The invention discloses a pickup manipulator based on an AGV. The pickup manipulator comprises the AGV; a controller is arranged on the AGV; a lifting mechanism and a storage rack are arranged on theAGV; a multi-axis mechanical arm is arranged on the lifting mechanism; a clamping mechanism is arranged on the multi-axis mechanical arm; a horizontal sliding mechanism fixed to the AGV is arranged atthe lower end of the storage rack; the horizontal sliding mechanism is partially located on a rotating path of the multi-axis mechanical arm; the clamping mechanism is matched with the storage rack;the clamping mechanism comprises an installation frame fixed to the multi-axis mechanical arm; an image acquisition unit, an electric cylinder and a supporting plate are arranged on the installation frame; a first sliding block and a second sliding block are arranged on the electric cylinder in parallel; clamping plates are installed on the first sliding block and the second sliding block respectively; the supporting plate is arranged between the two clamping plates and located below the clamping plates; and the first sliding block and the second sliding block slide oppositely, so that the twoclamping plates get close to each other or get away from each other. The pickup manipulator is controlled electrically, multi-directional displacement operation of the mechanical arm is achieved, andthe flexibility is relatively high.
本发明公开了基于AGV小车的取件机械手,包括AGV小车,AGV小车上设有控制器,AGV小车上设有升降机构和存放架,升降机构上设有多轴机械臂,多轴机械臂上设有夹持机构,存放架的下端设有固定在AGV小车上的水平滑动机构,水平滑动机构部分位于多轴机械臂的转动路径上,夹持机构与存放架相配合设置;夹持机构包括固定在多轴机械臂上的安装架,安装架上设有图像采集单元、电缸及托板,电缸上设有平行设置的第一滑块、第二滑块,第一滑块、第二滑块上分别安装有夹板,托板设置于两夹板之间并位于夹板下方,第一滑块与第二滑块保持相向滑动使得两夹板相互靠近或远离。电力控制取件机械手,实现机械臂多方位的位移操作,灵活性较高。
Pickup manipulator based on AGV and control method of pickup manipulator
一种基于AGV小车的取件机械手及其控制方法
2020-12-25
Patent
Electronic Resource
Chinese
IPC: | B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / B25J Manipulatoren , MANIPULATORS |
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