Mechanical arm cooperation type AGV carrier

Abstract

The utility model relates to a kind of mechanical arm cooperation type AGV carrier, including AGV car body;Mechanical arm grabbing mechanism, it is installed on the AGV car body and is equipped with two material taking stations, including mechanical arm, the clamping seat of installation in the mechanical arm execution end, first material taking claw and second material taking claw of installation in the clamping seat both ends, and laser ranging sensor of installation on the first material taking claw and second material taking claw;Bearing table, it is installed on the AGV car body, and is arranged in mechanical arm grabbing mechanism side, the material loading station and the material unloading station of the loop of the width direction two sides of the bearing table are equipped with respectively, the positioning bearing mechanism of loop is equipped in the material loading station and the material unloading station;The utility model can carry out material taking and discharging operation simultaneously, with positioning bearing mechanism simultaneously, realize loop stack into pile, improve overall processing efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of automated handling technology, and in particular relates to a robotic arm collaborative AGV handling vehicle. Background Technology

[0002] The existing process of machining ferrules requires the machining of several evenly distributed screw holes around their circumference. The current machining method is to manually place each ferrule into the machine tool for machining. However, the machining time for a single ferrule is only 60 seconds, and manual loading and unloading is required, which is time-consuming and labor-intensive.

[0003] However, existing AGV transport vehicles have the following drawbacks in the actual production process of this ring tossing: 1. Existing AGVs use a single gripping structure, requiring two cycles of gripping for each processing, with loading and unloading done in two steps, resulting in a long production cycle; 2. Existing AGV transport vehicles require a ring tossing conveyor line, and after subsequent processing, the finished products need to be stacked, making it difficult to improve the overall processing efficiency; those skilled in the art urgently need to solve these technical problems. Utility Model Content

[0004] To address the aforementioned shortcomings of existing technologies, the purpose of this utility model is to provide a robotic arm collaborative AGV transport vehicle that can simultaneously perform material picking and unloading operations, and is equipped with a positioning and bearing mechanism to achieve stacking of rings, thereby improving overall processing efficiency.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A robotic arm collaborative AGV transport vehicle includes an AGV body; The robotic arm grasping mechanism is installed on the AGV body and has two material picking stations. It includes a robotic arm, a gripping seat installed at the end of the robotic arm, a first picking claw and a second picking claw installed at both ends of the gripping seat, and a laser rangefinder sensor installed on the first picking claw and the second picking claw. A support platform is installed on the AGV vehicle body and is located on one side of the robotic arm gripping mechanism. The support platform has a loading station and a unloading station with a collar on both sides in the width direction. The loading station and the unloading station are equipped with a positioning support mechanism with a collar. The positioning and bearing mechanism includes a bearing seat mounted on the bearing platform, a limiting base mounted on the bearing seat, a guide rod provided in the middle of the limiting base, multiple collars passing through the guide rod and stacked on the limiting base, and a limiting member provided around the collar.

[0006] In a preferred embodiment of the present invention, the first picking claw includes a first picking block mounted on a gripping seat and extending to one side, a first clamping block slidably mounted on the first picking block and arranged facing the first picking block, the first clamping block being connected to a first electric cylinder, and the first electric cylinder being horizontally mounted on the gripping seat.

[0007] In a preferred embodiment of the present invention, the second picking claw includes a second picking block mounted on a gripping seat and extending to the other side, a receiving block mounted at the end of the second picking block, a second electric cylinder hinged on the gripping seat, an L-shaped pressure arm hinged to the telescopic end of the second electric cylinder, the L-shaped pressure arm hinged to the second picking block, and a pressure head hinged to its end, the pressure head passing through the second picking block and vertically displacing towards or away from the receiving block under the push of the second electric cylinder.

[0008] In a preferred embodiment of the present invention, the limiting member includes arc-shaped limiting plates arranged at equal intervals along the periphery of the collar, and an arc-shaped rubber block connected to the inner side of the arc-shaped limiting plate. The arc-shaped rubber block extends along the height direction of the arc-shaped limiting plate and is connected to the arc-shaped limiting plate by bolts.

[0009] In a preferred embodiment of the present invention, a limiting groove for a limiting base is provided on the bearing seat, and the limiting base is fitted into the limiting groove.

[0010] In a preferred embodiment of the present invention, a cap is provided on the collar, the cap is fitted onto the collar through a guide rod, and the cap is provided with a protrusion that matches the inner hole of the collar. Beneficial effects

[0011] This utility model discloses a robotic arm collaborative AGV transport vehicle. The AGV vehicle body can move autonomously, and the robotic arm can automatically grasp and transport without human intervention, which can meet the needs of automated production lines. The first and second electric cylinders drive the clamping block and the pressure arm to move, ensuring stable grasping force and accurate displacement, thus improving grasping reliability. This utility model uses a laser rangefinder sensor to detect the position of the rings in real time, which, together with the precise control of the robotic arm, ensures the gripping and placement accuracy of the picking claw; the positioning and bearing mechanism provides full-dimensional constraint on the rings, forming a fully enclosed fixation, ensuring the coaxiality and stability of stacked rings, and guaranteeing the reliability of the rings during handling and storage. This utility model features dual picking claws working in conjunction with dual workstations, enabling simultaneous picking and unloading operations, reducing single-cycle operation time; stacking rings saves storage space, increases single-pass throughput, and improves overall processing efficiency. Attached Figure Description

[0012] Figure 1A structural schematic diagram of a robotic arm collaborative AGV transport vehicle provided by this utility model; Figure 2 A top view of a robotic arm collaborative AGV transport vehicle provided by this utility model; Figure 3 This is a schematic diagram of the positioning and bearing mechanism described in this utility model; Figure 4 This is a partial structural diagram of the robotic arm gripping mechanism described in this utility model. Figure 1 ; Figure 5 This is a partial structural diagram of the robotic arm gripping mechanism described in this utility model. Figure 2 ; Figure 6 This is a schematic diagram of the installation structure of the positioning and bearing mechanism and the collar described in this utility model. Figure 1 ; Figure 7 This is a cross-sectional view of the positioning and bearing mechanism described in this utility model; Figure 8 This is a schematic diagram of the installation structure of the positioning and bearing mechanism and the collar described in this utility model. Figure 2 ; Figure 9 This is a schematic diagram of the structure of the cap described in this utility model; Figure 10 This is a schematic diagram of the installation structure of the positioning and bearing mechanism and the collar described in this utility model. Figure 3 .

[0013] In the image: 1. AGV vehicle body; 2. Robotic arm gripping mechanism, 21. Robotic arm, 22. Gripping seat, 23. First gripper, 231. First gripping block, 232. First clamping block, 233. First electric cylinder, 24. Second gripper, 241. Second gripping block, 242. Receiving block, 243. Second electric cylinder, 244. L-shaped pressure arm, 245. Pressure head; 3 bearing platforms; 4 Positioning and bearing mechanism, 41 Bearing seat, 42 Limiting base, 43 Guide rod, 44 Limiting component, 441 Arc-shaped limiting plate, 442 Arc-shaped rubber block, 45 Cap. Detailed Implementation

[0014] 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.

[0015] like Figure 1-3As shown, this utility model provides a robotic arm collaborative AGV transport vehicle, including an AGV body 1; The robotic arm gripping mechanism 2 is installed on the AGV body 1 and has two material picking stations. It includes a robotic arm 21, a gripping seat 22 installed at the execution end of the robotic arm 21, a first picking claw 23 and a second picking claw 24 installed at both ends of the gripping seat 22, and a laser rangefinder sensor installed on the first picking claw 23 and the second picking claw 24. The support platform 3 is installed on the AGV body 1 and is located on one side of the robotic arm gripping mechanism 2. The support platform 3 has a loading station and a unloading station with a ring on both sides in the width direction. The loading station and the unloading station are equipped with a positioning support mechanism 4 with a ring. The positioning bearing mechanism 4 includes a bearing seat 41 installed on the bearing platform 3, a limiting base 42 installed on the bearing seat 41, a guide rod 43 provided in the middle of the limiting base 42, multiple collars passing through the guide rod 43 and stacked on the limiting base 42, and a limiting member 44 provided around the collar. The working principle and beneficial effects of the above embodiments are as follows: The AGV vehicle body 1 of this utility model serves as an overall mobile carrier. According to the preset path or scheduling instructions, it can autonomously move to the target work area, namely the processing equipment for ring tossing, to provide basic mobile support for subsequent grabbing or placing of rings. The loading and unloading stations of the bearing platform 3 achieve orderly stacking of the rings through the positioning bearing mechanism 4. The rings are stacked and passed through the guide rod 43. The limiting base 42 provides bottom support, and the limiting part 44 restricts the rings from shifting from the periphery, so that the rings are stably and neatly stacked on the loading and unloading stations, which is conducive to the robotic arm to grasp and place them. The laser rangefinder of the robotic arm gripping mechanism 2 detects the stacking height and edge position of the rings at the loading and unloading stations in real time, providing positioning data for the robotic arm 21 to ensure that the first gripper 23 or the second gripper 24 is accurately aligned with the rings. During the actual operation, after the first picking claw 23 picks up the topmost ring at the loading station, it moves to the processing equipment with the robotic arm 21. At this time, the second picking claw 24 picks up the ring that has been processed on the tooling of the processing equipment. Then, the first picking claw 23 releases the ring it has picked up onto the tooling of the processing equipment. Finally, the second picking claw 24 picks up the ring that has been processed and releases it onto the bearing seat 41 at the unloading station. The loading station is responsible for providing rings to be processed, and the unloading station is responsible for collecting the processed rings. The robotic arm 21's dual grippers can correspond to the two stations respectively, realizing simultaneous loading and unloading, reducing waiting time. The AGV body 1 of this utility model can move autonomously, and the robotic arm 21 can automatically grasp and transport without human intervention, which is suitable for the needs of automated production lines. The laser rangefinder sensor of this utility model detects the position of the ring in real time, and works with the robotic arm 21 for precise control to ensure small grasping and placement errors; the guide rod 43 and the limiting member 44 of the positioning and bearing mechanism 4 restrict the displacement of the ring in the axial and circumferential directions to avoid stacking offset or tipping, and ensure the stability of the ring during handling and storage. This utility model features dual picking claws working in conjunction with dual workstations, enabling simultaneous picking and unloading operations, reducing single-cycle operation time; the ring-stacking mechanism saves storage space and increases the amount of material handled in a single operation.

[0016] In one embodiment, like Figure 4 As shown, the first picking claw 23 includes a first picking block 231 mounted on the gripping seat 22 and extending to one side, and a first clamping block 232 slidably mounted on the first picking block 231 and arranged facing the first picking block 231. The first clamping block 232 is connected to a first electric cylinder 233, which is horizontally mounted on the gripping seat 22. When the robotic arm 21 moves the first gripper 23 to the ring loading station, the first electric cylinder 233 first drives the first clamping block 232 to slide away from the first picking block 231, so that an opening larger than the ring wall thickness is formed between the two. After the ring enters the opening range, the first electric cylinder 233 reverses its action, pushing the first clamping block 232 closer to the first picking block 231 until the two clamp the ring together, completing the gripping. When releasing the ring, the action is reversed.

[0017] In one embodiment, like Figure 5 As shown, the second picking claw 24 includes a second picking block 241 mounted on the gripping seat 22 and extending to the other side. A receiving block 242 is mounted at the end of the second picking block 241. A second electric cylinder 243 is hinged to the gripping seat 22. An L-shaped pressure arm 244 is hinged to the telescopic end of the second electric cylinder 243. The L-shaped pressure arm 244 is hinged to the second picking block 241, and a pressure head 245 is hinged to its end. The pressure head 245 passes through the second picking block 241 and moves vertically towards or away from the receiving block 242 under the push of the second electric cylinder 243. When the robotic arm 21 moves the second picking claw 24 to the processing equipment, the receiving block 242 first supports the bottom of the collar on the equipment tooling, and then the second electric cylinder 243 extends, pushing the L-shaped pressure arm 244 to rotate around the hinge point. Its end drives the pressure head 245 to move vertically downward until the pressure head 245 cooperates with the receiving block 242 to press the collar. When the collar is released, the action is reversed.

[0018] In one embodiment, like Figure 6As shown, the aforementioned limiting member 44 includes an arc-shaped limiting plate 441 arranged at equal intervals along the periphery of the ring. An arc-shaped rubber block 442 is connected to the inner side of the arc-shaped limiting plate 441. The arc-shaped rubber block 442 extends along the height direction of the arc-shaped limiting plate 441 and is connected to the arc-shaped limiting plate 441 by bolts. Tightening the bolts can adjust the spacing between the inner arc-shaped rubber blocks 442 to adjust the limiting diameter within them. When the rings are stacked on the limiting base 42, multiple arc-shaped rubber blocks 442 wrap around the rings from the periphery, using the elastic deformation of the rubber to fit the surface of the rings and restrict the rings from shifting or swaying in the horizontal direction. When loading or unloading rings of different diameters or stacks of rings as a whole, the inner spacing of the arc-shaped rubber blocks 442 can be adjusted by turning the bolts to achieve compatible limiting of rings of different specifications, while avoiding interference with the loading or unloading of the rings as a whole.

[0019] In one embodiment, like Figure 7 As shown, a limiting groove for a limiting base 42 is provided on the aforementioned bearing seat 41, and the limiting base 42 is fitted into the limiting groove to accurately position the ring.

[0020] In one embodiment, like Figure 8-10 As shown, a cap 45 is provided on the above-mentioned collar. The cap 45 is covered by a guide rod 43 and covers the collar. The cap 45 has a protrusion that matches the inner hole of the collar. A handle is screwed onto the guide rod 43 to facilitate the subsequent removal or transport of the collars to be processed or already processed into a stack to the support seat 41. After the guide rod 43 passes through the cap 45, its bottom fits against the top layer of the stack of rings, forming a closed cover. The protrusion on the cap 45 matches the inner hole of the ring, and after being embedded in the inner hole of the ring, it can further limit the radial sway of the ring, making it easier to handle the entire stack of rings. Threads are formed at the upper end of the guide rod 43, and a nut is screwed onto the guide rod 43 on the cap 45 to prevent longitudinal movement of the rings and ensure that the entire stack of rings maintains coaxiality during transportation. Figure 10 This is a schematic diagram of the process of transferring the entire stack of rings.

[0021] In summary: This utility model discloses a robotic arm collaborative AGV transport vehicle. The AGV vehicle body can move autonomously, and the robotic arm can automatically grasp and transport without human intervention, which can meet the needs of automated production lines. The first and second electric cylinders drive the clamping block and the pressure arm to move, ensuring stable grasping force and accurate displacement, thus improving grasping reliability. This utility model uses a laser rangefinder sensor to detect the position of the rings in real time, which, together with the precise control of the robotic arm, ensures the gripping and placement accuracy of the picking claw; the positioning and bearing mechanism provides full-dimensional constraint on the rings, forming a fully enclosed fixation, ensuring the coaxiality and stability of stacked rings, and guaranteeing the reliability of the rings during handling and storage. This utility model features dual picking claws working in conjunction with dual workstations, enabling simultaneous picking and unloading operations, reducing single-cycle operation time; the ring-stacking mechanism saves storage space and increases the amount of material handled in a single operation.

[0022] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. The terms "front," "back," "left," and "right" used in the text are not specific and are mainly for more intuitive illustration of the technical solution, and do not constitute a limitation. Those skilled in the art should understand that the above embodiments are only for illustrating the technical concept and features of this utility model, and their purpose is to enable those skilled in the art to understand the content of this utility model and implement it. They should not be used to limit the scope of protection of this utility model. All equivalent changes or modifications made according to the spirit and essence of this utility model should be included within the scope of protection of this utility model.

Claims

1. A robotic arm collaborative AGV transport vehicle, characterized in that: Including the AGV vehicle body (1); The robotic arm gripping mechanism (2) is installed on the AGV vehicle body (1) and has two material picking stations. It includes a robotic arm (21), a gripping seat (22) installed at the execution end of the robotic arm (21), a first picking claw (23) and a second picking claw (24) installed at both ends of the gripping seat (22), and a laser rangefinder sensor installed on the first picking claw (23) and the second picking claw (24). The support platform (3) is installed on the AGV vehicle body (1) and is located on one side of the robotic arm gripping mechanism (2). The support platform (3) has a loading station and a unloading station with a ring on both sides in the width direction. The loading station and the unloading station are equipped with a positioning support mechanism (4) with a ring. The positioning support mechanism (4) includes a support seat (41) installed on the support platform (3), a limiting base (42) installed on the support seat (41), a guide rod (43) provided in the middle of the limiting base (42), multiple collars passing through the guide rod (43) and stacked on the limiting base (42), and a limiting member (44) provided on the periphery of the collars.

2. The robotic arm collaborative AGV transport vehicle according to claim 1, characterized in that: The first picking claw (23) includes a first picking block (231) mounted on the gripping seat (22) and extending to one side, and a first clamping block (232) slidably mounted on the first picking block (231) and arranged facing the first picking block (231). The first clamping block (232) is connected to a first electric cylinder (233), which is horizontally mounted on the gripping seat (22).

3. The robotic arm collaborative AGV transport vehicle according to claim 1, characterized in that: The second picking claw (24) includes a second picking block (241) mounted on the gripping seat (22) and extending to the other side. A receiving block (242) is installed at the end of the second picking block (241). A second electric cylinder (243) is hinged on the gripping seat (22). An L-shaped pressure arm (244) is hinged to the telescopic end of the second electric cylinder (243). The L-shaped pressure arm (244) is hinged to the second picking block (241), and a pressure head (245) is hinged to its end. The pressure head (245) passes through the second picking block (241) and moves vertically closer to or away from the receiving block (242) under the push of the second electric cylinder (243).

4. The robotic arm collaborative AGV transport vehicle according to claim 1, characterized in that: The limiting component (44) includes an arc-shaped limiting plate (441) arranged at equal intervals along the periphery of the ring. An arc-shaped rubber block (442) is connected to the inner side of the arc-shaped limiting plate (441). The arc-shaped rubber block (442) extends along the height direction of the arc-shaped limiting plate (441) and is connected to the arc-shaped limiting plate (441) by bolts.

5. The robotic arm collaborative AGV transport vehicle according to claim 1, characterized in that: A limiting groove for a limiting base (42) is provided on the bearing seat (41), and the limiting base (42) is fitted into the limiting groove.

6. The robotic arm collaborative AGV transport vehicle according to claim 1, characterized in that: A cap (45) is provided on the collar, and the cap (45) is covered by a guide rod (43) and covers the collar. The cap (45) has a protrusion that matches the inner hole of the collar.

Images