CN209258287U - Using AGV as the fixture automatic clearing apparatus of delivery vehicle - Google Patents
Using AGV as the fixture automatic clearing apparatus of delivery vehicle Download PDFInfo
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- CN209258287U CN209258287U CN201821668880.XU CN201821668880U CN209258287U CN 209258287 U CN209258287 U CN 209258287U CN 201821668880 U CN201821668880 U CN 201821668880U CN 209258287 U CN209258287 U CN 209258287U
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- agv
- fixture
- delivery vehicle
- clearing apparatus
- automatic clearing
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Abstract
The utility model provides a kind of using AGV as the fixture automatic clearing apparatus of delivery vehicle, comprising: AGV；Control mechanism, control mechanism are arranged on AGV；Displacement mechanism, displacement mechanism are arranged on AGV, and displacement mechanism is communicated with control mechanism；Support construction, support construction are arranged on displacement mechanism, and support construction is communicated with control mechanism；Positioning mechanism, positioning mechanism are arranged on the support structure, and positioning mechanism is communicated with control mechanism.Compared with prior art, the utility model has the advantage that the full-automatic exchange of fixture may be implemented in the utility model, using navigator fix, the positioning of zero point system, hole pin location fit, fixture Zero-point positioning system Real-time Feedback location error makes numerical control unit centering position to control system, positioning accuracy height, high degree of automation, efficiency can be improved, use manpower and material resources sparingly.AGV trolley can walk about in workshop, transfer when needing, and do not need to call away, realize the peak use rate of equipment.
Description
Technical field
The utility model relates to automatic industrial manufacturing line fields, and in particular, to product clamper is automatic when Flexible production
The field of accurate installation replacement, it is especially a kind of using AGV as the fixture automatic clearing apparatus of delivery vehicle.
Background technique
With the continuous intensification of China's industrialization degree, the manufacture of product is toward precise treatment, high efficiency, intelligent development.Tool
Standby high-precision, flexibility, the numerically-controlled machine tool of high speed processing characteristic and the three-coordinates measuring machine for the detection of part processing quality
It is used extensively in manufacturing industry.Numerically-controlled machine tool preferably solves complicated, accurate, small mount, multi items part processing problems,
Three-coordinates measuring machine is suitble to the measurement of the various features of various patterns part, but the part of different pattern in numerically-controlled machine tool or
Fixation is needed using different fixtures on three-coordinates measuring machine, therefore works as the part or three-dimensional coordinates measurement to be processed of numerically-controlled machine tool
When the part that instrument to be detected changes, the fixture of renewal part first is needed.This relates to the taking-up and sheet of last work piece holder
The installation question of a part, that is, fixture are exchangeed problem.
The fixation original part and positioning datum that fixture is processed and measured as part are accurately processed part and are accurately measured
It is of great significance.
Currently, exchangeing problem to solve fixture, factory mainly using artificial replacement, hangs away fixture with truss and puts library into
In, then fetch new fixture and put chucking position into.This mode is very time-consuming and laborious, and when degree of regulation needs to spend a large amount of
Between.Another mode is to increase pallet exchange device in equipment, and this pallet exchange device will be fixed on relevant device,
Device chooses to install after completion of processing, exchanges machined part and workpiece to be added.This mode considerably increases the volume of equipment, and every
One equipment will possess a switch, not only increase cost, and using inconvenient.Present plant produced
Line is devoted to realize unmanned, automation and intelligent development, goes replacement fixture certainly will be unbecoming with such trend by manpower.
Utility model content
For the defects in the prior art, the utility model aim be to provide a kind of automation using AGV as fortune
The fixture automatic clearing apparatus of load tool.
In order to solve the above technical problems, the utility model is provided and a kind of is handed over automatically using AGV as the fixture of delivery vehicle
Changing device, comprising: AGV；Control mechanism, the control mechanism are arranged on the AGV；Displacement mechanism, institute's displacement mechanism are set
It sets on the AGV, institute's displacement mechanism is communicated with the control mechanism；Support construction, the support construction are arranged described
On displacement mechanism, the support construction is communicated with the control mechanism；Positioning mechanism, the positioning mechanism are arranged in the support
In structure, the positioning mechanism is communicated with the control mechanism.
Preferably, the support construction includes: B axle rotating member, and the B axle rotating member is rotatably connected on institute's displacement mechanism
On；A axis swing component, the A axis swing component are rotatably connected on the B axle rotating member；Supporting element, the supporting element along with it is described
The connection of A axis swing component.
Preferably, the positioning mechanism is vision positioning mechanism.
Preferably, motor leadscrew-nut mechanism, the motor leadscrew-nut mechanism and institute are equipped on the A axis swing component
State control mechanism communication.
Preferably, angled sensors are equipped on the A axis swing component, the angled sensors and the control mechanism are logical
Letter.
Preferably, the A axis swing component is that flexibility takes object plate.
Preferably, institute's displacement mechanism includes: back-and-forth motion bracket, and the back-and-forth motion bracket is by being moved forward and backward driving
Part is connected on the AGV；Mobile unit, the mobile unit are slidably arranged in along the y axis on the back-and-forth motion bracket；
The B axle rotating member is rotatably connected in the mobile unit.
Preferably, the mobile unit includes: to move up and down support, it is described move up and down support and slide along the y axis set
It sets on the back-and-forth motion bracket；Bracket is moved left and right, the bracket that moves left and right is slidably arranged on described along the x axis
On lower mobile support saddle；It is moved forward and backward plate, the back-and-forth motion plate is slidably arranged in described move left and right on bracket along Z-direction；
The B axle rotating member is rotatably connected on the back-and-forth motion plate.
Preferably, laser safety mechanism is equipped on the AGV, the laser safety mechanism and the control mechanism are logical
Letter.
Preferably, the control mechanism is vehicle mounted guidance and numerical control unit controlling electronic devices.
Compared with prior art, the utility model has the advantage that
1) the full-automatic exchange of fixture may be implemented in the utility model, and efficiency can be improved in high degree of automation, saves people
Power material resources；
2) navigator fix is used, realizes and is accurately positioned；
3) Zero-point positioning system and hole pin location fit, fixture Zero-point positioning system Real-time Feedback location error give control system
System makes numerical control unit centering position, and positioning accuracy height, high degree of automation can be improved efficiency, use manpower and material resources sparingly；
4) AGV can be able to achieve one-to-many fixture exchange, each set without giving back and forth at the processing stand of each process
It is standby that corresponding switch is all installed, cost can be reduced；
5) AGV can walk about in workshop, transfer when needing, and do not need to call away, realize the peak use rate of equipment.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model
Sign objects and advantages will become more apparent upon.
Fig. 1 is the utility model using AGV as the fixture automatic clearing apparatus structural schematic diagram of delivery vehicle；
Fig. 2 is the utility model using AGV as the fixture automatic clearing apparatus structure front view of delivery vehicle；
Fig. 3 is the utility model using AGV as the fixture automatic clearing apparatus structure top view of delivery vehicle.
In figure:
1-AGV 2- is moved forward and backward oil cylinder 3- vehicle mounted guidance and numerical control unit controlling electronic devices
4- back-and-forth motion bracket 5- moves up and down support 6- and moves left and right bracket
7- positioning mechanism 8-A axis swing component 9- angled sensors
10- motor leadscrew-nut mechanism 11-B axis rotating member 12- is moved forward and backward plate
13- guide rail slide block mechanism 14- moves up and down oil cylinder 15- laser safety mechanism
16- supporting element
Specific embodiment
The utility model is described in detail combined with specific embodiments below.Following embodiment will be helpful to this field
Technical staff further understands the utility model, but does not limit the utility model in any form.It should be pointed out that ability
For the those of ordinary skill in domain, without departing from the concept of the premise utility, several variations can also be made and changed.
As shown in FIG. 1 to 3, the utility model is using AGV as the fixture automatic clearing apparatus of delivery vehicle, including
AGV1, oil cylinder 2, vehicle mounted guidance and numerical control unit controlling electronic devices 3 are moved forward and backward, fork truck back-and-forth motion bracket 4, is moved up and down
Support 5 moves left and right bracket 6 (X-axis left/right movement device), positioning mechanism 7 (Zero calibration system), (flexibility of A axis swing component 8
Take object plate), angled sensors 9, motor leadscrew-nut mechanism 10, B axle rotating member 11, be moved forward and backward plate 12, guide rail slide block mechanism
13, oil cylinder 14, laser safety mechanism 15 and supporting element 16 are moved up and down.
Navigation system can be a variety of navigation modes such as laser navigation, magnetic navigation, optical guidance, inertial navigation.
Base position of the fixture adjusted with purely mechanic mode in equipment, by the zero point as each numerical control axis,
The position of AGV1 and the position of each mechanism are also their datum mark at this time, and electronic control system records above-mentioned all datum marks
Information is also by the position reference point as subsequent exchange.
Vehicle mounted guidance and numerical control unit controlling electronic devices 3 can install equipment with fixture and carry out information exchange, when there is folder
When having replacement demand, fixture installs equipment and issues replacement fixture instruction, and mes system, which receives, to be instructed and AGV1 fork truck is ordered to carry folder
Before tool navigates to fixture installation equipment；Vehicle mounted guidance and numerical control unit controlling electronic devices 3 issue exchange fixture instruction, such as fixture
ER equipment ready is installed, replacement is agreed to, then replaces progress.
Two movements along shifting axle of support construction are driven by servo motor, servo motor by gear drive reduction of speed,
Rotary motion is switched to move along a straight line by rack pinion, and guide rail slide block is equipped between moving parts and remaining module, is guaranteed
The stationarity of movement and the high-precision of transmitting.
B axle rotating member 11 is driven by servo motor in support construction；A axis swing component 8 (flexibility takes object plate) is by servo motor
Driving is equipped with motor leadscrew-nut mechanism 10 on motor, and nut is fixed on A axis swing component 8 (flexibility takes object plate), realize by
The swing for switching to fixture supporting mechanism of motor.
Clamp positioning mechanism 7 (Zero calibration system) has two dimensional code or image identification function.In fork truck bracket upper and lower
When back-and-forth motion bracket 4 and support construction being made to be advanced to approximate location under the promotion of Shift cylinder 14, (the zero point mark of positioning mechanism 7
Determine system) position deviation of fixture can be determined in real time.
Vehicle mounted guidance and numerical control unit controlling electronic devices 3 can be with fixture Zero calibration systems to clamp positioning mechanism 7
The position deviation data that (Zero calibration system) is passed back in real time carries out processing operation, then controls four radical control axis and make corresponding position
The mobile reposition for realizing fixture.
It moves up and down oil cylinder 14 and can control and move up and down support 5 and risen or fallen with chucking appliance system.
There is dowel hole on clamp body, it can be with the thick guiding on socket substrate under the movement for moving up and down oil cylinder 14
Detent fit.
Angled sensors 9 are able to detect that the angle of supporting mechanism and horizontal plane, the A axis swing component 8 of support construction have one
Fixed flexibility, when support construction is guided with the thick guide positioning pin in equipment, inclination angle is transmitted to vehicle-mounted by angled sensors 9
Electronic equipment, the A axis by controlling servo motor swing, correct its position, cooperate fine positioning hole pin, then proceed to lower landing
On to pedestal or take fixture away.
Working principle of the utility model is: adjusting elaborate position of the fixture in equipment with purely mechanic mode first, it is used in combination
Positioning mechanism 7 (Zero calibration system) writes down base position of this position as fixture, also the zero point as each numerical control axis, this
When AGV1 position and the position of each structure be also their datum mark, vehicle mounted guidance and numerical control unit controlling electronic devices 3 are remembered
Record position reference point of the above-mentioned all benchmark informations as subsequent exchange.When there is clamp-replacing demand, fixture installation is set
Preparation go out replace fixture instruction, mes system receive instruct and order AGV1 fork truck carry fixture navigate to fixture installation equipment before；
Vehicle mounted guidance and numerical control unit controlling electronic devices 3 issue exchange fixture instruction, if fixture installs ER equipment ready, agree to more
It changes, then replaces progress.When carrying out the exchange of strange land fixture, AGV1 fork truck is complete before the equipment of fixture to be replaced according to navigation system
At first positioning；Fork truck bracket makes displacement mechanism and fixture supporting mechanism be advanced to approximate location under the promotion of oil cylinder, then fixed
Position mechanism 7 (Zero calibration system) determine the position deviation of fixture and carry out processing operation with the control system of numerical control unit, then
It controls four radical control axis and makees the mobile reposition for realizing fixture in corresponding position；Then under the action of moving up and down oil cylinder 14
Make clamp-support structures raising and lowering, the positioning pin on supporting mechanism can slightly cooperate with the dowel hole on clamp body, folder
Thick guide positioning pin cooperation on dowel hole and socket substrate on tool；Angled sensors 9 be able to detect that supporting mechanism with
The angle of horizontal plane, supporting mechanism takes object plate to have certain flexibility, in supporting mechanism with the thick guide-localization in equipment
When pin guidance, inclination angle is transmitted to vehicle electronic device by angled sensors 9, and the A axis by controlling servo motor is swung, and corrects it
Position cooperates fine positioning hole pin, then proceedes to down drop on pedestal or take away fixture.The device takes fixture away from equipment
Movement and installs fixture it is essentially identical.But after navigation sector completes initial alignment, adjusting is needed to move up and down support 5
Upper and lower position, then fork truck be moved forward and backward bracket lean out；Then fixture Zero-point positioning system positions；Positioning on supporting mechanism
Hole cooperates with the pin on fixture from below.
When work, elaborate position of the fixture in equipment is adjusted with purely mechanic mode first；In subsequent exchange engineering, AGV1
Vehicle takes out fixture in library, initial fixed before fixture switching equipment along fixation locus completion according to laser safety mechanism 15
Position；Being moved forward and backward oil cylinder 2 pushes fork truck back-and-forth motion bracket 4 to move forward to specific position；Fixture Zero-point positioning system 7 passes through bat
Vehicle mounted guidance and numerical control unit controlling electronic devices 3 are passed to according to by the location information of two dimensional code or video identification code；It is vehicle-mounted to lead
Boat and numerical control unit controlling electronic devices 3 carry out processing operation according to position deviation, then control four radical control axis and make corresponding position
Set the mobile reposition for realizing fixture；Then it is moved up and down under the action of moving up and down oil cylinder 14；A axis swing component 8 is (soft
Property take object plate) on 16 fixing clamp of supporting element it is specific, positioning pin thereon can slightly cooperate with the dowel hole on clamp body, folder
Thick guide positioning pin cooperation on dowel hole and socket substrate on tool；Angled sensors 9 be able to detect that supporting mechanism with
The angle of horizontal plane, supporting mechanism takes object plate to have certain flexibility, in supporting mechanism with the thick guide-localization in equipment
When pin guidance, inclination angle is transmitted to vehicle electronic device by angled sensors 9, and the A axis by controlling servo motor is swung, and corrects it
Position cooperates fine positioning hole pin, then proceedes to down drop on pedestal or take away fixture；Vehicle is retracted.
The vehicle taken away from equipment fixture movement and installs fixture it is essentially identical.But completed just in navigation sector
Begin to need to adjust the upper and lower position for moving up and down support 5, then fork truck is moved forward and backward bracket 4 and leans out after positioning；Then fixture
Zero-point positioning system positioning；Location hole on supporting mechanism puts back to library from below with the pin cooperation on fixture to take fixture away
In.
Specific embodiment of the utility model is described above.It is to be appreciated that the utility model not office
It is limited to above-mentioned particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims,
This has no effect on the substantive content of the utility model.In the absence of conflict, the spy in embodiments herein and embodiment
Sign can be arbitrarily combined with each other.
Claims (10)
1. a kind of using AGV as the fixture automatic clearing apparatus of delivery vehicle characterized by comprising
AGV；
Control mechanism, the control mechanism are arranged on the AGV；
Displacement mechanism, institute's displacement mechanism are arranged on the AGV, and institute's displacement mechanism is communicated with the control mechanism；
Support construction, the support construction are arranged on institute's displacement mechanism, and the support construction is communicated with the control mechanism；
Positioning mechanism, the positioning mechanism are arranged in the support construction, and the positioning mechanism is communicated with the control mechanism.
2. according to claim 1 using AGV as the fixture automatic clearing apparatus of delivery vehicle, which is characterized in that institute
Stating support construction includes:
B axle rotating member, the B axle rotating member are rotatably connected on institute's displacement mechanism；
A axis swing component, the A axis swing component are rotatably connected on the B axle rotating member；
Supporting element, the supporting element edge are connect with the A axis swing component.
3. according to claim 1 using AGV as the fixture automatic clearing apparatus of delivery vehicle, which is characterized in that institute
Stating positioning mechanism is vision positioning mechanism.
4. according to claim 2 using AGV as the fixture automatic clearing apparatus of delivery vehicle, which is characterized in that
The A axis swing component is equipped with motor leadscrew-nut mechanism, and the motor leadscrew-nut mechanism is communicated with the control mechanism.
5. according to claim 2 using AGV as the fixture automatic clearing apparatus of delivery vehicle, which is characterized in that
The A axis swing component is equipped with angled sensors, and the angled sensors are communicated with the control mechanism.
6. using AGV as the fixture automatic clearing apparatus of delivery vehicle according to claim 2,4 or 5, feature exists
In the A axis swing component is that flexibility takes object plate.
7. according to claim 2 using AGV as the fixture automatic clearing apparatus of delivery vehicle, which is characterized in that institute
Displacement mechanism includes:
It is moved forward and backward bracket, the back-and-forth motion bracket is connected on the AGV by being moved forward and backward actuator；
Mobile unit, the mobile unit are slidably arranged in along the y axis on the back-and-forth motion bracket；
The B axle rotating member is rotatably connected in the mobile unit.
8. according to claim 7 using AGV as the fixture automatic clearing apparatus of delivery vehicle, which is characterized in that institute
Stating mobile unit includes:
Support is moved up and down, the support that moves up and down is slidably arranged in along the y axis on the back-and-forth motion bracket；
Bracket is moved left and right, the bracket that moves left and right is slidably arranged in described move up and down on support along the x axis；
It is moved forward and backward plate, the back-and-forth motion plate is slidably arranged in described move left and right on bracket along Z-direction；
The B axle rotating member is rotatably connected on the back-and-forth motion plate.
9. according to claim 1 using AGV as the fixture automatic clearing apparatus of delivery vehicle, which is characterized in that
The AGV is equipped with laser safety mechanism, and the laser safety mechanism is communicated with the control mechanism.
10. according to claim 1, using AGV as the fixture automatic clearing apparatus of delivery vehicle, feature described in 4,5 or 9
It is, the control mechanism is vehicle mounted guidance and numerical control unit controlling electronic devices.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821668880.XU CN209258287U (en) | 2018-10-15 | 2018-10-15 | Using AGV as the fixture automatic clearing apparatus of delivery vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821668880.XU CN209258287U (en) | 2018-10-15 | 2018-10-15 | Using AGV as the fixture automatic clearing apparatus of delivery vehicle |
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| Publication Number | Publication Date |
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| CN209258287U true CN209258287U (en) | 2019-08-16 |
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| CN201821668880.XU Active CN209258287U (en) | 2018-10-15 | 2018-10-15 | Using AGV as the fixture automatic clearing apparatus of delivery vehicle |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109204605A (en) * | 2018-10-15 | 2019-01-15 | 上海交大智邦科技有限公司 | Using AGV as the fixture automatic clearing apparatus of delivery vehicle |
| CN110481675A (en) * | 2019-09-18 | 2019-11-22 | 大连理工大学 | A kind of integrated form motor dolly |
| CN111413922A (en) * | 2020-03-24 | 2020-07-14 | 上海交大智邦科技有限公司 | Intelligent platform shifting device using AGV as carrier |
| CN111775131A (en) * | 2020-07-09 | 2020-10-16 | 合肥井松智能科技股份有限公司 | AGV vehicle-mounted manipulator |
| CN111942796A (en) * | 2020-08-21 | 2020-11-17 | 安徽晟东科技有限公司 | Intelligent robot is used in protection of food medicine warehouse |
| US20220063970A1 (en) * | 2020-08-25 | 2022-03-03 | Grupo Bimbo, S.A.B. De C.V. | Automatic guided vehicle (agv) |
-
2018
- 2018-10-15 CN CN201821668880.XU patent/CN209258287U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109204605A (en) * | 2018-10-15 | 2019-01-15 | 上海交大智邦科技有限公司 | Using AGV as the fixture automatic clearing apparatus of delivery vehicle |
| CN110481675A (en) * | 2019-09-18 | 2019-11-22 | 大连理工大学 | A kind of integrated form motor dolly |
| CN110481675B (en) * | 2019-09-18 | 2021-08-10 | 大连理工大学 | Integrated form automatic transportation car |
| CN111413922A (en) * | 2020-03-24 | 2020-07-14 | 上海交大智邦科技有限公司 | Intelligent platform shifting device using AGV as carrier |
| CN111413922B (en) * | 2020-03-24 | 2020-11-06 | 上海交大智邦科技有限公司 | Intelligent platform shifting device using AGV as carrier |
| CN111775131A (en) * | 2020-07-09 | 2020-10-16 | 合肥井松智能科技股份有限公司 | AGV vehicle-mounted manipulator |
| CN111942796A (en) * | 2020-08-21 | 2020-11-17 | 安徽晟东科技有限公司 | Intelligent robot is used in protection of food medicine warehouse |
| US20220063970A1 (en) * | 2020-08-25 | 2022-03-03 | Grupo Bimbo, S.A.B. De C.V. | Automatic guided vehicle (agv) |
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