AGV intelligent carrying robot
Through the self-locking technology of the limit plate and worm gear and worm gear meshing, the problems of cargo stability and guidance wheel adjustment of AGV intelligent handling robot are solved, achieving higher stability and cost-effectiveness.
Patent Information
- Application Number
- CN202411362907.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-27
- Publication Date
- 2024-12-31
AI Technical Summary
The existing AGV intelligent handling robots reduce friction due to damage or dirty rubber pads during cargo transportation, which affects cargo stability. At the same time, the guidance wheel adjustment is complex and costly, and additional self-locking components are required to achieve smooth cornering.
The limit plate is used to limit the cargo and adjust the steering angle of the guide wheel through the engagement of the worm gear and the worm gear, simplifying the structure and reducing costs, avoiding the use of additional self-locking components.
Improves the stability of the cargo and the smooth turning capability of the guide wheel, while reducing the complexity and cost of the equipment.
Smart Images
Figure CN119218332A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of handling equipment, and in particular to an AGV intelligent handling robot. Background Art
[0002] AGV intelligent handling robot is a highly automated industrial handling equipment, widely used in warehouses, factories, airports and hospitals for material handling, cargo transportation and product sorting, reducing dependence on manual handling, reducing labor intensity and labor costs, and further improving logistics efficiency; When the AGV intelligent handling robot is working, the goods to be handled are first placed on the upper end of the AGV intelligent handling robot through an external traction device, and then the GPS receiver receives the signal from the satellite. At the same time, the GPS receiver provides the real-time location information of the AGV intelligent handling robot. The control device matches the real-time location information with the map data of the preset path, thereby planning the driving route, and finally the AGV intelligent handling robot can drive along the preset path with the goods; When the existing AGV intelligent transport robot is in use, a rubber pad is usually set between the AGV intelligent transport robot and the goods. The anti-slip pad provides additional friction and reduces the risk of sliding of the goods during transportation. However, the rubber pad will become dirty or damaged after long-term use, resulting in a decrease in friction, which ultimately affects the stability of the goods. When the AGV intelligent transport robot needs to turn during movement, the steering angle of the guide wheel is usually adjusted by an adjustment device to achieve a smooth turning action. However, after the adjustment, an additional self-locking component is usually required to lock and fix the guide wheel. This method increases the cost and makes the internal structure of the AGV intelligent transport robot more complicated. To this end, we propose an AGV intelligent transport robot. Summary of the invention
[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide an AGV intelligent transport robot that can limit and fix the goods through a limiting plate, further improving the stability of the goods. After adjusting the steering angle of the guide wheel, it can be self-locked through the engagement of the worm gear and the worm, without the need to add additional self-locking components. The structure is simple and the cost is reduced, which can effectively solve the problems in the background technology.
[0004] To achieve the above object, the present invention provides the following technical solutions: an AGV intelligent handling robot, comprising a support seat, a cavity is arranged on the lower side of the support seat, a mounting groove is arranged on the upper side of the support seat, and the left side of the lower end of the support seat is rotatably connected with an anti-slip roller, and also includes a fixing mechanism and a guiding mechanism; Fixing mechanism: It includes a cross bar, a connecting plate and a limit plate. The cross bar is respectively arranged at the front and rear sides of the installation groove. The cross bar is slidably connected with the sliding holes arranged on the upper side of the right end of the connecting plate. The limit plates are slidably connected in the sliding grooves arranged on the left and right sides of the upper end of the support seat. The upper ends of the connecting plates are respectively fixedly connected with the lower ends of the vertically adjacent limit plates. Guide mechanism: It is arranged inside the cavity and can limit and fix the goods through the limit plate, further improving the stability of the goods. After adjusting the steering angle of the guide wheel, it can self-lock through the engagement of the worm gear and the worm, without adding additional self-locking components. The structure is simple and the cost is also reduced.
[0005] Furthermore, it also includes a single-chip microcomputer, which is arranged inside the cavity, and the input end of the single-chip microcomputer is electrically connected to the external power supply, so as to be able to regulate the electrical components inside the device.
[0006] Furthermore, the fixing mechanism also includes a mounting rod, a transmission plate, an adjusting rod, a slider, a double-sided rack plate and a driving gear, the mounting rods are rotatably connected to the front side of the bottom wall of the mounting groove, the driving gears are arranged on the lower side of the outer arc surface of the mounting rod, the upper side of the outer arc surface of the mounting rod is provided with a transmission plate, the rear side of the upper end of the transmission plate is provided with an adjusting rod, the upper ends of the adjusting rods are respectively located in the adjusting grooves provided at the lower ends of the vertically adjacent connecting plates, the slider is slidably connected to the bottom wall of the mounting groove, the upper end of the slider is provided with a double-sided rack plate, the driving gears are meshingly connected to the double-sided rack plate, and the position of the limit plate can be adjusted.
[0007] Furthermore, the guide mechanism includes a vertical rod, a guide wheel, a worm wheel, a connecting rod and a worm. The vertical rods are rotatably connected to the right side of the bottom wall of the cavity. The lower ends of the vertical rods are provided with guide wheels. The guide wheels are located outside the support seats. Worm wheels are provided on the upper sides of the outer arc surfaces of the vertical rods. The connecting rods are rotatably connected to the right side of the cavity. Worms are provided on the front and rear sides of the outer arc surface of the connecting rod. The worms are respectively meshed and connected with laterally adjacent worm wheels, so as to adjust the steering angle of the guide wheels.
[0008] Furthermore, the guide mechanism also includes an output rod and a gear, the output rod is rotatably connected to the right side of the front wall of the cavity, the output rod is located on the left side of the connecting rod, and gears are provided in the middle of the output rod and the outer arc surface of the connecting rod. The two gears are meshed and connected, and can drive the worm to rotate through the connecting rod.
[0009] Furthermore, a screw is rotatably connected in the middle of the front wall of the mounting groove, and the screw is threadedly connected to a threaded hole arranged in the middle of the rear end of the double-sided rack plate. A servo motor is arranged in the middle of the rear wall of the mounting groove, and the front end of the servo motor output shaft is fixedly connected to the rear end of the screw. The input end of the servo motor is electrically connected to the output end of the single-chip microcomputer, and the double-sided rack plate can be driven to move through the screw.
[0010] Furthermore, an adjusting motor is arranged on the right side of the rear wall of the cavity, the front end of the adjusting motor output shaft is fixedly connected to the rear end of the output rod, the input end of the adjusting motor is electrically connected to the output end of the single-chip microcomputer, and the connecting rod can be driven to rotate through the meshing connection between the gears.
[0011] Furthermore, a dual-axis motor is provided at the lower end of the support seat, and the end of the anti-slip roller close to the inner center of the support seat is fixedly connected to the end of the output shaft of the dual-axis motor away from the inner center of the support seat, the input end of the dual-axis motor is electrically connected to the output end of the single-chip microcomputer, and the output shaft of the dual-axis motor drives the two anti-slip rollers to rotate, thereby making the AGV intelligent transport robot travel along a preset path.
[0012] Furthermore, a GPS receiver is arranged on the left side of the bottom wall of the cavity. The GPS receiver is bidirectionally electrically connected to the single-chip microcomputer. The GPS receiver receives signals from satellites and provides real-time location information of the AGV intelligent transport robot.
[0013] Compared with the prior art, the beneficial effects of the present invention are: the AGV intelligent handling robot has the following advantages: 1. The connecting plate drives the limit plate to move. At this time, the distance between the two limit plates gradually decreases. Finally, the goods are limited and fixed by the limit plates, replacing the traditional method of using rubber pads to improve the stability of the goods. This solves the problem of reduced friction due to damage or dirtiness of the rubber pads, and further improves the stability of the goods.
[0014] 2. The worm drives the worm wheel to rotate through meshing connection, and then the worm wheel drives the guide wheel to rotate through the vertical rod, thereby adjusting the steering angle of the guide wheel to achieve smooth turning. After the steering angle of the guide wheel is adjusted, it can be self-locked through the meshing of the worm wheel and the worm, without adding additional self-locking components. The structure is simple and the cost is also reduced. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a structural schematic diagram of the fixing mechanism of the present invention; Figure 3 It is a structural schematic diagram of the guide mechanism of the present invention; Figure 4 It is a schematic diagram of the cross-sectional structure of the upper side of the present invention.
[0016] In the figure: 1 support base, 2 cavity, 3 single chip microcomputer, 4 mounting slot, 5 GPS receiver, 6 fixing mechanism, 61 cross bar, 62 connecting plate, 63 limit plate, 64 mounting rod, 65 transmission plate, 66 adjusting rod, 67 slider, 68 double-sided rack plate, 69 driving gear, 7 guide mechanism, 71 vertical rod, 72 guide wheel, 73 worm gear, 74 connecting rod, 75 worm, 76 output rod, 77 gear, 8 screw, 9 servo motor, 10 adjusting motor, 11 anti-slip roller, 12 dual-axis motor. DETAILED DESCRIPTION
[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0018] See also Figure 1-4 , this embodiment provides a technical solution: an AGV intelligent handling robot, including a support seat 1, a cavity 2 is provided on the lower side of the support seat 1, a mounting groove 4 is provided on the upper side of the support seat 1, and the left side of the lower end of the support seat 1 is rotatably connected with an anti-slip roller 11, and also includes a fixing mechanism 6 and a guide mechanism 7; The fixing mechanism 6 includes a cross bar 61, a connecting plate 62 and a limit plate 63. The cross bar 61 is respectively arranged on the front and rear sides of the inside of the mounting groove 4. The cross bar 61 is slidably connected with the sliding holes arranged on the upper side of the right end of the connecting plate 62. The limit plates 63 are slidably connected in the sliding grooves arranged on the left and right sides of the upper end of the support seat 1. The upper ends of the connecting plates 62 are respectively fixedly connected with the lower ends of the vertically adjacent limit plates 63. The fixing mechanism 6 also includes a mounting rod 64, a transmission plate 65, an adjustment rod 66, a slider 67, a double-sided rack plate 68 and a driving gear 69. The mounting rods 64 are all rotatably connected to the front side of the bottom wall of the mounting groove 4. The driving gears 69 are all arranged on the lower side of the outer arc surface of the mounting rod 64. The upper side of the outer arc surface of the mounting rod 64 is provided There is a transmission plate 65, and the rear side of the upper end of the transmission plate 65 is provided with an adjustment rod 66. The upper ends of the adjustment rods 66 are respectively located in the adjustment grooves provided at the lower ends of the vertically adjacent connecting plates 62. The slider 67 is slidably connected with the bottom wall of the installation groove 4. The upper end of the slider 67 is provided with a double-sided rack plate 68. The driving gear 69 is meshed and connected with the double-sided rack plate 68. The connecting plate 62 drives the limit plate 63 to move. At this time, the distance between the two limit plates 63 is gradually reduced. Finally, the limit plate 63 is used to limit and fix the goods, replacing the traditional method of using rubber pads to improve the stability of the goods. The problem of reducing friction due to damage or dirtiness of the rubber pads is solved, and the stability of the goods is further improved. Guide mechanism 7: It is arranged inside the cavity 2, and the guide mechanism 7 includes a vertical rod 71, a guide wheel 72, a worm wheel 73, a connecting rod 74 and a worm 75. The vertical rods 71 are rotatably connected to the right side of the bottom wall of the cavity 2, and the lower ends of the vertical rods 71 are provided with guide wheels 2, and the guide wheels 2 are located outside the support seat 1. The upper side of the outer arc surface of the vertical rod 71 is provided with a worm wheel 73, and the connecting rod 74 is rotatably connected to the right side of the cavity 2. The front and rear sides of the outer arc surface of the connecting rod 74 are provided with worms 75, and the worms 75 are respectively meshed with the worm wheels 73 adjacent to the worm wheels 73 in the horizontal direction. The guide mechanism 7 also includes an output rod 76 and a gear 77. The output rod 76 It is rotatably connected to the right side of the front wall of the cavity 2, and the output rod 76 is located on the left side of the connecting rod 74. Gears 77 are provided in the middle of the outer arc surface of the output rod 76 and the connecting rod 74. The two gears 77 are meshingly connected. The worm 75 drives the worm wheel 73 to rotate through the meshing connection, and then the worm wheel 73 drives the guide wheel 72 to rotate through the vertical rod 71, thereby adjusting the steering angle of the guide wheel 72 to achieve a smooth turning action. After the steering angle of the guide wheel 72 is adjusted, it can be self-locked through the meshing of the worm wheel 73 and the worm 75, and there is no need to add additional self-locking components. The structure is simple and the cost is also reduced.
[0019] Among them: it also includes a single-chip microcomputer 3, which is arranged inside the cavity 2, and the input end of the single-chip microcomputer 3 is electrically connected to the external power supply, which can regulate the electrical components inside the device.
[0020] Among them: a screw rod 8 is rotatably connected to the middle part of the front wall of the installation groove 4, and the screw rod 8 is threadedly connected to the threaded hole set in the middle part of the rear end of the double-sided rack plate 68. A servo motor 9 is set in the middle part of the rear wall of the installation groove 4. The front end of the output shaft of the servo motor 9 is fixedly connected to the rear end of the screw rod 8. The input end of the servo motor 9 is electrically connected to the output end of the single-chip computer 3. The servo motor 9 drives the screw rod 8 to rotate. During the rotation of the screw rod 8, the double-sided rack plate 68 is driven to move through the threaded connection.
[0021] Among them: an adjusting motor 10 is arranged on the right side of the rear wall of the cavity 2, the front end of the output shaft of the adjusting motor 10 is fixedly connected to the rear end of the output rod 76, the input end of the adjusting motor 10 is electrically connected to the output end of the single-chip computer 3, the adjusting motor 10 drives the output rod 76 to rotate, the output rod 76 drives the connecting rod 74 to rotate through the meshing connection between the gears 77, and the connecting rod 74 drives the worm 75 to rotate.
[0022] Among them: a dual-axis motor 12 is arranged at the lower end of the support seat 1, and the end of the anti-skid roller 11 close to the inner center of the support seat 1 is fixedly connected to the end of the output shaft of the dual-axis motor 12 away from the inner center of the support seat 1, and the input end of the dual-axis motor 12 is electrically connected to the output end of the single-chip computer 3, and the output shaft of the dual-axis motor 12 drives the two anti-skid rollers 11 to rotate, so that the AGV intelligent transport robot travels along a preset path.
[0023] Wherein: a GPS receiver 5 is arranged on the left side of the bottom wall of the cavity 2, the GPS receiver 5 is bidirectionally electrically connected to the single-chip computer 3, the GPS receiver 5 receives signals from the satellite, and at the same time the GPS receiver 5 provides real-time position information of the AGV intelligent transport robot.
[0024] The working principle of an AGV intelligent handling robot provided by the present invention is as follows: before use, an external traction device places the goods to be transported on the upper end of the support seat 1, and then through the regulation of the single-chip microcomputer 2, the servo motor 9 starts to run, and the servo motor 9 drives the screw 8 to rotate. During the rotation of the screw 8, the double-sided rack plate 68 is driven to move through a threaded connection. During the movement of the double-sided rack plate 68, the driving gear 69 is driven to rotate through an engagement connection. The driving gear 69 drives the transmission plate 65 to rotate through the mounting rod 64. During the rotation of the transmission plate 65, the adjusting rod 66 slides inside the adjusting groove and rotates relative to the inner wall of the adjusting groove, so that the transmission plate 65 drives the connecting plate 62 to move through the adjusting rod 66, and the connecting plate 62 drives the limit plate 63 to move. At this time, the distance between the two limit plates 63 gradually decreases, and finally the goods are limited and fixed by the limit plate 63. When the AGV intelligent handling robot is working, the GP The S receiver 5 receives signals from the satellite, and the GPS receiver 5 provides the real-time position information of the AGV intelligent transport robot. The single-chip microcomputer 2 matches the real-time position information with the map data of the preset path, so as to plan the driving route. Then, through the regulation of the single-chip microcomputer 2, the dual-axis motor 12 starts to run, and the output shaft of the dual-axis motor 12 drives the two anti-skid rollers 11 to rotate, so that the AGV intelligent transport robot travels along the preset path. When it is necessary to turn, through the regulation of the single-chip microcomputer 2, the regulating motor 10 starts to run, and the regulating motor 10 drives the output rod 76 to rotate. The output rod 76 drives the connecting rod 74 to rotate through the meshing connection between the gears 77. The connecting rod 74 drives the worm 75 to rotate. The worm 75 drives the worm wheel 73 to rotate through the meshing connection. The two worms 75 have the same rotation direction, and then the worm wheel 73 drives the guide wheel 72 to rotate through the vertical rod 71, thereby adjusting the steering angle of the guide wheel 72, so as to achieve a smooth turning action.
[0025] It is worth noting that the single chip microcomputer 3 disclosed in the above embodiment can select STM8S207S8T6C, the GPS receiver 5 can select 1-EGPS-200-B-2, the servo motor 9 and the adjustment motor 10 can select ECMA-C20604RS, and the dual-axis motor 12 can select STP-28D1003. The single chip microcomputer 3 controls the GPS receiver 5, the servo motor 9, the adjustment motor 10 and the dual-axis motor 12 to work using methods commonly used in the prior art.
[0026] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.
Claims
1. An AGV intelligent handling robot, comprising a support base (1), a cavity (2) being arranged at the lower side of the support base (1), a mounting groove (4) being arranged at the upper side of the support base (1), and anti-slip rollers (11) being rotatably connected to the left side of the lower end of the support base (1), characterized in that: It also includes a fixing mechanism (6) and a guiding mechanism (7); The fixing mechanism (6) comprises a cross bar (61), a connecting plate (62) and a limit plate (63), wherein the cross bar (61) is respectively arranged at the front and rear sides of the interior of the mounting groove (4), the cross bar (61) is respectively slidably connected to the sliding holes arranged at the upper side of the right end of the connecting plate (62), the limit plates (63) are slidably connected in the sliding grooves arranged at the left and right sides of the upper end of the support seat (1), and the upper ends of the connecting plates (62) are respectively fixedly connected to the lower ends of the limit plates (63) adjacent in the vertical direction; Guide mechanism (7): it is arranged inside the cavity (2).
2. The AGV intelligent handling robot according to claim 1, characterized in that: It also comprises a single-chip microcomputer (3), wherein the single-chip microcomputer (3) is arranged inside the cavity (2), and an input end of the single-chip microcomputer (3) is electrically connected to an external power supply.
3. The AGV intelligent handling robot according to claim 2, characterized in that: The fixing mechanism (6) further comprises a mounting rod (64), a transmission plate (65), an adjustment rod (66), a slider (67), a double-sided rack plate (68) and a driving gear (69); the mounting rod (64) is rotatably connected to the front side of the bottom wall of the mounting groove (4); the driving gear (69) is arranged on the lower side of the outer arc surface of the mounting rod (64); the transmission plate (65) is arranged on the upper side of the outer arc surface of the mounting rod (64); the adjustment rod (66) is arranged on the rear side of the upper end of the transmission plate (65); the upper ends of the adjustment rods (66) are respectively located in the adjustment grooves arranged at the lower ends of the vertically adjacent connecting plates (62); the slider (67) is slidably connected to the bottom wall of the mounting groove (4); the upper end of the slider (67) is arranged with a double-sided rack plate (68); and the driving gear (69) is meshedly connected with the double-sided rack plate (68).
4. The AGV intelligent handling robot according to claim 2, characterized in that: The guide mechanism (7) comprises a vertical rod (71), a guide wheel (72), a worm wheel (73), a connecting rod (74) and a worm (75); the vertical rod (71) is rotatably connected to the right side of the bottom wall of the cavity (2); the lower end of the vertical rod (71) is provided with a guide wheel (2); the guide wheel (2) is located outside the support seat (1); the upper side of the outer arc surface of the vertical rod (71) is provided with a worm wheel (73); the connecting rod (74) is rotatably connected to the right side of the cavity (2); the front and rear sides of the outer arc surface of the connecting rod (74) are provided with worm wheels (75); the worm wheels (75) are respectively meshed with the worm wheels (73) adjacent to each other in the transverse direction.
5. The AGV intelligent handling robot according to claim 4, characterized in that: The guide mechanism (7) further comprises an output rod (76) and a gear (77); the output rod (76) is rotatably connected to the right side of the front wall of the cavity (2); the output rod (76) is located on the left side of the connecting rod (74); the middle parts of the outer arc surfaces of the output rod (76) and the connecting rod (74) are both provided with a gear (77); the two gears (77) are meshingly connected.
6. The AGV intelligent handling robot according to claim 3, characterized in that: A screw rod (8) is rotatably connected to the middle of the front wall of the installation groove (4), and the screw rod (8) is threadedly connected to a threaded hole provided in the middle of the rear end of the double-sided rack plate (68). A servo motor (9) is provided in the middle of the rear wall of the installation groove (4), and the front end of the output shaft of the servo motor (9) is fixedly connected to the rear end of the screw rod (8), and the input end of the servo motor (9) is electrically connected to the output end of the single-chip computer (3).
7. The AGV intelligent handling robot according to claim 5, characterized in that: An adjusting motor (10) is arranged on the right side of the rear wall of the cavity (2); the front end of the output shaft of the adjusting motor (10) is fixedly connected to the rear end of the output rod (76); and the input end of the adjusting motor (10) is electrically connected to the output end of the single chip computer (3).
8. The AGV intelligent handling robot according to claim 2, characterized in that: A dual-axis motor (12) is disposed at the lower end of the support seat (1); one end of the anti-slip roller (11) close to the inner center of the support seat (1) is fixedly connected to one end of the output shaft of the dual-axis motor (12) away from the inner center of the support seat (1); and the input end of the dual-axis motor (12) is electrically connected to the output end of the single-chip computer (3).
9. The AGV intelligent handling robot according to claim 2, characterized in that: A GPS receiver (5) is arranged on the left side of the bottom wall of the cavity (2), and the GPS receiver (5) is bidirectionally electrically connected to the single-chip computer (3).