A laser-guided mobile robot control system

Abstract

The present invention provides a laser-navigated mobile robot control system, comprising a vehicle body, a moving mechanism, a sensing mechanism, a conveying device and a control module; the vehicle body is provided with a cavity for placing materials, the vehicle body is provided with an opening on one side of the cavity, and the conveying device is arranged in the cavity; the moving mechanism is arranged at the bottom of the vehicle body; the control module is arranged on the vehicle body; the conveying device comprises a first conveying device and a second conveying device; the cavity comprises an upper support and a lower support; the first conveying device is installed on the upper support through a height adjustment component, and the second conveying device is installed on the lower support through a height adjustment component; the present invention has the advantages of accurate AGV movement, high silicon wafer transmission efficiency, and adjustable height of the conveying device.

Description

Technical Field

[0001] The present invention relates to the field of intelligent equipment, and in particular to a laser-guided mobile robot control system. Background Art

[0002] In the existing photovoltaic industry, the process of conveying silicon wafer baskets is completed by a single-layer conveyor belt device driven by a motor. When the baskets containing silicon wafers need to be conveyed to the inspection room, the conveyor belt rotates forward; when the inspectors take out the silicon wafers, they put the empty baskets back on the conveyor belt device, and the conveyor belt rotates backward to return the empty baskets to their original positions. However, although this type of conveyor belt device can meet basic usage needs, since it only relies on the forward and reverse rotation of the motor to achieve bidirectional transmission, its transmission efficiency is relatively low. When the production load is large and the silicon wafers are frequently inspected, it is easy for the baskets to fail to be returned in time and cause accumulation, which seriously restricts the overall production capacity of the product line.

[0003] In the production line, flower baskets are transported to different workstations through different conveyor belt devices. However, there are certain precision differences between the conveyor belt devices. The horizontal heights of different conveyor belt devices are not necessarily on the same horizontal line. The flower baskets are used to load silicon wafers, which are fragile. The horizontal height of the existing conveyor belt devices cannot be adjusted. When the flower basket moves between adjacent conveyor belt devices with different horizontal heights, the flower basket is easily impacted, which may cause damage to the silicon wafers. Summary of the invention

[0004] The present invention provides a laser-guided mobile robot control system. By utilizing the structure of the present invention, the AGV can move accurately, the silicon wafer transmission efficiency is high, and the height of the conveying device can be adjusted.

[0005] To achieve the above-mentioned purpose, the technical solution of the present invention is: a laser-navigated mobile robot control system, comprising a vehicle body, a moving mechanism, a sensing mechanism, a conveying device and a control module; a cavity for placing materials is provided in the vehicle body, an opening is provided on one side of the cavity, and the conveying device is arranged in the cavity; the moving mechanism is arranged at the bottom of the vehicle body; and the control module is arranged on the vehicle body.

[0006] The conveying device includes a first conveying device and a second conveying device; the cavity includes an upper support and a lower support; the first conveying device is installed on the upper support through a height adjustment component, and the second conveying device is installed on the lower support through a height adjustment component.

[0007] The height adjustment assembly includes a fixed seat and an adjustment device, and the adjustment device is movably arranged on the fixed seat; the adjustment device includes a moving part, a connecting part and an adjusting part; the connecting part is used to connect the first conveying device and the moving part, the second conveying device and the moving part; the moving part is movably arranged on the fixed seat; the moving part includes an adjustment hole; the adjusting part is threadedly connected to the adjustment hole, and the adjusting part is used to pass through the adjustment hole and contact the horizontal bracket; rotating the adjusting part changes the height position of the moving part on the adjusting part.

[0008] The sensing mechanism includes a first obstacle avoidance module arranged on the front side of the mobile mechanism, a second obstacle avoidance module arranged on the rear side of the mobile mechanism, a tag recognition module arranged on the bottom of the mobile mechanism and a laser radar arranged on the vehicle body; the tag recognition module is used to recognize tags arranged on the ground; with the above settings, during the movement of the AGV, the AGV can detect whether there is an obstacle in front of the AGV through the first obstacle avoidance module on the front side of the mobile mechanism; the AGV can also detect obstacles on the side of the AGV through the second obstacle avoidance module on the rear side of the vehicle body, and prevent the AGV from colliding with obstacles when the AGV is reversing; in addition, the AGV can also recognize the ground through the tag recognition module, thereby improving the driving accuracy of the AGV and the docking accuracy when the AGV picks and places materials, and can obtain the accurate position of the AGV in real time.

[0009] With the above arrangement, the vehicle body is moved by the moving mechanism, and the vehicle body sensing mechanism cooperates to accurately move to the predetermined position for charging or loading and unloading of goods; when it moves to the predetermined position, the flower basket is transported by setting the first conveying device and the second conveying device; the fixed seat is installed on the transverse bracket, and the first conveying device and the second conveying device are both installed on the fixed seat through the moving part; the horizontal height of the moving part is changed by rotating the adjusting part; and then the horizontal height of the first conveying device and the second conveying device is adjusted; by adjusting the horizontal height of the conveying device, the horizontal height of adjacent conveying devices can be kept consistent, and then when the flower basket moves between different conveying devices, it can achieve stable movement, avoiding the flower basket from being damaged by impact when moving between conveying devices with different horizontal heights. At the same time, the height adjustment components are arranged at both ends of the conveying device; by adjusting the moving parts; during the movement of the AGV, the AGV can detect whether there is an obstacle in front of the AGV through the first obstacle avoidance module on the front side of the moving mechanism; the AGV can also detect obstacles on the side of the AGV through the second obstacle avoidance module on the rear side of the vehicle body, and prevent the AGV from colliding with obstacles when the AGV is reversing; in addition, the AGV can also identify the ground through the label recognition module, thereby improving the driving accuracy of the AGV and the docking accuracy when the AGV picks and places materials, and can obtain the accurate position of the AGV in real time.

[0010] Furthermore, the moving mechanism includes a base plate, a driving wheel, a driven wheel, a shock-absorbing mechanism and a forward and reverse motor for driving the driving wheel; there are two driving wheels in total, which are coaxially symmetrically arranged on the bottom surface of the base plate, and a forward and reverse motor is arranged on one side of each driving wheel, which is transmission-connected to the driving wheel; there are two pairs of driven wheels in total, and the two pairs of driven wheels are respectively arranged on the front and rear sides of the two driving wheels.

[0011] Furthermore, the shock-absorbing mechanism includes a shock-absorbing base, a shock-absorbing spring and a shock-absorbing connecting plate. The shock-absorbing connecting plate is fixedly connected to the base plate. One end of the shock-absorbing base is hinged to the shock-absorbing connecting plate. The other end of the shock-absorbing base is hinged to the shock-absorbing spring. The shock-absorbing spring is hinged to the shock-absorbing connecting plate at the end away from the shock-absorbing base. The shock-absorbing spring is arranged on the front side in the forward direction of the driving wheel.

[0012] Furthermore, the fixed seat also includes a positioning waist hole; the adjusting device includes a positioning device; the movable part also includes a movable positioning hole; the positioning device connects the movable positioning hole and the positioning waist hole; the positioning device fixes the movable part on the fixed seat; in the above arrangement, the movable part is fixed by cooperating with the positioning waist hole and the movable positioning hole; when the movable part is adjusted to a suitable height, the positioning device fixes the movable part to avoid changes in the horizontal height of the first conveying device or the second conveying device when conveying the flower basket.

[0013] Furthermore, the positioning device comprises a positioning bolt and a positioning nut; the positioning bolt passes through the movable positioning hole and the positioning waist hole and is connected with the positioning nut; the movable part is fixed by the positioning bolt and the positioning nut, and the structure is simple.

[0014] Furthermore, the first conveying device includes a first conveying bracket, a first conveying drive motor, a first conveying driving wheel, a first conveying driven wheel and a first conveying synchronization device; the first conveying drive motor is arranged on the first conveying bracket, and the first conveying drive motor is connected to the first conveying driving wheel; the first conveying synchronization device is symmetrically arranged on the left and right sides of the first conveying bracket, and a first conveying synchronization shaft is connected between the two first conveying synchronization devices; the first conveying driven wheel is installed on the first conveying synchronization shaft; a first conveying belt is sleeved between the first conveying driven wheel and the first conveying driving wheel; the movable member is connected to the first conveying bracket; with the above arrangement, the first conveying driven wheel drives the first conveying synchronization shaft to rotate, and the first conveying synchronization shaft is used to realize the first conveying synchronization device to convey the flower basket.

[0015] Furthermore, the second conveying device includes a second conveying bracket, a second conveying drive motor, a second conveying driving wheel, a second conveying driven wheel and a second conveying synchronization device; the second conveying drive motor is arranged on the second conveying bracket, and the second conveying drive motor is connected to the second conveying driving wheel; the second conveying synchronization device is symmetrically arranged on the left and right sides of the second conveying bracket, and a second conveying synchronization shaft is connected between the two second conveying synchronization devices; the second conveying driven wheel is installed on the second conveying synchronization shaft; a second conveying belt is sleeved between the second conveying driven wheel and the second conveying driving wheel; the movable member is connected to the second conveying bracket; with the above arrangement, the second conveying driven wheel drives the second conveying synchronization device to rotate, and the second conveying synchronization shaft realizes the conveyance of the flower basket by the second conveying synchronization device.

[0016] Furthermore, the first conveying device also includes a first limiting device; the first limiting device is arranged on the first conveying support, and the first conveying support is connected to the first conveying support; the second conveying device also includes a second limiting device; the second limiting device is arranged on the second conveying support, and the second conveying support is connected to the second conveying support; in the above arrangement, the flower basket is limited by the first limiting device and the second limiting device, and the first limiting device and the second limiting device are arranged; the coordination effect between the flower basket and different workstations is good; at the same time, the first limiting device is arranged on the first conveying support; the second limiting device is arranged on the second conveying support; in this way, the first conveying device and the second conveying device can realize the limitation of the flower basket in the normal working state; there is no need to stop the first conveying device and the second conveying device; in this way, the work efficiency is high.

[0017] Furthermore, conveying guides are provided on both sides of the first conveying device and on both sides of the second conveying device; the horizontal height of the conveying guides is higher than the horizontal height of the first conveying belt and the second conveying belt; with the above arrangement, the flower basket is guided by the conveying guides so that the flower basket moves along the conveying direction of the first conveying device or the second conveying device; and the flower basket can be prevented from detaching from the first conveying device or the second conveying device when moving.

[0018] Furthermore, the first conveying synchronization device includes a first synchronous bracket three, the inner side of which is recessed with a first groove, and the second conveying synchronization device includes a second synchronous bracket three, the inner side of which is recessed with a second groove, and the connecting piece is provided with a protrusion protruding outward; the protrusion extends into the first groove and the second groove. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0020] Figure 2 It is a schematic diagram of the main structure of the present invention.

[0021] Figure 3 for Figure 2 Schematic diagram of the cross-sectional structure at AA in the middle.

[0022] Figure 4 It is a bottom view structural schematic diagram of the present invention.

[0023] Figure 5 It is a three-dimensional schematic diagram of the first conveying device, the height adjustment component and the transverse support.

[0024] Figure 6 This is an exploded view of the first conveying device.

[0025] Figure 7 It is a three-dimensional schematic diagram of the second conveying device, the height adjustment component and the transverse support.

[0026] Figure 8 This is an exploded view of the second conveying device.

[0027] Fig. 9 It is a schematic diagram of the connection between the height adjustment component and the first synchronous bracket three.

[0028] Fig.10 It is a three-dimensional schematic diagram of the height adjustment component installed on the horizontal bracket.

[0029] Fig.11 Schematic diagram of the exploded height adjustment assembly and lateral bracket.

[0030] Figure numerals: 10, vehicle body; 101, cavity; 11, upper bracket; 12, lower bracket; 13, transverse bracket; 141, shock-absorbing base; 142, shock-absorbing spring; 143, shock-absorbing connecting plate; 144, forward and reverse motor; 21, first conveying device; 211, first conveying bracket; 212, first conveying driving motor; 213, first conveying driving wheel; 214, first conveying driven wheel; 215, first conveying synchronization device; 2151, first synchronization bracket 1; 2152, first synchronous bracket 2; 2153, first synchronous wheel 1; 2154, first synchronous wheel 2; 2155, first synchronous bracket 3; 2156, first synchronous belt; 216, first conveying synchronous shaft; 217, first conveying belt; 218, first groove; 2191, first limit device; 2192, first conveying support; 22, second conveying device; 221, second conveying bracket; 222, second conveying drive motor; 223, second conveying Driving wheel; 224, second conveying driven wheel; 225, second conveying synchronization device; 2251, second synchronization bracket 1; 2252, second synchronization bracket 2; 2253, second synchronization wheel 1; 2254, second synchronization wheel 2; 2255, second synchronization bracket 3; 2256, second synchronization belt; 226, second conveying synchronization shaft; 227, second conveying belt; 2291, second limiting device; 2292, second conveying support; 3, height adjustment component; 31 , fixing seat; 311, positioning waist hole; 32, moving part; 321, adjusting hole; 322, positioning groove; 323, positioning part; 324, movable positioning hole; 33, connecting part; 4, conveying guide; 51, first obstacle avoidance module; 52, second obstacle avoidance module; 53, label recognition module; 54, laser radar; 55, ultrasonic sensor; 56, in-place detection sensor; 6, moving mechanism; 7, charging socket; 71, driving wheel; 72, driven wheel; 73, bottom plate. DETAILED DESCRIPTION

[0031] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] like Figure 1-Figure 11 As shown, a laser-navigated mobile robot control system includes a vehicle body 10, a moving mechanism 6, a sensing mechanism, a conveying device and a control module; a cavity 101 for placing materials is provided in the vehicle body 10, an opening is provided on one side of the cavity 101, and the conveying device is arranged in the cavity 101; the moving mechanism 6 is arranged at the bottom of the vehicle body 10; and the control module is arranged on the vehicle body 10.

[0033] The conveying device includes a first conveying device 21 and a second conveying device 22; the cavity 101 includes an upper support 11 and a lower support 12; the first conveying device 21 is installed on the upper support 11 through a height adjustment component 3, and the second conveying device 22 is installed on the lower support 12 through a height adjustment component 3.

[0034] More than two transverse supports 13 are provided on the upper support 11 and the lower support 12, and more than two groups of height adjustment components 3 are provided; the first conveying device 21 is installed on the transverse support 13 of the upper support 11 through the height adjustment component 3; the second conveying device 22 is installed on the transverse support 13 of the lower support 12 through the height adjustment component 3; in this embodiment, the first conveying device 21 and the second conveying device 22 are respectively connected to the transverse support 13 through three groups of height adjustment components 3.

[0035] A set of height adjustment components 3 includes a fixed seat 31 and an adjustment device, the fixed seat 31 is installed on the transverse bracket 13, and the adjustment device is movably arranged on the fixed seat 31; the adjustment device includes a moving member 32, a connecting member 33 and an adjusting member; in this embodiment, a set of height adjustment components 3 is provided with two connecting members 33, one end of the moving member 32 is connected to one connecting member 33, and the other end of the moving member 32 is connected to another connecting member 33. The connecting member 33 is used to connect the first conveying device 21 and the moving member 32, and the second conveying device 22 and the moving member 32; the moving member 32 is movably arranged on the fixed seat 31; the moving member 32 includes an adjustment hole 321; in this embodiment, the adjustment member is a bolt, and the adjustment hole 321 is a threaded hole. The adjusting member is threadedly connected to the adjustment hole 321, and the adjusting member is used to pass through the adjustment hole 321 to contact the transverse bracket 13; rotating the adjusting member changes the height position of the moving member 32 on the adjusting member.

[0036] The fixed seat 31 is installed on the horizontal bracket 13, and the first conveying device 21 and the second conveying device 22 are both installed on the fixed seat 31 through the moving member 32; the horizontal height of the moving member 32 is changed by rotating the adjusting member; and then the horizontal height of the first conveying device 21 and the second conveying device 22 is adjusted; by adjusting the horizontal height of the conveying device, the horizontal height of adjacent conveying devices can be kept consistent, and then when the flower basket moves between different conveying devices, it can achieve stable movement, avoiding the flower basket from being impacted and causing damage to the silicon wafer when it moves between conveying devices with different horizontal heights. At the same time, the height adjustment component 3 is set at both ends of the conveying device; by adjusting the moving member 32.

[0037] The sensing mechanism includes a first obstacle avoidance module 51 arranged at the front side of the mobile mechanism 6, a second obstacle avoidance module 52 arranged at the rear side of the mobile mechanism 6, a tag recognition module 53 arranged at the bottom of the mobile mechanism 6 and a laser radar 54 arranged on the vehicle body 10; the tag recognition module 53 is used to identify tags set on the ground.

[0038] The movable member 32 is recessed with a positioning groove 322 from the side close to the fixed seat 31 to the side away from the fixed seat 31; the fixed seat 31 is arranged in the positioning groove 322, and a positioning portion 323 is protruded upward on the top of the movable member 32; the fixed seat 31 is fitted with the positioning portion 323 and the positioning groove 322; the fixed seat 31 also includes a positioning waist hole 311; the adjustment device includes a positioning device (not shown in the figure); the movable member 32 also includes a movable positioning hole 324; the positioning waist hole 31 is arranged on the side of the fixed seat 31; the movable positioning hole 324 is arranged on the side of the positioning portion 323; the positioning device connects the movable positioning hole 324 and the positioning waist hole 311; the positioning device fixes the movable member 32 on the fixed seat 31. The positioning device includes a positioning bolt (not shown in the figure); and a positioning nut (not shown in the figure); the positioning bolt passes through the movable positioning hole 324 and the positioning waist hole 31 and is connected with the positioning nut. The movable member 322 is fixed by the positioning bolt and the positioning nut, and the structure is simple.

[0039] The fixed seat 31 is arranged in the positioning groove 322, and the fixed seat 31 fits with the positioning portion 323 and the positioning groove 322, thereby increasing the contact area between the fixed seat 31 and the moving member 32 and improving the connection strength between the fixed seat 31 and the moving member 32. The moving member 32 is fixed by the positioning waist hole 31 and the moving positioning hole 324; when the moving member 32 is adjusted to a suitable height, the positioning device fixes the moving member 32 to prevent the horizontal height of the first conveying device 21 or the second conveying device 22 from changing when conveying the flower basket.

[0040] In the above arrangement, the vehicle body 10 is moved by the moving mechanism 6, and the vehicle body 10 is accurately moved to the predetermined position for charging or loading and unloading of goods under the cooperation of the sensing mechanism; when it moves to the predetermined position, the flower basket is transported by setting the first conveying device 21 and the second conveying device 22; the fixed seat 31 is installed on the transverse bracket 13, and the first conveying device 21 and the second conveying device 22 are both installed on the fixed seat 31 through the moving member 32; the horizontal height of the moving member 32 is changed by rotating the adjusting member; and then the horizontal height of the first conveying device 21 and the second conveying device 22 is adjusted; by adjusting the horizontal height of the conveying device, the horizontal height of adjacent conveying devices can be kept consistent, and then when the flower basket moves between different conveying devices, it can achieve stable movement, and avoid the flower basket being impacted when moving between conveying devices with different horizontal heights, resulting in damage to the silicon wafer. At the same time, the height adjustment component 3 is arranged at both ends of the conveying device; by adjusting the moving part 32; during the movement of the AGV, the AGV can detect whether there is an obstacle in front of the AGV through the first obstacle avoidance module 51 on the front side of the moving mechanism 6; the AGV can also detect obstacles on the side of the AGV through the second obstacle avoidance module 52 on the rear side of the vehicle body 10, and prevent the AGV from colliding with obstacles when the AGV is reversing; in addition, the AGV can also identify the ground through the label recognition module 53, thereby improving the driving accuracy of the AGV and the docking accuracy when the AGV picks up and places materials, and can obtain the accurate position of the AGV in real time.

[0041] The moving mechanism 6 includes a base plate 73, a driving wheel 71, a driven wheel 72, a shock-absorbing mechanism and a forward and reverse motor 144 for driving the driving wheel 71; there are two driving wheels 71, which are coaxially symmetrically arranged on the bottom surface of the base plate 73, and a forward and reverse motor 144 is arranged on one side of each driving wheel 71, and the forward and reverse motor 144 is transmission-connected to the driving wheel 71; there are two pairs of driven wheels 72, and the two pairs of driven wheels 72 are respectively arranged on the front and rear sides of the two driving wheels 71.

[0042] The shock-absorbing mechanism includes a shock-absorbing base 141, a shock-absorbing spring 142 and a shock-absorbing connecting plate 143. The shock-absorbing connecting plate 143 is fixedly connected to the bottom plate 73. One end of the shock-absorbing base 141 is hinged to the shock-absorbing connecting plate 143. The other end of the shock-absorbing base 141 is hinged to the shock-absorbing spring 142. The shock-absorbing spring 142 is hinged to the shock-absorbing connecting plate 143 at the end away from the shock-absorbing base 141. The shock-absorbing spring 142 is arranged on the front side in the forward direction of the driving wheel 71.

[0043] The fixing seat 31 further includes a positioning waist hole 311; the adjusting device includes a positioning device; the moving member 32 further includes a moving positioning hole 324; the positioning device connects the moving positioning hole 324 and the positioning waist hole 311; the positioning device fixes the moving member 32 on the fixing seat 31; the above arrangement fixes the moving member 32 by cooperating with the positioning waist hole 311 and the moving positioning hole 324; when the moving member 32 is adjusted to a suitable height, the positioning device fixes the moving member 32 to avoid changes in the horizontal height of the first conveying device 21 or the second conveying device 22 when conveying the flower basket.

[0044] The positioning device includes a positioning bolt and a positioning nut; the positioning bolt passes through the movable positioning hole 324 and the positioning waist hole 311 and is connected with the positioning nut; the movable member 32 is fixed by the positioning bolt and the positioning nut, and the structure is simple.

[0045] The first conveying device 21 includes a first conveying bracket 211, a first conveying driving motor 212, a first conveying driving wheel 213, a first conveying driven wheel 214 and a first conveying synchronization device 215; the first conveying driving motor 212 is arranged on the first conveying bracket 211, and the first conveying driving motor 212 is connected to the first conveying driving wheel 213; the first conveying synchronization device 215 is symmetrically arranged on the left and right sides of the first conveying bracket 211, and a first conveying synchronization shaft 216 is connected between the two first conveying synchronization devices 215; the first conveying driven wheel 214 is installed on the first conveying synchronization shaft 216; a first conveying belt 217 is sleeved between the first conveying driven wheel 214 and the first conveying driving wheel 213; the moving member 32 is connected to the first conveying bracket 211; with the above arrangement, the first conveying driven wheel 214 drives the first conveying synchronization shaft 216 to rotate, and the first conveying synchronization shaft 216 realizes the first conveying synchronization device 215 to convey the flower basket.

[0046] A first transmission synchronization device 215 includes a first synchronization bracket 1 2151, a first synchronization bracket 2152, a first synchronization wheel 1 2153, a first synchronization wheel 2154 and a first synchronization bracket 3 2155; in this embodiment, two first transmission synchronization shafts 216 are provided; one of the first transmission synchronization shafts 216 passes through the first synchronization wheel 1 2153 and is connected to the first synchronization bracket 1 2151; the other first transmission synchronization shaft 216 passes through the first synchronization wheel 2 2154 and is connected to the first synchronization bracket 2 2152; a first synchronization belt 2156 is sleeved between the first synchronization wheel 2 2154 and the first synchronization wheel 1 2153; and the first synchronization bracket 3 2155 is provided between the first synchronization wheel 2 2154 and the first synchronization wheel 1 2153. The first synchronization bracket 3 2155 is provided to improve the supporting effect of the first synchronization belt 2156; and the first synchronization bracket 1 2151 and the first synchronization bracket 2 2152 are provided to fix the first transmission synchronization shaft. The connecting member 33 is connected to the first synchronous bracket 3 2155. The first conveying driven wheel 214 is driven to rotate by the first conveying driving motor 212, and the first conveying driven wheel 214 drives the first conveying synchronous shaft 216 to rotate, and the first conveying synchronous device 215 conveys the flower basket through the first conveying synchronous shaft 216.

[0047] The second conveying device 22 includes a second conveying bracket 221, a second conveying driving motor 222, a second conveying driving wheel 223, a second conveying driven wheel 224 and a second conveying synchronization device 225; the second conveying driving motor 222 is arranged on the second conveying bracket 221, and the second conveying driving motor 222 is connected to the second conveying driving wheel 223; the second conveying synchronization device 225 is symmetrically arranged on the left and right sides of the second conveying bracket 221, and a second conveying synchronization shaft 226 is connected between the two second conveying synchronization devices 225; the second conveying driven wheel 224 is installed on the second conveying synchronization shaft 226; a second conveying belt 227 is sleeved between the second conveying driven wheel 224 and the second conveying driving wheel 223; the moving member 32 is connected to the second conveying bracket 221; the above arrangement drives the second conveying synchronization wheel 224 to rotate, and the second conveying synchronization device 225 conveys the flower basket through the second conveying synchronization shaft 226.

[0048] The second conveying synchronization device 225 includes a second synchronization bracket 1 2251, a second synchronization bracket 2252, a second synchronization wheel 1 2253, a second synchronization wheel 2254, and a second synchronization bracket 3 2255. In this embodiment, two second conveying synchronization shafts 226 are provided. One of the second conveying synchronization shafts 226 passes through the second synchronization wheel 1 2253 and is connected to the second synchronization bracket 1 2251. The other second conveying synchronization shaft 226 passes through the second synchronization wheel 2 2254 and is connected to the second synchronization bracket 2 2252. A second synchronization belt 2256 is sleeved between the second synchronization wheel 2 2254 and the second synchronization wheel 1 2253. The second synchronization bracket 3 2255 is provided between the second synchronization wheel 2 2254 and the second synchronization wheel 1 2253. The second synchronization bracket 3 2255 is provided to improve the supporting effect of the second synchronization belt 2256. The second synchronization bracket 1 2251 and the second synchronization bracket 2 2252 are provided to fix the second conveying synchronization shaft. The connecting member 33 is connected to the second synchronization bracket 3 2255. The second conveying driven wheel 224 is driven to rotate by the second conveying driving motor 222 , and the second conveying driven wheel 224 drives the second conveying synchronous shaft 226 to rotate, and the second conveying synchronous device 215 conveys the flower basket through the second conveying synchronous shaft 226 .

[0049] The connecting piece 33 is connected to the side of the first synchronous bracket 3 2155; the connecting piece 33 is connected to the side of the second synchronous bracket 3 2255. In this embodiment, the first synchronous bracket 3 2155 is provided with a first groove 218 on the side; the second synchronous bracket 3 2255 is provided with a second groove (not shown in the figure); the structure of the second groove is the same as the structure of the first groove. The connecting piece 3333 is provided with a protrusion 331 protruding outward; the protrusion 331 extends into the first groove 213 and the second groove 214. The connecting piece 3333 is connected to the side of the first synchronous bracket 3 and the second synchronous bracket 3, and does not affect the conveying of the flower basket.

[0050] The first conveying device 21 also includes a first limiting device 2191; the first limiting device 2191 is arranged on the first conveying support 2192, and the first conveying support 2192 is connected to the first conveying support 211; the second conveying device 22 also includes a second limiting device 2291; the second limiting device 2291 is arranged on the second conveying support 2292, and the second conveying support 2292 is connected to the second conveying support 221; the above arrangement is used to limit the flower basket by the first limiting device 2191 and the second limiting device 2291, and the flower basket is well matched with different workstations by setting the first limiting device 2191 and the second limiting device 2291; at the same time, the first limiting device 2191 is arranged on the first conveying support 2192; the second limiting device 2291 is arranged on the second conveying support 2292; in this way, the first conveying device 21 and the second conveying device 22 can limit the flower basket in the normal working state; there is no need to stop the first conveying device 21 and the second conveying device 22; so the working efficiency is high.

[0051] Conveying guides 4 are also provided on both sides of the first conveying device 21 and the second conveying device 22; the horizontal height of the conveying guides 4 is higher than the horizontal height of the first conveying belt 217 and the second conveying belt 227; with the above arrangement, the flower basket is guided by the conveying guides 4 so that the flower basket moves along the conveying direction of the first conveying device 21 or the second conveying device 22; and it can prevent the flower basket from detaching from the first conveying device 21 or the second conveying device 22 when moving.

[0052] The first conveying synchronization device 215 includes a first synchronous bracket 2155, the inner side of which is recessed with a first groove 218; the second conveying synchronization device 225 includes a second synchronous bracket 2255, the inner side of which is recessed with a second groove; the connecting member 33 is provided with a protrusion protruding outward; the protrusion extends into the first groove 218 and the second groove.

[0053] The sensing module also includes an ultrasonic sensor 55 disposed on one side of the upper support 11 close to the opening; the above arrangement feeds back distance information when the AGV is charging or loading and unloading goods, making the AGV move more accurately.

[0054] The sensing module also includes an in-place detection sensor 56 arranged on the lower side of the opening of the vehicle body 10, and the in-place detection sensor 56 is a photoelectric sensor; the vehicle body 10 is provided with a charging socket 7 on one side of the in-place detection sensor 56, and the in-place detection sensor 56 feeds back distance information when the AGV is charging or loading and unloading goods, so that the AGV moves more accurately.

Claims

1. A laser-guided mobile robot control system, characterized in that: It includes a vehicle body, a moving mechanism, a sensing mechanism, a conveying device and a control module; the vehicle body is provided with a cavity for placing materials, the vehicle body is provided with an opening on one side of the cavity, and the conveying device is arranged in the cavity; the moving mechanism is arranged at the bottom of the vehicle body; and the control module is arranged on the vehicle body; The conveying device includes a first conveying device and a second conveying device; the cavity includes an upper bracket and a lower bracket; the first conveying device is installed on the upper bracket through a height adjustment component, and the second conveying device is installed on the lower bracket through a height adjustment component; The height adjustment assembly includes a fixed seat and an adjustment device, and the adjustment device is movably arranged on the fixed seat; the adjustment device includes a moving part, a connecting part and an adjusting part; the connecting part is used to connect the first conveying device and the moving part, the second conveying device and the moving part; the moving part is movably arranged on the fixed seat; the moving part includes an adjustment hole; the adjusting part is threadedly connected to the adjustment hole, and the adjusting part is used to pass through the adjustment hole and contact the transverse bracket; the height position of the moving part on the adjusting part is changed by rotating the adjusting part; The sensing mechanism includes a first obstacle avoidance module arranged at the front side of the mobile mechanism, a second obstacle avoidance module arranged at the rear side of the mobile mechanism, a tag recognition module arranged at the bottom of the mobile mechanism and a laser radar arranged on the vehicle body; the tag recognition module is used to recognize tags arranged on the ground; with the above configuration, during the movement of the AGV, the AGV can detect whether there is an obstacle in front of the AGV through the first obstacle avoidance module at the front side of the mobile mechanism; the AGV can also detect obstacles on the side of the AGV through the second obstacle avoidance module at the rear side of the vehicle body, and prevent the AGV from colliding with obstacles when the AGV is reversing; in addition, the AGV can also recognize the ground through the tag recognition module, thereby improving the driving accuracy of the AGV and the docking accuracy when the AGV picks up and places materials, and can obtain the accurate position of the AGV in real time; The first conveying device comprises a first conveying bracket, a first conveying driving motor, a first conveying driving wheel, a first conveying driven wheel and a first conveying synchronization device; the first conveying driving motor is arranged on the first conveying bracket, and the first conveying driving motor is connected to the first conveying driving wheel; the first conveying synchronization device is symmetrically arranged on the left and right sides of the first conveying bracket, and a first conveying synchronization shaft is connected between the two first conveying synchronization devices; the first conveying driven wheel is installed on the first conveying synchronization shaft; a first conveying belt is sleeved between the first conveying driven wheel and the first conveying driving wheel; the moving member is connected to the first conveying bracket; The second conveying device includes a second conveying bracket, a second conveying driving motor, a second conveying driving wheel, a second conveying driven wheel and a second conveying synchronizing device; the second conveying driving motor is arranged on the second conveying bracket, and the second conveying driving motor is connected to the second conveying driving wheel; the second conveying synchronizing devices are symmetrically arranged on the left and right sides of the second conveying bracket, and a second conveying synchronizing shaft is connected between the two second conveying synchronizing devices; the second conveying driven wheel is installed on the second conveying synchronizing shaft; a second conveying belt is sleeved between the second conveying driven wheel and the second conveying driving wheel; the moving member is connected to the second conveying bracket; The first conveying device also includes a first limiting device; the first limiting device is arranged on the first conveying support member, and the first conveying support member is connected to the first conveying support member; the second conveying device also includes a second limiting device; the second limiting device is arranged on the second conveying support member, and the second conveying support member is connected to the second conveying support member; Conveying guides are also provided on both sides of the first conveying device and the second conveying device; the horizontal height of the conveying guides is higher than the horizontal height of the first conveying belt and the second conveying belt; The first conveying synchronization device includes a first synchronous bracket three, the inner side of which is recessed with a first groove; the second conveying synchronization device includes a second synchronous bracket three, the inner side of which is recessed with a second groove; the connecting piece is provided with a protruding portion protruding outward; the protruding portion extends into the first groove and the second groove.

2. A laser-guided mobile robot control system according to claim 1, characterized in that: The moving mechanism includes a base plate, a driving wheel, a driven wheel, a shock-absorbing mechanism and a forward and reverse motor for driving the driving wheel; there are two driving wheels in total, which are coaxially symmetrically arranged on the bottom surface of the base plate, and a forward and reverse motor is arranged on one side of each driving wheel, which is transmission-connected to the driving wheel; there are two pairs of driven wheels in total, and the two pairs of driven wheels are respectively arranged on the front and rear sides of the two driving wheels.

3. The laser-guided mobile robot control system according to claim 1, characterized in that: The shock-absorbing mechanism includes a shock-absorbing base, a shock-absorbing spring and a shock-absorbing connecting plate. The shock-absorbing connecting plate is fixedly connected to the bottom plate. One end of the shock-absorbing base is hinged to the shock-absorbing connecting plate. The other end of the shock-absorbing base is hinged to the shock-absorbing spring. The shock-absorbing spring is hinged to the shock-absorbing connecting plate at the end away from the shock-absorbing base. The shock-absorbing spring is arranged on the front side in the forward direction of the driving wheel.

4. The laser-guided mobile robot control system according to claim 1, characterized in that: The fixing seat also includes a positioning waist hole; the adjusting device includes a positioning device; the moving piece also includes a moving positioning hole; the positioning device connects the moving positioning hole and the positioning waist hole; the positioning device fixes the moving piece on the fixing seat.

5. The laser-guided mobile robot control system according to claim 4, characterized in that: The positioning device comprises a positioning bolt and a positioning nut; the positioning bolt passes through the movable positioning hole and the positioning waist hole and is connected with the positioning nut.

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