Walking cooperative AGV automatic stacking device

Abstract

The utility model provides a kind of walking collaborative AGV automatic stacking device, including AGV dolly and trolley, trolley is fixed on AGV dolly;Collaborative robot arm, image recognition module, microcomputer and robot arm controller are provided on trolley, image recognition module, microcomputer and robot arm controller are connected with communication;The end of collaborative robot arm is provided with image acquisition module and article clamping mechanism;Robot arm controller is connected with communication with collaborative robot arm, article clamping mechanism;Image recognition module and image acquisition module are connected. Reduce labor cost, improve production automation level and product classification consistency.

Description

Technical Field

[0001] This utility model relates to the field of AGV (Automated Guided Vehicle) automatic palletizing technology, and in particular to a walking cooperative AGV automatic palletizing device. Background Technology

[0002] In current camera manufacturing processes, the handling and palletizing of finished cameras generally rely on traditional manual operations. Workers must manually pick up camera products at the end of the production line and neatly stack them onto designated tables or pallets to prepare for subsequent warehousing or transportation. However, as production models evolve towards multi-variety, small-batch, and flexible production, the same production line often needs to handle mixed-model production.

[0003] Under the current manual operation mode, operators not only need to undertake repetitive and physically demanding tasks, but also rely on experience and visual identification to distinguish different models and specifications of camera products and classify them for placement on the corresponding carrier platforms. This method has many drawbacks. First, manual identification is prone to misjudgment, posing a risk of confusing different camera models. Furthermore, prolonged high-intensity manual work can easily lead to worker fatigue, making confusion more likely and consequently affecting work efficiency and accuracy. Utility Model Content

[0004] This invention provides a walking cooperative AGV automatic palletizing device, which aims to solve the problems of low efficiency and easy product confusion in the existing technology of manual palletizing.

[0005] A walking cooperative AGV automatic palletizing device includes an AGV trolley and a trolley, with the trolley fixed on the AGV trolley; The trolley is equipped with a collaborative robotic arm, an image recognition module, a microcomputer, and a robotic arm controller. The image recognition module, the microcomputer, and the robotic arm controller are connected in communication. The collaborative robotic arm is equipped with an image acquisition module and an object gripping mechanism at its end. The robotic arm controller communicates with the collaborative robotic arm and the object gripping mechanism. The image recognition module and the image acquisition module are connected.

[0006] Furthermore, the AGV trolley is equipped with a lifting mechanism, and the trolley is fixed to the lifting mechanism.

[0007] Furthermore, the image recognition module, microcomputer, robotic arm controller, and AGV are all equipped with wireless communication modules, and the image recognition module, microcomputer, robotic arm controller, and AGV are wirelessly connected through a wireless gateway.

[0008] Furthermore, the trolley is equipped with a power supply module, which provides power to the image acquisition module, image recognition module, microcomputer, and robotic arm controller.

[0009] Furthermore, the trolley is equipped with a wireless charging module, which is connected to the power supply module.

[0010] Furthermore, the AGV is equipped with automatic obstacle avoidance radar.

[0011] Furthermore, the article clamping mechanism includes a connecting bracket and a first clamping block and a second clamping block arranged in parallel opposite directions. The connecting bracket is provided with a linear sliding block and a drive actuator. The first clamping block is connected to the connecting bracket, and the second clamping block is connected to the linear sliding block; The drive actuator drives the linear sliding block to move linearly, thereby moving the second clamping block closer to or further away from the first clamping block. The image acquisition module is mounted on the connecting bracket.

[0012] Furthermore, the article clamping mechanism includes a connecting bracket and a first clamping block and a second clamping block arranged in parallel opposite directions. The connecting bracket is provided with a drive actuator, a first linear sliding block and a second linear sliding block. The first clamping block is connected to the first linear sliding block, and the second clamping block is connected to the second linear sliding block; The drive actuator drives the first linear sliding block and the second linear sliding block to move linearly, so as to make the second clamping block and the first clamping block move closer to each other and further away from each other; The image acquisition module is mounted on the connecting bracket.

[0013] Furthermore, the trolley has a box-like structure, and the image recognition module and robotic arm controller are located inside the box-like structure; The cabinet structure has an upper platform, on which the microcomputer is fixed; The upper surface of the box structure has a reserved area for placing items.

[0014] The beneficial technical effects of this utility model are as follows: the image acquisition module and the image recognition module can realize product positioning and classification, which makes it convenient for the robot to grasp the product and carry it to the designated palletizing area by the AV cart for palletizing, so as to realize automatic product identification, classification and accurate palletizing, reduce labor costs, improve the level of production automation and product classification consistency. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of a walking cooperative AGV automatic palletizing device according to the present invention; Figure 2This is a schematic diagram of the item clamping mechanism of a walking cooperative AGV automatic palletizing device according to the present invention; Figure 3 This is a schematic diagram of the module connection of a walking cooperative AGV automatic palletizing device according to the present invention.

[0016] in, 1-AGV trolley; 2 vehicles; 3- Collaborative robotic arm; 4-Image recognition module; 5-Microcomputer; 6-Robotic arm controller; 7-Image Acquisition Module 8-Item clamping mechanism; 9-Power supply module; 10 - Wireless charging module; 11-Linear sliding block; 12-Connecting bracket; 13-First clamping block; 14-Second clamping block. Detailed Implementation

[0017] 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 of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments of the present invention can be combined with each other.

[0019] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention.

[0020] See Figure 1 and Figure 3 This utility model provides a walking cooperative AGV automatic palletizing device, including an AGV trolley 1 and a trolley 2, with the trolley fixed on the AGV trolley 1; The trolley is equipped with a collaborative robotic arm 3, an image recognition module 4, a microcomputer 5, and a robotic arm controller 6. The image recognition module 4, the microcomputer 5, and the robotic arm controller 6 are connected in communication. The end effector of the collaborative robotic arm 3 is equipped with an image acquisition module 7 and an object gripping mechanism 8; The robotic arm controller 6 is communicatively connected to the collaborative robotic arm 3 and the item gripping mechanism 8; The image recognition module 4 and the image acquisition module 7 are connected.

[0021] Specifically, image acquisition module 7 is a camera. Image recognition module 4 is an image processor.

[0022] Specifically, the item clamping mechanism 8 clamps the packaging box of the finished camera product, enabling the loading and unloading of the packaging box.

[0023] The robotic arm controller is a programmable PLC controller.

[0024] The image acquisition module 7 and the image recognition module 4 enable product positioning and classification, facilitating robot product grabbing and AV cart transport to the designated palletizing area for palletizing. This achieves automatic product identification, classification, and accurate palletizing, reducing labor costs and improving production automation and product classification consistency.

[0025] Furthermore, the AGV trolley 1 is equipped with a lifting mechanism, and the trolley 2 is fixed to the lifting mechanism.

[0026] The lifting mechanism allows for the raising and lowering of the trolley, facilitating the loading and unloading of items.

[0027] Furthermore, the image recognition module 4, microcomputer 5, robotic arm controller 6, and AGV trolley 1 are each equipped with a wireless communication module, and the image recognition module 4, microcomputer 5, robotic arm controller 6, and AGV trolley 1 are wirelessly connected through a wireless gateway.

[0028] Wireless communication between the image recognition module 4, microcomputer 5, robotic arm controller 6, and AGV trolley 1 is achieved through a wireless gateway.

[0029] Furthermore, the trolley 2 is equipped with a power supply module 9, which provides power to the image acquisition module 7, the image recognition module 4, the microcomputer 5, and the robotic arm controller 6. Additionally, the trolley 2 is equipped with a wireless charging module 10, which is connected to the power supply module 9.

[0030] The power supply module 9 provides power to the image acquisition module 7, the image recognition module 4, the microcomputer 5, and the robotic arm controller 6. When the power supply module 9's battery level drops, it can be charged wirelessly, avoiding the need for manual plugging and unplugging required by wired charging, reducing manual use, and improving efficiency and cost reduction.

[0031] Furthermore, the AGV 1 is equipped with an automatic obstacle avoidance radar.

[0032] See Figure 2Furthermore, the article clamping mechanism 8 includes a connecting bracket 12 and a first clamping block 13 and a second clamping block 14 arranged in parallel opposite directions. The connecting bracket 12 is provided with a linear sliding block 11 and a drive execution mechanism. The first clamping block 13 is connected to the connecting bracket 12, and the second clamping block 14 is connected to the linear sliding block 11; The drive actuator drives the linear sliding block 11 to move linearly, thereby enabling the second clamping block 14 to move closer to and further away from the first clamping block 13; The image acquisition module 7 is mounted on the connecting bracket 12.

[0033] The connecting bracket 12 is connected to the end of the collaborative robotic arm.

[0034] In a preferred embodiment of this utility model, the first clamping block is fixed to the connecting bracket. The connecting bracket 12 is provided with a guide rail. The linear sliding block 11 moves linearly under the drive of the drive actuator, moving towards the first clamping block 13 to clamp the item, and moving away from the first clamping block 13 to release the item.

[0035] Furthermore, the article clamping mechanism includes a connecting bracket and a first clamping block and a second clamping block arranged in parallel opposite directions. The connecting bracket is provided with a drive actuator, a first linear sliding block and a second linear sliding block. The first clamping block is connected to the first linear sliding block, and the second clamping block is connected to the second linear sliding block; The drive actuator drives the first linear sliding block and the second linear sliding block to move linearly, so as to make the second clamping block and the first clamping block move closer to each other and further away from each other; The image acquisition module is mounted on the connecting bracket.

[0036] In another preferred embodiment of this utility model, the connecting bracket is provided with two guide rails. One guide rail is equipped with a first linear sliding block, and the other guide rail is equipped with a second linear sliding block, so that both the first clamping block and the second clamping block can slide to realize the picking and placing of items.

[0037] Furthermore, the trolley has a box-shaped component, and the image recognition module 4 and the robotic arm controller 6 are located inside the box-shaped component; The cabinet component has an upper table, and the microcomputer 5 is fixed to the upper table of the cabinet component; The upper surface of the cabinet component has a reserved area for placing items.

[0038] The working principle of the automatic palletizing device of this utility model is as follows.

[0039] First, the AGV receives a scheduling instruction and goes to the outlet of the finished product, such as a camera, to wait for the finished product. The image acquisition module collects image data of the packaging box containing the finished product in real time, and the image recognition module identifies the image data to determine the type of the finished product.

[0040] Then, the microcomputer sends a gripping command to the robotic arm controller based on the identified machine type information. The collaborative robotic arm receives the command and instructs the gripping mechanism to perform the gripping action. After the image recognition module identifies that the collaborative robotic arm has reached the specific positioning point, the gripping mechanism grips the item, and the collaborative robotic arm is responsible for moving the item to the platform of the trolley for temporary placement.

[0041] Afterwards, the AGV (Automated Guided Vehicle) transports the entire trolley to the designated palletizing area. The collaborative robotic arm, item gripping mechanism, image acquisition module, and image recognition module then work together to place the product. The image acquisition module captures real-time images of the palletizing area, the image recognition module identifies the palletizing area, and the microcomputer sends a placement command to the robotic arm controller based on the identified palletizing area. The collaborative robotic arm moves to the designated position, driving the item gripping mechanism to grasp the item on the table and transfer it to the palletizing area.

[0042] It should be noted that the protected object of this utility model is the structure of the hardware device. The software functions mentioned in the specification, such as "control logic" and "software configuration," including the recognition software in the image recognition module, are conventional or existing technical means used by those skilled in the art to realize the functions of the hardware device, and are not the innovation of this utility model. The innovation of this utility model lies in the novel arrangement and combination of the hardware structure.

[0043] The above are merely preferred embodiments of the present utility model and are not intended to limit the implementation methods and protection scope of the present utility model. Those skilled in the art should realize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A walking cooperative AGV automatic palletizing device, characterized in that, It includes an AGV trolley and a trolley, wherein the trolley is fixed on the AGV trolley; The trolley is equipped with a collaborative robotic arm, an image recognition module, a microcomputer, and a robotic arm controller, and the image recognition module, the microcomputer, and the robotic arm controller are communicatively connected. The end of the collaborative robotic arm is equipped with an image acquisition module and an object gripping mechanism; The robotic arm controller is communicatively connected to the cooperative robotic arm and the object gripping mechanism; The image recognition module and the image acquisition module are connected.

2. The walking cooperative AGV automatic palletizing device as described in claim 1, characterized in that, The AGV trolley is equipped with a lifting mechanism, and the trolley is fixed to the lifting mechanism.

3. The walking cooperative AGV automatic palletizing device as described in claim 1, characterized in that, The image recognition module, the microcomputer, the robotic arm controller, and the AGV are all equipped with wireless communication modules, and the image recognition module, the microcomputer, the robotic arm controller, and the AGV are wirelessly connected through a wireless gateway.

4. The walking cooperative AGV automatic palletizing device as described in claim 1, characterized in that, The trolley is equipped with a power supply module, which provides power to the image acquisition module, the image recognition module, the microcomputer, and the robotic arm controller.

5. The walking cooperative AGV automatic palletizing device as described in claim 4, characterized in that, The trolley is equipped with a wireless charging module, which is connected to the power supply module.

6. The walking cooperative AGV automatic palletizing device as described in claim 1, characterized in that, The AGV is equipped with an automatic obstacle avoidance radar.

7. The walking cooperative AGV automatic palletizing device as described in claim 1, characterized in that, The article clamping mechanism includes a connecting bracket and a first clamping block and a second clamping block arranged in parallel opposite directions. The connecting bracket is provided with a linear sliding block and a drive execution mechanism. The first clamping block is connected to the connecting bracket, and the second clamping block is connected to the linear sliding block; The drive actuator drives the linear sliding block to move linearly, thereby moving the second clamping block closer to or further away from the first clamping block. The image acquisition module is mounted on the connecting bracket.

8. The walking cooperative AGV automatic palletizing device as described in claim 1, characterized in that, The article clamping mechanism includes a connecting bracket and a first clamping block and a second clamping block arranged in parallel opposite directions. The connecting bracket is provided with a drive execution mechanism, a first linear sliding block and a second linear sliding block. The first clamping block is connected to the first linear sliding block, and the second clamping block is connected to the second linear sliding block; The drive actuator drives the first linear sliding block and the second linear sliding block to move linearly, thereby enabling the second clamping block and the first clamping block to move closer to each other and further away from each other; The image acquisition module is mounted on the connecting bracket.

9. The walking cooperative AGV automatic palletizing device as described in claim 1, characterized in that, The trolley has a box-shaped structure, and the image recognition module and the robotic arm controller are located inside the box-shaped structure. The enclosure structure has an upper platform, and the microcomputer is fixed to the upper platform of the enclosure structure; The upper surface of the box structure has a reserved area for placing items.

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