Automatic guided vehicle (AGV) feeding and discharging device

Abstract

The utility model relates to an AGV (Automatic Guided Vehicle) loading and unloading device, which is used for loading and unloading a workpiece, and comprises a taking and placing part which is arranged at the tail end of a manipulator of an AGV and is provided with a positioning part; the feeding station and the discharging station are of the same structure and are each provided with a bearing part and a detection element, the bearing parts are located on the top surface of the AGV body, and the detection elements are arranged on the bearing parts; a sensing unit and a first matching part are arranged on a workpiece supporting plate which is used for supporting and is fixed with a workpiece, the positioning part is matched with the first matching part to pick and place the workpiece supporting plate, and the sensing unit is matched with a detection element to detect whether the workpiece supporting plate is placed in place or not; and the control unit controls the AGV to move and feed when receiving a signal sent by the detection element at the feeding position, and receives a signal sent by the detection element at the discharging position when the AGV is discharged to the discharging position. The automatic feeding and discharging device can achieve accurate feeding and discharging and improve the workpiece feeding and discharging efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of workpiece loading and unloading, and particularly relates to an AGV loading and unloading device. Background Art

[0002] In a production line for detecting workpieces (for example, in the detection of the three electric systems of new energy vehicles, it is necessary to detect the components used in the vehicle battery system, motor system, and electric control system), it is necessary to load and unload the workpieces to facilitate measurement and detection by a coordinate measuring machine.

[0003] Currently, for the detection of the three electric systems of automobiles, an AGV (Automated Guided Vehicle) and a roller mechanism are used for loading and unloading. The roller mechanism is used to carry the workpieces. During loading and unloading, due to the vibration generated by the rotation of the rollers, there is jamming during loading and unloading. In severe cases, the loading and unloading process will be interrupted, and the system cannot achieve detection.

[0004] Therefore, a loading and unloading device that can accurately load and unload and effectively avoid jamming during loading and unloading is needed.

[0005] The above information disclosed in this background art is only used to increase the understanding of the background art of this application. Therefore, it may include prior art that is not known to those of ordinary skill in the art. Summary of the Utility Model

[0006] In order to solve the above technical problems, the purpose of the utility model is to provide an AGV loading and unloading device, which combines the positioning and cooperation between the picking and placing part at the end of the AGV manipulator and the workpiece support plate at the loading and unloading position to achieve accurate loading and unloading and improve the efficiency of workpiece loading and unloading.

[0007] In order to solve the above technical problems, the utility model proposes the following technical solutions to solve them:

[0008] This application relates to an AGV loading and unloading device for loading and unloading workpieces, including:

[0009] A picking and placing part, which is installed at the end of the manipulator of the AGV, and the picking and placing part is provided with a positioning part;

[0010] A loading position and a unloading position, which are respectively located at different positions on the top surface of the AGV main body of the AGV. The loading position and the unloading position have the same structure and both have a carrying part and a detection element. The carrying part is located on the top surface of the AGV main body and the detection element is arranged thereon;

[0011] An induction unit and a first mating part are provided on a workpiece support plate for supporting and fixing to a workpiece. The positioning part cooperates with the first mating part to pick up and place the workpiece support plate, and the induction unit cooperates with the detection element to detect whether the workpiece support plate is placed in place.

[0012] A control unit is used to control the movement of the AGV. When the control unit receives a signal sent by the detection element at the loading position, it controls the AGV to move and load. When unloading at the unloading position, the control unit receives a signal sent by the detection element at the unloading position.

[0013] In some embodiments of the present application, the positioning part includes a first positioning post and a second positioning post;

[0014] The first mating part includes a first mating hole I and a first mating hole II;

[0015] When picking up and placing the workpiece support plate, the first positioning post is inserted into the first mating hole I, and the second positioning post is inserted into the first mating hole II, so that the workpiece support plate is carried on the carrying part. In some embodiments of the present application, the first positioning post and the second positioning post are arranged staggeredly, and the cross sections are set to different shapes.

[0016] In some embodiments of the present application, the carrying part includes:

[0017] A carrying plate, which is installed on the top surface of the AGV main body, and the detection element is installed on the carrying plate;

[0018] A plurality of carrying posts, which are arranged at intervals on the upper surface of the carrying plate and are used to support the workpiece support plate.

[0019] In some embodiments of the present application, the workpiece support plate further includes a second mating part, and the workpiece support plate further includes a limiting part;

[0020] When the workpiece support plate is placed on the carrying part, the second mating part cooperates with the limiting part to limit the workpiece support plate on the carrying part.

[0021] In some embodiments of the present application, the AGV loading and unloading device further:

[0022] A camera, which is fixed to the picking and placing part through an extension plate;

[0023] A lens, which is cooperatively connected with the camera and can capture a two-dimensional code representing the position of the workpiece and the position of the AGV;

[0024] A light source, which provides light for the lens, and the light source is installed on the extension plate.

[0025] In some embodiments of the present application, the AGV loading and unloading device further includes:

[0026] A light source adjustment assembly, which is respectively connected to the extension plate and the light source, and is used to adjust the position of the light source relative to the camera.

[0027] In some embodiments of the present application, the light source is an annular light source, and the annular light-emitting surface of the annular light source emits light around the camera.

[0028] In some embodiments of the present application, the light source adjustment assembly includes:

[0029] A first adjustment part, which is adjustably mounted on the extension plate;

[0030] A light source fixing seat, which is fixed to the light source;

[0031] A second adjustment part, which is adjustably mounted on the light source fixing seat. The adjustment direction of the first adjustment part is perpendicular to the adjustment direction of the second adjustment part, and the adjustment planes where the two adjustment directions are located are parallel to the light beam plane where the light beam emitted by the annular light-emitting surface is located;

[0032] An adjustment cylinder, which is fixed to the second adjustment part and the length extension direction thereof is perpendicular to the adjustment plane;

[0033] A third adjustment part, which has a through hole for the adjustment cylinder to penetrate and extend out, can adjust the friction force between the through hole and the adjustment cylinder, and is fixed to the first adjustment part;

[0034] The first adjustment part, the second adjustment part and the third adjustment part are all used to adjust the position of the light source relative to the camera.

[0035] In some embodiments of the present application, at least one first long-strip through hole is provided on the first adjustment part, and at least one first assembly part corresponding to each first long-strip through hole is provided on the extension plate. The first adjustment part is fixed to the extension plate by bolts;

[0036] At least one second assembly part is provided on the light source fixing seat;

[0037] At least one second long-strip through hole corresponding to each second assembly part is provided on the second adjustment part. The long-strip opening direction of the first long-strip through hole and the long-strip opening direction of the second long-strip through hole are perpendicular and both are located on the light beam plane;

[0038] The third adjustment part has an opening part communicating with the through hole. The outer side wall of the adjustment cylinder fits the inner side wall of the through hole. Lateral assembly holes are provided on the lateral parts of the third adjustment part on both sides of the opening part;

[0039] When tightening the bolt in the lateral assembly hole, the friction between the adjusting cylinder and the through portion is increased to lock the adjusting cylinder. When the bolt in the lateral assembly hole is not tightened, the friction between the adjusting cylinder and the through portion is reduced to loosen the adjusting cylinder.

[0040] Compared with the prior art, an AGV loading and unloading device provided by the present application has the following advantages and beneficial effects:

[0041] A positioning portion is provided at the end of the AGV manipulator, and an induction unit, a first matching portion and a second matching portion are provided on the workpiece support plate. The first matching portion cooperates with the limiting portion at the loading and unloading position, and the induction unit cooperates with the detection element at the loading and unloading position to realize the accurate placement of the workpiece support plate at the loading and unloading position;

[0042] The positioning portion and the second matching portion cooperate to facilitate the accurate picking and placing of the workpiece by the manipulator, effectively avoiding jamming during loading and unloading.

[0043] After reading the specific embodiments of the present invention in conjunction with the accompanying drawings, other features and advantages of the present invention will become clearer. Description of the Drawings

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for describing the embodiments of the present invention or the prior art. Obviously, the following described drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0045] Figure 1 It is a structural diagram of an AGV loading and unloading device proposed by the present invention;

[0046] Figure 2 It is a structural diagram of a picking and placing portion, an optical system and a light source adjustment component in an AGV loading and unloading device proposed by the present invention;

[0047] Figure 3 It is a structural diagram of a loading position and a workpiece support plate together with a workpiece in an AGV loading and unloading device proposed by the present invention;

[0048] Figure 4 It is a structural diagram of a workpiece support plate and a loading position in an AGV loading and unloading device proposed by the present invention;

[0049] Figure 5 It is a structural diagram of a picking and placing portion, an optical system and a light source adjustment component in an AGV loading and unloading device proposed by the present invention from another angle;

[0050] Figure 6 Partial exploded view of the light source adjustment assembly in an AGV loading and unloading device proposed by the present utility model;

[0051] Reference numerals:

[0052] 100, AGV; 110, AGV main body; 111, top surface; 120, manipulator; 200, picking and placing part; 210, first positioning post; 220, second positioning post; 300, loading position; 310, carrier plate; 320, detection element; 330 / 340, carrier post; 350, first limiting part; 351, first support post; 352, third positioning post; 361, second support post; 362, fourth positioning post; 360, second limiting part; 400, unloading position; 500, optical system; 510, camera; 520, lens; 530, light source; 600, light source adjustment assembly; 610, first adjustment part; 611, first long strip hole; 620, second adjustment part; 621, second long strip hole; 630, adjustment cylinder; 640, third adjustment part; 650, light source fixing seat; 641, side part; 700, extension plate; 800, workpiece support plate; 810, induction unit; 820, second mating hole I; 830, second mating hole II; 840, first mating hole I; 850, second mating hole II; A, workpiece. Detailed implementation manners

[0053] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments.

[0054] Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model. In the description of the present utility model, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present utility model.

[0055] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0056] The terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise stated, the meaning of "a plurality" is two or more.

[0057] To achieve accurate loading and unloading of the workpiece A by the AGV100, it is necessary to accurately position the workpiece A. In the present application, by providing a positioning portion at the end of the manipulator 120 of the AGV100, an induction unit 810, a first mating portion, and a second mating portion are provided on the workpiece support plate 800. The first mating portion mates with the limiting portion at the loading and unloading positions, and the induction unit 810 mates with the detection element 320 at the loading and unloading positions, so as to achieve accurate placement of the workpiece support plate 800 at the loading and unloading positions; and the positioning portion mates with the second mating portion, which facilitates the manipulator to accurately pick and place the workpiece, effectively avoiding jams during loading and unloading.

[0058] See Figure 1 , the loading and unloading device of the AGV100 involved in the present application is used for loading and unloading the workpiece A, that is, loading from the loading position 300 and unloading to the unloading position 400.

[0059] In the present application, the loading and unloading are realized by the manipulator 120 on the AGV100. The AGV100 is movable to load the workpiece loaded to the loading position 300 to the measuring station, and unload the workpiece after measurement to the unloading position 400.

[0060] That is, it is necessary to first load the workpiece A onto the loading position 300. Secondly, the AGV100 moves near the measuring machine and uses its manipulator 120 to load the workpiece A onto the measuring station of the measuring machine. After that, after the measuring machine completes the measurement of the workpiece A, the manipulator 120 unloads the workpiece to the unloading position 400 and then moves to other positions for unloading.

[0061] In some embodiments of the present application, the AGV100 is a device capable of automatically guiding and transporting workpieces, including an AGV main body 110 and a manipulator 120, as Figure 1 shown.

[0062] In this application, the AGV main body 110 is in the shape of a box and has a top surface 111. The manipulator 120 is arranged on its top surface 111, and the loading position 300 and the unloading position 400 are also located at different positions on the top surface 111 of the AGV main body 110.

[0063] See Figure 1 , a picking and placing part 200 is installed at the end of the manipulator 120, and the picking and placing part 200 is used to pick up the workpiece at the loading position 300 and place the measured workpiece at the unloading position 400.

[0064] The loading position 300 and the unloading position 400 have the same structure and both have a bearing part and a detection element 320.

[0065] The bearing part is located on the top surface 111 of the AGV main body 110 and the detection element 320 is arranged thereon. See Figure 1 .

[0066] The loading position 300 is used to wait for the manipulator 120 to pick up the workpiece after the workpiece A is loaded to this loading position 300. Therefore, the bearing part of the loading position 300 is used to bear the workpiece A loaded to this position.

[0067] The unloading position 400 is used to unload the measured workpiece A to this position. Therefore, the bearing part of the unloading position 400 is used to bear the workpiece A unloaded to the unloading position 400.

[0068] In some embodiments of this application, see Figure 3 and Figure 4 , the bearing part includes a bearing plate 310 and a plurality of bearing columns 330 / 340.

[0069] The bearing plate 310 is installed on the top surface 111 of the AGV main body 110, and as described above, the detection elements 320 are all placed on this bearing plate 310.

[0070] In some embodiments of this application, the detection element 320 is installed at the middle position of the bearing plate 310 and partially passes through the top surface 111 of the AGV main body 110 and extends into the AGV main body 110.

[0071] A plurality of bearing columns 330 / 340 are installed at intervals on the top surface of the bearing plate 310 and are used to bear the workpiece support plate 800 to be placed.

[0072] In this application, in order to realize the loading and unloading of the workpiece A and the accurate picking and placing, the workpiece A to be loaded to the loading position 300 is fixed to the workpiece support plate 800. See Figure 1 and Figure 3 shown in

[0073] See Figure 3 and Figure 4, an induction unit 810 and a first mating part are provided on the workpiece support plate 800.

[0074] The induction unit 810 cooperates with the detection element 320 to detect whether the workpiece support plate 800 together with the workpiece is placed on the bearing part.

[0075] In some embodiments of the present application, the induction unit 810 is arranged at the middle position of the bottom surface of the workpiece support plate 800. When the workpiece support plate 800 is placed on the bearing part, specifically, when the workpiece support plate 800 is supported by a plurality of bearing columns 330 / 340, the induction unit 810 and the detection element 320 are directly opposite each other up and down (see Figure 3 ), and this position layout improves the detection accuracy of the workpiece A in place.

[0076] When accurately loading the workpiece support plate 800 together with the workpiece A, when the detection element 320 at the loading position 300 detects the induction unit 810, it means that the workpiece A has been placed well at the loading position 300.

[0077] For example, when the detection element 320 at the loading position 300 detects the workpiece A, the detection element 320 outputs a first signal. Otherwise, the detection element 320 outputs a second signal different from the first signal.

[0078] In some embodiments of the present application, a control unit (not shown) can control the movement of the AGV100. When the detection element 320 feeds back the first signal to the control unit, it means that the workpiece A has been loaded in place, and the AGV100 can move and load to the measurement station.

[0079] During unloading, when the workpiece A taken from the measurement station is placed on the bearing part at the unloading position 400, the detection element at the unloading position detects the induction unit, indicating that the workpiece A has been unloaded at the unloading position 400.

[0080] For example, when the detection unit at the unloading position 400 detects the workpiece A, the detection element outputs a first signal. Otherwise, the detection element outputs a second signal different from the first signal.

[0081] When the detection element at the unloading position 400 feeds back the first signal to the control unit, it means that the workpiece A has been unloaded in place, and the AGV100 can move and transfer the workpiece A.

[0082] In order to accurately position before loading, the first mating part on the workpiece support plate 800 cooperates with the positioning part of the picking and placing part 200 to accurately pick the workpiece support plate 800 together with the workpiece A.

[0083] In some embodiments of the present application, see Figure 2 , the positioning part includes a first positioning column 210 and a second positioning column 220.

[0084] The first positioning post 210 and the second positioning post 220 can be arranged relatively or staggeredly, and their cross-sections are set to different shapes.

[0085] For example, the cross-sectional shape of the first positioning post 210 is circular, and the cross-sectional shape of the second positioning post 220 is polygonal.

[0086] Correspondingly, referring to Figure 4 , the first fitting portion of the workpiece support plate 800 includes a first fitting hole I 840 and a first fitting hole II 850.

[0087] The relative positions of the first fitting hole I 840 and the first fitting hole II 850 match the relative positions of the first positioning post 210 and the second positioning post 220, so that when loading or unloading, the first positioning post 210 in the picking and placing portion 200 cooperates with the first fitting hole I 840, and the second positioning post 220 and the first fitting hole II 850 cooperate (that is, the first positioning post 210 is inserted into the first fitting hole I 840, and the second positioning post 220 is inserted into the first fitting hole II 850), realizing that the picking and placing portion 200 accurately picks and places the workpiece support plate 800 at the loading and unloading positions.

[0088] In some embodiments of the present application, the first fitting hole I 840 and the first fitting hole II 850 can be respectively set as tapered positioning pin holes.

[0089] The setting positions of the first fitting hole I 840 and the first fitting hole II 850 on the workpiece support plate 800 should avoid the positions where the load-bearing posts 330 / 340 support the workpiece support plate 800 to prevent interference during loading and unloading.

[0090] In some embodiments of the present application, in order to accurately place the workpiece support plate 800 on the bearing portion, referring to Figure 3 and Figure 4 , the workpiece support plate 800 further includes a second fitting portion, and the workpiece support plate 800 further includes a limiting portion.

[0091] The second fitting portion and the limiting portion cooperate to limit the workpiece support plate 800 on the bearing portion and make the sensing unit 810 and the detection element 320 directly face each other vertically.

[0092] In some embodiments of the present application, referring to Figure 3 and Experience 4, the limiting portion can include a first limiting portion 350 and a second limiting portion 360.

[0093] Referring to Figure 4 , the first limiting portion 350 includes a first support post 351 and a third positioning post 352. The third positioning post 352 is located above the first support post 351, and the first support post 351 is arranged in parallel with the load-bearing posts 330 / 340.

[0094] The second limiting part 360 includes a second support column 361 and a fourth positioning column 362. The fourth positioning column 362 is located above the second support column 361, and the second support column 361 is arranged in parallel with the bearing columns 330 / 340.

[0095] The third positioning column 352 and the fourth positioning column 362 can be arranged oppositely or staggeredly, and their cross-sections are set to different shapes.

[0096] Correspondingly, still referring to Figure 4 , the second mating part includes a second mating hole I 820 and a second mating hole II 830.

[0097] The relative positions of the second mating hole I 820 and the second mating hole II 830 match the relative positions of the third positioning column 352 and the fourth positioning column 362.

[0098] When the workpiece A is placed at the loading position 300, while the workpiece support plate 800 is supported by the bearing columns 330 / 340, the third positioning column 352 is inserted into the second mating hole I 820 and abuts against the first support column 351, and the fourth positioning column 362 is inserted into the second mating hole II 830 and abuts against the second support column 361. At this time, the sensing unit 810 is directly opposite to the detection element 320 at the loading position 300, so that the placement of the workpiece A is accurately completed.

[0099] When discharging to the unloading position 400, while the workpiece support plate is supported by the bearing columns, the third positioning column is inserted into the second mating hole and abuts against the first support column, and the fourth positioning column is inserted into the second mating hole II and abuts against the second support column. At this time, the sensing unit is directly opposite to the detection element at the unloading position 400, so that the discharging of the workpiece A is accurately completed.

[0100] In some embodiments of the present application, the optical system 500 is used to scan the two-dimensional code to obtain the position information of the workpiece A and the position information of the AGV 100.

[0101] And the position error of the AGV 100 arriving can be automatically compensated by the software of the optical system 500 to accurately obtain the position of the workpiece A.

[0102] Referring to Figure 1 and Figure 2 、 Figure 5 and Figure 6 , the optical system 500 described above includes a camera 510, a lens 520 and a light source 530. The lens 520 is used to scan the two-dimensional code to obtain the position information, and then the position is automatically compensated by the software of the optical system 500. The part of compensating the position is the prior art and not the focus of this article. This article discusses the set optical system 500.

[0103] The camera 510 is fixed to the picking and placing part 200 through the extension plate 700, and the lens 520 is cooperatively connected with the camera 510 for shooting the two-dimensional codes at the positions of the standard workpiece A and the AGV 100.

[0104] The light source 530 provides illumination for the lens 520 to enable the camera 510 to scan or shoot more clearly. The light source 530 is mounted on the extension plate 700.

[0105] In some embodiments of the present application, referring to Figure 5 , the light source 530 is an annular light source 530 which has an annular light emitting surface, and the light beam emitted by the annular light emitting surface surrounds the camera 510 to ensure uniform illumination is provided to the camera 510.

[0106] In order to facilitate the adjustment of the light source 530 to provide appropriate illumination for the camera 510, the AGV loading and unloading device further includes a light source adjustment assembly 600 which is respectively connected with the extension plate 700 and the light source 530 for adjusting the position of the light source 530 relative to the camera 510.

[0107] The light source adjustment assembly 600 includes a first adjustment part 610, a light source fixing seat 650, a second adjustment part 620, an adjustment cylinder 630 and a third adjustment part 640.

[0108] The first adjustment part 610 is adjustably mounted on the extension plate 700; the first adjustment part 610 is connected with the third adjustment part 640; the adjustment cylinder 630 is connected with the second adjustment part 620; the adjustment cylinder 630 passes through a through part (not shown) of the third adjustment part 640 and the friction force between the adjustment cylinder 630 and the through part can be adjusted by the third adjustment part 640; the second adjustment part 620 is adjustably mounted on the light source fixing seat 650; the light source fixing seat 650 is fixed to the light source 530.

[0109] In this way, the adjustment direction of the first adjustment part 610 can realize the adjustment of the light source 530 in the first direction, the adjustment direction of the second adjustment part 620 can realize the adjustment of the light source 530 in the second direction, and the cooperation of the third adjustment part 640 and the adjustment cylinder 630 can realize the adjustment of the light source 530 in the third direction and the rotational adjustment around the third direction.

[0110] Wherein, the first direction is perpendicular to the second direction, and the adjustment plane where the first direction and the second direction are located is parallel to the light beam plane where the light beam emitted by the annular light emitting surface is located, and the length extension direction of the adjustment cylinder 630 is perpendicular to the adjustment plane.

[0111] For example, referring to Figure 5 , the first direction can refer to the X direction, the second direction can refer to the Y direction, and the third direction can refer to the Z direction.

[0112] In some embodiments of the present application, the first adjusting portion 610 is a first adjusting plate, on which at least one first elongated through portion is provided, and at least one first assembling portion corresponding to each first elongated through portion is provided on the extension plate 700.

[0113] See Figure 6 , two parallel first elongated holes 611 can be provided on the first adjusting plate, and the extending direction of the first elongated holes 611 is along the first direction.

[0114] Correspondingly, two first assembling holes corresponding to the two first elongated holes 611 are provided on the extension plate 700 (see Figure 2 , not marked), and bolts pass through the first elongated holes 611 and the first assembling holes to fix the first adjusting plate to the extension plate 700.

[0115] When adjustment is required, the first adjusting plate is moved in the first direction so that different positions of the first elongated holes 611 correspond to the first assembling holes, thereby realizing the adjustment of the light source 530 in the first direction.

[0116] At least one second assembling portion is provided on the light source fixing seat 650, and a second elongated through portion corresponding to each second assembling portion is provided on the second adjusting portion 620. The extending direction of the long strip of the first elongated through portion and the extending direction of the long strip of the second elongated through portion are perpendicular and both are located on the light beam plane.

[0117] In some embodiments of the present application, the second adjusting portion 620 is provided with a second elongated hole 621, and the extending direction of the second elongated hole 621 is along the second direction.

[0118] Correspondingly, a plurality of second assembling holes corresponding to the second elongated hole 621 are provided on the light source fixing seat 650 (not shown), and bolts pass through the second elongated hole 621 and the second assembling holes to fix the light source fixing seat 650 to the second adjusting portion 620.

[0119] When adjustment is required, the second adjusting portion 620 is moved in the second direction so that different positions of the second elongated hole 621 correspond to different second assembling holes, thereby realizing the adjustment of the light source 530 in the second direction.

[0120] One end of the adjusting cylinder 630 is fixed to the second adjusting portion 620, and the cross section is circular.

[0121] The third adjusting portion 640 has a through portion (not marked), the adjusting cylinder 630 passes through the through portion and extends out, and the friction between the through portion and the adjusting cylinder 630 can be adjusted. The outer side wall of the adjusting cylinder 630 is in contact with the inner side wall of the through portion.

[0122] When the friction between the adjusting cylinder 630 and the through portion is large, the adjusting cylinder 630 cannot rotate relative to the through portion (alongFigure 5 in the shown rotation direction) or move along the adjustment cylinder 630 in the Z direction to achieve fixation in the third direction and the rotation direction.

[0123] When the frictional force between the adjustment cylinder 630 and the through-hole portion is small, the adjustment cylinder 630 can rotate relative to the through-hole portion to achieve rotational adjustment, and the adjustment cylinder 630 can move in the third direction relative to the third adjustment portion 640 to achieve adjustment of the light source 530 in the third direction.

[0124] In some embodiments of the present application, the third adjustment portion 640 has a through-hole portion and an opening portion. The through-hole portion penetrates along the third direction, and a plurality of third assembly holes (see Figure 6 , not marked) are provided on one end surface of the through-hole portion along the third direction. Bolts pass through the third assembly holes and are assembled with the first adjustment portion 610.

[0125] The opening portion communicates with the through-hole portion. At least one first lateral assembly hole (not marked) and at least one second lateral assembly hole (not marked) are respectively provided on the lateral portions (one of the lateral portions 641 is marked) on both sides of the opening portion.

[0126] When the bolts pass through the first lateral assembly hole and the second lateral assembly hole and are tightened, the third adjustment portion 640 tightly clamps the adjustment cylinder 630, increasing the frictional force between the adjustment cylinder 630 and the through-hole portion, locking the adjustment cylinder 630, so that the light source 530 cannot achieve adjustment in the third direction and rotational adjustment.

[0127] When the bolts in the first lateral assembly hole and the second lateral assembly hole are loosened, the third adjustment portion 640 reduces the frictional force between the adjustment cylinder 630 and the through-hole portion, making the adjustment cylinder 630 loose. At this time, the position of the adjustment cylinder 630 relative to the third adjustment portion 640 can be adjusted to achieve adjustment of the light source 530 in the third direction, and the adjustment cylinder 630 can also be rotated to achieve rotation of the light source 530 in the beam plane.

[0128] Through the light source adjustment assembly 600, multi-directional flexible adjustment of the light source 530 can be achieved, ensuring that an effective light source 530 is provided for the camera 510, so as to accurately capture or scan images.

[0129] Regarding the AGV loading and unloading device involved in the present application, when the workpiece A is placed at the loading and unloading position, double positioning by the limiting portion and the second cooperation portion, as well as the induction unit 810 and the detection element 320, can ensure the reliable placement of the workpiece A, and the accurate picking and placing of the workpiece can be achieved through the cooperation of the positioning portion and the first cooperation portion. Without mechanical moving parts involved, the loading and unloading jamming can be avoided.

[0130] Moreover, by adjusting the position of the light source 530, it is convenient for the camera 510 to reliably obtain images, which is beneficial for more accurate picking and placing of the workpiece A.

[0131] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An AGV loading and unloading device for loading and unloading workpieces, characterized in that, Comprising: A picking and placing part, which is installed at the end of the manipulator of the AGV, and the picking and placing part is provided with a positioning part; A loading position and an unloading position, the loading position and the unloading position are respectively located at different positions on the top surface of the AGV main body of the AGV, the loading position and the unloading position have the same structure and both have a bearing part and a detection element, the bearing part is located on the top surface of the AGV main body and the detection element is arranged thereon; An induction unit and a first matching part are arranged on a workpiece support plate for supporting and fixing with the workpiece, the positioning part cooperates with the first matching part to pick and place the workpiece support plate, and the induction unit cooperates with the detection element to detect whether the workpiece support plate is placed in place; A control unit, which is used to control the movement of the AGV, and when the control unit receives the signal sent by the detection element at the loading position, it controls the AGV to move and load, and when unloading to the unloading position, the control unit receives the signal sent by the detection element at the unloading position.

2. The AGV loading and unloading device according to claim 1, characterized in that The positioning part includes a first positioning post and a second positioning post; The first matching part includes a first matching hole I and a first matching hole II; When picking and placing the workpiece support plate, the first positioning post is inserted into the first matching hole I, and the second positioning post is inserted into the first matching hole II, so that the workpiece support plate is carried on the bearing part.

3. The AGV loading and unloading device according to claim 2, characterized in that The first positioning post and the second positioning post are arranged staggeredly, and the cross sections are set to different shapes.

4. The AGV loading and unloading device according to claim 1, wherein, The bearing part includes: A bearing plate, which is installed on the top surface of the AGV main body, and the detection element is installed on the bearing plate; A plurality of bearing posts, which are arranged at intervals on the upper surface of the bearing plate and are used to support the workpiece support plate.

5. The AGV loading and unloading device according to claim 1, wherein, The workpiece support plate further includes a second matching part, and the workpiece support plate further includes a limiting part; When the workpiece support plate is placed on the bearing part, the second matching part cooperates with the limiting part to limit the workpiece support plate on the bearing part.

6. The AGV loading and unloading device according to claim 1, characterized in that, The AGV loading and unloading device further: A camera, which is fixed to the picking and placing part through an extension plate; A lens, which is cooperatively connected with the camera and can capture a two-dimensional code representing the position of the workpiece and the position of the AGV; A light source, which provides light for the lens, and the light source is installed on the extension plate.

7. The AGV loading and unloading device according to claim 6, wherein, The AGV loading and unloading device further includes: A light source adjusting component, which is respectively connected with the extension plate and the light source and is used to adjust the position of the light source relative to the camera.

8. The AGV loading and unloading device according to claim 7, wherein, The light source is an annular light source, and the annular light-emitting surface of the annular light source emits light around the camera.

9. The AGV loading and unloading device according to claim 8, characterized in that, The light source adjusting component includes: A first adjusting part, which is adjustably installed on the extension plate; A light source fixing seat, which is fixed to the light source; A second adjusting part, which is adjustably installed on the light source fixing seat, the adjusting direction of the first adjusting part is perpendicular to the adjusting direction of the second adjusting part, and the adjusting planes where the two adjusting directions are located are parallel to the beam plane where the light beam emitted by the annular light-emitting surface is located. An adjusting cylinder, which is fixed to the second adjusting part and has a length extending direction perpendicular to the adjusting plane; A third adjusting part, which has a through hole for the adjusting cylinder to pass through, can adjust the friction force between the through hole and the adjusting cylinder, and is fixed to the first adjusting part; The first adjusting part, the second adjusting part and the third adjusting part are all used to adjust the position of the light source relative to the camera.

10. The AGV loading and unloading device according to claim 9, characterized in that At least one first long strip through hole is provided on the first adjusting part, and at least one first assembly part corresponding to each first long strip through hole is provided on the extension plate, and the first adjusting part is fixed to the extension plate by bolts; At least one second assembly part is provided on the light source fixing seat; At least one second long strip through hole corresponding to each second assembly part is provided on the second adjusting part, and the long strip opening directions of the first long strip through hole and the second long strip through hole are perpendicular and both are located on the light beam plane; The third adjusting part has an opening part communicating with the through hole, the outer side wall of the adjusting cylinder fits the inner side wall of the through hole, and lateral assembly holes are provided on the lateral parts of the third adjusting part on both sides of the opening part; When bolts are tightened in the lateral assembly holes, the friction force between the adjusting cylinder and the through hole is increased to lock the adjusting cylinder. When the bolts are not tightened in the lateral assembly holes, the friction force between the adjusting cylinder and the through hole is reduced to make the adjusting cylinder loose.

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