CN203937526U - The 8 degree-of-freedom manipulator systems on AGV chassis - Google Patents
The 8 degree-of-freedom manipulator systems on AGV chassis Download PDFInfo
- Publication number
- CN203937526U CN203937526U CN201420401506.9U CN201420401506U CN203937526U CN 203937526 U CN203937526 U CN 203937526U CN 201420401506 U CN201420401506 U CN 201420401506U CN 203937526 U CN203937526 U CN 203937526U
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- 238000003860 storage Methods 0.000 claims abstract description 16
- 239000012636 effector Substances 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims abstract description 5
- 238000007600 charging Methods 0.000 claims description 12
- 229910052744 lithium Inorganic materials 0.000 claims description 5
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses the 8 degree-of-freedom manipulator systems on a kind of AGV chassis, comprise six shaft mechanical arm systems and wheeled AGV carrier car; Six shaft mechanical arm systems comprise standard six shaft mechanical arm and end effector mechanisms; Wheeled AGV carrier car comprises car body, headstock and wheel; The upper end of car body is provided with standard six shaft mechanical arms; On the side of one side of car body, be provided with an infrared distance sensor; The end face left side of headstock is provided with storage battery, on the end face of storage battery, is provided with the annunciator of advancing; On the right side end face of headstock end face, be provided with control panel, the below of control panel is provided with wireless transport module; On headstock end face, on control panel and the position of advancing between annunciator, be provided with camera The Cloud Terrace; On the front end face of headstock, be provided with an obstacle sensor; On the left surface of headstock, be provided with charger.The 8 degree-of-freedom manipulator systems on AGV of the present utility model chassis, have the handling labor that can break away from traditional walking machine arm for the dependence of track, reduce walking machine arm, have saved floor area, path arranges simple and flexible, low cost and other advantages.
Description
Technical field
The utility model relates to a kind of mechanical arm, the 8 degree-of-freedom manipulator systems on especially a kind of AGV (Automated Guided Vehicle, automatical pilot transportation vehicle) chassis.
Background technology
At present, industrial robot has been widely used in the fields such as automobile and auto parts and components manufacture, mechanical processing industry, electric industry, rubber and plastics industry, food industry, timber and furniture manufacturing industry.In commercial production, the industrial robots such as arc welding robot, spot welding robot, assembly robot, spraying robot and transfer robot are all adopted in a large number.The walking machine arm generally using is at present used track to realize more, because track is had relatively high expectations to working environment, use is very restricted.
Utility model content
The utility model is the weak point existing in above-mentioned prior art for avoiding, and the 8 degree-of-freedom manipulator systems on a kind of AGV chassis are provided, and too relies on the problem of track to solve traditional walking machine arm.
The utility model be technical solution problem by the following technical solutions.
The 8 degree-of-freedom manipulator systems on AGV chassis, its constructional feature is to comprise six shaft mechanical arm systems and wheeled AGV carrier car; Described six shaft mechanical arm systems comprise standard six shaft mechanical arm and end effector mechanisms; Described wheeled AGV carrier car comprises car body, headstock and wheel;
The upper end of described car body is provided with described standard six shaft mechanical arms; On the side of the both sides of described car body, be respectively respectively arranged with one or two infrared distance sensor; The end face left side of described headstock is provided with a storage battery, is provided with the annunciator of advancing on the end face of described storage battery; On the right side end face of described headstock end face, be provided with control panel, the below of described control panel is provided with wireless transport module; On described headstock end face, described control panel and described in be provided with on the position of advancing between annunciator one can upper and lower 120 degree, the camera The Cloud Terrace of left-right rotary three-sixth turn campaign; On described camera The Cloud Terrace, be arranged at one for obtaining the camera of the surrounding environment image of wheeled AGV carrier car;
On the front end face of described headstock, be provided with an obstacle sensor; On the left surface of described headstock, be provided with a charger that is used to described battery charge.
The constructional feature of the 8 degree-of-freedom manipulator systems on AGV of the present utility model chassis is also:
Described storage battery is lithium cell.
Described charger is Pop-up structure; When needs charge, wheeled AGV carrier car moves to charge position, and the plug of charger docks with charging inlet after ejecting, thereby is battery charge.
Compared with the prior art, the utility model beneficial effect is embodied in:
The 8 degree-of-freedom manipulator systems on AGV of the present utility model chassis, compare with traditional walking machine arm, have following significant advantage:
1, broken away from traditional walking machine arm for the dependence of track, utilized largely the alerting ability of wheel undercarriage, this not only significantly reduces the handling labor of walking machine arm, has more saved floor area.
2, improved the limitation of traditional AGV, magnetic inductive AGV is difficult in maintenance, is easily disturbed; Laser induced formula AGV is with high costs, and position calculation is complicated.System has adopted vision guide formula AGV chassis, and not only path arranges simply, and flexibly, cost is low, is more conducive to outdoor setting.
3, system has adopted integrated technology, makes mechanical arm system no longer be limited by the constraint of circuit, better adapts to various complex environments.
The 8 degree-of-freedom manipulator systems on AGV of the present utility model chassis, have the handling labor that can break away from traditional walking machine arm for the dependence of track, reduce walking machine arm, have saved floor area, path arranges simple and flexible, low cost and other advantages.
Accompanying drawing explanation
Fig. 1 is the block diagram of the 8 degree-of-freedom manipulator systems on AGV of the present utility model chassis.
Fig. 2 is the lateral plan of the 8 degree-of-freedom manipulator systems on AGV of the present utility model chassis.
Label in accompanying drawing 1-2: 1 six shaft mechanical arm systems, 101 standard six shaft mechanical arms, 102 end effector mechanisms, 2 wheeled AGV carrier cars, 201 car bodies, 202 headstocks, 203 wheels, 3 infrared distance sensors, 4 storage batterys, 5 annunciators of advancing, 6 control panels, 7 camera The Cloud Terraces, 8 cameras, 9 obstacle sensors, 10 chargers.
Below pass through the specific embodiment, and the utility model is described in further detail by reference to the accompanying drawings.
The specific embodiment
Referring to Fig. 1 and Fig. 2, the 8 degree-of-freedom manipulator systems on AGV chassis, comprise six shaft mechanical arm systems 1 and wheeled AGV carrier car 2; Described six shaft mechanical arm systems comprise standard six shaft mechanical arms 101 and end effector mechanism 102; Described wheeled AGV carrier car 2 comprises car body 201, headstock 202 and wheel 203;
The upper end of described car body 201 is provided with described standard six shaft mechanical arms 101; On the side of the both sides of described car body 201, be respectively respectively arranged with one or two infrared distance sensor 3; The end face left side of described headstock 202 is provided with a storage battery 4, is provided with the annunciator 5 of advancing on the end face of described storage battery 4; On the right side end face of described headstock 202 end faces, be provided with control panel 6, the below of described control panel 6 is provided with wireless transport module; On described headstock 202 end faces, described control panel 6 and described in be provided with on the position of advancing between annunciator 5 one can upper and lower 120 degree, the camera The Cloud Terrace 7 of left-right rotary three-sixth turn campaign; On described camera The Cloud Terrace 7, be arranged at one for obtaining the camera 8 of the surrounding environment image of wheeled AGV carrier car 2;
On the front end face of described headstock 202, be provided with an obstacle sensor 9; On the left surface of described headstock 202, be provided with a charger 10 that is used to described storage battery 4 chargings.
Described storage battery 4 is lithium cell.
Described charger 10 is Pop-up structure; When needs charge, wheeled AGV carrier car 2 moves to charge position, and the plug of charger 10 docks with charging inlet after ejecting, thereby is storage battery 4 chargings.
Described infrared distance sensor, standard six shaft mechanical arms, the annunciator of advancing, wireless transport module, control panel, camera The Cloud Terrace, obstacle sensor, charger etc. obtain the environmental aspect around car body, and then control the action of car body.
8 degree-of-freedom manipulator systems of the present utility model, adopt wheeled AGV carrier car as AGV chassis; What AGV system adopted is vision line walking navigation mode, has avoided traditional navigation moment ground to keep very little spacing, causes the problem of cross country power deficiency.Camera The Cloud Terrace can upper and lower 120 °, the rotation of 330 ° of left and right, has greatly improved the real-time capturing ability of camera.Obstacle sensor can be tackled emergency situations, makes AGV carrier car have certain safety traffic distance, can realize temporary term stop or the function such as path planning again.Charger adopts Pop-up structure, comprise one can automatic spring and the charging plug of recovery.When AGV carrier car moves to fixing position, charger automatic spring charging plug, docks with power interface, is lithium cell charging.Lithium cell has that capacity is large, the advantage such as fast of charging.The annunciator bright light when wheeled AGV carrier car advances of advancing is closed when wheeled AGV carrier car stops.
The 8 degree-of-freedom manipulator systems on AGV of the present utility model chassis, on the basis of traditional six shaft mechanical arms, increased AGV carrier car, under the guiding of high-precision sensor localization system, the operating range of six shaft mechanical arms increases greatly, thereby has realized the use of mechanical arm maximal efficiency.
Wheeled AGV carrier car can be realized high precision free motion, is movable to different stations, and six shaft mechanical arms, according to different station, complete different actions, thereby realizes the maximization of equipment service efficiency.
Camera The Cloud Terrace is installed on wheeled AGV carrier car, and camera The Cloud Terrace can be realized upper and lower 120 degree, and left-right rotary three-sixth turn campaign, possesses vision line walking and take pictures, camera function.
Wheeled AGV carrier car is each side equipped with 2 infrared distance sensors, in carrier car traveling process, according to the signal of infrared distance sensor feedback, proofreaies and correct the deviation that may occur in vision line walking process.
Wheeled AGV carrier car and six shaft mechanical arms are same uses a set of power-supply system, thereby makes the maneuvering performance of mechanical arm obtain maximum lift.
AGV carrier car of the present utility model uses vision line walking navigation mode, and each station posts figure denote, when system runs to station marked position, and enable position fine setting pattern.4 infrared distance sensors detect distance, and the concurrent detection signal that send is controlled servomotor according to detection signal simultaneously, and 4 servomotor differential movement of carrier car, until car body and station are consistent.Start mechanical arm system, calling program, carries out regulation work.Work completes, and system will move to next station, work on.After all working completes, system will be got back to fixed position, wait for next instruction.If system battery electric weight less than 10, system will run to charge position, automatic charging automatically.
Embodiment recited above is described preferred implementation of the present utility model, not design of the present utility model and scope is limited.Do not departing under the prerequisite of the utility model design concept; various modification and improvement that this area ordinary person makes the technical solution of the utility model; all should drop into protection domain of the present utility model; the technology contents that the utility model is asked for protection, is all documented in claims.
Claims (3)
- The 8 degree-of-freedom manipulator systems on 1.AGV chassis, is characterized in that, comprise six shaft mechanical arm systems (1) and wheeled AGV carrier car (2); Described six shaft mechanical arm systems comprise standard six shaft mechanical arms (101) and end effector mechanism (102); Described wheeled AGV carrier car (2) comprises car body (201), headstock (202) and wheel (203);The upper end of described car body (201) is provided with described standard six shaft mechanical arms (101); On the side of the both sides of described car body (201), be respectively respectively arranged with two infrared distance sensors (3); The end face left side of described headstock (202) is provided with a storage battery (4), is provided with the annunciator of advancing (5) on the end face of described storage battery (4); On the right side end face of described headstock (202) end face, be provided with control panel (6), the below of described control panel (6) is provided with wireless transport module; On described headstock (202) end face, described control panel (6) and described in be provided with on the position of advancing between annunciator (5) one can upper and lower 120 degree, the camera The Cloud Terrace (7) of left-right rotary three-sixth turn campaign; On described camera The Cloud Terrace (7), be arranged at one for obtaining the camera (8) of the surrounding environment image of wheeled AGV carrier car (2);On the front end face of described headstock (202), be provided with an obstacle sensor (9); On the left surface of described headstock (202), be provided with a charger (10) that is used to described storage battery (4) charging.
- 2. the 8 degree-of-freedom manipulator systems on AGV according to claim 1 chassis, is characterized in that, described storage battery (4) is lithium cell.
- 3. the 8 degree-of-freedom manipulator systems on AGV according to claim 1 chassis, is characterized in that, described charger (10) is Pop-up structure; When needs charge, wheeled AGV carrier car (2) moves to charge position, and the plug of charger (10) docks with charging inlet after ejecting, thereby is storage battery (4) charging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420401506.9U CN203937526U (en) | 2014-07-18 | 2014-07-18 | The 8 degree-of-freedom manipulator systems on AGV chassis |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420401506.9U CN203937526U (en) | 2014-07-18 | 2014-07-18 | The 8 degree-of-freedom manipulator systems on AGV chassis |
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| CN203937526U true CN203937526U (en) | 2014-11-12 |
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| CN201420401506.9U Expired - Fee Related CN203937526U (en) | 2014-07-18 | 2014-07-18 | The 8 degree-of-freedom manipulator systems on AGV chassis |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016097542A1 (en) * | 2014-12-17 | 2016-06-23 | Supratec | Handling system, manipulator that can be used in such a system, and workshop equipped with same |
| CN106625669A (en) * | 2016-12-23 | 2017-05-10 | 广州市科腾智能装备股份有限公司 | All-directional moving visual robot system |
| CN106826784A (en) * | 2017-01-04 | 2017-06-13 | 芜湖德力自动化装备科技有限公司 | A kind of mobile processing platform |
| CN107030716A (en) * | 2017-06-13 | 2017-08-11 | 吉林风云图灵机器人制造有限公司 | A kind of new energy vehicle-mounted removable paint-spray robot system |
| WO2018033426A1 (en) * | 2016-08-18 | 2018-02-22 | Autostore Technology AS | Single cell robot with control unit |
| CN111069669A (en) * | 2019-12-31 | 2020-04-28 | 无锡恒久安泰智能制造有限公司 | Omnidirectional self-moving type flexible multifunctional numerical control milling special machine |
| CN112643672A (en) * | 2020-12-11 | 2021-04-13 | 安徽机电职业技术学院 | Intelligent tracking industrial robot base |
-
2014
- 2014-07-18 CN CN201420401506.9U patent/CN203937526U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016097542A1 (en) * | 2014-12-17 | 2016-06-23 | Supratec | Handling system, manipulator that can be used in such a system, and workshop equipped with same |
| FR3030334A1 (en) * | 2014-12-17 | 2016-06-24 | Supratec | HANDLING SYSTEM, MANIPULATOR USABLE IN SUCH A SYSTEM AND WORKSHOP THUS EQUIPPED. |
| WO2018033426A1 (en) * | 2016-08-18 | 2018-02-22 | Autostore Technology AS | Single cell robot with control unit |
| CN106625669A (en) * | 2016-12-23 | 2017-05-10 | 广州市科腾智能装备股份有限公司 | All-directional moving visual robot system |
| CN106826784A (en) * | 2017-01-04 | 2017-06-13 | 芜湖德力自动化装备科技有限公司 | A kind of mobile processing platform |
| CN107030716A (en) * | 2017-06-13 | 2017-08-11 | 吉林风云图灵机器人制造有限公司 | A kind of new energy vehicle-mounted removable paint-spray robot system |
| CN111069669A (en) * | 2019-12-31 | 2020-04-28 | 无锡恒久安泰智能制造有限公司 | Omnidirectional self-moving type flexible multifunctional numerical control milling special machine |
| CN112643672A (en) * | 2020-12-11 | 2021-04-13 | 安徽机电职业技术学院 | Intelligent tracking industrial robot base |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141112 Termination date: 20170718 |
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| CF01 | Termination of patent right due to non-payment of annual fee |