AGV visual feeding device
By combining the loading device, CCD, and robotic arm of the AGV vision loading device, automated loading of AGV devices is achieved, solving the problem of long waiting time for AGV devices, improving transportation efficiency and reducing costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHEN KAIMA TIMES TECH
- Filing Date
- 2025-06-04
- Publication Date
- 2026-04-17
AI Technical Summary
Existing AGV devices often experience excessively long waiting times for loading and unloading materials, or require multiple devices to work together, which affects transportation efficiency and costs.
An AGV vision-based material handling device is adopted, which includes a material handling unit, a CCD, a robotic arm, and a lifting assembly. The CCD identifies the position of the PCB board, the robotic arm automatically loads the material, and the lifting assembly enables the vertical movement of the pallet, avoiding waiting for the AGV device.
It improved the working efficiency of AGV devices, reduced waiting time, increased transportation efficiency, and reduced costs.
Smart Images
Figure CN224132172U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of feeding device technology, and in particular to an AGV vision feeding device. Background Technology
[0002] AGVs are automated guided vehicles that can travel along a prescribed path and are equipped with safety protection and various transfer functions. AGVs typically transport materials along this path. Upon reaching a location, an AGV needs to stop and wait for workers or other equipment to load and unload materials. After loading and unloading are complete, the AGV returns to load more materials. This method can easily lead to excessively long waiting times for AGVs or require multiple AGVs to work together to complete the transport, affecting overall transportation efficiency or increasing costs.
[0003] Therefore, there is a need to provide an AGV vision-based loading device to solve the above-mentioned technical problems. Utility Model Content
[0004] This invention provides an AGV vision-based feeding device that eliminates the need for waiting during feeding, effectively improving work efficiency.
[0005] The technical solution of this utility model is as follows:
[0006] An AGV vision-based loading device, comprising:
[0007] A material loading device includes a main frame and two lifting assemblies. The main frame includes two vertical walls and a connecting plate. The two vertical walls are arranged laterally and are parallel to each other. The connecting plate is connected between the two vertical walls and located on one longitudinal side of the two vertical walls. The main frame is provided with an inlet and outlet, which are opposite to the connecting plate. The two lifting assemblies are respectively disposed on the two vertical walls. Each lifting assembly includes a lifting frame and a lifting driver. The lifting frame is vertically movable and disposed on the corresponding vertical wall to support the pallet. The lifting driver is connected to the lifting frame and is used to drive the lifting frame to move vertically, so that the two lifting frames cooperate to move the pallet vertically.
[0008] An AGV device, which can enter and exit the main frame through the inlet and outlet, is used to transport pallets;
[0009] A CCD, positioned above the main frame, is used to identify the positions of multiple PCB boards on the tray; and,
[0010] A robotic arm, connected to the main frame, is used to load PCB boards onto a pallet.
[0011] In the AGV vision loading device of this utility model, the loading device further includes a limiting baffle, which is connected to one end of the two lifting frames near the connecting plate. The limiting baffle is used to limit the longitudinal direction of the pallet.
[0012] In the AGV visual loading device of this utility model, each of the lifting frames is provided with a limit block at both ends of its longitudinal direction, and the four limit blocks cooperate to limit the transverse sides of the pallet.
[0013] In the AGV vision loading device of this utility model, the loading device further includes multiple sets of through-beam sensors, which are arranged longitudinally. The transmitting module and receiving module of each through-beam sensor are respectively set on two vertical walls for detecting whether there is a PCB board on the tray.
[0014] In the AGV visual loading device of this utility model, a base is provided on the top of the connecting plate away from the inlet and outlet, the base is located in the middle of the horizontal direction of the connecting plate, and the robot arm is mounted on the base.
[0015] In the AGV visual loading device of this utility model, the upright wall is provided with an inner cavity, the lifting frame extends from the inner cavity to the inner side of the upright wall, and the lifting driver is disposed in the inner cavity.
[0016] In the AGV visual loading device of this utility model, the vertical wall includes a support frame, two baffles and multiple guide rods; the support frame and the two baffles form the inner cavity; each guide rod extends vertically, and the multiple guide rods are arranged longitudinally; a linear bearing that slides vertically is provided on the guide rod, and the linear bearing is connected to the lifting frame.
[0017] In the AGV visual loading device of this utility model, each of the guide rods is provided with two linear bearings; the lifting frame includes two base plates, two side plates and a support plate; the two base plates are arranged vertically at intervals and parallel to each other, each base plate extends longitudinally, and the two base plates are respectively connected to the two linear bearings on each of the guide rods; the two side plates and the two base plates form a frame shape, and the side plates extend from the inner cavity to the inner side of the vertical wall; the support plate connects the two side plates and is used to support the pallet.
[0018] In the AGV visual loading device of this utility model, the bottom of the connecting plate is provided with an anti-collision pad on the side facing the inlet and outlet, which is used to buffer the AGV device; the anti-collision pad is provided with a position sensor for detecting the position of the AGV device.
[0019] In the AGV vision loading device of this utility model, the AGV vision loading device also includes a flat light source module, and the CCD is set at the center of the light source module.
[0020] Compared to existing technologies, the advantages of this invention are as follows: In this AGV vision-based loading device, each lifting driver drives its corresponding lifting frame to a low position. The AGV device, carrying a pallet containing PCB boards, enters the main frame through the inlet and outlet. The controller controls each lifting driver to simultaneously move its corresponding lifting frame vertically upward, lifting the pallet to a high position. The CCD identifies the position of the PCB boards, and the robotic arm moves to the corresponding location based on the CCD-identified PCB board position to pick them up, loading the PCB boards one by one onto the designated position. After all the PCB boards on the pallet have been removed, the empty pallet can be removed. The above steps are repeated to continue transporting pallets containing PCB boards. This AGV vision-based loading device eliminates the need for the AGV device to wait while the robotic arm is loading, effectively improving work efficiency. Attached Figure Description
[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments are briefly introduced below. The drawings described below are only the corresponding drawings of some embodiments of this utility model.
[0022] Figure 1 This is a schematic diagram of the overall structure of the AGV vision loading device provided in a preferred embodiment of the present invention.
[0023] Figure 2 This is a schematic diagram of the material loading device of the AGV vision loading device provided in a preferred embodiment of the present invention.
[0024] Figure 3 This is a schematic diagram of another part of the material loading device of the AGV vision loading device provided in a preferred embodiment of the present invention.
[0025] in,
[0026] 100. Pallet
[0027] 1. Material loading device
[0028] 11. Main frame,
[0029] 111. Erect wall; 1111. Support frame; 1112. Baffle; 1113. Guide rod; 1114. Linear bearing.
[0030] 112. Connecting plate,
[0031] 113. Base
[0032] 12. Lifting assembly,
[0033] 121. Lifting frame; 1212. Base plate; 1213. Side plate; 1214. Support plate.
[0034] 122. Lifting drive,
[0035] 123. Limit block,
[0036] 13. Limit baffle,
[0037] 14. Through-beam sensor,
[0038] 2. AGV device,
[0039] 3. CCD,
[0040] 4. Anti-collision pads,
[0041] 5. Light source module,
[0042] 6. Position sensor.
[0043] In the diagram, units with similar structures are represented by the same labels. Detailed Implementation
[0044] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.
[0045] The directional terms mentioned in this utility model, such as "up", "down", "front", "back", "left", "right", "inner", "outer", "side", "top" and "bottom", are only for reference to the orientation of the accompanying drawings. The directional terms used are for the purpose of explaining and understanding this utility model, and are not intended to limit this utility model.
[0046] The terms "first" and "second" in this utility model are used for descriptive purposes only and should not be construed as indicating or implying relative importance, nor as a restriction on the order of events.
[0047] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0048] AGV devices typically transport materials along a guided path. When an AGV arrives at a location, it needs to stop and wait for workers or other equipment to load and unload materials. After loading and unloading is completed, the AGV will continue to return to load materials. This method can easily cause the AGV to wait for too long or require multiple AGV devices to cooperate in completing the material transport, which affects the overall transportation efficiency or increases the cost.
[0049] The following is a preferred embodiment of an AGV vision loading device provided by this utility model that can solve the above-mentioned technical problems.
[0050] A preferred embodiment of this utility model provides an AGV vision-based loading device. Please refer to... Figure 1 The AGV vision-based loading device includes a loading device 1, an AGV device 2, a CCD 3, and a robotic arm. The loading device 1 includes a main frame 11 and two lifting assemblies 12. The main frame 11 includes two vertical walls 111 and a connecting plate 112. The two vertical walls 111 are arranged laterally and are parallel to each other. The connecting plate 112 connects the two vertical walls 111 and is located on one longitudinal side of the two vertical walls 111. The main frame 11 has an inlet / outlet opposite to the connecting plate 112. The two lifting assemblies 12 are respectively disposed on the two vertical walls 111. Each lifting assembly 12 includes a lifting frame 121 and a lifting driver 122. The lifting frame 121 is vertically movable and disposed on the corresponding vertical wall 111 to support the pallet 100. The lifting driver 122 is connected to the lifting frame 121 and drives the lifting frame 121 to move vertically, so that the two lifting frames 121 cooperate to move the pallet 100 vertically. The AGV device 2 can enter and exit the main frame 11 through the inlet and outlet, and is used to transport the pallet 100. The CCD 3 is set above the main frame 11 and is used to identify the positions of multiple PCB boards on the pallet 100. A robotic arm (not shown in the figure) is connected to the main frame 11 and is used to load the PCB boards on the pallet 100. Figure 1 In the diagram, the x-direction is horizontal, the y-direction is vertical, and the z-direction is vertical.
[0051] In this AGV vision-based loading device, each lifting driver 122 drives its corresponding lifting frame 121 to a low position. The AGV device 2, carrying a pallet 100 containing PCB boards, enters the main frame 11 through the inlet / outlet. The controller controls each lifting driver 122 to simultaneously move its corresponding lifting frame 121 vertically upwards, lifting the pallet 100 to a high position. A CCD 3 identifies the position of the PCB boards, and the robotic arm moves to the corresponding location based on the position identified by the CCD 3 to grab and load the PCB boards one by one from the pallet 100 to the designated position. After all the PCB boards on the pallet 100 have been removed, the empty pallet 100 can be removed. The above steps are repeated to continue transporting pallets 100 containing PCB boards. With this AGV vision-based loading device, the AGV device 2 does not need to wait while the robotic arm is loading, effectively improving work efficiency.
[0052] Please refer to Figure 2 The loading device 1 also includes a limiting baffle 13, which is connected to one end of the two lifting frames 121 near the connecting plate 112. The limiting baffle 13 is used to limit the longitudinal direction of the pallet 100. By limiting one side of the pallet 100 with the limiting baffle 13, the pallet 100 can be positioned in the longitudinal direction.
[0053] Please refer to Figure 2 Each lifting frame 121 has a limit block 123 at both longitudinal ends. The four limit blocks 123 work together to limit the lateral sides of the pallet 100. By using the four limit blocks 123 to limit the lateral sides of the pallet 100, the pallet 100 can be positioned laterally.
[0054] Please refer to Figure 2 The loading device 1 also includes multiple sets of through-beam sensors 14, which are arranged longitudinally. The transmitting and receiving modules of each through-beam sensor 14 are respectively mounted on two vertical walls 111, and are used to detect whether there are PCB boards on the tray 100. The transmitting and receiving modules of the through-beam sensors 14 work together to detect whether a corresponding row of PCB boards on the tray 100 has been completely picked up.
[0055] Please refer to Figure 1 A base 113 is provided on the top side of the connecting plate 112 away from the inlet and outlet. The base 113 is located in the middle of the horizontal direction of the connecting plate 112. The robot arm is set on the base 113 to facilitate the robot arm to grasp the PCB board.
[0056] Please refer to Figure 2 The wall 111 has an inner cavity, and the lifting frame 121 extends from the inner cavity to the inner side of the wall 111. The lifting drive 122 is disposed in the inner cavity. This can protect the lifting drive 122 and prevent damage.
[0057] Please refer to Figure 2 and Figure 3 The vertical wall 111 includes a support frame 1111, two baffles 1112, and multiple guide rods 1113. The support frame 1111 and the two baffles 1112 form an inner cavity. Each guide rod 1113 extends vertically, and the multiple guide rods 1113 are arranged longitudinally. A linear bearing 1114 that slides vertically is installed on the guide rod 1113. The linear bearing 1114 is connected to the lifting frame 121, which can make the lifting frame 121 move stably. The guide rods 1113 serve both a guiding function and a function to enhance the structural strength of the vertical wall 111.
[0058] Please refer to Figure 3 Each guide rod 1113 is equipped with two linear bearings 1114. The lifting frame 121 includes two base plates 1211, two side plates 1212, and a support plate 1213. The two base plates 1211 are arranged vertically at intervals and parallel to each other, and each base plate 1211 extends longitudinally. Each base plate 1211 is connected to the two linear bearings 1114 on each guide rod 1113. The two side plates 1212 and the two base plates 1211 form a frame shape, and the side plates 1212 extend from the inner cavity to the inner side of the vertical wall 111. The support plate 1213 connects the two side plates 1212 and is used to support the tray 100. With the above structure, the stability of the lifting frame 121 movement can be increased.
[0059] Please refer to Figure 2 A crash pad 4 is provided on the bottom of the connecting plate 112 facing the inlet / outlet side to cushion the AGV device 2. A position sensor 6 is installed on the crash pad 4 to detect the position of the AGV device 2. The crash pad 4 cushions the AGV device 2 to prevent it from being damaged. Once the position sensor 6 detects that the AGV device 2 has reached a set distance, the AGV device 2 stops moving.
[0060] Please refer to Figure 1 The AGV vision-based loading device also includes a flat light source module 5, with a CCD 3 positioned at the center of the light source module 5. The light source module 5 provides light to capture clearer images of the PCB board.
[0061] The lifting assembly 12 also includes two lifting sensors and a sensor plate. The two lifting sensors are vertically mounted on corresponding walls, and the sensor plate is connected to the lifting frame 121. The two lifting sensors and the sensor plate work together to limit the travel of the lifting frame 121. With the above structure, the lifting frame 121 can be controlled to move downward to a designated position to facilitate lifting the pallet 100 conveyed by the AGV device 2; the lifting frame 121 can also be controlled to move upward to a designated position so that the PCB board on the pallet 100 matches the position of the through-beam sensor 14.
[0062] Working principle of the AGV vision loading device in the preferred embodiment of this utility model:
[0063] Each lifting driver 122 drives its corresponding lifting frame 121 to a low position. The AGV device 2, carrying a pallet 100 containing PCB boards, enters the main frame 11 through the inlet / outlet. The position sensor 6 detects that the AGV device 2 has reached a set distance, and the AGV device 2 stops moving. Each lifting driver 122 drives its corresponding lifting frame 121 to move vertically upwards, lifting the pallet 100 to a high position. A limiting baffle 13 limits one longitudinal side of the pallet 100, and four limiting blocks 123 cooperate to limit the other two transverse sides. The CCD 3 identifies the PCB board's model, serial number, and other information, and the robotic arm places the PCB boards from the pallet 100 into designated positions. The AGV device 2 can then move away to handle other tasks. The robotic arm sequentially grabs PCB boards in a horizontal row. The transmitting and receiving modules of the through-beam sensor 14 cooperate to detect whether a corresponding horizontal row of PCB boards on the pallet 100 has been completely grabbed. After all the PCB boards on the pallet 100 are removed, the AGV device 2 moves back into the main frame 11, and the empty pallet 100 can be placed down. The AGV device 2 then moves the empty pallet 100 away.
[0064] This completes the PCB board loading process of the AGV vision loading device in this preferred embodiment.
[0065] This utility model discloses an AGV vision-based loading device. Each lifting driver drives its corresponding lifting frame to a low position. The AGV, carrying a pallet containing PCB boards, enters the main frame through the inlet / outlet. The controller controls each lifting driver to simultaneously move the corresponding lifting frame vertically upwards, lifting the pallet to a high position. A CCD identifies the position of the PCB boards, and the robotic arm moves to the corresponding location based on the CCD's identification, picking up the PCB boards one by one and loading them into the designated positions. After all the PCB boards on the pallet have been removed, the empty pallet can be removed. The above steps are repeated to continue transporting pallets containing PCB boards. This utility model's AGV vision-based loading device eliminates the need for the AGV to wait while the robotic arm loads the PCB boards, effectively improving work efficiency.
[0066] In summary, although the present invention has been disclosed above with reference to preferred embodiments, the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the concept of the technical solution of the present invention, should be included within the scope of protection of the present invention.
Claims
1. An AGV vision loading device, characterized in that, include: A material loading device, comprising a main frame and two lifting components; the main frame includes two vertical walls and a connecting plate; The two vertical walls are arranged horizontally and are parallel to each other; the connecting plate is connected between the two vertical walls and located on one longitudinal side of the two vertical walls; the main frame is provided with an inlet and outlet, which are opposite to the connecting plate; the two lifting assemblies are respectively disposed on the two vertical walls; the lifting assembly includes a lifting frame and a lifting driver; the lifting frame is vertically movable and disposed on the corresponding vertical wall to support the pallet; the lifting driver is connected to the lifting frame and is used to drive the lifting frame to move vertically, so that the two lifting frames cooperate to move the pallet vertically. An AGV device, which can enter and exit the main frame through the inlet and outlet, is used to transport pallets; A CCD, positioned above the main frame, is used to identify the positions of multiple PCB boards on the tray; and, A robotic arm, connected to the main frame, is used to load PCB boards onto a pallet.
2. The AGV vision loading device according to claim 1, characterized in that, The loading device also includes a limiting baffle, which is connected to one end of the two lifting frames near the connecting plate. The limiting baffle is used to limit the longitudinal direction of the pallet.
3. The AGV vision loading device according to claim 2, characterized in that, Each of the lifting frames is provided with limit blocks at both ends of its longitudinal direction, and the four limit blocks work together to limit the lateral sides of the pallet.
4. The AGV vision loading device according to claim 1, characterized in that, The material loading device also includes multiple sets of through-beam sensors, which are arranged longitudinally. The transmitting and receiving modules of each through-beam sensor are respectively installed on two vertical walls to detect the presence or absence of PCB boards on the tray.
5. The AGV vision loading device according to claim 1, characterized in that, A base is provided on the top of the connecting plate on the side opposite to the inlet and outlet. The base is located in the middle of the horizontal direction of the connecting plate, and the robotic arm is mounted on the base.
6. The AGV vision loading device according to claim 1, characterized in that, The wall has an inner cavity, the lifting frame extends from the inner cavity to the inner side of the wall, and the lifting drive is located in the inner cavity.
7. The AGV vision loading device according to claim 6, characterized in that, The vertical wall includes a support frame, two baffles, and multiple guide rods; the support frame and the two baffles form the inner cavity; each guide rod extends vertically, and the multiple guide rods are arranged longitudinally; each guide rod is provided with a linear bearing that slides vertically, and the linear bearing is connected to the lifting frame.
8. The AGV vision loading device according to claim 7, characterized in that, Each of the guide rods is provided with two linear bearings; the lifting frame includes two base plates, two side plates, and a support plate; the two base plates are arranged vertically at intervals and parallel to each other, each base plate extends longitudinally, and each base plate is connected to the two linear bearings on each guide rod; the two side plates and the two base plates form a frame shape, and the side plates extend from the inner cavity to the inner side of the vertical wall; the support plate connects the two side plates and is used to support the pallet.
9. The AGV vision loading device according to claim 1, wherein, The bottom of the connecting plate is provided with an anti-collision pad on the side facing the inlet / outlet to cushion the AGV device; the anti-collision pad is provided with a position sensor for detecting the position of the AGV device.
10. The AGV vision loading device according to claim 1, wherein, The AGV vision loading device also includes a flat light source module, with the CCD positioned at the center of the light source module.