Collaborative Arm Automated Guided Transport Vehicle

Abstract

This application provides a collaborative arm automated guided vehicle (AGV) including a frame, a robotic arm, a gripping assembly, a storage bin, and a controller. The frame has a top and a bottom. One end of the robotic arm is connected to the top of the frame, and the other end is connected to the gripping assembly. The storage bin has a storage space for accommodating target material and a first opening, and is disposed on the frame. The first opening faces the top of the frame. The controller is disposed on the frame and is electrically connected to the drive components of the robotic arm and the gripping assembly, respectively. The controller is configured to send a first control signal to the robotic arm and the gripping assembly. The first control signal is used to control the robotic arm and the gripping assembly to move the target material out of the storage bin or place the target material into the storage bin. This collaborative arm AGV improves the flexibility and adaptability of the AGV to different types of materials, ultimately improving the efficiency of material handling and loading / unloading in the production process.

Description

Technical Field

[0001] This application relates to the field of automation equipment technology, and more specifically, to a collaborative arm automated guided vehicle. Background Technology

[0002] In automated production lines, material loading, unloading, and handling are critical links. Traditional automated loading and unloading systems typically employ single-function robotic arms or conveyor belts, which have numerous limitations in terms of efficiency and flexibility. Single-function robotic arms can only perform specific tasks, such as grasping or handling, leading to the need for multiple devices to work together on the production line, increasing equipment costs and maintenance complexity. While conveyor belt systems can efficiently transport materials, they lack flexibility and are difficult to adapt to different types of materials.

[0003] In summary, traditional material handling and loading / unloading methods generally suffer from low efficiency. Utility Model Content

[0004] The purpose of this application is to provide a collaborative arm automated guided vehicle that can improve the efficiency of material handling and loading / unloading in the production process.

[0005] The collaborative arm automated guided vehicle provided in this application includes a frame, a robotic arm, a gripping assembly, a storage bin, and a controller. The frame has a top and a bottom. One end of the robotic arm is connected to the top of the frame, and the other end of the robotic arm is connected to the gripping assembly. The storage bin has a storage space for accommodating target material and a first opening, and is disposed on the frame. The first opening faces the top of the frame. The controller is disposed on the frame and is electrically connected to the drive components of the robotic arm and the gripping assembly, respectively. The controller is configured to send a first control signal to the robotic arm and the gripping assembly. The first control signal is used to control the robotic arm and the gripping assembly to move the target material out of the storage bin or place the target material inside the storage bin.

[0006] The aforementioned automated guided vehicle (AGV) with a collaborative arm automatically retrieves or places materials into the storage bin on its frame. Based on controller control of the robotic arm and gripping components, the AGV automatically removes materials from or places them into the storage bin during production. This reduces the required coordination with production equipment, thereby increasing the AGV's flexibility and adaptability to different types of materials. Ultimately, this improves the efficiency of material handling and loading / unloading during production.

[0007] Optionally, the number of storage bins is at least two; the at least two storage bins are arranged along a first direction; wherein the first direction is parallel to the direction of the straight line between the top and bottom of the frame.

[0008] The aforementioned automated guided vehicle (AGV) with collaborative arms, by incorporating multiple storage bins arranged layer by layer along the vertical direction (first direction), increases the capacity for storing target materials while making efficient use of the space on the frame. This increased capacity of the storage bins on the frame further reduces the required coordination between the AGV and the production equipment, thereby further improving the efficiency of handling and loading / unloading target materials during the production process.

[0009] Optionally, the storage bin is slidably connected to the frame; wherein the slidable direction of the storage bin includes a direction in a plane perpendicular to the first direction.

[0010] In the aforementioned automated guided vehicle with a collaborative arm, multiple storage bins are arranged layer by layer along a vertical direction (the first direction), and the first opening of each bin faces upwards. During the loading and unloading of target materials, the uppermost bins typically obstruct the lowermost bins to some extent. Therefore, by sliding the bins on the frame, this obstruction can be avoided to a certain extent, facilitating the loading and unloading of target materials. This improves the convenience of material handling and ultimately enhances the efficiency of material handling and loading / unloading during the production process.

[0011] Optionally, a first rotary drive is provided on the frame; a gear is provided on the torque output end of the first rotary drive; a rack that meshes with the gear is provided at the bottom of the storage bin; the length direction of the rack is consistent with the sliding direction of the storage bin; the first rotary drive is electrically connected to the controller; the controller is further configured to send a second control signal to the first rotary drive; wherein the second control signal is used to drive the storage bin to slide on the frame.

[0012] The aforementioned automated guided vehicle (AGV) with a collaborative arm, through a combination of gears and racks, converts the torque output by the first rotary drive component into linear traction force, thereby driving the storage bin to slide on the frame. Without significantly increasing the structural complexity of the frame and storage bin, it further improves the convenience of picking up and placing target materials, and consequently, further improves the efficiency of material handling and loading / unloading during the production process.

[0013] Optionally, it also includes a chassis; the chassis is provided with a second rotary drive and a roller; the torque output end of the second rotary drive is connected to the roller; the controller is also electrically connected to the second rotary drive; the controller is further configured to send a third control signal to the second rotary drive; wherein the third control signal is used to drive the roller to roll and turn.

[0014] The aforementioned automated guided vehicle (AGV) with a collaborative arm utilizes a chassis to support the frame, and rollers on the chassis that are automatically rolled and steered under the control of a controller. This enables the AGV to automatically transfer materials, thereby further improving the convenience of transferring target materials between different pieces of equipment. Ultimately, this further enhances the efficiency of material handling and loading / unloading during the production process.

[0015] Optionally, the gripping assembly includes a support, an adsorption element, and a gripper; the gripper is arranged around the edge of the support opposite to the robotic arm and forms a gripping space; the adsorption element is connected to the support opposite to the robotic arm and is located within the gripping space.

[0016] The aforementioned automated guided vehicle (AGV) with collaborative arms equips its gripping components with both claws and suction cups—two different methods for picking up and placing target materials. This allows for the appropriate use of either claw or suction cup to grip different types of materials. For example, if glass slides to be cleaned are carried on a cleaning rack, the claws can grip the rack while the suction cups hold the glass slides. This improves the ease of use of the gripping components and ultimately enhances the efficiency of material handling and loading / unloading during production.

[0017] Optionally, the top of the rack is further provided with a receiving box; the receiving box has a receiving space and a second opening; the second opening faces away from the top of the rack; the receiving box is configured to receive cleaning fluid and, in the presence of the cleaning fluid, receive the adsorbent.

[0018] The aforementioned automated guided vehicle with a collaborative arm can clean the adsorption components with cleaning fluid in a container before using them to adsorb the target material. This ensures the cleanliness of the adsorption components and improves their adsorption force, resulting in a more secure adsorption of the target material.

[0019] Optionally, the robotic arm is further provided with an image acquisition device; the image acquisition device is located at one end of the robotic arm connected to the frame and is electrically connected to the controller; the controller is further configured to receive the image acquired by the image acquisition device and send the first control signal to the robotic arm and the gripping component according to the image.

[0020] The aforementioned automated guided vehicle (AGV) with collaborative arm determines the control parameters for the robotic arm and gripping components in real time based on images acquired by the image acquisition device. It does not rely on the high degree of coordination between the AGV with collaborative arm and external equipment or preset programs to control the robotic arm and gripping components, thereby further improving the flexibility of controlling the robotic arm and gripping components, and correspondingly further improving the efficiency of material handling and loading / unloading in the production process.

[0021] Optionally, the target material includes glass sheets; a storage rack is provided within the storage space of the storage silo; the storage rack includes support bars located on the bottom wall and side wall of the storage silo respectively; the support bars have a plurality of protrusions arranged along their length; a positioning groove is formed between the protrusions, the positioning groove being used to receive the edge of the glass sheet; wherein the protrusions of the support bars located at the bottom of the storage silo face away from the top of the frame; the protrusions of the support bars located on the side wall of the storage silo face each other.

[0022] The aforementioned automated guided vehicle (AGV) with a collaborative arm is used in the processing of glass sheets. By configuring a storage rack with serrated support bars in the storage bin, the glass sheets are accommodated in a more orderly manner, allowing the storage bin to hold more glass sheets. This further reduces the degree of coordination required between the AGV with the production equipment, thereby further improving the efficiency of handling and loading / unloading glass sheets during the production process.

[0023] Optionally, the storage space of the storage bin is also used to contain moisturizing liquid; a waterproof plate is provided at the bottom connection between the frame and the storage bin; the vertical projection of the storage bin onto the plane of the waterproof plate is located in the area where the waterproof plate is located.

[0024] The aforementioned automated guided vehicle with a collaborative arm reduces the probability of short circuits in the internal electrical components by installing a waterproof plate at the bottom of the storage bin, thereby improving the safety and stability of the automated guided vehicle with a collaborative arm.

[0025] In summary, the automated guided vehicle (AGV) with a collaborative arm provided in this application improves the flexibility and adaptability to different types of materials by setting up storage bins on the frame to store target materials and by controlling the robotic arm and gripping components based on the controller. This ultimately improves the efficiency of material handling and loading / unloading during production. Furthermore, by setting up multiple storage bins arranged vertically in layers, the capacity for storing target materials is increased, thereby further improving the efficiency of material handling and loading / unloading during production. The sliding nature of the storage bins on the frame improves the convenience of picking up and placing target materials, further enhancing the efficiency of material handling and loading / unloading during production. The chassis supporting the frame, equipped with rollers that automatically roll and steer under controller control, further improves the convenience of transferring target materials between different devices. By equipping the gripping components with both grippers and suction cups—two gripping devices for picking up and placing target materials in different ways—the ease of use of the gripping components is improved, ultimately further enhancing the efficiency of material handling and loading / unloading during production. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 A first perspective view of the automated guided vehicle with a collaborative arm provided in an embodiment of this application;

[0028] Figure 2 A second perspective view of the automated guided vehicle with a collaborative arm provided in an embodiment of this application;

[0029] Figure 3 A perspective view of the chassis of the automated guided vehicle with a collaborative arm provided in an embodiment of this application;

[0030] Figure 4 A perspective view of the gripping component in the automated guided vehicle with a collaborative arm provided in an embodiment of this application;

[0031] Figure 5 A perspective view of the storage rack in the automated guided vehicle with a collaborative arm provided in this application embodiment.

[0032] Icons: 100, Collaborative Arm Automated Guided Transport Vehicle; 110, Frame; 111, Rack; 112, Container; 113, Waterproof Mesh; 120, Robotic Arm; 121, Image Acquisition Device; 130, Gripping Component; 131, Support; 132, Adsorption Component; 133, Gripper; 140, Storage Bin; 141, Storage Shelf; 1411, Support Bar; 160, Chassis; 161, Second Rotary Drive Component; 162, Roller; 200, Target Material. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0035] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0036] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0037] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0038] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0039] Please refer to Figure 1 , Figure 1 This is a first perspective view of the automated guided vehicle 100 with a collaborative arm provided in this application. The automated guided vehicle 100 with a collaborative arm provided in this application may include a frame 110, a robotic arm 120, a gripping assembly 130, a storage bin 140, and a controller. The frame 110 can serve as the main body of the entire automated guided vehicle 100 with a collaborative arm and may have a top and a bottom (e.g., Figure 1 (The upper and lower parts are shown).

[0040] The robotic arm 120 can be composed of two, three, or four links connected together via movable joints. One end of the robotic arm 120 can be connected to the top of the frame 110, and the other end can be connected to the gripping assembly 130. The gripping assembly 130 can integrate at least one gripping element corresponding to a gripping method such as grasping, adsorption, hooking, or magnetic attraction.

[0041] The storage bin 140 may have a storage space for accommodating the target material 200 and a first opening, and may be disposed on the frame 110. The first opening may face the top of the frame 110. That is, the first opening of the storage bin 140 may face upward.

[0042] The controller can specifically be a programmable logic controller (PLC), a microcontroller, an embedded controller, etc. The controller can be mounted on the frame 110 and electrically connected to the drive components of the robotic arm 120 and the gripping assembly 130, respectively. Of course, if the automated guided vehicle 100 is equipped with other electrical components, the controller can also be directly or indirectly electrically connected to these components. For example, if a distance sensor is installed on the frame 110, the controller can also be electrically connected to the distance sensor to obtain the distance signal from the sensor, determine the distance between the automated guided vehicle 100 and surrounding objects based on the distance signal, and adopt corresponding control strategies to control the electrical components throughout the automated guided vehicle 100.

[0043] In this embodiment, the controller can be configured to send a first control signal to the robotic arm 120 and the gripping component 130. The first control signal can be used to control the robotic arm 120 and the gripping component 130 to move the target material 200 out of the storage bin 140 or to place the target material 200 into the storage bin 140. Specifically, taking servo motors as examples of the drive components of the robotic arm 120 and the gripping component 130, the first control signal can specifically be the signal indicating the rotational speed, direction of rotation, and rotation angle of each servo motor.

[0044] The automated guided vehicle 100 with a collaborative arm provided in this application embodiment can move the processed clinker from one of the devices on the production line to the storage bin 140 on the automated guided vehicle 100 via a robotic arm 120 and a gripping component 130, so that the clinker can proceed to the next stage of processing. Alternatively, the robotic arm 120 and the gripping component 130 can move raw materials that have not yet been processed by the corresponding device from the storage bin 140 on the automated guided vehicle 100 to the device, so that the device can process the raw materials.

[0045] As an optional implementation, the storage space of the storage bin 140 can be divided into a raw material station and a clinker station, to respectively place raw materials that have not yet completed a certain process step and clinker that has completed that process step.

[0046] In the above implementation process, by setting up a storage bin 140 on the frame 110 to store the target material 200, and based on the controller's control of the robotic arm 120 and the gripping component 130, the material is automatically removed from the storage bin 140 or the target material 200 is placed in the storage bin 140 during the production process. This reduces the degree of coordination required with the production equipment, thereby improving the flexibility of the automated guided vehicle 100 and its adaptability to different types of materials. Ultimately, this improves the efficiency of material handling and loading / unloading during the production process.

[0047] Please refer to Figure 2 , Figure 2 This is a second perspective view of the automated guided vehicle 100 with a collaborative arm provided in this application embodiment. In some optional embodiments, the number of storage bins 140 can be at least two. The at least two storage bins 140 can be arranged along a first direction. The first direction can be parallel to the direction of the straight line between the top and bottom of the frame 110.

[0048] For example, the number of storage bins 140 can be three, and they can be arranged layer by layer in the vertical direction.

[0049] In the above implementation process, by setting up multiple storage bins 140 and arranging them layer by layer along the vertical direction (first direction), the capacity for placing the target material 200 is increased while making reasonable use of the space on the frame 110. Because the capacity of the storage bins 140 on the frame 110 is increased, the required coordination between the automated guided vehicle 100 and the production equipment is further reduced, thereby further improving the efficiency of handling and loading / unloading the target material 200 during the production process.

[0050] Please continue to refer to Figure 2 In some optional embodiments, the storage bin 140 may be slidably connected to the frame 110. The slidable direction of the storage bin 140 may include a direction in a plane perpendicular to the first direction.

[0051] In other words, the storage bin 140 can move on the frame 110 like a "drawer". Specifically, the storage bin 140 and the frame 110 can be slidably connected by means of "guide rail + pulley", "slide groove + pulley", "slide groove + slider" or the like.

[0052] In the above implementation process, with multiple storage bins 140 arranged layer by layer along the vertical direction (first direction) and the first opening of each storage bin 140 facing upwards, the upper storage bins 140 typically obstruct the lower storage bins 140 to some extent during the loading and unloading of the target material 200. Therefore, by sliding the storage bins 140 on the frame 110, this obstruction can be avoided to some extent, facilitating the loading and unloading of the target material 200, thereby improving the convenience of loading and unloading the target material 200, and ultimately further improving the efficiency of material handling and loading / unloading during the production process.

[0053] Please continue to refer to Figure 2 In some alternative embodiments, a first rotary drive member may be provided on the frame 110. A gear may be provided on the torque output end of the first rotary drive member. Specifically, the first rotary drive member may be a motor. Accordingly, its torque output end may specifically be the rotating shaft of the motor.

[0054] A rack 111 that meshes with a gear can be provided at the bottom of the storage bin 140. The length direction of the rack 111 can be consistent with the sliding direction of the storage bin 140. The first rotary drive can be electrically connected to the controller.

[0055] In the above implementation process, the combination of gears and racks 111 converts the torque output by the first rotary drive into a linear traction force, thereby driving the storage bin 140 to slide on the frame 110. Without significantly increasing the structural complexity of the frame 110 and the storage bin 140, the convenience of picking up and placing the target material 200 is further improved, which in turn further improves the efficiency of material handling and loading / unloading during the production process.

[0056] Please combine Figure 2 Reference Figure 3 , Figure 3 This is a perspective view of the chassis 160 in the automated guided vehicle 100 with a collaborative arm provided in this application embodiment. In some optional embodiments, the chassis 160 may also be included. The chassis 160 may be provided with a second rotary drive 161 and rollers 162. The torque output end of the second rotary drive 161 may be connected to the rollers 162. A controller may also be electrically connected to the second rotary drive 161. The controller may also be configured to send a third control signal to the second rotary drive 161. The third control signal may be used to drive the rollers 162 to roll and steer.

[0057] The chassis 160 can specifically be an AGV chassis (Automated Guided Vehicle chassis). The rolling and steering of the rollers 162 can be driven by the second rotating active component. The second rotating drive component 161 can also be controlled by the controller.

[0058] As an optional implementation, the chassis 160 may be equipped with radar, infrared distance sensors or cameras to obtain the distance between the chassis 160 and surrounding objects, and send the corresponding distance information to the controller so that the controller can control the rolling and steering of the rollers 162 according to the distance information, thereby avoiding collisions.

[0059] In the above implementation process, by using a chassis 160 to support the frame 110, and configuring rollers 162 on the chassis 160 that automatically roll and steer under the control of a controller, the automated guided vehicle 100 of the collaborative arm is automatically transferred, thereby further improving the convenience of transferring the target material 200 between different devices. Ultimately, this further improves the efficiency of material handling and loading / unloading during the production process.

[0060] Please refer to Figure 4 , Figure 4 This is a perspective view of the gripping component 130 in the automated guided vehicle 100 with a collaborative arm provided in this application embodiment. In some optional embodiments, the gripping component 130 may include a support 131, an adsorption member 132, and a gripper 133. The gripper 133 may be disposed around the edge of the end of the support 131 facing away from the robotic arm 120, and may form a gripping space. The adsorption member 132 may be connected to the end of the support 131 facing away from the robotic arm 120, and may be located within the gripping space.

[0061] The support 131 can serve as the main body of the gripping assembly 130, integrating the suction element 132 and the gripper 133. The gripper 133 may include multiple gripping fingers, which can be arranged around the end of the support 131, that is, the edge of the end facing away from the robotic arm 120. Optionally, the gripper 133 can be driven by a servo motor. The middle of the gripper 133 formed by the multiple gripping fingers can serve as a gripping space, within which the suction element 132 can be connected to the end of the support 131. The suction element 132 can specifically be a suction cup.

[0062] In the above implementation process, by simultaneously equipping the gripping component 130 with both grippers 133 and suction cups—two gripping elements that pick up and place target materials 200 in different ways—the appropriate grippers 133 or suction cups 132 can be used to grip different types of target materials 200. For example, if a glass slide to be cleaned is carried by a cleaning rack, the grippers 133 can grip the cleaning rack, and the suction cups 132 can hold the glass slide. This improves the ease of use of the gripping component 130 and ultimately further enhances the efficiency of material handling and loading / unloading during the production process.

[0063] Please continue to refer to Figure 2In some alternative embodiments, a receiving box 112 may also be provided on the top of the rack 110. The receiving box 112 may have a receiving space and a second opening. The second opening faces away from the top of the rack 110. The receiving box 112 may be configured to receive cleaning fluid and, in the case of receiving cleaning fluid, receive the adsorbent 132.

[0064] The cleaning solution can be either water or a cleaning agent.

[0065] In the above process, before using the adsorbent 132 to adsorb the target material 200, the adsorbent 132 can be cleaned with the cleaning solution in the container 112 to ensure the cleanliness of the adsorbent 132 and improve its adsorption force. This makes the adsorbent 132 adsorb the target material 200 more firmly.

[0066] Please continue to refer to Figure 2 In some optional embodiments, an image acquisition device 121 may also be provided on the robotic arm 120. Specifically, the image acquisition device 121 may be a 3D camera used for positioning the target material 200. The image acquisition device 121 may be located at the end of the robotic arm 120 connected to the frame 110 and may be electrically connected to a controller. The controller may also be configured to receive images acquired by the image acquisition device 121 and send first control signals to the robotic arm 120 and the gripping assembly 130 based on the images.

[0067] Specifically, this can be implemented by establishing a coordinate system based on the images captured by the 3D camera and determining the coordinates of the target material 200 and the current position of the gripping component 130 within that coordinate system. Based on these two coordinates, the controller determines the distance and direction of the target material 200 relative to the gripping component 130, thereby calculating parameters such as the motor rotation angle, motor rotation direction, and motor speed required to control the machinery, and thus issuing the first control signal.

[0068] In the above implementation process, the parameters for controlling the robotic arm 120 and the gripping component 130 are determined in real time based on the images acquired by the image acquisition device 121. This eliminates the need to rely on the high degree of coordination between the collaborative arm automated guided vehicle 100 and external equipment, as well as preset programs, to control the robotic arm 120 and the gripping component 130. This further improves the flexibility of controlling the robotic arm 120 and the gripping component 130, and consequently, further improves the efficiency of material handling and loading / unloading in the production process.

[0069] Please refer to Figure 5 , Figure 5This is a perspective view of the storage rack 141 in the automated guided vehicle 100 with a collaborative arm provided in this application embodiment. In some optional embodiments, the target material 200 may include glass sheets. The storage rack 141 may be provided within the storage space of the storage bin 140. The storage rack 141 may include support bars 1411 located on the bottom wall and side wall of the storage bin 140, respectively. The support bars 1411 may have a plurality of protrusions arranged along their length. The gaps between the protrusions form positioning grooves, which can be used to receive the edges of the glass sheets. The protrusions of the support bars 1411 located at the bottom of the storage bin 140 face away from the top of the frame 110. The protrusions of the support bars 1411 located on the side wall of the storage bin 140 face each other.

[0070] For example, the support bar 1411 is serrated, and the gaps between the serrations can be used to receive the edges of the glass sheet. The toothed slats 111 of the support bar 1411 located at the bottom of the storage bin 140 can face upwards, and the support bars 1411 on the side wall of the storage bin 140 can face horizontally toward the support bar 1411 disposed opposite to it. The serrated gaps of the support bars 1411 located at different positions can each correspond to the same plane.

[0071] In the above implementation process, by applying the automated guided vehicle 100 with a collaborative arm to the relevant processing of glass sheets, and by configuring a storage rack 141 composed of serrated support bars 1411 in the storage bin 140, the glass sheets are accommodated in a more orderly manner, and the storage bin 140 can hold more glass sheets. This further reduces the degree of coordination required between the automated guided vehicle 100 with the production equipment, thereby further improving the efficiency of handling and loading / unloading glass sheets during the production process.

[0072] Please continue to refer to Figure 2 In some alternative embodiments, the storage space of the storage bin 140 can also be used to contain moisturizing liquid. A waterproof plate 113 can be provided at the bottom connection between the frame 110 and the storage bin 140. The vertical projection of the storage bin 140 onto the plane of the waterproof plate 113 is located in the area where the waterproof plate 113 is located.

[0073] The moisturizing liquid can be water, used to moisturize the glass slides. To prevent the moisturizing liquid in the storage bin 140 from causing short circuits in the internal electrical components of the automated guided vehicle 100, a waterproof plate 113 can be installed at the bottom of the lowest storage bin 140 to prevent the moisturizing liquid from causing short circuits in the internal electrical components. The waterproof plate 113 can be a single plate, which can channel away the moisturizing liquid in the event of leakage.

[0074] In the above implementation process, by setting a waterproof plate 113 at the bottom of the storage bin 140, the probability of short circuit of the electrical components inside the collaborative arm automated guided vehicle 100 is reduced, thereby improving the safety and stability of the collaborative arm automated guided vehicle 100.

[0075] In summary, the collaborative arm automated guided vehicle 100 provided in the various embodiments of this application improves the flexibility and adaptability to different types of materials by setting up storage bins 140 on the frame 110 to store target materials 200, and by controlling the robotic arm 120 and gripping component 130 based on the controller. This ultimately improves the efficiency of material handling and loading / unloading during production. Furthermore, by setting up multiple storage bins 140 arranged layer by layer in the vertical direction, the capacity for storing target materials 200 is increased, thereby further improving the efficiency of handling and loading / unloading target materials 200 during production. The sliding nature of the storage bins 140 on the frame 110 improves the convenience of picking up and placing target materials 200, thereby further improving the efficiency of material handling and loading / unloading during production. By using a chassis 160 to support the frame 110, and configuring rollers 162 on the chassis 160 that automatically roll and turn under the control of the controller, the convenience of transferring target materials 200 between different devices is further improved. By equipping the gripping component 130 with both grippers 133 and suction cups, which are used to pick up and put down the target material 200 in different ways, the ease of use of the gripping component 130 is improved, and ultimately the efficiency of material handling and loading / unloading in the production process is further improved.

[0076] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A collaborative arm automated guided vehicle, characterized by, Includes frame, robotic arm, gripping components, storage bin, and controller; The frame has a top and a bottom; One end of the robotic arm is connected to the top of the frame, and the other end of the robotic arm is connected to the gripping assembly; The storage bin has a storage space for accommodating the target material and a first opening, and is disposed on the frame; the first opening faces the top of the frame; The controller is mounted on the frame and electrically connected to the drive components of the robotic arm and the gripping assembly, respectively. The controller is configured to send a first control signal to the robotic arm and the gripping assembly. The first control signal is used to control the robotic arm and the gripping assembly to move the target material out of the storage bin or to place the target material inside the storage bin.

2. The collaborative arm automated guided vehicle of claim 1, wherein, The number of storage bins is at least two; At least two storage bins are arranged along a first direction; wherein the first direction is parallel to the direction of the straight line between the top and bottom of the frame.

3. The automated guided vehicle with a collaborative arm according to claim 2, characterized in that, The storage bin is slidably connected to the frame; wherein the slidable direction of the storage bin includes a direction in a plane perpendicular to the first direction.

4. The automated guided vehicle with a collaborative arm according to claim 2, characterized in that, A first rotary drive component is provided on the frame; A gear is provided on the torque output end of the first rotary drive component; The bottom of the storage bin is provided with a rack that meshes with the gear; the length direction of the rack is consistent with the sliding direction of the storage bin; The first rotary drive component is electrically connected to the controller; The controller is further configured to send a second control signal to the first rotary drive; wherein the second control signal is used to drive the storage bin to slide on the frame.

5. The automated guided vehicle with a collaborative arm according to claim 1, characterized in that, It also includes the chassis; The chassis is equipped with a second rotary drive component and rollers; The torque output end of the second rotary drive component is connected to the roller; The controller is also electrically connected to the second rotary drive component; The controller is further configured to send a third control signal to the second rotary drive; wherein the third control signal is used to drive the roller to roll and turn.

6. The automated guided vehicle with a collaborative arm according to claim 1, characterized in that, The gripping assembly includes a support, an adsorption element, and grippers; The grippers are arranged around the edge of the bracket at the end opposite to the robotic arm, forming a gripping space; The adsorption element is connected to the end of the bracket facing away from the robotic arm and is located within the clamping space.

7. The automated guided vehicle with a collaborative arm according to claim 6, characterized in that, The top of the rack is also equipped with a receiving box; The container has a receiving space and a second opening; The second opening faces away from the top of the frame; The container is configured to hold the cleaning solution and receive the adsorption element while holding the cleaning solution.

8. The automated guided vehicle with a collaborative arm according to claim 1, characterized in that, The robotic arm is also equipped with an image acquisition device; The image acquisition device is located at one end of the robotic arm connected to the frame and is electrically connected to the controller; The controller is also configured to receive images acquired by the image acquisition device and send the first control signal to the robotic arm and the gripping component based on the images.

9. The automated guided vehicle with a collaborative arm according to claim 1, characterized in that, in, The target material includes glass sheets; The storage space of the storage bin is equipped with storage shelves; The storage rack includes support bars located on the bottom wall and side wall of the storage bin, respectively; The support bar has a plurality of protrusions arranged along its length. The gaps between the protrusions form positioning grooves, which are used to receive the edges of the glass sheet. The protrusions of the support bars located at the bottom of the storage bin face away from the top of the frame; the protrusions of the support bars located on the side walls of the storage bin face each other.

10. The automated guided vehicle with a collaborative arm according to claim 9, characterized in that, The storage space of the storage bin is also used to hold moisturizing liquid; A waterproof plate is provided at the bottom connection between the frame and the storage bin; The storage bin is located in the area where the waterproof membrane is located, based on the vertical projection of the plane on which the waterproof membrane is situated.

Images