CN108147111A - A kind of manipulator for automatic guided vehicle - Google Patents
A kind of manipulator for automatic guided vehicle Download PDFInfo
- Publication number
- CN108147111A CN108147111A CN201711358035.2A CN201711358035A CN108147111A CN 108147111 A CN108147111 A CN 108147111A CN 201711358035 A CN201711358035 A CN 201711358035A CN 108147111 A CN108147111 A CN 108147111A
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- Prior art keywords
- accessory
- large arm
- forearm
- motor
- connecting rod
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
This divisional application discloses a kind of manipulator for automatic guided vehicle, belongs to Intelligentized mechanical equipment technical field.Including the pedestal being installed on housing, revolving platform is rotatablely connected pedestal, revolving platform connects large arm, large arm accessory rotation connection large arm, and connecting rod two end is rotatablely connected connecting rod accessory and large arm accessory in large arm respectively; forearm is installed on large arm accessory; motor b is equipped on the large arm accessory, motor b connections drive forearm to be rotated around the longitudinal center line of forearm, and the forearm end is equipped with forearm accessory; mechanical wrist part is rotatablely connected the forearm accessory, and hand claw is installed on mechanical wrist part.The manipulator of this divisional application increases swept volume, in turn avoids phenomena such as unstable caused by finger concentrates the center of gravity generated higher.
Description
The application is application number 201710624609X, on July 2017 applying date 27, " one kind has automatic denomination of invention
The divisional application of the automatic guided vehicle of crawl function "
Technical field
The present invention relates to a kind of automatic guided vehicles, belong to Intelligentized mechanical equipment technical field.
Background technology
AGV is the abbreviation of Automated Guided Vehicle, i.e. " automated guided vehicle ", is referred to equipped with electromagnetism
Or the homing guidances device such as optics, it can be travelled along defined guide path, have safeguard protection and various transfer functions
Transport vehicle, AGV belongs to wheeled mobile robot.AGV is broadly divided into both of which both at home and abroad at present：One kind is with American-European countries
Headed by full-automatic AGV technologies, path planning and production procedure are complicated and changeable, can apply in almost all of carrying occasion,
But the selling price of such AGV remains high, and is not suitable for the production level of China instantly；Second is using Japan as representative
Simple type AGV technologies become AGC (Automated Guided Cart), and what which pursued is simple and practical, and user is allowed to exist
It recoups capital outlay in shortest time cost, AGC is only used for carrying, and automatic loading and unloading function is not emphasized, although cheap but same
Sample is not suitable for basic industries not very perfect China.Meanwhile major part AGV is guided using electromagnetism or track instantly, route
Fixed, limitation is larger, is not suitable for flexibility manufacture system.
Invention content
To solve defect of the existing technology, the object of the present invention is to provide it is a kind of it is at low cost, can flexibly complete to fill
Unload the automatic guided vehicle for having the function of to capture automatically of work, applicable pahtfinder hard and small space.
The technical scheme is that：A kind of automatic guided vehicle for having the function of to capture automatically, including housing and positioned at shell
The bottom plate of body bottom, the bottom plate both sides are equipped with wheel, and the housing is equipped with control panel and the machine of several mutual cooperations
Tool hand, housing forward end are equipped with range laser radar, range laser radar connection control system, and the control system connects control plane
The drive system of plate and manipulator and wheel.
The control panel is located on the inclined surface of housing forward end.
The control panel is touch-sensitive display screen.
The manipulator quantity is three, respectively positioned at the upper surface of housing and two side surfaces.
The manipulator includes, the pedestal being installed on housing, revolving platform rotation connection pedestal, revolving platform connection large arm,
Large arm accessory is rotatablely connected large arm, and connecting rod two end is rotatablely connected connecting rod accessory and large arm accessory in large arm, forearm installation respectively
In on large arm accessory, being equipped with motor on the large arm accessory, motor b connections drive forearm to be revolved around the longitudinal center line of forearm
Turn, the forearm end is equipped with forearm accessory, and mechanical wrist part is rotatablely connected the forearm accessory, and hand claw is installed on mechanical wrist
In portion；
The revolving platform, which is equipped with, drives its motor a around base rotation；
The connecting rod accessory is built-in with brushless motor, and one end of the brushless motor connection drive link turns around connecting rod accessory
Dynamic, the other end of the connecting rod pushes large arm accessory to be rotated around large arm end, and large arm accessory drives forearm to be swung around large arm end；
The mechanical wrist part is equipped with motor c, and the motor c driving manipulators wrist is rotated around forearm accessory, manipulator
Wrist drives hand claw to be swung around forearm accessory.
The housing periphery is equipped with proximity sensor, and the proximity sensor connects control system.
The wheel is Mecanum wheel group.
The motor a, motor b, motor c are direct current generator, and are connected and controlled by control system.
The beneficial effects of the invention are as follows：The manipulator crawl function of use improves the degree of automation and and the market of trolley
It is oriented to and is adapted, can more meet the needs of market；The laser ranging guiding device of use has fully demonstrated unmanned handling system height
The characteristics of flexibility, high efficiency, high reliability；Combining the advantages of can carrying out flexible operating for AGV and industrial robot,
With the application in higher scientific and technological content and acquirement more forward position；Wheel uses Mecanum wheel group, more flexible, avoids
Fixed travel track can meet the different demands of different operating environment.
Description of the drawings
Fig. 1 is stereogram of the present invention；
Fig. 2 is bottom view of the present invention；
Fig. 3 is robot manipulator structure figure.
Reference numeral is as follows in figure：1st, bottom plate, 2, wheel, 3, housing, 4, manipulator, 4.1, pedestal, 4.2, revolving platform,
4.3rd, large arm, 4.4, connecting rod accessory, 4.5, large arm accessory, 4.6, connecting rod, 4.7, forearm, 4.8, forearm accessory, 4.9, manipulator
Wrist, 4.10, hand claw, 4.11, motor a, 4.12, motor b, 4.13, motor c, 5, control panel, 6, range laser radar.
Specific embodiment
The present invention will be further described by 1-3 below in conjunction with the accompanying drawings：
A kind of automatic guided vehicle for having the function of to capture automatically, the bottom plate 1 including housing 3 and positioned at 3 bottom of housing are described
1 both sides of bottom plate are equipped with wheel 2, manipulator 4 of the housing 3 equipped with control panel 5 and several mutual cooperations, before housing 3
End is equipped with range laser radar 6, and range laser radar 6 connects control system, the control system connection control panel 5 and machine
The drive system of tool hand 4 and wheel 2.Range laser radar 6 is used to analyze road conditions and positioning.Using the small-sized of SICK companies production
Change the target range that range laser radar 6 measures workplace, orientation, height, speed, posture, form parameter and obstacle and essence
Really draw out the 3D topographic maps in working range and be uploaded to control system, it is automatic to calculate best route and coordinate close to biography
Sensor obstacle avoidance.Different from the electromagnetic guiding device that the carrying of automatic guided vehicle instantly is more, laser radar has small quality
Gently, high resolution, scanning is flexible, dependable performance, strong antijamming capability, the intercept probability and detection efficient to noncooperative target compared with
It is high.And it is more flexible, fixed travel track is avoided, the different demands of different operating environment can be met.
The control panel 5 is located on the inclined surface of 3 front end of housing.
The control panel 5 is touch-sensitive display screen.
4 quantity of manipulator is three, respectively positioned at the upper surface of housing 3 and two side surfaces.
The manipulator 4 includes, the pedestal 4.1 being installed on housing 3, and revolving platform 4.2 is rotatablely connected pedestal 4.1, revolution
Platform 4.2 connects large arm 4.3, and large arm accessory 4.5 is rotatablely connected large arm 4.3, and 4.6 both ends of connecting rod are rotatablely connected respectively in large arm 4.3
Connecting rod accessory 4.4 and large arm accessory 4.5, forearm 4.7 be installed on large arm accessory 4.5, be equipped on the large arm accessory 4.5
Motor b4.12, motor b4.12 connection drive forearm 4.7 to be rotated around the longitudinal center line of forearm 4.7, and 4.7 end of forearm is set
There is forearm accessory 4.8, mechanical wrist part 4.9 is rotatablely connected the forearm accessory 4.8, and hand claw 4.10 is installed on mechanical wrist part
On 4.9；
The revolving platform 4.2 is equipped with the motor a4.11 that it is driven to be rotated around pedestal 4.1；
The connecting rod accessory 4.4 is built-in with brushless motor, and one end of the brushless motor connection drive link 4.6 is around connecting rod
Accessory 4.4 rotates, and the other end of the connecting rod 4.6 pushes large arm accessory 4.5 to be rotated around 4.3 end of large arm, 4.5 band of large arm accessory
Dynamic forearm 4.7 is swung around 4.3 end of large arm；
The mechanical wrist part 4.9 is equipped with motor c4.13, and the motor c4.13 driving manipulators wrist 4.9 is matched around forearm
Part 4.8 rotates, and mechanical wrist part 4.9 drives hand claw 4.10 to be swung around forearm accessory 4.8.This manipulator 4 reduces turning radius
High-precision operation can be realized in more narrow space.Three hand claws 4.10 are decoupled mounted on the top of car body and left and right sides,
Swept volume is increased, in turn avoids phenomena such as unstable caused by finger concentrates the center of gravity generated higher.
3 periphery of housing is equipped with proximity sensor, and the proximity sensor connects control system.Proximity sensor is used for
Avoidance.
The wheel 2 is Mecanum wheel group.External force suffered by Mecanum wheel includes two parts：It is from ground respectively
Active force and from car body active force.Wherein the active force from car body include itself reaction of bearing and motor generate etc.
Imitate driving moment etc..No rotating speed can be obtained come regulations speed by changing rotating speed by gear, so as to change the movement of AGV speed
Degree.Four independent motors control the rotation direction of four Mecanum wheels respectively, it can be achieved that trolley is comprehensive convenient, flexible
Motor function.This mechanism has compared with common steering mechanism can be in smaller steering space, and more flexible realization moves ahead,
Traversing, diagonal, rotation and combinations thereof waits motion modes, is suitable for that space is limited, works, carrying under the narrow environment of operation path
There is significant effect in terms of the space availability ratio of high workplace and reduction human cost.
The motor a4.11, motor b4.12, motor c4.13 are direct current generator, and are connected and controlled by control system.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and modification, these improvements and modifications can also be made
Also it should be regarded as protection scope of the present invention.
Claims (2)
1. a kind of manipulator for automatic guided vehicle, which is characterized in that including, the pedestal (4.1) being installed on housing (3),
Revolving platform (4.2) rotation connection pedestal (4.1), revolving platform (4.2) connection large arm (4.3), large arm accessory (4.5) rotation connection are big
Arm (4.3), connecting rod (4.6) both ends are rotatablely connected connecting rod accessory (4.4) and large arm accessory (4.5) in large arm (4.3) respectively, small
Arm (4.7) is installed on large arm accessory (4.5), and motor b (4.12), motor b (4.12) are equipped on the large arm accessory (4.5)
Connection driving forearm (4.7) is rotated around the longitudinal center line of forearm (4.7), and forearm (4.7) end is equipped with forearm accessory
(4.8), mechanical wrist part (4.9) is rotatablely connected the forearm accessory (4.8), and hand claw (4.10) is installed on mechanical wrist part
(4.9) on；
The revolving platform (4.2) is equipped with the motor a (4.11) that it is driven to be rotated around pedestal (4.1)；
The connecting rod accessory (4.4) is built-in with brushless motor, and one end of the brushless motor connection drive link (4.6) is around connecting rod
Accessory (4.4) rotates, and the other end of the connecting rod (4.6) pushes large arm accessory (4.5) to be rotated around large arm (4.3) end, large arm
Accessory (4.5) drives forearm (4.7) to be swung around large arm (4.3) end；
The mechanical wrist part (4.9) is equipped with motor c (4.13), and motor c (4.13) the driving manipulator wrist (4.9) is around small
Arm accessory (4.8) rotates, and mechanical wrist part (4.9) drives hand claw (4.10) to be swung around forearm accessory (4.8).
2. the manipulator according to claim 1 for automatic guided vehicle, which is characterized in that the motor a (4.11), electricity
Machine b (4.12), motor c (4.13) are direct current generator, and are connected and controlled by control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711358035.2A CN108147111A (en) | 2017-07-27 | 2017-07-27 | A kind of manipulator for automatic guided vehicle |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711358035.2A CN108147111A (en) | 2017-07-27 | 2017-07-27 | A kind of manipulator for automatic guided vehicle |
| CN201710624609.XA CN107444902A (en) | 2017-07-27 | 2017-07-27 | A kind of automatic guided vehicle with automatic crawl function |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710624609.XA Division CN107444902A (en) | 2017-07-27 | 2017-07-27 | A kind of automatic guided vehicle with automatic crawl function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108147111A true CN108147111A (en) | 2018-06-12 |
Family
ID=60489190
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711358035.2A Pending CN108147111A (en) | 2017-07-27 | 2017-07-27 | A kind of manipulator for automatic guided vehicle |
| CN201710624609.XA Pending CN107444902A (en) | 2017-07-27 | 2017-07-27 | A kind of automatic guided vehicle with automatic crawl function |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710624609.XA Pending CN107444902A (en) | 2017-07-27 | 2017-07-27 | A kind of automatic guided vehicle with automatic crawl function |
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| Country | Link |
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| CN (2) | CN108147111A (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108214487B (en) * | 2017-12-16 | 2021-07-20 | 广西电网有限责任公司电力科学研究院 | Robot target positioning and grabbing method based on binocular vision and laser radar |
| CN108327815B (en) * | 2018-02-08 | 2020-06-12 | 广西大学 | Unmanned fortune material carrier of mill based on visual control |
| CN109267773A (en) * | 2018-09-25 | 2019-01-25 | 武汉理工大学 | A kind of removable exhibition center and its building method based on AGV and machine person cooperative work |
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| DE19918272A1 (en) * | 1999-04-22 | 2000-10-26 | Abb Patent Gmbh | Industrial robot axial movement device, with rail system and head on pivoted arm to grip fixed point |
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| JP4735955B2 (en) * | 2005-06-09 | 2011-07-27 | 独立行政法人産業技術総合研究所 | Article classification storage system and manipulation system |
| CN202864188U (en) * | 2012-09-20 | 2013-04-10 | 上海精星仓储设备工程有限公司 | Stretching and forking type rail guided vehicle (RGV) applied to stereoscopic warehouse |
| CN205219095U (en) * | 2015-11-03 | 2016-05-11 | 汕头大学 | Intelligent movement platform of multi freedom arm |
| CN205327217U (en) * | 2015-12-30 | 2016-06-22 | 天津木牛流马科技发展有限公司 | Wheel leg formula service robot |
| CN105479433B (en) * | 2016-01-04 | 2017-06-23 | 江苏科技大学 | A kind of Mecanum wheel Omni-mobile transfer robot |
| CN105947662B (en) * | 2016-07-10 | 2017-12-29 | 柴永朋 | Multipurpose self-checking formula hacking machine |
| CN206985135U (en) * | 2017-07-27 | 2018-02-09 | 大连大学 | A kind of automatic guided vehicle with automatic crawl function |
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2017
- 2017-07-27 CN CN201711358035.2A patent/CN108147111A/en active Pending
- 2017-07-27 CN CN201710624609.XA patent/CN107444902A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19918272A1 (en) * | 1999-04-22 | 2000-10-26 | Abb Patent Gmbh | Industrial robot axial movement device, with rail system and head on pivoted arm to grip fixed point |
| CN204366948U (en) * | 2014-12-11 | 2015-06-03 | 安徽华创智能装备有限公司 | Articulated type series connection robot palletizer |
| CN204673603U (en) * | 2015-05-18 | 2015-09-30 | 安徽新境界自动化技术有限公司 | The mobile robot that a kind of view-based access control model identification is drawn |
| CN106217362A (en) * | 2016-08-30 | 2016-12-14 | 四川大友机器人有限公司 | Heavy piling transfer robot |
| CN206344142U (en) * | 2016-12-27 | 2017-07-21 | 广东半岛集团有限公司 | A kind of light-duty multi-axis robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107444902A (en) | 2017-12-08 |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180612 |