AGV (Automatic Guided Vehicle)

Abstract

The AGV transport vehicle comprises a transport vehicle body, carrying devices, a storage jig and a driving device, each carrying device comprises a first connecting piece, a mechanical arm, a visual module and two grabbing assemblies, the end face of each first connecting piece is connected to the corresponding mechanical arm, and a convex part is arranged on the bottom face of each first connecting piece; a first inclined surface and a second inclined surface are respectively arranged on two opposite sides of the convex part; one of the two grabbing assemblies is installed on the first inclined face, and the other grabbing assembly is installed on the second inclined face. The visual module is mounted on the side surface of the convex part; the mechanical arm is mounted on the transport vehicle body; the mechanical arm is used for driving the first connecting piece to drive the grabbing assembly to move, the grabbing assembly is used for grabbing or releasing materials, and the visual module is used for shooting and positioning the materials. According to the AGV transport vehicle, feeding or discharging can be completed, manual assistance is not needed, and the production efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of AGV technology, and in particular to an AGV transport vehicle. Background Art

[0002] The AGV device is an automatic guided vehicle that can travel along a specified guide path and has safety protection and various transfer functions.

[0003] In automated production, AGVs are usually used to transport materials to complete loading or unloading. However, in the related art, materials need to be placed on the AGV manually, and after the AGV arrives at the designated location, materials also need to be removed from the AGV manually, which wastes manpower and is inefficient. Utility Model Content

[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes an AGV transport vehicle that can complete loading or unloading of materials without manual assistance and can improve production efficiency.

[0005] The AGV transport vehicle according to an embodiment of the present application includes:

[0006] Transport vehicle body;

[0007] A handling device, each of which comprises a first connecting member, a mechanical arm, a vision module and two grabbing assemblies, wherein the end face of the first connecting member is connected to the mechanical arm, the bottom face of the first connecting member is provided with a convex portion, and the two opposite sides of the convex portion are respectively provided with a first inclined surface and a second inclined surface; one of the two grabbing assemblies is installed on the first inclined surface, and the other is installed on the second inclined surface; the vision module is installed on the side of the convex portion; the mechanical arm is installed on the transport vehicle body; the mechanical arm is used to drive the first connecting member to drive the grabbing assembly to move, the grabbing assembly is used to grab or release materials, and the vision module is used to photograph and locate the materials;

[0008] A material storage jig, which is arranged on the transport vehicle body and is located on one side of the mechanical arm;

[0009] A driving device is installed at the bottom of the transport vehicle body, and is used to drive the transport vehicle body.

[0010] According to the AGV transport vehicle of the embodiment of the present application, at least the following beneficial effects are achieved: the AGV transport vehicle comprises a transport vehicle body, a handling device, a material storage fixture and a driving device, wherein the handling device comprises a first connecting member, a mechanical arm, a visual module and two grabbing components, wherein the end face of the first connecting member is connected to the mechanical arm, the bottom face of the first connecting member is provided with a convex portion, and the two opposite sides of the convex portion are provided with a first inclined surface and a second inclined surface respectively; one of the two grabbing components is installed on the first inclined surface, and the other is installed on the second inclined surface; the visual module is installed on the side of the convex portion; the mechanical arm is installed on the transport vehicle body; the mechanical arm is used to drive the first connecting member to drive the grabbing component to move, the grabbing component is used to grab or release the material, and the visual module is used to shoot and locate the material. When the AGV transport vehicle is in operation, the driving device drives the transport vehicle body to move to a preset location, and then the mechanical arm drives the two grabbing components by driving the first connecting member, so that the grabbing component grabs the material, transports the material to the material storage fixture, or moves the material away from the material storage fixture, thereby completing the loading or unloading, and in this process, the visual module is used to shoot and locate the material. Furthermore, the present application uses the first inclined surface and the second inclined surface of the convex portion to enable the robot arm to install two gripping assemblies, and the two gripping assemblies operate simultaneously, thereby improving production efficiency. Therefore, the AGV transport vehicle of the embodiment of the present application can complete loading or unloading without manual assistance, which can improve production efficiency.

[0011] According to some embodiments of the present application, the grabbing assembly includes a second connecting member, a first driving member and two clamping arms, the second connecting member is installed on the first inclined surface or the second inclined surface, the first driving member is installed on the second connecting member, the first driving member is connected to the two clamping arms, and the first driving member is used to drive the two clamping arms to move closer to or away from each other.

[0012] According to some embodiments of the present application, the driving device is provided with a mounting frame, a second driving member, and two driving wheels. The mounting frame is fixedly connected to the transport vehicle body, and the two driving wheels are respectively installed on opposite sides of the mounting frame. The second driving member is installed on the mounting frame, and the second driving member is connected to the two driving wheels. The second driving member is used to drive the two driving wheels to rotate.

[0013] According to some embodiments of the present application, the driving device is further provided with a plurality of universal wheels, and the plurality of universal wheels are mounted on the bottom of the mounting frame.

[0014] According to some embodiments of the present application, the driving device is further provided with a main control module and a battery module, the main control module and the battery module are both installed on the mounting frame, and the battery module is electrically connected to the main control module and the second driving component respectively.

[0015] According to some embodiments of the present application, the driving device is further provided with a navigation laser module, the navigation laser module is arranged at the front end of the mounting frame, and the navigation laser module is electrically connected to the main control module.

[0016] According to some embodiments of the present application, the driving device is further provided with an obstacle avoidance laser module, the obstacle avoidance laser module is arranged at the rear end of the mounting frame, and the obstacle avoidance laser module is electrically connected to the main control module.

[0017] According to some embodiments of the present application, the number of the universal wheels is 4, and two of the universal wheels are respectively provided on two opposite sides of the driving wheel.

[0018] According to some embodiments of the present application, the driving device is further provided with a lighting module, and the lighting module is arranged at the front end of the mounting frame, and the lighting module is electrically connected to the main control module.

[0019] According to some embodiments of the present application, the driving device is further provided with a charging interface, the charging interface is provided on the mounting bracket, and the charging interface is electrically connected to the battery module.

[0020] Additional aspects and advantages of the present application will be given in part in the following description, and in part will become apparent from the following description, or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present application is further described below with reference to the accompanying drawings and embodiments, wherein:

[0022] Figure 1 This is a schematic diagram of the structure of the AGV transport vehicle according to an embodiment of the present application;

[0023] Figure 2 A partial structural schematic diagram of a transport device according to an embodiment of the present application;

[0024] Figure 3 A schematic diagram showing a partial structure of a transport device according to an embodiment of the present application from another angle;

[0025] Figure 4 This is a schematic structural diagram of a first connecting member according to an embodiment of the present application;

[0026] Figure 5 A schematic diagram of the first connecting member of the embodiment of the present application from another angle;

[0027] Figure 6 A schematic diagram of the structure of a driving device according to an embodiment of the present application;

[0028] Figure 7 This is a schematic structural diagram of the driving device of an embodiment of the present application from another angle.

[0029] Reference numerals:

[0030] Transport vehicle body 100;

[0031] The handling device 200 ; the robot arm 210 ; the first connecting member 220 ; the first inclined surface 221 ; the second inclined surface 222 ; the visual module 230 ; the second connecting member 241 ; the first driving member 242 ; the clamping arm 243 ;

[0032] Storage fixture 300;

[0033] Driving device 400; mounting frame 410; driving wheel 411; battery module 412; main control module 413; navigation laser module 414; obstacle avoidance laser module 415; lighting module 416; charging interface 417; speaker 418; second driving member 419; universal wheel 420. DETAILED DESCRIPTION

[0034] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0035] In the description of the present application, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0036] In the description of this application, "several" means more than one, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0037] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0038] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0039] Reference Figures 1 to 7 , an embodiment of the present application provides an AGV transport vehicle, comprising:

[0040] Transport vehicle body 100;

[0041] The handling device 200 includes a first connecting member 220, a mechanical arm 210, a visual module 230 and two grabbing components. The end surface of the first connecting member 220 is connected to the mechanical arm 210. The bottom surface of the first connecting member 220 is provided with a convex portion. The two opposite sides of the convex portion are respectively provided with a first inclined surface 221 and a second inclined surface 222; one of the two grabbing components is installed on the first inclined surface 221, and the other is installed on the second inclined surface 222; the visual module 230 is installed on the side of the convex portion; the mechanical arm 210 is installed on the transport vehicle body 100; the mechanical arm 210 is used to drive the first connecting member 220 to drive the grabbing component to move, the grabbing component is used to grab or release materials, and the visual module 230 is used to shoot and locate the materials;

[0042] A material storage fixture 300, which is disposed on the transport vehicle body 100 and is located on one side of the robotic arm 210;

[0043] The driving device 400 is installed at the bottom of the transport vehicle body 100 , and the driving device 400 is used to drive the transport vehicle body 100 .

[0044] The AGV transport vehicle according to the embodiment of the present application has at least the following beneficial effects: the AGV transport vehicle includes a transport vehicle body 100, a handling device 200, a material storage fixture 300 and a driving device 400, and the handling device 200 includes a first connecting member 220, a mechanical arm 210, a visual module 230 and two grasping components, the end face of the first connecting member 220 is connected to the mechanical arm 210, the bottom surface of the first connecting member 220 is provided with a convex portion, and the opposite sides of the convex portion are respectively provided with a first inclined surface 221 and a second inclined surface 222; one of the two grasping components is installed on the first inclined surface 221, and the other is installed on the second inclined surface 222; the visual module 230 is installed on the side of the convex portion; the mechanical arm 210 is installed on the transport vehicle body 100; the mechanical arm 210 is used to drive the first connecting member 220 to drive the grasping component to move, the grasping component is used to grasp or release materials, and the visual module 230 is used to shoot and locate the materials. When the AGV transport vehicle is in operation, the driving device 400 drives the transport vehicle body 100 to move to a preset location, and then the mechanical arm 210 drives the first connecting member 220 to drive the two grabbing components, so that the grabbing components grab the material, and transport the material to the storage fixture 300, or move the material away from the storage fixture 300, so as to complete the loading or unloading. In this process, the visual module 230 is used to shoot and locate the material. In addition, the present application uses the first inclined surface 221 and the second inclined surface 222 of the convex portion to enable the mechanical arm 210 to install two grabbing components, and the two grabbing components run at the same time, thereby improving production efficiency. Therefore, the AGV transport vehicle of the embodiment of the present application can complete loading or unloading without manual assistance, which can improve production efficiency.

[0045] It should be noted that the preset location refers to a location for loading or unloading. In addition, there may be multiple transport devices 200. The embodiment of the present application does not limit the number of transport devices 200. Those skilled in the art may set the number of transport devices 200 according to actual needs. The mechanical axis can drive the first connector 220 to move in multiple directions.

[0046] Reference Figures 4 to 5 In one embodiment, the protrusion is in the shape of a triangular prism, which includes three square faces and two triangular sides. One of the square faces of the triangular prism serves as the end face of the first connecting member 220, and the other two square faces of the triangular prism are respectively the first inclined surface 221 and the second inclined surface 222. The visual module 230 is installed on one of the two triangular sides.

[0047] In one embodiment, the vision module 230 is a camera.

[0048] In one embodiment, the end face of the first connecting member 220, the first inclined surface 221 and the second inclined surface 222 are all provided with a plurality of mounting holes, and the mounting holes are used for passing bolts or screws, so that the first connecting member 220 can be fixed to the robot arm 210 by bolts or screws, so that the grasping assembly can be fixed to the first inclined surface 221 or the second inclined surface 222 by bolts or screws.

[0049] It is understandable that, referring to Figure 2 and Figure 3 The grab assembly includes a second connecting member 241, a first driving member 242 and two clamping arms 243. The second connecting member 241 is installed on the first inclined surface 221 or the second inclined surface 222. The first driving member 242 is installed on the second connecting member 241. The first driving member 242 is connected to the two clamping arms 243. The first driving member 242 is used to drive the two clamping arms 243 to move closer to each other or away from each other. When the two clamping arms 243 move closer to each other, they can clamp the material. When the two clamping arms 243 move away from each other, they can release the material.

[0050] It is understandable that, referring to Figure 6 and Figure 7 The driving device 400 is provided with a mounting frame 410, a second driving member 419, and two driving wheels 411. The mounting frame 410 is fixedly connected to the transport vehicle body 100, and the two driving wheels 411 are respectively installed on opposite sides of the mounting frame 410. The second driving member 419 is installed on the mounting frame 410, and the second driving member 419 is connected to the two driving wheels 411, and the second driving member 419 is used to drive the two driving wheels 411 to rotate. The second driving member 419 can be a driving motor. When the driving motor drives the driving wheels 411 to rotate, it can drive the mounting frame 410 to move, thereby driving the transport vehicle body 100 to move.

[0051] It is understandable that, referring to Figure 7 The driving device 400 is also provided with a plurality of universal wheels 420, and the plurality of universal wheels 420 are mounted on the bottom of the mounting frame 410. The universal wheels 420 can support the mounting frame 410, thereby reducing the load of the two driving wheels 411, and the universal wheels 420 can rotate as the mounting frame 410 moves, which can make the AGV transport vehicle move more smoothly.

[0052] In one embodiment, the number of the universal wheels 420 is four, and two universal wheels 420 are respectively disposed on two opposite sides of the driving wheel 411 .

[0053] It is understandable that the driving device 400 is further provided with a main control module 413 and a battery module 412, both of which are mounted on the mounting frame 410, and the battery module 412 is electrically connected to the main control module 413 and the second driving member 419. The main control module 413 is used to control the operation of various components of the driving device 400, and the battery module 412 is used to supply power.

[0054] It is understandable that the driving device 400 is further provided with a navigation laser module 414, which is provided at the front end of the mounting frame 410 and is electrically connected to the main control module 413. The navigation laser module 414 is used to determine the moving route of the AGV.

[0055] It is understandable that the driving device 400 is further provided with an obstacle avoidance laser module 415, which is provided at the rear end of the mounting frame 410 and is electrically connected to the main control module 413. The obstacle avoidance laser module 415 is used to detect whether there are obstacles on the walking route of the AGV transport vehicle.

[0056] It is understandable that the driving device 400 is further provided with a lighting module 416, which is provided at the front end of the mounting frame 410, and the lighting module 416 is electrically connected to the main control module 413. In one embodiment, the lighting module 416 is an LED light strip.

[0057] In one embodiment, the driving device 400 is further provided with a speaker 418 , and the speaker 418 is disposed at the front end of the mounting bracket 410 .

[0058] It is worth noting that the driving device 400 is also provided with a charging interface 417, which is provided on the mounting frame 410 and is electrically connected to the battery module 412. The battery module 412 can be charged through the charging interface 417 without disassembling the battery module 412, which is convenient to use.

[0059] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present application. In addition, the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

Claims

1. An AGV transport vehicle, characterized in that: include: Transport vehicle body; A handling device, each of which comprises a first connecting member, a mechanical arm, a vision module and two grabbing assemblies, wherein the end face of the first connecting member is connected to the mechanical arm, the bottom face of the first connecting member is provided with a convex portion, and the two opposite sides of the convex portion are respectively provided with a first inclined surface and a second inclined surface; one of the two grabbing assemblies is installed on the first inclined surface, and the other is installed on the second inclined surface; the vision module is installed on the side of the convex portion; the mechanical arm is installed on the transport vehicle body; the mechanical arm is used to drive the first connecting member to drive the grabbing assembly to move, the grabbing assembly is used to grab or release materials, and the vision module is used to photograph and locate the materials; A material storage jig, which is arranged on the transport vehicle body and is located on one side of the mechanical arm; A driving device is installed at the bottom of the transport vehicle body, and is used to drive the transport vehicle body.

2. The AGV transport vehicle according to claim 1, characterized in that: The grabbing assembly includes a second connecting member, a first driving member and two clamping arms, the second connecting member is installed on the first inclined surface or the second inclined surface, the first driving member is installed on the second connecting member, the first driving member is connected to the two clamping arms, and the first driving member is used to drive the two clamping arms to move closer to or away from each other.

3. The AGV transport vehicle according to claim 1, characterized in that: The driving device is provided with a mounting frame, a second driving member, and two driving wheels. The mounting frame is fixedly connected to the transport vehicle body, and the two driving wheels are respectively installed on opposite sides of the mounting frame. The second driving member is installed on the mounting frame, and the second driving member is connected to the two driving wheels. The second driving member is used to drive the two driving wheels to rotate.

4. The AGV transport vehicle according to claim 3, characterized in that: The driving device is also provided with a plurality of universal wheels, and the plurality of universal wheels are installed at the bottom of the mounting frame.

5. The AGV transport vehicle according to claim 3, characterized in that: The driving device is further provided with a main control module and a battery module. The main control module and the battery module are both mounted on the mounting frame. The battery module is electrically connected to the main control module and the second driving member respectively.

6. The AGV transport vehicle according to claim 5, characterized in that: The driving device is also provided with a navigation laser module, which is arranged at the front end of the mounting frame and is electrically connected to the main control module.

7. The AGV transport vehicle according to claim 5, characterized in that: The driving device is also provided with an obstacle avoidance laser module, which is arranged at the rear end of the mounting frame and is electrically connected to the main control module.

8. The AGV transport vehicle according to claim 4, characterized in that: The number of the universal wheels is 4, and two universal wheels are respectively arranged on two opposite sides of the driving wheel.

9. The AGV transport vehicle according to claim 5, characterized in that: The driving device is further provided with a lighting module, which is arranged at the front end of the mounting frame and is electrically connected to the main control module.

10. The AGV transport vehicle according to claim 5, characterized in that: The driving device is also provided with a charging interface, which is arranged on the mounting frame and is electrically connected to the battery module.

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