is provided with a gantry mechanism upper proximity switch (1202) and a gantry mechanism lower proximity switch (1207) respectively at the upper and lower parts of the side away from the gantry mechanism drive motor (1208), the bottom of the outer side wall of the gantry mechanism screw rod (1205) is fixedly connected with a screw rod synchronous wheel connecting the expansion sleeve (1211), the outer side wall of the screw rod synchronous wheel connecting the expansion sleeve (1211) is fixedly connected with a gantry screw rod synchronous wheel (1210), and the gantry motor The outer side wall of the small synchronous wheel (1215) is rotatably connected to the outer side wall of the gantry screw synchronous wheel (1210) through the gantry motor synchronous belt (1213); the front and rear parts of the side of the gantry mechanism main mounting seat (1204) away from the gantry mechanism driving motor (1208) are fixedly connected to the gantry mechanism guide rail (1206); the inner side wall of the up-and-down movable guide rail slider (901) is slidably connected to the outer side wall of the gantry mechanism guide rail (1206).

8. The SMT shelf loading and unloading manipulator AGV vehicle according to claim 1 is characterized by: The AGV vehicle control system (104) includes an AGV vehicle display (201), an AGV vehicle computer host (202), an AGV vehicle 485 controller (203), an AGV vehicle host computer controller (204), an AGV vehicle main control switch (205), an AGV vehicle motor controller (206), an AGV vehicle electrical box ventilation fan (207), an AGV vehicle electrical host housing (208) and an AGV laser radar (209); The bottom of the AGV vehicle electrical host housing (208) is fixedly connected to the upper surface of the AGV vehicle body (102) away from the SMT vehicle shelf (101). The interior of the AGV vehicle electrical host housing (208) is provided with an AGV vehicle computer host (202), an AGV vehicle 485 controller (203), an AGV vehicle upper computer controller (204), an AGV vehicle master switch (205) and an AGV vehicle motor controller (206). Two AGV vehicle electrical box ventilation fans (207) are installed on the front surface and the lower part of the rear surface of the AGV vehicle electrical host housing (208). An AGV vehicle display (201) is arranged in the middle of the side of the AGV vehicle electrical host housing (208) away from the SMT vehicle shelf (101). AGV laser radars (209) are arranged on both sides of the AGV vehicle electrical host housing (208) close to the AGV vehicle display (201).

9. The SMT shelf loading and unloading manipulator AGV vehicle according to claim 1, characterized in that: The SMT vehicle-mounted shelf (101) comprises a shelf inner basket (501), a shelf labeling QR code (502), an SMT material tray (503), a shelf outer frame (504) and an inner basket mounting hole (505); A plurality of shelf labeling QR codes (502) are fixedly connected to one side of the shelf outer frame (504) close to the AGV vehicle control system (104), two shelf inner baskets (501) are arranged inside the shelf outer frame (504), a plurality of inner basket mounting holes (505) are provided on the inner top wall and the inner bottom wall of the shelf outer frame (504), and a plurality of SMT material trays (503) are bonded and connected inside the shelf inner basket (501).

10. The SMT shelf loading and unloading manipulator AGV vehicle according to claim 3, characterized in that: The rear surface of the SMT mechanical finger (307) is provided with a finger front end indentation (401), the rear part of the adjacent side of the two SMT mechanical fingers (307) is provided with a finger middle protrusion (402), the front part of the adjacent side of the two SMT mechanical fingers (307) is provided with a finger tail recess (403), the rear part of both sides of the SMT mechanical finger (307) is provided with finger side slopes (404), the side away from the two SMT mechanical fingers (307) is provided with a plurality of finger middle leaks (405), and the front surface of the SMT mechanical finger (307) is provided with a finger installation guide groove (406).

Images