Automatic guided vehicle carrying mechanical arm and tool

Abstract

The utility model discloses an automatic guided vehicle carrying a mechanical arm and a tool. The automatic guided vehicle carrying the mechanical arm comprises an automatic guided vehicle body, the shell is arranged above the automatic guide vehicle; the mechanical arm is used for grabbing materials, located on one side of the shell and arranged on the shell; the connecting mechanism is used for detachably connecting the shell with the automatic guide vehicle, and the connecting mechanism is respectively connected with the shell and the automatic guide vehicle; and the controller is connected with the mechanical arm and the automatic guiding vehicle. According to the technical scheme, the mechanical arm is installed on the shell, and the shell is detachably connected with the automatic guiding vehicle through the connecting mechanism, so that when the automatic guiding vehicle needs to be charged, the shell can be detached from the automatic guiding vehicle and installed on another automatic guiding vehicle to continue to work on a production line, and the automatic guiding vehicle can be charged conveniently. Each automatic guiding vehicle does not need to be provided with a mechanical arm and a shell, so that the cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an automatic guided vehicle and tooling equipped with a mechanical arm. Background Art

[0002] With the widespread use of Automatic Guided Vehicles (AGVs), AGVs have been applied to production lines. By installing robotic arms on AGVs to replace manual labor, production efficiency is improved and labor intensity is reduced.

[0003] At present, in the application process of automatic guided vehicles, when the battery power on the automatic guided vehicle is low, the automatic guided vehicle will stop running and move to a fixed charging pile position for charging. In order to ensure the normal operation of the production line during the charging process of the automatic guided vehicle, an automatic guided vehicle equipped with a robotic arm will be prepared as a backup to ensure that the production line does not stop during the charging process of the automatic guided vehicle. This method ensures production efficiency, but it is necessary to carry a robotic arm and a shell for carrying the robotic arm on each automatic guided vehicle, which makes the cost higher.

[0004] Therefore, the prior art still needs to be improved and developed. Utility Model Content

[0005] In view of the above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide an automatic guided vehicle and tooling equipped with a robotic arm, so as to solve the problem in the prior art that in order to ensure production efficiency, a robotic arm needs to be installed on each robot, which makes the cost high.

[0006] The utility model provides an automatic guided vehicle equipped with a mechanical arm, comprising:

[0007] Automated Guided Vehicles;

[0008] A housing, the housing being disposed above the automatic guided vehicle;

[0009] A mechanical arm for grabbing materials, the mechanical arm is located at one side of the shell and is arranged on the shell;

[0010] A connecting mechanism for detachably connecting the housing to the automatic guided vehicle, the connecting mechanism being connected to the housing and the automatic guided vehicle respectively;

[0011] A controller for controlling the automatic guided vehicle and the robotic arm, wherein the controller is connected to the robotic arm and the automatic guided vehicle.

[0012] In a further configuration of the utility model, the connecting mechanism comprises:

[0013] An electromagnet, wherein the electromagnet is disposed at the bottom of the housing;

[0014] An adsorbent body used for adsorption by the electromagnet, wherein the adsorbent body is arranged on the top of the automatic guided vehicle.

[0015] In a further configuration of the utility model, the connecting mechanism comprises:

[0016] An electromagnet, wherein the electromagnet is disposed on the top of the automatic guided vehicle;

[0017] An adsorbent for adsorbing the electromagnet, the adsorbent being arranged at the bottom of the shell;

[0018] Or, the connecting mechanism includes:

[0019] An electromagnet, wherein the electromagnet is disposed on the top of the automatic guided vehicle;

[0020] An adsorbent body used for adsorbing the electromagnet, wherein the adsorbent body is arranged at the bottom of the shell.

[0021] According to a further configuration of the utility model, a plurality of electromagnets are provided, and each of the electromagnets is provided with a corresponding adsorption body.

[0022] According to a further configuration of the utility model, a guide and position-limiting member for guiding and limiting the shell is arranged on the shell, and the guide and position-limiting member is arranged at the bottom of the shell.

[0023] In a further configuration of the utility model, the guide limiter comprises: a guide limiter column, the guide limiter column being arranged at the bottom of the housing;

[0024] The top of the automatic guided vehicle is provided with a limiting groove matching the guide limiting column;

[0025] Wherein, each of the guide limiting columns is correspondingly provided with a limiting groove.

[0026] According to a further configuration of the utility model, the electromagnet loses its magnetic force when it is powered on, and generates magnetic force when it is powered off;

[0027] Or, the electromagnet generates magnetic force when power is supplied, and the magnetic force disappears when power is disconnected.

[0028] According to a further configuration of the utility model, a material placement position is provided on the housing;

[0029] The material placement position is arranged on the top of the shell.

[0030] In a further configuration of the utility model, the controller is disposed in the housing, and the controller is connected to the mechanical arm;

[0031] A first plug is arranged on the top of the automatic guided vehicle, a connector matching the first plug is arranged on the bottom of the shell, and the controller is connected to the automatic guided vehicle via the first plug and the connector.

[0032] According to a further configuration of the utility model, two opposite side surfaces of the shell are respectively provided with clamping grooves for clamping the shell.

[0033] The utility model also provides a tool for clamping the shell on the automatic guided vehicle equipped with a robotic arm as described above, the tool comprising: a first connecting member and two oppositely arranged supporting members; a protrusion is provided on the supporting member, and the protrusions on the two supporting members are arranged oppositely, one of the supporting members is arranged at one end of the first connecting member, and the other of the supporting members is arranged at the other end of the first connecting member, wherein, when clamping the shell, the automatic guided vehicle drives the shell to move between the two supporting members, and each of the protrusions is respectively located in one of the clamping grooves to clamp the shell.

[0034] Beneficial effects:

[0035] The utility model provides an automatic guided vehicle and tooling equipped with a mechanical arm, comprising: an automatic guided vehicle;

[0036] A shell, the shell is arranged above the automatic guided vehicle; a mechanical arm for grabbing materials, the mechanical arm is located on one side of the shell and arranged on the shell; a connecting mechanism for detachably connecting the shell to the automatic guided vehicle, the connecting mechanism is respectively connected to the shell and the automatic guided vehicle; a controller, the controller is connected to the mechanical arm and the automatic guided vehicle. In the technical solution of the utility model, the mechanical arm is installed on the shell, and the shell and the automatic guided vehicle are detachably connected through the connecting mechanism. Therefore, when the automatic guided vehicle needs to be charged, the shell can be removed from the automatic guided vehicle and installed on another automatic guided vehicle to continue working on the production line. It is not necessary to configure a mechanical arm and a shell for each automatic guided vehicle, which reduces the cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary personnel in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0038] Figure 1 It is a structural diagram of an automatic guided vehicle equipped with a mechanical arm in the utility model.

[0039] Figure 2 It is an exploded view of an automatic guided vehicle equipped with a robotic arm in one embodiment of the utility model.

[0040] Figure 3 is another perspective of an exploded view of an automatic guided vehicle equipped with a robotic arm in one embodiment of the present invention;

[0041] Figure 4 It is a structural diagram of an automatic guided vehicle in one embodiment of the utility model.

[0042] The marks in the accompanying drawings are: 1. Automatic guided vehicle equipped with a robotic arm; 11. Automatic guided vehicle; 111. First plug; 112. Limiting groove; 12. Shell; 121. Material placement position; 122. Guide limiting member; 123. Connector; 124. Clamping groove; 13. Robotic arm; 14. Connecting mechanism; 141. Electromagnet; 142. Adsorption member; 2. Tooling; 21. First connecting member; 22. Support member; 221. Protrusion. DETAILED DESCRIPTION

[0043] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation methods of the present invention are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "back", "up", "down", "left", "right", "longitudinal", "horizontal", "vertical", "horizontal", "top", "bottom", "inside", "outside", "head", "tail", etc. are based on the directions or positional relationships shown in the accompanying drawings, are constructed and operated in a specific direction, and are only for the convenience of describing the present technical solution, rather than indicating that the device or element referred to must have a specific direction, and therefore cannot be understood as a limitation to the present invention.

[0044] In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0045] like Figure 1 , Figure 2 and Figure 3As shown, an automatic guided vehicle 1 equipped with a robotic arm provided by the utility model may include an automatic guided vehicle 11, a shell 12, a robotic arm 13, a connecting mechanism 14 and a controller, wherein the shell 12 is arranged above the automatic guided vehicle 11; the robotic arm 13 is used to grab materials, and the robotic arm 13 is located on one side of the shell 12 and is arranged on the shell 12; the connecting mechanism 14 is used to detachably connect the shell 12 and the automatic guided vehicle 11, and the connecting mechanism 14 is respectively connected to the shell 12 and the automatic guided vehicle 11; the controller is used to control the automatic guided vehicle 11 and the robotic arm 13, and the controller is connected to the robotic arm 13 and the automatic guided vehicle 11.

[0046] In this embodiment, when the shell 12 is connected to the automatic guided vehicle 11, the shell 12 can be detachably connected to the automatic guided vehicle 11 through the connecting mechanism 14, wherein, when the automatic guided vehicle 11 needs to be charged, the shell 12 is removed from the automatic guided vehicle 11 and the automatic guided vehicle 11 is charged. At this time, the shell 12 can be installed on another automatic guided vehicle 11 to continue working on the production line.

[0047] It can be seen that when the automatic guided vehicle 11 needs to be charged, the shell 12 can be removed from the automatic guided vehicle 11 and installed on another automatic guided vehicle 11 to continue working on the production line. There is no need to configure a robot arm 13 and a shell 12 for each automatic guided vehicle 11, which reduces costs.

[0048] In this embodiment, when selecting the robotic arm 13, the robotic arm 13 can be determined according to actual needs. For example, the robotic arm 13 can be a six-joint robotic arm 13; for another example, the robotic arm 13 can be an eight-joint robotic arm 13. The specific structure of the robotic arm 13 is not limited too much here.

[0049] Furthermore, if Figure 2 , Figure 3 As shown, a guide and limit member 122 for guiding and limiting the shell 12 is disposed on the shell 12 , and the guide and limit member 122 is disposed at the bottom of the shell 12 .

[0050] In this embodiment, in order to reduce the installation error of the shell 12 when it is installed on the automatic guided vehicle 11 and prevent the installation error between the shell 12 and the automatic guided vehicle 11 due to the sliding of the shell 12, a guide limiter 122 is provided at the bottom of the shell 12. The shell 12 is guided and limited by the guide limiter 122 to reduce the installation error of the shell 12 on the automatic guided vehicle 11.

[0051] In some embodiments, Figure 2 , Figure 3As shown, the guide limit member 122 may include a guide limit column, which is arranged at the bottom of the shell 12; the top of the automatic guided vehicle 11 is provided with a limit groove 112 matching the guide limit column; each guide limit column is correspondingly provided with a limit groove 112; wherein, the matching here means that each guide limit column can be installed in a limit groove 112 and can play a role of guide limitation.

[0052] Specifically, the guide limiting column may be, but not limited to, a cylindrical shape, and correspondingly, the limiting groove 112 may be a circular groove (the specific structure of the limiting groove 112 is related to the specific structure of the guide limiting column).

[0053] Among them, when setting the guide limit posts, several can be set, and correspondingly, several limit slots 112 are also set (equal to the number of the guide limit posts to ensure that each guide limit post corresponds to a limit slot 112).

[0054] In a specific embodiment, four guide limit columns are provided, wherein the four guide limit columns are arranged in a square shape and are provided at the bottom of the shell 12 (a guide limit column is provided at each corner of the bottom of the shell 12); of course, six, eight, etc. guide limit columns may also be provided, and the arrangement method thereof may be determined by technicians skilled in the art according to actual needs. Therefore, the specific number and arrangement method of the guide limit columns are not limited too much herein.

[0055] Here, it should be noted that when setting the limit groove 112, reference can be made to the specific setting position of the guide limit column, that is, to ensure that each guide limit column corresponds to a limit groove 112, which will not be repeated here.

[0056] In one embodiment, if Figure 3 As shown, the connection mechanism 14 may include an electromagnet 141 and an adsorbent; wherein the electromagnet 141 is disposed at the bottom of the shell 12; the adsorbent is used for adsorbing the electromagnet 141, and the adsorbent is disposed on the top of the automatic guided vehicle 11.

[0057] In this embodiment, when the shell 12 is connected to the automatic guided vehicle 11, the shell 12 can be connected to the automatic guided vehicle 11 by adsorbing the adsorbent through the electromagnet 141. Since the shell 12 and the automatic guided vehicle 11 are connected through the electromagnet 141, the disassembly of the shell 12 is convenient.

[0058] Specifically, the electromagnet 141 may be an elliptical electromagnet 141, and the absorbent may be an elliptical absorbent corresponding to the elliptical electromagnet 141. The absorbent may be made of any material that can absorb the electromagnet 141, for example, the absorbent may be made of iron, or, for another example, the absorbent may be a magnet that can absorb the electromagnet 141.

[0059] When the electromagnet 141 is provided, a plurality of electromagnets 141 may be provided, and each electromagnet 141 is provided with a corresponding adsorbent.

[0060] like Figure 1 , Figure 2 and Figure 3 As shown, the shell 12 may be roughly in the form of a cubic structure, and the bottom of the shell 12 may be provided with but not limited to four electromagnets 141. When the electromagnets 141 are provided, the outer contour formed by the four electromagnets 141 provided at the bottom of the shell 12 is a square contour, wherein, when the adsorbent is provided, the setting position of the electromagnet 141 needs to be considered, that is, each electromagnet 141 can be adsorbed onto the corresponding adsorbent, and the corresponding adsorbent means that one adsorbent is provided corresponding to each electromagnet 141.

[0061] In this embodiment, the arrangement of the electromagnets 141 (the outer contour formed by the four electromagnets 141 at the bottom of the housing 12 is a square contour) enables the housing 12 to be subjected to a more uniform force when it is adsorbed onto the AGV 11 .

[0062] Among them, when the adsorption member 142 is installed, a groove can be set at the position where the adsorption member 142 is installed on the top of the automatic guided vehicle 11, and the adsorption member 142 can be installed in the groove. When the groove is set, the depth of the groove is slightly smaller than the height of the electromagnet 141, so that after the electromagnet 141 and the adsorption member 142 are adsorbed, the gap between the shell 12 and the automatic guided vehicle 11 is small, making the structure of the automatic guided vehicle 1 equipped with a robotic arm more compact.

[0063] Here, it should be noted that the electromagnet 141 can be set in other numbers. For example, the electromagnet 141 can be set in six or eight numbers. Of course, the electromagnet 141 can also be arranged in other ways. For example, when six electromagnets 141 are set, they can be arranged in a hexagonal manner; for another example, when eight electromagnets 141 are set, they can be arranged in a hexagonal manner or in a square manner. Therefore, the specific number and arrangement of the electromagnet 141 are not overly limited, and those skilled in the art can determine the specific setting number and position of the electromagnet 141 according to actual needs.

[0064] In another embodiment, if Figure 3 As shown, the connection mechanism 14 may include an electromagnet 141 and an adsorbent; wherein the electromagnet 141 is disposed on the top of the automatic guided vehicle 11; the adsorbent is used for adsorbing the electromagnet 141, and the adsorbent is disposed at the bottom of the shell 12.

[0065] Specifically, the electromagnet 141 may be a columnar electromagnet 141, and the absorbent may be an elliptical absorbent corresponding to the elliptical electromagnet 141. The absorbent may be made of any material that can absorb the electromagnet 141, for example, the absorbent may be made of iron, or, for another example, may be a magnet that can absorb the electromagnet 141.

[0066] When the electromagnet 141 is provided, a plurality of electromagnets 141 may be provided, and each electromagnet 141 is provided with a corresponding adsorbent.

[0067] In a specific embodiment, the shell 12 may be roughly in a cubic structure, and the bottom of the shell 12 may be provided with but not limited to four adsorption bodies, wherein when the adsorption bodies are provided, the outer contour formed by the four adsorption bodies provided at the bottom of the shell 12 is a square contour; correspondingly, each adsorption body is provided with an electromagnet 141, and the electromagnet 141 is provided on the top of the automatic guided vehicle 11. Similarly, when the adsorption bodies are provided, the setting position of the electromagnet 141 needs to be considered, that is, each electromagnet 141 can be adsorbed onto the corresponding adsorption body, and the corresponding adsorption body means that each electromagnet 141 is provided with an adsorption body.

[0068] In this embodiment, the arrangement of the adsorbents (the outer contour formed by the four adsorbents at the bottom of the shell 12 is a square contour) enables the shell 12 to be subjected to a more uniform force when it is adsorbed to the automatic guided vehicle 11 .

[0069] Among them, when the adsorption member 142 is installed, a groove can be set at the position where the adsorption member 142 is installed at the bottom of the shell 12, and the adsorption member 142 can be installed in the groove. When the groove is set, the depth of the groove is slightly smaller than the height of the electromagnet 141, so that after the electromagnet 141 and the adsorption member 142 are adsorbed, the gap between the shell 12 and the automatic guided vehicle 11 is small, making the structure of the automatic guided vehicle 1 equipped with a robotic arm more compact.

[0070] Furthermore, the electromagnet 141 loses its magnetism when it is powered on, and generates magnetism when it is powered off; or, the electromagnet generates magnetic force when it is powered on, and loses its magnetic force when it is powered off.

[0071] Specifically, the electromagnet 141 can be connected to the battery in the automatic guided vehicle 11, that is, the electromagnet 141 is powered by the battery in the automatic guided vehicle 11. When the power of the automatic guided vehicle 11 is lower than the set value and needs to be charged, the automatic guided vehicle 11 will move to the charging pile position for charging.

[0072] Among them, when the magnetism of the electromagnet 141 disappears when it is powered on and generates magnetism when it is powered off, the shell 12 can be clamped by a tooling, and at the same time, the controller controls the electromagnet 141 to be powered on. After the power is turned on, the magnetic force of the electromagnet 141 disappears, the shell 12 is removed from the automatic guided vehicle 11, and the automatic guided vehicle 1 equipped with the robot arm is powered off. At this time, the automatic guided vehicle 11 can be charged, and the removed shell 12 can be installed on another automatic guided vehicle 11. When the shell 12 is installed on another automatic guided vehicle 11, the controller controls the electromagnet 141 to be powered off, and the electromagnet 141 has an attractive force, so the shell 12 can be adsorbed onto the automatic guided vehicle 11, that is, the shell 12 can be quickly installed on the automatic guided vehicle 11, and at the same time, the electromagnet 141 also has a certain alignment effect (refer to the adsorption process of two electromagnets); after the shell 12 is installed, after the automatic guided vehicle 1 equipped with the robotic arm is powered on, the electromagnet 141 continues to be in a power-off state. After the power is off, the electromagnet 141 generates magnetic force, and the shell 12 and the automatic guided vehicle 11 are in a connected state under the mutual action of the electromagnet 141, the adsorption member 142, the guide limit column 122 and the limit groove 112.

[0073] When the electromagnet 141 is powered on, it generates magnetic force, and when the power is off, the magnetic force disappears. The shell 12 can be clamped by a tool. At the same time, the controller controls the electromagnet 141 to be powered off. After the power is off, the magnetic force of the electromagnet 141 disappears. The shell 12 is removed from the automatic guided vehicle 11, and the automatic guided vehicle 1 equipped with the robot arm is powered off. At this time, the automatic guided vehicle 11 can be charged, and the removed shell 12 can be installed on another automatic guided vehicle 11. During the installation process, the electromagnet 141 is powered on by the controller. At this time, the electromagnet 141 1 has suction force, so the shell 12 can be adsorbed onto the automatic guided vehicle 11, that is, the shell 12 can be quickly installed on the automatic guided vehicle 11. At the same time, the electromagnet 141 also has a certain alignment effect (refer to the adsorption process of the two electromagnets 141). The shell 12 and the automatic guided vehicle 11 are in a connected state under the mutual action of the electromagnet 141, the adsorption member 142, the guide limit column 122 and the limit groove 112; wherein, after the shell 12 is installed on the automatic guided vehicle 11, the controller is in a powered-on state.

[0074] Here, it should be noted that the electromagnet 141 can be installed on the top of the automatic guided vehicle 11 or in the shell 12, wherein when the electromagnet 141 is installed on the top of the automatic guided vehicle 11, the controller is set in the automatic guided vehicle 11; when the electromagnet 141 is installed on the bottom of the shell 12, the controller is installed in the shell 12.

[0075] In this embodiment, the electromagnet 141 can be connected to the battery in the automatic guided vehicle 11, and there is no need to set up a separate power supply. Of course, an independent power supply can also be set to supply power to the electromagnet 141, and no further limitation is made here.

[0076] In this embodiment, the power on and off of the electromagnet 141 can be directly controlled by the controller in the automatic guided vehicle 1 equipped with the robot arm, without the need to set up a separate controller. Of course, an independent controller can also be set to control the power on and off of the electromagnet 141, which will not be described in detail here.

[0077] In some embodiments, Figure 2 As shown, a material placement position 121 is provided on the shell 12, and the material placement position 121 is used to place materials. On the production line, materials can be placed in the material placement position 121 in advance, and the materials can be grabbed by the robot arm 13 to be processed on the production line. The robot arm 13 can also clamp the processed materials from the production line and place them in the material placement position 121.

[0078] Specifically, the material placement position 121 can be set on the top of the shell 12. Of course, the material placement position 121 can also be set on one side of the shell 12. Those skilled in the art can determine the specific position of the material placement position 121 according to actual needs, and no further restrictions are made here.

[0079] Specifically, the material placement position 121 can be set to be but not limited to a square groove, wherein when the square groove is set, the specific size of the square groove can be set according to the material to be placed, such as the groove width and groove depth of the square groove.

[0080] In this embodiment, since the material placement position 121 is a groove, the material placement position 121 can not only play the role of placing materials, but also prevent the materials from sliding off the material placement position 121.

[0081] In some embodiments, Figure 3 As shown, the controller is arranged in the shell 12, and the controller is connected to the robot arm 13; a first plug 111 is arranged on the top of the automatic guided vehicle 11, and a connector 123 matching the first plug 111 is arranged on the bottom of the shell 12 (the first plug 111 can be connected to the connector 123, so that the battery in the automatic guided vehicle 11 can supply power to the controller and transmit signals between the controller and the automatic guided vehicle 11), and the controller is connected to the automatic guided vehicle 11 via the first plug 111 and the connector 123.

[0082] In this embodiment, when the automatic guided vehicle 11 is connected to the controller, a first plug 111 can be set on the top of the automatic guided vehicle 11. The first plug 111 is a plug having a power supply signal and a signal transmission pin. Correspondingly, a connector 123 is set at the bottom of the shell 12. The connector 123 is an interface having a power supply jack and a signal transmission jack. When setting the connector 123, it is necessary to consider the position of the first plug 111 to ensure that when the shell 12 is installed on the automatic guided vehicle 11, the first plug 111 can be inserted into the connector 123, so that the automatic guided vehicle 11 can be connected to the controller through the first plug 111 and the connector 123.

[0083] In this embodiment, the controller may be any controller that can control the robotic arm 13 and the automatic guided vehicle 11 and is well known to those skilled in the art, and no further limitation is made herein.

[0084] In some embodiments, the shell 12 includes a first side, a second side opposite to the first side, a third side, and a fourth side opposite to the third side; wherein the first side and the second side are respectively provided with a clamping groove 124 for clamping the shell 12, and the clamping groove 124 runs through the third side and the fourth side.

[0085] Specifically, the clamping groove 124 can be provided at the bottom of the housing 12. When the housing 12 is disassembled, the housing 12 can be clamped by the clamping groove 124, making it easier to disassemble the housing. The first side and the second side can be any two opposite sides of the housing 12. Similarly, the third side and the fourth side can also be any two opposite sides of the housing 12. No further limitation is made here.

[0086] In a specific embodiment, the clamping groove 124 may be an L-shaped groove and is disposed at the bottom of the housing 12. Of course, the clamping groove 124 may also be a groove of other structures and be disposed at other positions. For example, the clamping groove 124 may be a groove, a groove may be disposed at a substantially middle position of the first side, and a groove may be disposed at a position symmetrical to the groove on the first side on the second side. The specific position of the clamping groove 124 may be determined according to actual conditions.

[0087] When the automatic guided vehicle 1 equipped with a robotic arm specifically needs to be charged, the automatic guided vehicle 1 equipped with a robotic arm moves to the charging pile position. At this time, a tooling (a tooling capable of clamping the shell 12) can be used to clamp the shell 12 through the clamping groove 124. Thereafter, the automatic guided vehicle 11 on the automatic guided vehicle 1 equipped with a robotic arm separates the shell 12 from the automatic guided vehicle 11 through the lifting function. After the separation, the automatic guided vehicle 11 moves to the charging position for charging, and further moves another automatic guided vehicle 11 to the bottom of the shell 12 and connects with the shell 12 through the lifting function, that is, the shell 12 is installed on another fully charged automatic guided vehicle 11, and the fully charged automatic guided vehicle 11 continues to move to the production line to work; of course, when disassembling the shell 12, it can also be disassembled manually.

[0088] In some embodiments, the utility model also provides a tooling 2 for clamping the shell 12 on the automatic guided vehicle 1 equipped with a robotic arm as described above, wherein the tooling 2 may include a first connecting member 21 and two oppositely arranged support members 22; a protrusion 221 is provided on the support member 22, and the protrusions 221 on the two support members 22 are arranged oppositely, one support member 22 is arranged at one end of the first connecting member 21, and the other support member 22 is arranged at the other end of the first connecting member 21, wherein when clamping the shell 12, the automatic guided vehicle 1 drives the shell to move between the two support members 22, and each protrusion 221 is respectively located in a clamping groove 124 to clamp the shell 12.

[0089] Specifically, the first connecting member 21 may be a connecting plate with a square plate-like structure, and the supporting member 22 may be a supporting plate with a square plate-like structure, and each supporting plate is provided with a protrusion 221. Among them, one supporting plate may be provided at one end of the connecting plate by welding, but not limited to welding, and the other supporting plate may be provided at the other end of the connecting plate by welding, but not limited to welding, and the two supporting plates and the connecting plate constitute a tooling 2 with a door-like structure.

[0090] In this embodiment, when the two support plates are arranged, the distance between the two protrusions 221 needs to be considered to ensure that each protrusion 221 is located in a clamping groove 124 when the AGV 11 drives the housing 12 to move between the two support members 22 .

[0091] When disassembling the shell 12, the automatic guided vehicle 11 drives the shell 12 to move between the two support members 22. At this time, each protrusion 221 is located in a clamping groove 124. At this time, the automatic guided vehicle 11 is lowered by the lifting function of the automatic guided vehicle 11, and the electromagnet 141 is separated from the adsorption member 142. After the automatic guided vehicle 11 is further moved out, the disassembly of the shell 12 is completed; when installing the shell 12, the automatic guided vehicle 11 moves between the two support members 22, and the lifting function of the automatic guided vehicle 11 makes the electromagnet 141 and the adsorption member 142 adsorbed, and further lifted to raise the shell 12, and then the shell 12 is moved out by the automatic guided vehicle 11 to complete the installation of the shell 12.

[0092] It can be seen that when the automatic guided vehicle 11 needs to be charged, the shell 12 can be removed from the automatic guided vehicle 11 by tooling, and the shell 12 can be installed on the charged automatic guided vehicle 11 in cooperation with the charged automatic guided vehicle 11, so that the automatic guided vehicle 1 equipped with a robotic arm can continue to work on the production line. There is no need to configure a robotic arm 13 and a shell 12 for each automatic guided vehicle 11, thereby reducing costs.

[0093] In this embodiment, the protrusion 221 can be set as a longitudinal plate-shaped protrusion, wherein when the protrusion 221 is set, the length of the protrusion 221 is related to the length of the clamping groove 124 on the shell, and it is necessary to ensure that the shell 12 can be clamped by the protrusion 221.

[0094] Here, it should be pointed out that the tooling 2 is similar to the description of the embodiment of the automatic guided vehicle 1 equipped with a robotic arm, and has similar beneficial effects as the automatic guided vehicle 1 equipped with a robotic arm. For technical details not disclosed in the embodiment of the tooling 2, please refer to the description of the embodiment of the automatic guided vehicle 1 equipped with a robotic arm of the present utility model for understanding.

[0095] In summary, the utility model provides an automatic guided vehicle and tooling equipped with a robotic arm. In the automatic guided vehicle 1 equipped with a robotic arm, since the robotic arm 13 is installed on the shell 12, the shell 12 is adsorbed to the automatic guided vehicle 11 through the electromagnet 141, so that the automatic guided vehicle 11 can drive the robotic arm 13 to move. Since the shell 12 and the automatic guided vehicle 11 are connected by the electromagnet 141, when the automatic guided vehicle 11 needs to be charged, the shell 12 can be removed from the automatic guided vehicle 11 and installed on another automatic guided vehicle 11 to continue working on the production line. There is no need to configure a robotic arm 13 and a shell 12 for each automatic guided vehicle 11, thereby reducing costs.

[0096] It can be understood that the above embodiments only express the preferred implementation methods of the utility model, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the patent scope of the utility model. It should be pointed out that, for ordinary technicians in this field, without departing from the concept of the utility model, the above-mentioned technical features can be freely combined, and several deformations and improvements can be made, which all belong to the protection scope of the utility model. Therefore, all equivalent changes and modifications made to the scope of the claims of the utility model should belong to the scope covered by the claims of the utility model.

Claims

1. An automatic guided vehicle equipped with a robotic arm, characterized in that: include: Automated Guided Vehicles; A housing, the housing being disposed above the automatic guided vehicle; A mechanical arm for grabbing materials, the mechanical arm is located at one side of the shell and is arranged on the shell; A connecting mechanism for detachably connecting the housing to the automatic guided vehicle, the connecting mechanism being connected to the housing and the automatic guided vehicle respectively; A controller for controlling the automatic guided vehicle and the robotic arm, wherein the controller is connected to the robotic arm and the automatic guided vehicle.

2. The automatic guided vehicle equipped with a robotic arm according to claim 1, characterized in that: The connecting mechanism comprises: An electromagnet, wherein the electromagnet is disposed at the bottom of the housing; An adsorbent for adsorption by the electromagnet, wherein the adsorbent is arranged on the top of the automatic guided vehicle; Or, the connecting mechanism includes: An electromagnet, wherein the electromagnet is disposed on the top of the automatic guided vehicle; An adsorbent body used for adsorbing the electromagnet, wherein the adsorbent body is arranged at the bottom of the shell.

3. The automatic guided vehicle equipped with a robot arm according to claim 2, characterized in that: A plurality of electromagnets are provided, and each of the electromagnets is provided with a corresponding adsorption body.

4. The automatic guided vehicle equipped with a robot arm according to claim 3, characterized in that: The shell is provided with a guide and limit member for guiding and limiting the shell, and the guide and limit member is arranged at the bottom of the shell.

5. The automatic guided vehicle equipped with a robot arm according to claim 4, characterized in that: The guide limiter comprises: a guide limiter column, and the guide limiter column is arranged at the bottom of the housing; The top of the automatic guided vehicle is provided with a limiting groove matching the guide limiting column; Wherein, each of the guide limiting columns is correspondingly provided with a limiting groove.

6. The automatic guided vehicle equipped with a robot arm according to claim 5, characterized in that: The electromagnet has a magnetic force that disappears when the power is on, and generates a magnetic force when the power is off; Or, the electromagnet generates magnetic force when power is supplied, and the magnetic force disappears when power is disconnected.

7. The automatic guided vehicle equipped with a robot arm according to claim 1, characterized in that: The housing is provided with a material placement position; The material placement position is arranged on the top of the shell.

8. The automatic guided vehicle equipped with a robot arm according to claim 1, characterized in that: The controller is disposed in the housing, and the controller is connected to the mechanical arm; A first plug is arranged on the top of the automatic guided vehicle, a connector matching the first plug is arranged on the bottom of the shell, and the controller is connected to the automatic guided vehicle via the first plug and the connector.

9. The automatic guided vehicle equipped with a robotic arm according to any one of claims 2 to 8, characterized in that: Two opposite sides of the shell are respectively provided with clamping grooves for clamping the shell.

10. A tool for clamping the housing on the automatic guided vehicle equipped with a robot arm as claimed in claim 9, characterized in that: The tooling includes: a first connecting member and two oppositely arranged supporting members; a protrusion is arranged on the supporting member, and the protrusions on the two supporting members are arranged oppositely, one supporting member is arranged at one end of the first connecting member, and the other supporting member is arranged at the other end of the first connecting member, wherein, when clamping the shell, the automatic guided vehicle drives the shell to move between the two supporting members, and each of the protrusions is respectively located in one of the clamping grooves to clamp the shell.

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