SMT goods shelf feeding and discharging mechanical arm type AGV

Abstract

The utility model 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 tray, 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 utility model relates to the technical field of SMT warehousing logistics applications, and particularly relates to an SMT shelf loading and unloading manipulator type AGV vehicle. Background Technique

[0002] SMT (Surface Mount Technology) is a basic industry in the field of electronic manufacturing. In the field of SMT warehousing logistics applications, warehouse managers 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. The SMT trays are taken out from the warehouse and delivered to the users; or the 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, the same type of SMT was 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 SMT material is stored and retrieved through a roadway machine, an automatic feeding machine, and a material access robot with left and right steering functions. The degree of automation is a semi-automatic SMT intelligent shelf currently widely used. It has low automation, high labor intensity of warehouse personnel, 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 the 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 in the hope of completing 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 satisfy both the picking of the upper and lower SMT trays, the volume of the AGV plus the manipulator will be very large and cannot meet the requirements of the current SMT warehouse.

[0007] AGV has its own limitations. Its positioning accuracy is plus or minus 10 mm, while the placement interval of SMT trays in the SMT shelf is 20 mm, and the thickness of the SMT tray is 10 - 12 mm. 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 - mm interval it uses makes the SMT tray with a thickness of only 10 mm may tilt in several directions in the support frame, which may cause the SMT trays to cross and overlap, making it impossible 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. Utility Model Content

[0010] In view of this, the present utility model 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 option.

[0011] The technical solution of the embodiment of the present utility model is realized as follows: A manipulator - type AGV cart for SMT shelf loading and unloading includes a main body assembly, and the main body assembly 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 away 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 indicator 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 wheel;

[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. 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. 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. On the closer sides of the rotating mounting plate and the left-right movement mounting seat, a left-right movement lower guide rail slider and a left-right movement upper guide rail slider are respectively fixedly connected.

[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] A mechanical finger rotation motor is fixedly connected to the lower part of the front surface of the rotary motor mount. The output end of the mechanical finger rotation motor is fixedly connected to a mechanical finger rotation reducer. The output end of the mechanical finger rotation reducer is fixedly connected to the middle part of the front surface of a finger rotation connecting member. A mechanical finger rotation in-place switch is arranged on one side of the rear surface of the rotary motor mount. A mechanical finger forward extension mount is fixedly connected to the top of the rear surface of the rotary motor mount. A forward extension mount slider is fixedly connected to the upper surface of the mechanical finger forward extension mount. The inner side wall of the forward extension mount slider is slidably connected to the outer side wall of a forward extension track. A forward extension mount connecting member is fixedly connected to the rear surface of the mechanical finger forward extension mount. A forward extension mount lead screw sleeve is fixedly connected to the front surface of the forward extension mount connecting member.

[0021] Further preferably, the AGV vertical movement mechanism includes vertical movement guide rail sliders, an upper bracket of the vertical movement protective cover, left and right chain guide brackets for vertical movement, a chain guide bracket for vertical movement, a vertical movement support seat, a middle bracket of the vertical movement protective 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 to the left and right chain guide brackets for vertical movement. The lower surface of the left and right chain guide brackets for vertical movement is fixedly connected to the upper bracket of the vertical movement protective cover. Both sides of the upper surface of the upper bracket of the vertical movement protective cover are fixedly connected to the middle brackets of the vertical movement protective cover. The upper parts of the closer sides of the two middle brackets of the vertical movement protective cover are fixedly connected to the left and right upper guide rails for vertical movement and the 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 to the left and right support seats for vertical movement. The upper surface of the left and right support seats for vertical movement is fixedly connected to 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 a left and right movement upper gear. The middle parts of the front surface and the rear surface of the vertical movement support seat are fixedly connected to vertical movement guide rail sliders through the 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 mount, 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 connection expansion sleeve, a main mount connecting plate, a gantry motor synchronous belt, a gantry motor mount, and a gantry motor small synchronous pulley.

[0024] On one side of the upper surface of the gantry motor mounting seat, a gantry mechanism driving motor is fixedly connected. The output end of the gantry mechanism driving motor is fixedly connected with a small gantry motor synchronous pulley. On the other side of the upper surface of the gantry motor mounting seat, a main mounting seat connecting plate is fixedly connected. On the upper surface of the main mounting seat connecting plate, a gantry mechanism main mounting seat is fixedly connected. On one side of the gantry mechanism main mounting seat away from the gantry mechanism driving motor, a gantry screw upper bearing seat and a gantry screw lower bearing seat are respectively fixedly connected at the top and bottom. The inner side walls of the gantry screw upper bearing seat and the gantry screw lower bearing seat are rotationally connected with a gantry mechanism screw. On the upper and lower parts of one side of the gantry mechanism main mounting seat away from the gantry mechanism driving motor, a gantry mechanism upper proximity switch and a gantry mechanism lower proximity switch are respectively arranged. At the bottom of the outer side wall of the gantry mechanism screw, a screw synchronous pulley connecting expansion sleeve is fixedly connected. On the outer side wall of the screw synchronous pulley connecting expansion sleeve, a gantry screw synchronous pulley is fixedly connected. 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. On the front and rear parts of one side of the gantry mechanism main mounting seat away from the gantry mechanism driving motor, gantry mechanism guide rails are fixedly connected. 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. Inside the AGV vehicle electrical mainframe housing, 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 are arranged. Two AGV vehicle electrical box ventilation fans are installed on the lower parts of the front and rear surfaces of the AGV vehicle electrical mainframe housing. An AGV vehicle display is arranged in the middle of one side of the AGV vehicle electrical mainframe housing away from the SMT vehicle-mounted shelf. AGV lidars are arranged 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 fitted and 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 away 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 achieve 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 coordinated work of multiple mechanisms, such as the barcode reader main body, the AGV arm main rotation mechanism, the AGV left - right movement mechanism, 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, side slopes, etc., which can better adapt to and grasp SMT trays, avoid the inclination and crossing of the 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, by referring to the accompanying drawings and the following detailed description, further aspects, embodiments and features of the present invention will become readily apparent. Description of the Drawings

[0035] In order 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 utility model;

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

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

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

[0040] Figure 5 It is of the present utility model Figure 4 Another perspective structure diagram;

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

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

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

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

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

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

[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 indication 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 protection 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 protection 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 screw;1206. Gantry mechanism guide rail; 1207. Gantry mechanism lower proximity switch; 1208. Gantry mechanism drive motor; 1209. Lower bearing block of gantry lead screw; 1210. Synchronous pulley of gantry lead screw; 1211. Connecting expansion bushing for lead screw synchronous pulley; 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 regarded as being exemplary in nature rather than restrictive.

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

[0050] As Figures 1-11 shown, an SMT shelf loading and unloading manipulator type AGV vehicle according to an embodiment of the present invention includes a main body assembly 1, and 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 rotation mechanism 106, an AGV arm main rotation mechanism 107, an SMT gripper mechanism 108, an SMT gripper forward extension mechanism 109, and an AGV left and right moving mechanism 110;

[0051] On one side of the upper surface of the AGV vehicle body 102, an SMT vehicle-mounted shelf 101 is installed. On the other side of the upper surface of the AGV vehicle body 102, an AGV vehicle control system 104 is installed. Inside the AGV vehicle control system 104, an AGV up-and-down gantry mechanism 103 is installed. On one side of the AGV up-and-down gantry mechanism 103 close to the SMT vehicle-mounted shelf 101, an 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, an 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, an AGV arm main rotation mechanism 107 is installed. At the output end of the AGV arm main rotation mechanism 107, an SMT gripper forward extension mechanism 109 is installed. At the output end of the SMT gripper forward extension mechanism 109, an AGV mechanical finger rotation mechanism 106 is installed. At the output end of the AGV mechanical finger rotation mechanism 106, an SMT gripper mechanism 108 is installed. By adopting an integrated gantry mechanism such as the AGV vehicle body 102 and the AGV up-and-down 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 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 main body 301, a finger rotation detection block 302, a finger rotation connecting piece 303, a code reader mounting seat 304, an electric gripper 305, a gripper connecting seat 306, and an SMT mechanical finger 307;

[0053] On one side of the rear surface of the code reader mounting seat 304, a code reader main body 301 is installed. On the side of the front surface of the code reader mounting seat 304 away from the code reader main body 301, a finger rotation connecting piece 303 penetrates through. On the side of the front surface of the finger rotation connecting piece 303 close to the code reader main body 301, a finger rotation detection block 302 is installed. On the rear surface of the finger rotation connecting piece 303, an electric gripper 305 is fixedly connected. On the upper and lower parts of the rear surface of the electric gripper 305, gripper connecting seats 306 are installed. On the side of the two gripper connecting seats 306 close to each other, SMT mechanical fingers 307 are fixedly connected. Installing 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 wheel 612;

[0055] The upper part of the rear surface of the front extension base 605 is fixedly connected with a front extension motor 606. The output end of the front extension motor 606 is fixedly connected with a front extension driving wheel 612. The lower part of the rear surface of the front extension base 605 is penetrated by a front extension lead screw 609. The front part of the outer side wall of the front extension lead screw 609 is fixedly connected with a front extension synchronous wheel 602. The outer side wall of the front extension driving wheel 612 is rotationally connected to the outer side wall of the front extension synchronous wheel 602 through a front extension synchronous belt 604. The lower part of the rear surface of the front extension base 605 near the outer side of the front extension lead screw 609 is fixedly connected with a front extension bearing seat 603. The lower surface of the front extension bearing seat 603 is fixedly connected with a rotating arm 607. The bottom of the rotating arm 607 is fixedly connected with a lead screw support seat 611. 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 a lead screw support bearing 610. The front part of the upper surface of the rotating arm 607 is fixedly connected with a rotation in-place indicating block 601. The lower surface of the rotating arm 607 is fixedly connected with a front extension track 608. By driving the front extension lead screw 609 to rotate through the front extension motor 606, the SMT gripper mechanism 108 is driven to move back and forth.

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

[0057] On the upper surface of the rotating mounting plate 709, near one side of 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 front part of the upper surface of the rotating arm 607 near the rotation in-place indicating block 601. On the upper surface of the rotating mounting plate 709, near one side of the arm motor 701, an arm in-place switch 705 is arranged. The front surface and the rear surface of the rotating mounting plate 709 are fixedly connected with a left and right moving mounting seat 707 through a fixing plate 706. On the upper surface of the left and right moving mounting seat 707, near one side of the arm motor 701, a left and right moving motor 702 is fixedly connected. The output end of the left and right moving motor 702 is fixedly connected with a left and right moving upper gear 703. The respectively adjacent sides of the rotating mounting plate 709 and the left and right moving mounting seat 707 are fixedly connected with a left and right moving lower guide rail slider 710 and a left and right moving upper guide rail slider 708. 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 robotic finger rotation mechanism 106 includes a robotic finger rotation motor 801, a robotic finger rotation speed reducer 802, a robotic finger rotation in-place switch 803, a rotation motor mounting base 804, a robotic finger forward extension mounting base 805, a forward extension mounting base slider 806, a forward extension mounting base connecting member 807, and a forward extension mounting base lead screw sleeve 808;

[0059] The lower part of the front surface of the rotation motor mounting base 804 is fixedly connected to the robotic finger rotation motor 801. The output end of the robotic finger rotation motor 801 is fixedly connected to the robotic finger rotation speed reducer 802. The output end of the robotic finger rotation speed reducer 802 is fixedly connected to the middle part of the front surface of the finger rotation connecting member 303. One side of the rear surface of the rotation motor mounting base 804 is provided with the robotic finger rotation in-place switch 803. The top of the rear surface of the rotation motor mounting base 804 is fixedly connected to the robotic finger forward extension mounting base 805. The upper surface of the robotic 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 robotic finger forward extension mounting base 805 is fixedly connected to the forward extension mounting base connecting member 807. The front surface of the forward extension mounting base connecting member 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 robotic 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 for the vertical movement protective cover 902, left and right chain guide brackets for vertical movement 903, a chain guide bracket for vertical movement 904, a vertical movement support seat 905, a middle bracket for 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 moving racks 910;

[0061] The lower surface of the up-and-down moving support base 905 is fixedly connected to the up-and-down moving left and right chain guide brackets 903. The lower surface of the up-and-down moving left and right chain guide brackets 903 is fixedly connected to the up-and-down moving protective cover upper bracket 902. Both sides of the upper surface of the up-and-down moving protective cover upper bracket 902 are fixedly connected to the up-and-down moving protective cover middle brackets 906. The upper parts of the closer sides of the two up-and-down moving protective cover middle brackets 906 are fixedly connected to the up-and-down moving left and right upper guide rails 907 and the up-and-down moving left and right lower guide rails 908. 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 up-and-down moving left and right upper guide rails 907 and the up-and-down moving left and right lower guide rails 908. The closer sides of the up-and-down moving left and right upper guide rails 907 and the up-and-down moving left and right lower guide rails 908 are fixedly connected to the up-and-down moving left and right support seats 909. The upper surface of the up-and-down moving left and right support seats 909 is fixedly connected to the left-and-right moving rack 910. One side of the left-and-right moving rack 910 is meshed and connected to the outer side wall of the left-and-right moving upper gear 703. The middle parts of the front surface and the rear surface of the up-and-down moving support base 905 are fixedly connected to the up-and-down moving guide rail sliders 901 through the up-and-down moving chain guide brackets 904. By sliding 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 along the outer side walls of the up-and-down moving left and right upper guide rails 907 and the up-and-down moving left and right lower guide rails 908 respectively, the stability of the movement of the AGV left-and-right moving mechanism 110 is increased.

[0062] In one embodiment, specifically: The AGV up-and-down gantry mechanism 103 includes a gantry lead screw upper bearing seat 1201, a gantry mechanism upper proximity switch 1202, a gantry mechanism main mounting seat 1204, a gantry mechanism lead screw 1205, a gantry mechanism guide rail 1206, a gantry mechanism lower proximity switch 1207, a gantry mechanism drive motor 1208, a gantry lead screw lower bearing seat 1209, a gantry lead screw synchronous pulley 1210, a lead screw synchronous pulley connecting expansion bushing 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 one side top and bottom of the gantry mechanism main mounting seat 1204 far from the gantry mechanism driving motor 1208, a gantry screw upper bearing seat 1201 and a gantry screw lower bearing seat 1209 are respectively fixedly connected. The inner side walls of the gantry screw upper bearing seat 1201 and the gantry screw lower bearing seat 1209 are rotatably connected with a gantry mechanism screw 1205. On one side upper and lower parts 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. On the outer side wall bottom of the gantry mechanism screw 1205, a screw synchronous pulley connecting expansion sleeve 1211 is fixedly connected. On the outer side wall of the screw synchronous pulley connecting expansion sleeve 1211, a gantry 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 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 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 mainframe 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 mainframe housing 208, and an AGV lidar 209;

[0065] The bottom of the housing 208 of the AGV vehicle electrical main unit is fixedly connected to the upper surface of the AGV vehicle main body 102 on the side far from the SMT vehicle-mounted shelf 101. Inside the housing 208 of the AGV vehicle electrical main unit, there are 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, and an AGV vehicle motor controller 206. On the lower parts of the front surface and the rear surface of the housing 208 of the AGV vehicle electrical main unit, two AGV vehicle electrical box ventilation fans 207 are installed. In the middle of the side of the housing 208 of the AGV vehicle electrical main unit far from the SMT vehicle-mounted shelf 101, there is an AGV vehicle display 201. On both sides of the housing 208 of the AGV vehicle electrical main unit close to the AGV vehicle display 201, there are AGV lidar sensors 209. Among them, the AGV vehicle control system 104 includes the AGV vehicle display 201. Interactive instructions are sent to the AGV vehicle upper computer controller 204 or the AGV vehicle 485 controller 203 through the AGV vehicle computer main unit 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. A plurality of inner basket mounting holes 505 are provided on both the inner top wall and the inner bottom wall of the shelf outer frame 504. A plurality of SMT trays 503 are fitted and connected inside the shelf inner basket 501. 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 side where the two SMT robotic fingers 307 are close to each other, a finger tail recess 403 is provided at the front of the side where the two SMT robotic fingers 307 are close to each other, 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 that are far 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 process of unloading the SMT shelf loading and unloading manipulator type AGV vehicle provided by the present utility model 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. This cycle continues 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 feeding process of the SMT shelf loading and unloading manipulator type AGV vehicle provided by the present utility model 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 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 utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art in the technical field disclosed by the present utility model can easily think of various changes or substitutions within the technical scope disclosed by the present utility model, and these should all be covered within the protection scope of the present utility model. Therefore, the protection scope of the present utility model should be subject to the protection scope of the claimed rights.

Claims

1. An SMT shelf loading and unloading manipulator type AGV vehicle, characterized in that: It includes a main body component (1), and the main body component (1) includes an SMT vehicle-mounted shelf (101), an AGV vehicle main body (102), an AGV up-and-down gantry mechanism (103), an AGV vehicle control system (104), an AGV up-and-down moving mechanism (105), an AGV mechanical finger rotation mechanism (106), an AGV arm main rotation mechanism (107), an SMT gripper mechanism (108), an SMT gripper forward extension mechanism (109), and an AGV left-and-right moving mechanism (110); On one side of the upper surface of the AGV vehicle main body (102), an SMT vehicle-mounted shelf (101) is installed. On the other side of the upper surface of the AGV vehicle main body (102), an AGV vehicle control system (104) is installed. Inside the AGV vehicle control system (104), an AGV up-and-down gantry mechanism (103) is installed. On one side of the AGV up-and-down gantry mechanism (103) close to the SMT vehicle-mounted shelf (101), an 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), an 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), an AGV arm main rotation mechanism (107) is installed. At the output end of the AGV arm main rotation mechanism (107), an SMT gripper forward extension mechanism (109) is installed. At the output end of the SMT gripper forward extension mechanism (109), an AGV mechanical finger rotation mechanism (106) is installed. At the output end of the AGV mechanical finger rotation mechanism (106), an SMT gripper mechanism (108) is installed.

2. The SMT shelf loading and unloading manipulator type AGV vehicle according to claim 1, characterized in that: The SMT gripper mechanism (108) includes a code reader main body (301), a finger rotation detection block (302), a finger rotation connecting piece (303), a code reader mounting seat (304), an electric gripper (305), a gripper connecting seat (306), and an SMT mechanical finger (307); On one side of the rear surface of the code reader mounting seat (304), a code reader main body (301) is installed. The finger rotation connecting piece (303) penetrates through the front surface of the code reader mounting seat (304) on the side far from the code reader main body (301). On one side of the front surface of the finger rotation connecting piece (303) close to the code reader main body (301), a finger rotation detection block (302) is installed. The rear surface of the finger rotation connecting piece (303) is fixedly connected to an electric gripper (305). On the upper and lower parts of the rear surface of the electric gripper (305), gripper connecting seats (306) are installed. On the side where the two gripper connecting seats (306) are close to each other, SMT mechanical fingers (307) are fixedly connected.

3. The SMT shelf loading and unloading manipulator type AGV vehicle according to claim 2, characterized in that: The main rotation mechanism (107) of the AGV arm includes a rotation in-place indicating 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); On the upper part of the rear surface of the front extension machine base (605), a front extension motor (606) is fixedly connected. The output end of the front extension motor (606) is fixedly connected with a front extension drive pulley (612). The lower part of the rear surface of the front extension machine base (605) penetrates through a front extension lead screw (609). On the front part of the outer wall of the front extension lead screw (609), a front extension synchronous pulley (602) is fixedly connected. The outer wall of the front extension drive pulley (612) is rotationally connected to the outer wall of the front extension synchronous pulley (602) through a front extension synchronous belt (604). On the outer side of the lower part of the rear surface of the front extension machine base (605) near the front extension lead screw (609), a front extension bearing seat (603) is fixedly connected. The lower surface of the front extension bearing seat (603) is fixedly connected with a rotating arm (607). The bottom of the rotating arm (607) is fixedly connected with a lead screw support seat (611). The inner wall of the lead screw support seat (611) is rotationally connected to the lower part of the outer wall of the front extension lead screw (609) through a lead screw support bearing (610). On the front part of the upper surface of the rotating arm (607), a rotation in-place indicating block (601) is fixedly connected. The lower surface of the rotating arm (607) is fixedly connected with a front extension track (608).

4. The SMT shelf loading and unloading manipulator type AGV vehicle according to claim 3, characterized in that: The left-right movement mechanism (110) of the AGV includes an arm motor (701), a left-right movement motor (702), a left-right movement upper gear (703), an arm reducer (704), an arm in-place switch (705), a fixing 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); On the upper surface of the rotating mounting plate (709) near one side of 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 reducer (704). The output end of the arm reducer (704) is fixedly connected to the upper surface of the rotating arm (607) near the front part of the rotation-in-place indicator block (601). On the upper surface of the rotating mounting plate (709) near one side of the arm motor (701), an arm in-place switch (705) is arranged. The front surface and the rear surface of the rotating mounting plate (709) are fixedly connected with a left-right moving mounting seat (707) through a fixing plate (706). On the upper surface of the left-right moving mounting seat (707) near one side of the arm motor (701), a left-right moving motor (702) is fixedly connected. The output end of the left-right moving motor (702) is fixedly connected with a left-right moving upper gear (703). On the adjacent sides of the rotating mounting plate (709) and the left-right moving mounting seat (707), a left-right moving lower guide rail slider (710) and a left-right moving upper guide rail slider (708) are respectively fixedly connected.

5. The SMT shelf loading and unloading manipulator type AGV vehicle according to claim 3, wherein: The AGV mechanical finger rotating mechanism (106) includes a mechanical finger rotating motor (801), a mechanical finger rotating reducer (802), a mechanical finger rotating in-place switch (803), a rotating 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); At the lower part of the front surface of the rotating motor mounting seat (804), a mechanical finger rotating motor (801) is fixedly connected. The output end of the mechanical finger rotating motor (801) is fixedly connected with 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). On one side of the rear surface of the rotating motor mounting seat (804), a mechanical finger rotating in-place switch (803) is arranged. At the top of the rear surface of the rotating motor mounting seat (804), a mechanical finger forward extension mounting seat (805) is fixedly connected. On the upper surface of the mechanical finger forward extension mounting seat (805), a forward extension mounting seat slider (806) is fixedly connected. The inner side wall of the forward extension mounting seat slider (806) is slidably connected to the outer side wall of the forward extension track (608). At the rear surface of the mechanical finger forward extension mounting seat (805), a forward extension mounting seat connecting piece (807) is fixedly connected. On the front surface of the forward extension mounting seat connecting piece (807), a forward extension mounting seat lead screw sleeve (808) is fixedly connected.

6. The SMT shelf loading and unloading manipulator type AGV vehicle according to claim 4, characterized in that: The AGV up-and-down movement mechanism (105) includes an up-and-down movement guide rail slider (901), an up-and-down movement protective cover upper bracket (902), an up-and-down movement left and right chain guide brackets (903), an up-and-down movement chain guide bracket (904), an up-and-down movement support seat (905), an up-and-down movement protective cover middle bracket (906), an up-and-down movement left and right upper guide rails (907), an up-and-down movement left and right lower guide rails (908), an up-and-down movement left and right support seats (909), and a left and right movement rack (910); The lower surface of the up-and-down movement support seat (905) is fixedly connected to the up-and-down movement left and right chain guide brackets (903). The lower surface of the up-and-down movement left and right chain guide brackets (903) is fixedly connected to the up-and-down movement protective cover upper bracket (902). Both sides of the upper surface of the up-and-down movement protective cover upper bracket (902) are fixedly connected to the up-and-down movement protective cover middle brackets (906). The upper parts of the closer sides of the two up-and-down movement protective cover middle brackets (906) are fixedly connected to the up-and-down movement left and right upper guide rails (907) and the up-and-down movement left and right lower guide rails (908). The inner side walls of the left and right movement lower guide rail sliders (710) and the left and right movement upper guide rail sliders (708) are respectively slidably connected to the outer side walls of the up-and-down movement left and right upper guide rails (907) and the up-and-down movement left and right lower guide rails (908). The closer sides of the up-and-down movement left and right upper guide rails (907) and the up-and-down movement left and right lower guide rails (908) are fixedly connected to the up-and-down movement left and right support seats (909). The upper surface of the up-and-down movement left and right support seats (909) is fixedly connected to the left and right movement rack (910). One side of the left and right movement rack (910) is meshed and connected to the outer side wall of the left and right movement upper gear (703). The middle parts of the front surface and the rear surface of the up-and-down movement support seat (905) are fixedly connected to the up-and-down movement guide rail sliders (901) through the up-and-down movement chain guide brackets (904).

7. An SMT shelf loading and unloading manipulator type AGV vehicle according to claim 6, characterized in that: The AGV up-and-down gantry mechanism (103) includes a gantry lead screw upper bearing seat (1201), a gantry mechanism upper proximity switch (1202), a gantry mechanism main mounting seat (1204), a gantry mechanism lead screw (1205), a gantry mechanism guide rail (1206), a gantry mechanism lower proximity switch (1207), a gantry mechanism drive motor (1208), a gantry lead screw lower bearing seat (1209), a gantry lead screw synchronous pulley (1210), a lead 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); 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) away 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 rotatably 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) away 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) away 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).

8. The SMT shelf loading and unloading manipulator type AGV vehicle according to claim 1, wherein: The AGV vehicle control system (104) includes an AGV vehicle display (201), 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), an AGV vehicle motor controller (206), an AGV vehicle electrical box ventilation fan (207), an AGV vehicle electrical mainframe housing (208), and an AGV lidar (209); The bottom of the housing (208) of the AGV vehicle electrical main unit is fixedly connected to the upper surface of the AGV vehicle body (102) on the side away from the SMT vehicle-mounted shelf (101). Inside the housing (208) of the AGV vehicle electrical main unit, there are 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), and an AGV vehicle motor controller (206). On the lower parts of the front and rear surfaces of the housing (208) of the AGV vehicle electrical main unit, two AGV vehicle electrical box ventilation fans (207) are installed. In the middle of the side of the housing (208) of the AGV vehicle electrical main unit away from the SMT vehicle-mounted shelf (101), there is an AGV vehicle display (201). On both sides of the housing (208) of the AGV vehicle electrical main unit close to the AGV vehicle display (201), there are AGV lidar sensors (209).

9. The SMT shelf loading and unloading manipulator type AGV vehicle according to claim 1, characterized in that: 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 inner basket mounting holes (505); 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 inner bottom wall of the shelf outer frame (504), a plurality of inner basket mounting holes (505) are provided. Inside the shelf inner basket (501), a plurality of SMT trays (503) are fitted and connected.

10. The SMT shelf loading and unloading manipulator type AGV vehicle according to claim 2, wherein: On the rear surface of the SMT mechanical finger (307), there is a finger front end indentation (401). On the rear parts of the closer sides of the two SMT mechanical fingers (307), there is a finger middle protrusion (402). On the front parts of the closer sides of the two SMT mechanical fingers (307), there is a finger tail indentation (403). On the rear parts of both sides of the SMT mechanical finger (307), there are finger side slopes (404). On the farther sides of the two SMT mechanical fingers (307), a plurality of finger middle voids (405) are provided. On the front surface of the SMT mechanical finger (307), there is a finger mounting guide groove (406).

Images