Intelligent AGV garbage can carrying device

Abstract

The invention discloses an intelligent AGV garbage can carrying device, and relates to the field of carrying robots, the intelligent AGV garbage can carrying device comprises a carrying vehicle base, the top of the carrying vehicle base is rotatably provided with a mounting seat, the interior of the mounting seat is provided with a clamping mechanism through a lifting mechanism, and the top of the carrying vehicle base is rotatably connected with a first supporting plate and a second supporting plate. The side face of a garbage can is clamped and lifted through the clamping mechanism, the first supporting plate rotates to the bottom of the garbage can to support the garbage can, an empty can is placed on the top of the second supporting plate, the mounting base and the clamping mechanism drive the full garbage can to rotate to the rear portion of the carrier base, and meanwhile the second supporting plate rotates the empty can to the front portion of the carrier base. The positions of the garbage cans are exchanged, then the empty cans can be placed at the corresponding positions, and the time consumed in the can taking and placing process of the AGV is effectively shortened.

Description

Technical Field

[0001] The present invention relates to the field of transport robots, in particular to an intelligent AGV trash can transport device. Background Art

[0002] AGV, or Automated Guided Vehicle, is a robot used for automatic logistics transportation. It mainly uses special landmark navigation to automatically transport items to designated locations. The most common guidance methods are magnetic strip guidance, laser guidance, and RFID guidance. AGV has a wide range of applications, especially in the manufacturing industry. It is valued for its efficient, accurate, and flexible completion of material handling tasks. At the same time, AGV is also suitable for a variety of scenarios such as long-distance transportation and special working environments.

[0003] AGV intelligent handling robots can also be used in the field of garbage sorting. Garbage sorting refers to the process of classifying and processing mixed garbage according to certain standards. The sorted garbage is transported by conveyor belts to different end points for temporary storage. There are often trash cans at the end points of the conveyor belts. When the trash can is full, the AGV intelligent handling robot can transport the trash can away and replace it with a new empty can.

[0004] In actual use, the AGV intelligent handling robot often needs to first transport the garbage can full of garbage to the placement, then go to the empty can placement to take an empty can, and then reach the conveyor belt position to put down the empty can to complete a work process. However, the AGV intelligent handling robot consumes a lot of time in the process of taking and changing cans, which reduces the work efficiency of the factory assembly line to a certain extent. Summary of the invention

[0005] Based on this, the purpose of the present invention is to provide an intelligent AGV trash can handling device to solve the technical problem that general AGV intelligent handling robots spend a lot of time in the process of taking and changing trash cans.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an intelligent AGV trash can transporting device, comprising a transport vehicle base, a mounting seat is rotatably provided on the top of the transport vehicle base, a clamping mechanism is installed inside the mounting seat through a lifting mechanism, a first pallet and a second pallet are rotatably connected to the top of the transport vehicle base, the first pallet and the second pallet are both controlled to rotate by a rotating mechanism, a pressure plate is rotatably provided on one side of the mounting seat, a group of spring telescopic cylinders are rotatably provided between the top of the pressure plate and the mounting seat, and a pressure block is provided on the top of the pressure plate.

[0007] The present invention is further configured such that the lifting mechanism is a motor-screw lifting mechanism, which is composed of a motor and a screw, a guide rod, and a lifting block; the clamping mechanism is installed on the lifting block; the clamping mechanism includes a double-headed motor box, a movable seat and a splint; the output end of the double-headed motor box is connected to the lifting block via a rotating screw; the outer wall of the rotating screw is threadedly connected to the movable seat; one end of the movable seat is rotatably connected to the splint.

[0008] The present invention is further configured such that a torsion spring is provided at the rotation point between the clamping plate and the movable seat.

[0009] The present invention is further configured such that a limiting groove is provided on the top of the second supporting plate.

[0010] The present invention is further configured such that a movable frame is provided inside the second support plate, a movable block is provided on one side of the movable frame, a connecting block is provided on the outer wall of the movable block, a return spring is connected between one end of the connecting block and the inner wall of the second support plate, the other end of the connecting block is connected to a limiting block, a groove matching the inside of the connecting block is provided on the surface of the movable block, a limiting ring is provided on the outer wall of the rotating column of the mounting seat, a fixing groove is provided on the outer wall of the limiting ring, and a pointed inclined surface is provided at one end of the movable frame.

[0011] The present invention is further configured such that the rotating mechanism includes a rotating motor and a gear set, the rotating motor is respectively mounted on the outside of the mounting seat and the base of the transport vehicle, and the output end of the rotating motor is connected to the gear set.

[0012] The present invention is further configured such that the gear set includes a bevel gear and a bevel gear ring, the bevel gear is connected to the output end of the rotating motor, the bevel gear ring is respectively installed on the outside of the first support plate and the second support plate, and the bevel gear and the bevel gear ring are meshed with each other.

[0013] The present invention is further configured such that a driving motor is installed at the bottom of the mounting seat, and the driving motor is fixed to the top of the transport vehicle base.

[0014] In summary, the present invention mainly has the following beneficial effects: the present invention clamps the side of the trash can and lifts it up through the clamping mechanism, the first pallet rotates to the bottom of the trash can to support the trash can, and an empty bucket is placed on the top of the second pallet, the mounting seat and the clamping mechanism drive the full trash can to rotate to the rear of the base of the transporter, and at the same time the second pallet rotates the empty bucket to the front of the base of the transporter, completing the exchange of the positions of the trash cans, and then the empty bucket can be placed in the corresponding position, effectively reducing the time spent by the AGV in taking and putting the bucket, and improving work efficiency, and during the movement of the AGV, the pressure plate can protect the mouth of the full trash can to prevent the garbage from flying out due to bumps during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the present invention in a state of clamping a full barrel;

[0016] Figure 2 This is a schematic diagram of the supporting state of the first support plate of the present invention for a full barrel;

[0017] Figure 3 It is a schematic diagram of the exchange state of an empty bucket and a full bucket of the present invention;

[0018] Figure 4 This is a schematic diagram of the empty barrel placement state of the present invention;

[0019] Figure 5 For the present invention Figure 1 A schematic diagram of the second perspective structure;

[0020] Figure 6 For the present invention Figure 1 Schematic diagram of the bottom structure;

[0021] Figure 7 It is a schematic diagram of the internal structure of the first support plate of the present invention;

[0022] Figure 8 It is a schematic diagram of the internal structure of the first support plate and the movable block of the present invention;

[0023] Fig. 9 For the present invention Figure 8 A magnified view of the structure at A;

[0024] Fig.10 A place for empty and full trash cans;

[0025] Fig.11 For garbage sorting.

[0026] In the figure: 1. base of the transport vehicle; 2. mounting seat; 3. double-headed motor box; 4. movable seat; 5. clamping plate; 6. first support plate; 7. second support plate; 8. rotating motor; 9. gear set; 10. limiting groove; 11. limiting ring; 12. movable frame; 13. limiting block; 14. movable block; 15. reset spring; 16. connecting block; 17. pressure plate; 18. spring telescopic cylinder; 19. pressure block. DETAILED DESCRIPTION

[0027] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0028] The following describes an embodiment of the present invention based on its overall structure.

[0029] An intelligent AGV trash can handling device, such as Figure 1-11As shown, it includes a transport vehicle base 1, a mounting seat 2 is rotatably provided on the top of the transport vehicle base 1, a driving motor is installed at the bottom of the mounting seat 2, and the driving motor is fixed to the top of the transport vehicle base 1. When the mounting seat 2 needs to be rotated, the driving motor is started to drive the mounting seat 2 to rotate.

[0030] like Figure 1 As shown, a clamping mechanism is installed inside the mounting seat 2 through a lifting mechanism, and the clamping mechanism includes a double-headed motor box 3, a movable seat 4 and a clamping plate 5. A group of movable seats 4 are connected through the double-headed motor box 3, and one end of the movable seat 4 is rotatably connected to the clamping plate 5. The lifting mechanism is a common motor screw mechanism, which is composed of a motor and a screw, a guide rod, and a lifting block. After the motor is started, the screw rotates accordingly. Under the guiding action of the guide rod, the lifting block threadedly connected to the screw performs a corresponding lifting action, and at this time, the clamping mechanism also performs a corresponding lifting action synchronously;

[0031] The clamping mechanism is installed on the lifting block, and the clamping mechanism includes a double-headed motor box 3, a movable seat 4 and a clamping plate 5. The output end of the double-headed motor box 3 is connected to the lifting block through a rotating screw rod. The outer wall of the rotating screw rod is threadedly connected with the movable seat 4. One end of the movable seat 4 is rotatably connected with the clamping plate 5. A limit rod is arranged between the outer wall of the double-headed motor box 3 and the lifting block. The limit rod passes through the movable seat 4 to limit the movable seat 4. When the rotating screw rod rotates, it only drives the movable seat 4 to make a translational movement.

[0032] When the double-headed motor box 3 is needed to clamp the full trash can, the double-headed motor box 3 is started, the screw rod is rotated, and the movable seat 4 moves inward to realize the corresponding clamping action. Then the lifting mechanism is started, and the lifting block drives the clamping mechanism to move upward. At this time, the clamping and lifting action of the full trash can is completed.

[0033] Furthermore, a torsion spring is provided at the rotating position of the splint 5 and the movable seat 4. Since the trash can is not necessarily in a vertical position when placed, when the trash can is in a tilted state, the rotatable splint 5 can better fit the outer wall of the tilted trash can, and when the trash can is lifted, the torsion spring resets the trash can to a vertical position.

[0034] The top of the transporter base 1 is rotatably connected with a first support plate 6 and a second support plate 7. An empty trash can is placed on the top of the second support plate 7. After the clamping and lifting action of the full trash can is completed, the full trash can and the empty trash can need to be swapped and the empty trash can can be placed.

[0035] like Figure 2As shown, the first support plate 6 and the second support plate 7 are both controlled to rotate by a rotating mechanism, and the rotating mechanism includes a rotating motor 8 and a gear set 9. The rotating motor 8 is respectively installed on the outside of the mounting seat 2 and the base 1 of the transport vehicle, and the output end of the rotating motor 8 is connected to the gear set 9. The gear set 9 includes a bevel gear and a bevel gear ring. The bevel gear is connected to the output end of the rotating motor 8. The bevel gear ring is respectively installed on the outside of the first support plate 6 and the second support plate 7, and the bevel gear and the bevel gear ring are meshed with each other. After the clamping and lifting action of the full trash can is completed, the rotating motor 8 at the base 1 of the transport vehicle is started, and the rotating motor 8 drives the bevel gear to rotate, and the bevel gear ring rotates accordingly, and drives the first support plate 6 to rotate, and the first support plate 6 is rotated to the bottom of the full trash can to lift and support the full trash can;

[0036] like Figure 3 As shown, an empty trash can is placed on the top of the second support plate 7, and the mounting seat 2, the first support plate 6 and the second support plate 7 are controlled to rotate clockwise at the same time to swap the positions of the full trash can and the empty trash can, that is, the empty trash can is moved to the front, and the full trash can is stably moved to the back under the clamping of the clamping mechanism, and then the clamping mechanism releases the clamping of the full trash can and moves upward under the action of the lifting mechanism until it passes over the top of the full trash can. At this time, the mounting seat 2 is controlled to rotate and the clamping mechanism is turned back to the empty trash can to prepare for clamping the empty trash can;

[0037] like Figure 4 As shown, the clamping mechanism moves downward under the action of the lifting mechanism until it can clamp the empty trash can. At this time, the rotating mechanism of the second support plate 7 is started, and the rotating motor 8 drives the bevel gear to rotate, and the bevel gear ring rotates accordingly, and drives the first support plate 6 to rotate ninety degrees, leaving space for the empty trash can to land. At this time, the lifting mechanism drives the clamping mechanism and the empty trash can to descend, and places the empty trash can on the ground.

[0038] In order to improve the stability and leakage prevention ability of the full trash can, a pressure plate 17 is rotatably provided on one side of the mounting seat 2, and a group of spring telescopic cylinders 18 are rotatably provided between the top of the pressure plate 17 and the mounting seat 2, and a pressure block 19 is provided on the top of the pressure plate 17. Under the action of the spring telescopic cylinder 18, the pressure plate 17 is in an upward initial position. When the lifting mechanism drives the clamping mechanism to move upward to a certain height, the double-headed motor box 3 will contact the pressure block 19 and push the pressure block 19 to rotate clockwise to press the pressure plate 17 downward. At this time, the full trash can under the pressure plate 17 can be compressed and the leakage prevention function can be achieved. When the double-headed motor box 3 is not in contact with the pressure block 19, the pressure plate 17 is reset under the action of the spring telescopic cylinder 18.

[0039] At the same time, the stability of the empty trash can must also be guaranteed. A limiting groove 10 is provided on the top of the second support plate 7. The wheels of the empty trash can are inserted into the limiting groove 10 and limited by the limiting groove 10. A movable frame 12 is provided inside the second support plate 7, and a movable block 14 is provided on one side of the movable frame 12. A connecting block 16 is provided on the outer wall of the movable block 14. A reset spring 15 is connected between one end of the connecting block 16 and the inner wall of the second support plate 7, and the other end of the connecting block 16 is connected to the limiting block 13. A limiting ring 11 is provided on the outer wall of the rotating column of the mounting seat 2, and a fixing groove is provided on the outer wall of the limiting ring 11. A pointed inclined surface is provided at one end of the movable frame 12. When the second support plate 7 rotates, the movable frame 12 moves accordingly. Rotate, the pointed inclined surface of the movable frame 12 disengages from the fixed groove, and the movable frame 12 moves outward at this time, thereby driving the movable block 14 to move outward, and because the surface of the movable block 14 is provided with a groove matching the inside of the connecting block 16, the outward movement of the movable block 14 will push the connecting block 16 and the limit block 13 to fix the wheel inserted in the limit groove 10, and when the second support plate 7 is rotated 180 degrees, the clamping inclined surface of the movable frame 12 comes to the front of another fixed groove, and under the action of the reset spring 15, the connecting block 16, the movable block 14 and the movable frame 12 are pushed to reset in turn until the pointed inclined surface is inserted into the fixed groove, which effectively improves the stability of the empty trash can when the second support plate 7 rotates.

[0040] The working process of the entire AGV robot is: first, the empty bucket is placed on the top of the second pallet 7 through the lifting mechanism and the clamping mechanism, and then it goes to the full trash can to replace the full trash can with the empty bucket. After the replacement is completed, the full trash can is transported to the trash can storage area to complete a process, which effectively reduces the time spent by the robot on taking and placing the bucket, and can save a lot of time on standby at the charging area, further improving the robot's work efficiency.

[0041] The AGV robot works by positioning through infrared recognition and sensors, which is an existing technology, so it is not described in detail. Fig.10 For empty and full trash cans. Fig.11 For garbage sorting, the AGV robot goes to the above two places to pick up and put down the buckets.

[0042] Although an embodiment of the present invention has been shown and described, this specific embodiment is merely an explanation of the present invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

Claims

1. An intelligent AGV trash can transport device, comprising a transport vehicle base (1), characterized in that: A mounting seat (2) is rotatably provided at the top of the transport vehicle base (1), a clamping mechanism is installed inside the mounting seat (2) through a lifting mechanism, a first support plate (6) and a second support plate (7) are rotatably connected to the top of the transport vehicle base (1), the first support plate (6) and the second support plate (7) are both controlled to rotate by a rotating mechanism, a pressure plate (17) is rotatably provided on one side of the mounting seat (2), a group of spring telescopic cylinders (18) are rotatably provided between the top of the pressure plate (17) and the mounting seat (2), and a pressure block (19) is provided on the top of the pressure plate (17).

2. The intelligent AGV trash can transporting device according to claim 1, characterized in that: The lifting mechanism is a motor-screw lifting mechanism, which is composed of a motor and a screw, a guide rod, and a lifting block. The clamping mechanism is installed on the lifting block. The clamping mechanism includes a double-headed motor box (3), a movable seat (4) and a clamping plate (5). The output end of the double-headed motor box (3) is connected to the lifting block through a rotating screw. The outer wall of the rotating screw is threadedly connected to the movable seat (4), and one end of the movable seat (4) is rotatably connected to the clamping plate (5).

3. The intelligent AGV trash can transporting device according to claim 2, characterized in that: A torsion spring is provided at the rotation point between the clamping plate (5) and the movable seat (4).

4. The intelligent AGV trash can transporting device according to claim 1, characterized in that: A limiting groove (10) is provided on the top of the second supporting plate (7).

5. The intelligent AGV trash can transporting device according to claim 4, characterized in that: A movable frame (12) is arranged inside the second support plate (7), a movable block (14) is arranged on one side of the movable frame (12), a connecting block (16) is arranged on the outer wall of the movable block (14), a return spring (15) is connected between one end of the connecting block (16) and the inner wall of the second support plate (7), the other end of the connecting block (16) is connected to a limit block (13), a groove matching the inside of the connecting block (16) is provided on the surface of the movable block (14), a limit ring (11) is provided on the outer wall of the rotating column of the mounting seat (2), a fixing groove is provided on the outer wall of the limit ring (11), and a pointed inclined surface is provided on one end of the movable frame (12).

6. The intelligent AGV trash can transporting device according to claim 1, characterized in that: The rotating mechanism comprises a rotating motor (8) and a gear set (9); the rotating motor (8) is respectively mounted on the outside of a mounting seat (2) and a transport vehicle base (1); and the output end of the rotating motor (8) is connected to the gear set (9).

7. The intelligent AGV trash can transporting device according to claim 6, characterized in that: The gear set (9) comprises a bevel gear and a bevel gear ring, the bevel gear is connected to the output end of the rotating motor (8), the bevel gear ring is respectively mounted on the outside of the first support plate (6) and the second support plate (7), and the bevel gear and the bevel gear ring are meshed with each other.

8. The intelligent AGV trash can transporting device according to claim 1, characterized in that: A driving motor is installed at the bottom of the mounting seat (2), and the driving motor is fixed to the top of the transport vehicle base (1).

Images