An AGV intelligent handling robot

Abstract

The present invention discloses an AGV intelligent handling robot, which relates to the field of robot-related technology and solves the problem that the mechanical claw structure for grabbing and moving materials is inconvenient to install and easy to be damaged when carrying materials. The handling robot includes a robot base, a protective shell, an external electric power component, a support plate and an integrated handling mechanical claw. The outer side of the robot base is installed with a protective shell by screws, the inner edge of the robot base is installed with an external electric power component, and the inner side of the external electric power component is provided with a built-in cavity opened at the inner center of the robot base, and the inner side of the built-in cavity is installed with a support plate; in the present invention, the material in the grabbing state can be weighted to improve the stability when carrying the material. At the same time, without affecting the movement of the driving robot, sufficient space can be left for installing the mechanical claw, which is convenient for the maintenance and use of the mechanical claw.

Description

Technical Field

[0001] The present invention relates to the field of robot-related technologies, and in particular to an AGV intelligent transport robot. Background Art

[0002] AGV transport robot refers to a transport robot equipped with an automatic navigation device, capable of traveling along a specified navigation path, with safety protection and various transfer functions. When materials are needed in a certain link of the workshop, the staff inputs the relevant information into the computer terminal, and the computer terminal sends the information to the central control room. With the cooperation of the electronic control equipment, this instruction is finally accepted and executed by the AGV transport robot to deliver the auxiliary materials to the corresponding location.

[0003] The existing Chinese patent application with publication number CN115742705A discloses an AGV trolley, including a driving assembly, which is composed of a driving wheel mechanism and a driven wheel mechanism. The driving wheel mechanism includes a support frame, a moving wheel, a driving motor, a driving worm, a functional worm wheel, a synchronous shaft, a clutch block and a control push rod. The support frame of the driving wheel mechanism is rotatably connected to the bottom of the loading plate, and the moving wheel is rotatably connected to the inside of the support frame, the driving motor is fixedly mounted on the side of the support frame, and the driving worm is rotatably connected to the inside of the support frame, one end of the driving worm is transmission-connected to the rotating shaft of the driving motor, the functional worm wheel is rotationally connected to the inside of the support frame, and the functional worm wheel is transmission-connected to the driving worm, both ends of the synchronous shaft are rotationally connected to the inside of the support frame, and the synchronous shaft is fixedly mounted on the inside of the moving wheel The clutch block is inserted into the interior of the synchronization shaft, the control push rod is fixedly installed on the side of the support frame, and the push rod of the control push rod is inserted into the interior of the clutch block; this invention solves the problem that the driving wheel of the existing AGV trolley does not have a parking structure, so that the AGV trolley is easy to move and change position due to ground slope or external force impact when parked, the stability is poor, and only the front wheel is responsible for steering, and the steering radius is large. The driving wheel mechanism is responsible for controlling the drive and steering. At the same time, the driving wheel mechanism can only move by obtaining the driving force of the driving motor during normal use. When the driving motor is not in operation, the self-locking device can be used to avoid accidental movement, and the driven wheel mechanism can follow the steering when the driving wheel mechanism turns, and the steering directions of the driving wheel mechanism and the driven wheel mechanism are opposite, thereby greatly reducing the turning radius of the device and making it more flexible to use.

[0004] The existing Chinese patent application with publication number CN219077344U discloses an AGV robot, including a main body, an operating arm arranged at the top of the main body, and a connecting seat arranged at the connection between the bottom end of the operating arm and the top end of the main body, the top end of the connecting seat and the bottom end of the operating arm are movably connected, and a clamping mechanism is arranged at the connection between the bottom end of the connecting seat and the top end of the main body, and the clamping mechanism is composed of a clamping assembly and a symmetrically arranged limit assembly, the clamping assembly is arranged at the connection between the bottom end of the connecting seat and the top end of the main body, and the symmetrically arranged limit assembly is arranged on the inner side of the clamping assembly; the invention, through The designed snap-fit ​​mechanism improves the original assembly process of the AGV robot during use. When the connecting seat needs to be installed, since the connecting seat and the main body are connected by studs, personnel need to check closely during the installation process to confirm the position of the installation holes, and the connecting seat needs to be moved multiple times during operation, which causes certain installation inconveniences. By providing a snap-fit ​​mechanism at the connection between the connecting seat and the main body, the connecting seat and the main body can be installed by quickly aligning multiple installation holes through a snap-fit ​​limit method, thereby increasing the convenience of assembling the AGV robot.

[0005] However, the AGV handling robot has the following defects when used:

[0006] 1. When the existing AGV handling robot is carrying materials, the materials being carried are generally grasped and fixed by a mechanical claw, and then moved to the location where the corresponding materials are placed by moving the rollers at the bottom of the robot. However, when the existing mechanical claw grasps the materials, the mechanical arm and claw head of the material are generally far away from the column supporting it. At this time, when the weight of the grasped material is too heavy, the mechanical arm of the mechanical claw will break due to the weight imbalance, which is not safe enough;

[0007] 2. When the existing AGV handling robot is carrying materials, the driving structure that drives the robot to move is generally set in the base of the robot, and drives the robot to move by means of rollers at the bottom of the robot. At this time, the traditional driving structure generally adopts separate driving structures for the two sets of front wheels and rear wheels, resulting in the internal limitations of the device, which is not convenient when installing the handling structure such as the manipulator later. Summary of the invention

[0008] The purpose of the present invention is to provide an AGV intelligent transport robot to solve the problems raised in the above background technology.

[0009] In order to achieve the above-mentioned invention object, the present invention adopts the following technical scheme:

[0010] An AGV intelligent handling robot provided by the present invention comprises a robot base, a protective shell, an external electric power assembly, a support plate and an integrated handling mechanical claw, wherein the outer side of the robot base is provided with a protective shell by screws, the inner edge of the robot base is provided with an external electric power assembly, the inner side of the external electric power assembly is provided with a built-in cavity opened at the inner center of the robot base, the inner side of the built-in cavity is provided with a support plate, the top of the support plate is provided with an integrated handling mechanical claw, and the integrated handling mechanical claw comprises:

[0011] A position adjustment component, the position adjustment component is installed on the top of the support plate and extends to the outside of the protective shell, the position adjustment component is installed on the inner side of the protective frame, and the protective frame is installed on the top of the support plate by screws;

[0012] A counterweight telescopic assembly, wherein the counterweight telescopic assembly is installed inside the position adjustment assembly, and a counterweight block is supported at the bottom, a deflection assembly is installed at the top of the counterweight telescopic assembly, and a servo motor is installed at the top of the deflection assembly;

[0013] A claw arm grabbing assembly is connected to the output end of the servo motor and is installed at the bottom of the deflection assembly. The claw arm grabbing assembly grabs the transported material.

[0014] As a preferred embodiment of the present invention, the external electric power assembly includes:

[0015] A control cabinet module, the control cabinet module is installed on one side of the robot base, and the sides are linearly connected with motor drive modules, and four groups of motor drive modules are provided, and are respectively installed on one side of the control cabinet module near the angle;

[0016] A roller, the roller is connected to the output end of the motor drive module and is movably connected inside the robot base, and the roller extends to the bottom of the robot base;

[0017] A lithium battery pack, which is installed on the other side of the robot base and located on the side of the motor drive module, and transmits electrical energy to the motor drive module;

[0018] A track detector is installed at the bottom of the robot base and is located below the built-in cavity. The track detector is linearly connected to the lithium battery pack.

[0019] As a preferred solution of the present invention, the control cabinet module, the motor drive module and the lithium battery pack are all arranged outside the built-in cavity;

[0020] Wherein, the motor drive module is composed of at least one set of drive motor module and reducer module.

[0021] As a preferred embodiment of the present invention, the position adjustment component includes:

[0022] A horizontal slide rail, wherein the horizontal slide rail is installed on the top of the support plate, and two groups are provided. A horizontal slider is provided on the top of the horizontal slide rail, and a placement plate is installed on the top of the horizontal slider by screws;

[0023] Wherein, a protective frame is installed at the edge of the top of the placement plate by screws;

[0024] A vertical slide rail, which is installed on the top of the placement plate and arranged on the inner wall of the protection frame, and a vertical slider is arranged on the side of the vertical slide rail;

[0025] An internal frame is installed inside the vertical sliding block.

[0026] As a preferred solution of the present invention, the vertical slide rails are provided in four groups, and every two groups of the vertical slide rails are installed on one side of the inner wall of the protection frame;

[0027] Wherein, a counterweight telescopic assembly is installed inside the built-in frame.

[0028] As a preferred embodiment of the present invention, the counterweight telescopic assembly comprises:

[0029] A driving motor, the driving motor is installed at the center of the top of the built-in frame, a driving gear is installed on the outer side of the output end of the driving motor, and the driving gear is rotatably connected to the inside of the built-in frame;

[0030] A telescopic tooth rod, the telescopic tooth rod is meshedly connected to the outer side of the driving gear and is slidably connected to the inner wall of the built-in frame, a guide frame is installed on the side of the telescopic tooth rod, and the guide frame is slidably connected to the inside of the built-in frame;

[0031] A support base plate is installed on the side of one group of guide frames by screws, a counterweight is supported on the top of the support base plate, and a deflection assembly is installed on the side of another group of guide frames.

[0032] As a preferred solution of the present invention, the central parts of the upper and lower sides of the guide frame protrude outward and form guide protrusions, and the guide protrusions match the recessed parts provided on the inner wall of the built-in frame;

[0033] Wherein, the bottoms of the two groups of guide frames are respectively arranged at the bottom of another group of telescopic tooth rods.

[0034] As a preferred solution of the present invention, the deflection assembly comprises:

[0035] A deflection seat, the deflection seat is mounted on the side of the guide frame by screws, a DC motor is mounted on one side of the deflection seat, and an output end of the DC motor is connected to a deflection arm;

[0036] Wherein, the side of the deflection arm away from the DC motor is arranged to be hollow, and the top of the hollow part supports a servo motor.

[0037] As a preferred embodiment of the present invention, the claw arm grabbing assembly includes:

[0038] A connecting frame, the connecting frame is connected to the output end of the servo motor, a servo motor is installed on one side of the connecting frame, and a one-way screw rod is connected to the output end of the servo motor;

[0039] Wherein, the one-way screw rods are provided in two groups, and the two groups of the one-way screw rods are connected and fixed to each other;

[0040] A telescopic block, wherein the telescopic block is connected to the outer side of the one-way screw through a ball bearing, the telescopic block is slidably connected to the connecting frame, and a clamping block is installed on the side of the bottom of the telescopic block, and the clamping block grabs the transported material;

[0041] A rotating gear, which is installed on the outside of the one-way screw and is rotatably connected to the inner wall of the connecting frame. The top of the rotating gear is meshingly connected with a grabbing tooth rod, and the grabbing tooth rod is slidably connected to the connecting frame;

[0042] A grabbing rod is installed on one side of the grabbing tooth rod, and a baffle located at the bottom of the connecting frame port is installed on the other side of the grabbing rod, and materials are fixed on the inner sides of the grabbing rod and the baffle.

[0043] As a preferred solution of the present invention, the structural shape of the connecting frame is "H"-shaped, and a plurality of guide parts are provided inside the connecting frame;

[0044] Wherein, the guide part is slidably connected to the protrusion on the top of the telescopic block, and the guide part is slidably connected to the protrusion on the top of the grabbing tooth rod.

[0045] Compared with the prior art, one or more of the above technical solutions have the following beneficial effects:

[0046] 1. When the AGV intelligent handling robot is handling materials, the driving motor can drive the driving gear at its output end, the driving gear drives the telescopic toothed rods connected on both sides, and the telescopic toothed rod drives the guide frame installed on its side to move, respectively driving a group of counterweight blocks connected to the side of the guide frame through the supporting bottom plate and another group of claw arm grabbing components connected to the side of the guide frame through the deflection seat and the deflection arm to move in opposite directions. At this time, the movement of the claw arm grabbing component can determine the position of the grabbed material and complete the grabbing and unloading operations of the material. At the same time, the counterweight block can move in the opposite direction when grabbing the material, and perform counterweight processing on the material in the grabbing state, so that the weight set on the sides of the two groups of guide frames remains in an average state, reducing the damage to the built-in frame caused by weight imbalance, and improving the stability when handling materials;

[0047] 2. When the AGV intelligent handling robot is handling materials, it needs to grab and fix the materials. At this time, the control cabinet module can be used to drive the servo motor to operate, driving the two sets of one-way screws connected to the output end of the servo motor, the telescopic blocks connected by balls on the outside of the one-way screw, and the clamping blocks to rotate. The two sets of clamping blocks moving in opposite directions complete the clamping and fixing of the left and right sides of the material. At the same time, when the one-way screw rotates, it will drive the rotating gear on the outside of the one-way screw, the grabbing tooth rod meshing and connected to the side of the rotating gear, and the grabbing rod installed on the side of the grabbing tooth rod to move, pushing the material to the side of the baffle, and completing the clamping and fixing of the front and back sides of the material. At this time, the two operate simultaneously and cooperate relatively, improving the stability and firmness of the material when handling and grabbing, and reducing the situation of material falling during the handling process;

[0048] 3. The AGV intelligent handling robot has four groups of motor drive modules, rollers and lithium battery packs that drive the robot to move, and they are all distributed at the edge of the robot base (located outside the built-in cavity). Without affecting the movement of the robot, there is enough space for installing the integrated handling mechanical claw, which improves the practicality of the device and reduces the cost. At the same time, when installing the integrated handling mechanical claw, the bottom part is located inside the protective shell and can be protected by the protective shell. Moreover, the operation of each group of rollers can be carried out independently. When subsequent damage requires maintenance, targeted maintenance can be carried out, which is more convenient.

[0049] 4. When the AGV intelligent handling robot completes grabbing, handling and unloading of materials, the movement of the robot is detected by the track detector at the bottom. Through the design of the track detector, the robot can move stably on the track laid in the factory, so that the movement trajectory of the robot will not deviate significantly during automated handling, thereby realizing intelligent automatic material handling operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0051] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0052] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0053] Figure 2 It is a schematic structural diagram of the overall side view of the present invention;

[0054] Figure 3 It is a schematic diagram of the structure of the present invention as a whole viewed from above;

[0055] Figure 4 It is a schematic diagram of the structure of the connection between the protective shell and the built-in cavity of the present invention;

[0056] Figure 5 It is a schematic diagram of the structure of the connection between the robot base and the external electric power assembly of the present invention;

[0057] Figure 6 It is a schematic diagram of the structure of the robot base and the external electric power assembly connected as viewed from above;

[0058] Figure 7 It is a schematic diagram of the structure of the integrated handling mechanical claw of the present invention;

[0059] Figure 8 It is a structural schematic diagram of the position adjustment assembly of the present invention;

[0060] Fig. 9 It is a schematic diagram of the structure in which the counterweight telescopic assembly of the present invention is connected via a deflection assembly and a claw arm grabbing assembly;

[0061] Fig.10 It is a schematic diagram of the structure of the connection between the counterweight telescopic assembly and the deflection assembly of the present invention;

[0062] Fig.11 It is a structural schematic diagram of the cross-section of the connection between the counterweight telescopic assembly and the deflection assembly of the present invention;

[0063] Fig.12It is a structural schematic diagram of the claw arm grabbing assembly of the present invention;

[0064] Fig.13 1 is a schematic diagram of the structure of the claw arm grabbing assembly of the present invention when viewed from above;

[0065] Fig.14 The present invention Fig.13 A schematic diagram of the structure of the enlarged area in the middle A;

[0066] In the figure:

[0067] 10. robot base; 101. built-in cavity;

[0068] 20. Protective housing;

[0069] 30. External electric power assembly; 301. Control cabinet module; 302. Motor drive module; 303. Roller; 304. Lithium battery pack; 305. Track detector;

[0070] 40. Support plate;

[0071] 50. Integrated handling mechanical claw;

[0072] 60, position adjustment assembly; 6001, protection frame; 601, horizontal slide rail; 602, horizontal slider; 603, placement plate; 604, vertical slide rail; 605, vertical slider; 606, built-in frame;

[0073] 70, counterweight telescopic assembly; 7001, counterweight block; 701, driving motor; 702, driving gear; 703, telescopic tooth rod; 704, guide frame; 7041, guide protrusion; 705, supporting bottom plate;

[0074] 80, deflection assembly; 8001, servo motor; 801, deflection seat; 802, DC motor; 803, deflection arm;

[0075] 90. Claw arm grabbing assembly; 901. Connecting frame; 9011. Guide part; 902. Servo motor; 903. One-way screw; 904. Telescopic block; 905. Clamping block; 906. Rotating gear; 907. Grabbing tooth rod; 908. Grabbing rod; 909. Baffle. DETAILED DESCRIPTION

[0076] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0077] See also Figure 1 - Fig.14 , an AGV intelligent handling robot, including a robot base 10, a protective shell 20, an external electric power assembly 30, a support plate 40 and an integrated handling mechanical claw 50, the outer side of the robot base 10 is installed with a protective shell 20 by screws, the inner edge of the robot base 10 is installed with an external electric power assembly 30, the inner side of the external electric power assembly 30 is provided with a built-in cavity 101 opened at the center of the robot base 10, the inner side of the built-in cavity 101 is installed with a support plate 40, the top of the support plate 40 is installed with an integrated handling mechanical claw 50, the integrated handling mechanical claw 50 includes a position adjustment assembly 60, and the position adjustment assembly 60 is installed The top of the support plate 40 extends to the outside of the protective shell 20, the position adjustment component 60 is installed on the inner side of the protective frame 6001, and the protective frame 6001 is installed on the top of the support plate 40 by screws; the counterweight telescopic component 70, the counterweight telescopic component 70 is installed on the inner side of the position adjustment component 60, and the bottom supports a counterweight block 7001, the top of the counterweight telescopic component 70 is installed with a deflection component 80, and the top of the deflection component 80 is installed with a servo motor 8001; the claw arm grabbing component 90, the claw arm grabbing component 90 is connected to the output end of the servo motor 8001, and is installed at the bottom of the deflection component 80, and the claw arm grabbing component 90 grabs the transported material.

[0078] The above working principle is as follows: when grabbing and transporting materials, the robot base 10 is driven to move by the external electric power component 30 to move the handling robot to the corresponding position, and then the claw arm grabbing component 90 is operated to grab and fix the materials to be transported. Among them, the design of the position adjustment component 60 can lift or move the position of the grabbed materials, and move the materials to the placement area on the outside of the top of the protective shell 20 to carry multiple groups of materials at the same time. At the same time, the robot arm part (counterweight telescopic component 70) that carries the materials will synchronously drive the other side when grabbing the materials. The counterweight block 7001 performs telescopic movement in the opposite direction, and the grasped material is counterweighted by the counterweight block 7001, and the robot arm is balanced by the counterweight, thereby reducing damage to the robot arm part (counterweight telescopic component 70), improving the safety of transportation and the service life. In addition, the integrated handling mechanical claw 50 for grasping materials is arranged in the central part of the inner side of the external electric power component 30, and does not conflict with the movement of the driving device of the external electric power component 30, thereby maximizing the use of the part of the robot base 10, improving the utilization rate of the part of the robot base 10 by the lifting device, and improving the convenience of installation.

[0079] Specific reference Figure 5 and Figure 6The external electric power component 30 includes a control cabinet module 301, which is installed on one side of the robot base 10, and the side is linearly connected with a motor drive module 302. The motor drive module 302 is provided with four groups and is respectively installed on one side of the control cabinet module 301 near the angle; a roller 303, which is connected to the output end of the motor drive module 302 and movably connected to the inside of the robot base 10, and the roller 303 extends to the bottom of the robot base 10; a lithium battery pack 304, which is installed on the other side of the robot base 10 and is located on the side of the motor drive module 302, and the lithium battery pack 304 transmits electrical energy to the motor drive module 302; a track detector 305, which is installed at the bottom of the robot base 10 and is located below the built-in cavity 101, and the track detector 305 and the lithium battery pack 304 are linearly connected.

[0080] In this embodiment, the control cabinet module 301, the motor drive module 302 and the lithium battery pack 304 are all arranged on the outside of the built-in cavity 101. By designing the positions of the control cabinet module 301, the motor drive module 302 and the lithium battery pack 304, the built-in cavity 101 arranged on the inside can be reserved for installing the integrated transport robot claw 50, thereby maximizing the use of the robot base 10.

[0081] At the same time, in this embodiment, the motor drive module 302 is composed of at least one set of drive motor modules and reducer modules. Through the design of the motor drive module 302, the roller 303 can be driven to rotate and adjust the angle to achieve free movement of the robot.

[0082] When the AGV intelligent transport robot of the present invention moves, the control cabinet module 301 issues a control command and starts the motor drive module 302 to operate. At this time, the operation of the motor drive module 302 will drive the roller 303 connected to its shaft end to rotate, thereby driving the robot to move. Among them, the lithium battery pack 304 can provide power for the operation of the motor drive module 302, and the track detector 305 arranged at the center of its bottom can detect the track during the movement process and plan its movement path.

[0083] Specific reference Figure 8The position adjustment component 60 includes a horizontal slide rail 601, which is installed on the top of the support plate 40 and is provided with two groups. A horizontal slider 602 is provided on the top of the horizontal slide rail 601, and a placement plate 603 is installed on the top of the horizontal slider 602 by screws; wherein, a protective frame 6001 is installed on the edge of the top of the placement plate 603 by screws; a vertical slide rail 604, which is installed on the top of the placement plate 603 and is provided on the inner wall of the protective frame 6001, and a vertical slider 605 is provided on the side of the vertical slide rail 604; a built-in frame 606, which is installed inside the vertical slider 605.

[0084] In this embodiment, four groups of vertical slide rails 604 are provided, and every two groups of vertical slide rails 604 are installed on one side of the inner wall of the protection frame 6001. Through the design of the vertical slide rails 604, the built-in frame 606 inside can be stably installed and supported.

[0085] At the same time, in the present embodiment, a counterweight telescopic assembly 70 is installed inside the built-in frame 606 , and the counterweight telescopic assembly 70 can be installed and supported through the design of the built-in frame 606 .

[0086] When the AGV intelligent handling robot of the present invention grabs, moves and unloads materials, the horizontal slider 602 can move inside the horizontal slider 602, thereby driving the placement plate 603 set on the top of the horizontal slider 602 to move in the horizontal direction; the vertical slider 605 can be moved inside the vertical slide rail 604 to drive the built-in frame 606 installed on the side of the vertical slider 605 to move up and down, thereby adjusting the position of the claw arm grabbing assembly 90 in the horizontal and vertical directions.

[0087] Specific reference Fig.10 and Fig.11 The counterweight telescopic assembly 70 includes a driving motor 701, which is installed at the center of the top of the built-in frame 606. A driving gear 702 is installed on the outer side of the output end of the driving motor 701, and the driving gear 702 is rotatably connected to the inside of the built-in frame 606; a telescopic tooth rod 703, which is meshed and connected to the outer side of the driving gear 702 and slidably connected to the inner wall of the built-in frame 606, and a guide frame 704 is installed on the side of the telescopic tooth rod 703, and the guide frame 704 is slidably connected to the inside of the built-in frame 606; a supporting base plate 705, which is installed on the side of a group of guide frames 704 by screws, and the top of the supporting base plate 705 supports a counterweight block 7001.

[0088] In this embodiment, a deflection assembly 80 is installed on the side of another set of guide frames 704 , and the movement of the guide frames 704 can drive the deflection assembly 80 to move accordingly.

[0089] At the same time, in this embodiment, the central parts of the upper and lower sides of the guide frame 704 protrude outward and form a guide protrusion 7041, and the guide protrusion 7041 matches the recessed part opened on the inner wall of the built-in frame 606; wherein, the bottoms of the two groups of guide frames 704 are respectively arranged at the bottom of another group of telescopic tooth rods 703, and the stability of the guide frame 704 during telescopic movement can be ensured by the design of the guide protrusion 7041.

[0090] The AGV intelligent handling robot of the present invention, when grabbing materials, the position of the claw arm grabbing assembly 90 for grabbing materials can drive the driving gear 702 at its output end to rotate by the driving motor 701, thereby driving the two groups of telescopic tooth rods 703 meshingly connected to the outside of the driving gear 702 to perform telescopic movement. When one group of telescopic tooth rods 703 moves, the support base plate 705 connected to the outside of the guide frame 704 and the counterweight block 7001 supported on the top of the support base plate 705 can move (away from the driving gear 702). At the same time, the other group of telescopic tooth rods 703 will move in the opposite direction to the movement of the above-mentioned telescopic tooth rods 703, so that the claw arm grabbing assembly 90 connected through the deflection assembly 80 will move in the opposite direction to the movement of the counterweight block 7001, that is, the counterweight operation of the material is completed by the counterweight block 7001.

[0091] Specific reference Fig.11 The deflection assembly 80 includes a deflection seat 801, which is mounted on the side of the guide frame 704 by screws. A DC motor 802 is installed on one side of the deflection seat 801, and the output end of the DC motor 802 is connected to a deflection arm 803.

[0092] In this embodiment, the side of the deflection arm 803 away from the DC motor 802 is set to be hollow, and the top of the hollow part supports a servo motor 8001. The rotation of the servo motor 8001 can drive the claw arm grabbing assembly 90 to rotate and adjust the direction and angle of the claw arm grabbing assembly 90 to grab the material.

[0093] The AGV intelligent handling robot of the present invention can control the operation of the servo motor 8001 through the control cabinet module 301 when grabbing, moving and unloading materials, drive the deflection arm 803 connected to the output end of the servo motor 8001 to deflect, and adjust the angle of grabbing, moving and unloading materials, thereby facilitating the handling of materials.

[0094] Specific reference Fig.12 , Fig.13 and Fig.14The claw arm grasping assembly 90 includes a connecting frame 901, which is connected to the output end of the servo motor 8001, a servo motor 902 is installed on one side of the connecting frame 901, and the output end of the servo motor 902 is connected to a one-way screw rod 903; wherein the one-way screw rod 903 is provided with two groups, and the two groups of one-way screw rods 903 are connected and fixed to each other; a telescopic block 904, which is connected to the outer side of the one-way screw rod 903 through a ball bearing, and the telescopic block 904 is slidably connected to the connecting frame 901, and a clamping block 90 is installed on the side of the bottom of the telescopic block 904 5. The clamping block 905 grabs the transported material; the rotating gear 906 is installed on the outer side of the one-way screw rod 903 and is rotatably connected to the inner wall of the connecting frame 901. The top of the rotating gear 906 is meshed with a grabbing tooth rod 907, and the grabbing tooth rod 907 and the connecting frame 901 are slidably connected; wherein, a grabbing rod 908 is installed on one side of the grabbing tooth rod 907, and a baffle 909 located at the bottom of the port of the connecting frame 901 is installed on the other side of the grabbing rod 908, and materials are fixed on the inner sides of the grabbing rod 908 and the baffle 909.

[0095] In this embodiment, the structural shape of the connecting frame body 901 is "H"-shaped, and a plurality of guide portions 9011 are provided inside the connecting frame body 901; wherein the guide portion 9011 is slidably connected to the protrusion on the top of the telescopic block 904, and the guide portion 9011 is slidably connected to the protrusion on the top of the grabbing tooth rod 907. The design of the guide portion 9011 can guide the telescopic movement of the grabbing tooth rod 907 and the telescopic block 904.

[0096] When the AGV intelligent handling robot of the present invention is handling materials, it is first necessary to grab and fix the materials. At this time, the materials are moved to the inside of the connection frame 901, and the servo motor 902 is started to operate through the control cabinet module 301, so as to drive the two sets of one-way screw rods 903 connected to the output end of the servo motor 902 to rotate. At this time, the directions of the spiral raceways inside the two sets of one-way screw rods 903 are opposite, so that the telescopic blocks 904 connected by the balls on the outside of the two sets of one-way screw rods 903 move toward each other, so that the clamps installed on the side of the telescopic blocks 904 The holding block 905 can be close to the left and right sides of the material to clamp the material. At the same time, when the two sets of one-way screw rods 903 rotate, they will drive the rotating gear 906 installed on the outside to rotate, and then drive the two sets of grabbing tooth rods 907 meshingly connected to the outside of the rotating gear 906 to move (in the same direction), and operate simultaneously with the above-mentioned clamping block 905 to install the front and back sides of the material between the grabbing rod 908 and the baffle 909, thereby completing the further stable installation and fixation of the material and improving the stability during subsequent transportation (grasping and fixing the material on all sides).

[0097] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An AGV intelligent handling robot, comprising a robot base (10), a protective shell (20), an external electric power assembly (30), a support plate (40) and an integrated handling mechanical claw (50), characterized in that: A protective housing (20) is installed on the outer side of the robot base (10) by means of screws, an external electric power assembly (30) is installed at the inner edge of the robot base (10), a built-in cavity (101) is provided on the inner side of the external electric power assembly (30) and is opened at the inner center of the robot base (10), a support plate (40) is installed inside the built-in cavity (101), an integrated handling mechanical claw (50) is installed on the top of the support plate (40), and the integrated handling mechanical claw (50) comprises: A position adjustment component (60), the position adjustment component (60) is installed on the top of the support plate (40) and extends to the outside of the protective shell (20), the position adjustment component (60) is installed on the inner side of the protective frame (6001), and the protective frame (6001) is installed on the top of the support plate (40) by screws; A counterweight telescopic assembly (70), the counterweight telescopic assembly (70) being mounted on the inner side of the position adjustment assembly (60), and having a counterweight block (7001) supported at the bottom, a deflection assembly (80) being mounted at the top of the counterweight telescopic assembly (70), and a servo motor (8001) being mounted at the top of the deflection assembly (80); A claw arm grabbing assembly (90), the claw arm grabbing assembly (90) is connected to the output end of the servo motor (8001) and is installed at the bottom of the deflection assembly (80), and the claw arm grabbing assembly (90) grabs the transported material; The external electric power assembly (30) comprises: A control cabinet module (301), the control cabinet module (301) being installed on one side inside the robot base (10), and the side surfaces are linearly connected to motor drive modules (302), and the motor drive modules (302) are provided in four groups and are respectively installed on one side of the control cabinet module (301) close to the included angle; A roller (303), the roller (303) being connected to the output end of the motor drive module (302) and being movably connected inside the robot base (10), the roller (303) extending to the bottom of the robot base (10); A lithium battery pack (304), the lithium battery pack (304) being installed on the other side of the robot base (10) and located on the side of the motor drive module (302), the lithium battery pack (304) transmitting electrical energy to the motor drive module (302); A track detector (305), the track detector (305) is installed at the bottom of the robot base (10) and is located below the built-in cavity (101), and the track detector (305) and the lithium battery pack (304) are linearly connected; The control cabinet module (301), the motor drive module (302) and the lithium battery pack (304) are all arranged outside the built-in cavity (101); Wherein, the motor drive module (302) is composed of at least one set of drive motor module and reducer module; The claw arm grabbing assembly (90) comprises: A connecting frame (901), the connecting frame (901) is connected to the output end of the servo motor (8001), a servo motor (902) is installed on one side of the connecting frame (901), and the output end of the servo motor (902) is connected to a one-way screw rod (903); Wherein, the one-way screw rods (903) are provided in two groups, and the two groups of the one-way screw rods (903) are connected and fixed to each other; A telescopic block (904), wherein the telescopic block (904) is connected to the outer side of the one-way screw rod (903) via a ball bearing, the telescopic block (904) is slidably connected to the connecting frame (901), and a clamping block (905) is installed on the side of the bottom of the telescopic block (904), and the clamping block (905) is used to grab the transported material; A rotating gear (906), the rotating gear (906) is installed on the outside of the one-way screw rod (903) and is rotatably connected to the inner wall of the connecting frame (901), the top of the rotating gear (906) is meshingly connected with a grabbing tooth rod (907), and the grabbing tooth rod (907) and the connecting frame (901) are slidably connected; Wherein, a grabbing rod (908) is installed on one side of the grabbing tooth rod (907), and a baffle (909) located at the bottom of the port of the connecting frame (901) is installed on the other side of the grabbing rod (908), and materials are fixed on the inner sides of the grabbing rod (908) and the baffle (909); The structural shape of the connecting frame (901) is an "H" shape, and a plurality of guide parts (9011) are provided inside the connecting frame (901); The guide portion (9011) is slidably connected to a protrusion on the top of the telescopic block (904), and the guide portion (9011) is slidably connected to a protrusion on the top of the grabbing tooth rod (907).

2. The AGV intelligent handling robot according to claim 1, characterized in that: The position adjustment component (60) comprises: A horizontal slide rail (601), the horizontal slide rail (601) being installed on the top of the support plate (40), and two groups of the horizontal slide rails (601) being provided, a horizontal slider (602) being provided on the top of the horizontal slide rail (601), and a placement plate (603) being installed on the top of the horizontal slider (602) by means of screws; Wherein, a protective frame (6001) is installed at the edge of the top of the placement plate (603) by means of screws; A vertical slide rail (604), the vertical slide rail (604) is installed on the top of the placement plate (603) and is arranged on the inner wall of the protection frame (6001), and a vertical sliding block (605) is arranged on the side of the vertical slide rail (604); A built-in frame (606) is installed inside the vertical slider (605).

3. The AGV intelligent handling robot according to claim 2, characterized in that: The vertical slide rails (604) are provided in four groups, and every two groups of the vertical slide rails (604) are installed on one side of the inner wall of the protection frame (6001); Wherein, a counterweight telescopic assembly (70) is installed inside the built-in frame (606).

4. The AGV intelligent handling robot according to claim 3, characterized in that: The counterweight telescopic assembly (70) comprises: A driving motor (701), the driving motor (701) being mounted at the center of the top of the built-in frame (606), a driving gear (702) being mounted on the outer side of the output end of the driving motor (701), and the driving gear (702) being rotatably connected to the inside of the built-in frame (606); a telescopic toothed rod (703), the telescopic toothed rod (703) being meshedly connected to the outside of the driving gear (702) and slidably connected to the inner wall of the built-in frame (606); a guide frame (704) is installed on the side of the telescopic toothed rod (703), and the guide frame (704) is slidably connected to the inside of the built-in frame (606); A support base plate (705) is installed on the side of one group of guide frames (704) by screws, a counterweight block (7001) is supported on the top of the support base plate (705), and a deflection assembly (80) is installed on the side of another group of guide frames (704).

5. The AGV intelligent handling robot according to claim 4, characterized in that: The central parts of the upper and lower sides of the guide frame (704) protrude outwards and form guide protrusions (7041), and the guide protrusions (7041) match the recessed parts provided on the inner wall of the built-in frame (606); The bottoms of the two groups of guide frames (704) are respectively arranged at the bottom of another group of telescopic tooth rods (703).

6. The AGV intelligent handling robot according to claim 4, characterized in that: The deflection assembly (80) comprises: A deflection seat (801), wherein the deflection seat (801) is mounted on a side of the guide frame (704) by means of screws, a DC motor (802) is mounted on one side of the deflection seat (801), and an output end of the DC motor (802) is connected to a deflection arm (803); The side of the deflection arm (803) away from the DC motor (802) is configured to be hollow, and the top of the hollow portion supports a servo motor (8001).

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