Intelligent transfer device based on medical package printing workshop scheduling and control method thereof

Abstract

The invention relates to the technical field of transfer devices, in particular to an intelligent transfer device based on medical package printing workshop scheduling and a control method thereof.The intelligent transfer device comprises an AGV forklift and a first lifting arm, the first lifting arm used for lifting goods is installed at the front end of the AGV forklift, and a baffle is fixedly connected to the side, close to the AGV forklift, of the upper end of the first lifting arm through fixing bolts; the front end of the first lifting arm is connected with a second lifting arm through a guide plate and a bidirectional threaded rod; the second lifting arm comprises a plate body, and a containing groove used for containing the stop rod, a rotating hole, a round hole, a vertical hole and a sliding hole are formed in the plate body. According to the medical box conveying device for the AGV forklift, when the AGV forklift suddenly stops due to accidents or faults of the AGV forklift, the problem that medical boxes transferred on a tray of the AGV forklift fall off due to inertia can be prevented, the medical boxes can be continuously conveyed after the accidents and the faults of the AGV forklift are removed, and the medical boxes can be conveniently conveyed. And meanwhile, the stability of the AGV forklift in the medicine box transferring process can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of transfer devices, and in particular to an intelligent transfer device based on scheduling of a pharmaceutical packaging printing workshop and a control method thereof. Background Art

[0002] The intelligent transfer device for pharmaceutical packaging printing workshop scheduling is a device that integrates advanced automation technology, the Internet of Things and artificial intelligence. It is designed to optimize the material and drug packaging transfer process within the workshop. The device is usually composed of an automatic guided vehicle (AGV), an intelligent scheduling system, sensors, navigation and positioning systems, etc. It exchanges data with the central control platform in real time through wireless communication to achieve intelligent task allocation and path optimization. The intelligent dispatching system dynamically adjusts the AGV's work route and transfer tasks according to the workshop's production plan, equipment status, material location and other information to ensure that products such as medicine boxes can be efficiently and accurately transferred between different production links. The device also has an autonomous obstacle avoidance function, which can sense and avoid obstacles on the path of travel to ensure workshop operation safety. Through this intelligent transfer device, the workshop has achieved efficient logistics scheduling, automated material transfer and optimal resource allocation, thereby improving production efficiency, reducing labor costs, and ensuring the safety and hygiene of items during drug packaging. In the process of transferring the medicine boxes placed on the pallet by the AGV forklift, if an obstacle suddenly blocks the AGV forklift, the AGV forklift will stop moving for a short time. During the process of the AGV forklift stopping, the medicine boxes placed on the pallet are at risk of falling due to inertia. If the medicine boxes fall in front of the AGV forklift, the movement of the AGV forklift will be affected after the obstacle is removed. Therefore, in order to solve the above problems, an intelligent transfer device based on the scheduling of pharmaceutical packaging printing workshop and its control method are proposed. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent transfer device based on the scheduling of a pharmaceutical packaging printing workshop and a control method thereof, so as to solve the problem that in the process of transferring medicine boxes placed on a pallet by an AGV forklift, if an obstacle suddenly blocks the AGV forklift, the AGV forklift will stop moving in a short time. During the process of the AGV forklift stopping, the medicine boxes placed on the pallet are at risk of falling due to inertia. If the medicine boxes fall in front of the AGV forklift, the movement of the AGV forklift will be affected after the obstacle is removed.

[0004] To achieve the above object, the present invention provides the following technical solutions: An intelligent transfer device based on scheduling of a pharmaceutical packaging printing workshop and a control method thereof include an AGV forklift and a first lifting arm, wherein the first lifting arm for lifting goods is installed at the front end of the AGV forklift, the upper end of the first lifting arm is fixedly connected to a baffle plate near the side of the AGV forklift by a fixing bolt, and the front end of the first lifting arm is connected to the second lifting arm by a guide plate and a bidirectional threaded rod; the second lifting arm includes a plate body, the interior of the plate body is provided with a storage groove, a rotating hole, a round hole, a vertical hole and a sliding hole for placing a gear rod; a gear rod is installed on the inner side of the second lifting arm, the lower end of the gear rod is fixedly connected to a rotating shaft, the outer side of one end of the rotating shaft is fixedly connected to a gear, one side of the gear is meshed with a toothed plate, the lower end of the toothed plate is fixedly connected to a moving part, the upper end of the moving part is fixedly connected to a telescopic spring, and the lower end of the moving part is fixedly connected to a universal wheel; one side of the gear rod is fixedly connected to an elastic cloth by a rivet.

[0005] As a further optimization content of the present invention, there are two first lifting arms, the first lifting arms are parallel to each other, the first lifting arms and the second lifting arms correspond one to one, the corresponding first lifting arms and the second lifting arms are both slidably connected to the guide plate, and the first lifting arms and the second lifting arms are both spirally connected to the bidirectional threaded rod.

[0006] As a further optimization of the present invention, the vertical section of the guide plate is cross-shaped, a hexagonal prism is fixedly connected in the middle of the bidirectional threaded rod, guide plates are provided on both sides of any bidirectional threaded rod, and the guide plates are parallel to the bidirectional threaded rod.

[0007] As a further optimization of the present invention, a gear rod is installed at the front end of any second lifting arm, the gear rods are parallel to each other, the gear rods are staggered, the lower end of the gear rod is rotatably connected to the second lifting arm through a rotating shaft and a rotating hole, the upper and lower ends of the gear rod are both arc-shaped, and the elastic cloth is arranged between the gear rods.

[0008] As a further optimization of the present invention, the gear is installed inside the circular hole, the gear and the rotating shaft have the same axis, the tooth plate is installed inside the vertical hole, and the tooth plate is slidably connected to the plate body through the inner wall of the vertical hole.

[0009] As a further optimization of the present invention, the lateral projection of the moving part is a cross shape, the upper end of the moving part is arranged inside the telescopic spring, the bottom end of the telescopic spring is fixedly connected to the middle protrusion of the moving part, the upper end of the telescopic spring is fixedly connected to the plate body through the upper inner wall of the sliding hole, the lower end of the moving part is slidably connected to the plate body through the sliding hole, and the vertical section of the sliding hole is T-shaped.

[0010] As a further optimization of the present invention, the center points of the toothed plate, the moving part and the universal wheel are arranged on the same vertical plane, and the middle protrusion position of the moving part is arranged above the sliding hole.

[0011] As a further optimization of the present invention, the receiving groove, the rotating hole, the round hole, the vertical hole and the sliding hole are connected, and the sliding hole is a through hole.

[0012] As a further optimization of the present invention, the baffle is L-shaped, and the front end surface of the baffle is parallel to the gear rod.

[0013] As further optimized content of the present invention, wherein: Step 1: AGV forklift dispatching: controlling the AGV forklift to move to the front of the designated medicine box tray, and controlling the first lifting arm to align with the lifting reserved slot under the tray; In this process, the distance between the baffle and the lever can be adjusted according to the length of the pallet by rotating the bidirectional threaded rod; Step 2: AGV forklift docking with pallet: S1: Positioning: The AGV forklift drives the first lifting arm and the second lifting arm to move toward the pallet, and stops moving after the baffle contacts the pallet; S2: Raise: Control the first lifting arm to rise and contact the bottom of the pallet. During this process, the second lifting arm rises synchronously and contacts the bottom of the pallet. The telescopic spring pushes the moving part and the universal wheel to move downward, and the toothed plate descends accordingly, driving the gear to rotate. The gear drives the shaft and the lever to rotate through rotation. The lever stops when the angle between the lever and the plate is 90°, and the elastic cloth is unfolded under the drive of the two levers. S3: lifting is completed: the first lifting arm and the second lifting arm cooperate with each other to lift the pallet; Step 3: AGV forklift transfers pallets: Control the AGV forklift to transfer the pallets according to the predetermined route; Step 4: Transfer the pallet to the required location and the AGV forklift evacuates: When the pallet is transferred to the required location, the AGV forklift controls the first lifting arm and the second lifting arm to move downward. At this time, the universal wheel contacts the ground, controls the moving part and the toothed plate to move upward, and drives the lever to rotate in the opposite direction until the lever is on the same horizontal plane as the plate body. During the rotation process, the lever bends and stores the elastic cloth, and then controls the AGV forklift to move away from the pallet, and moves the first lifting arm and the second lifting arm out from the lower end of the pallet to complete the transfer.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. In the present invention, the baffle, the gear lever and the elastic cloth can prevent the medicine boxes transported on the pallet of the AGV forklift from falling due to inertia when the AGV forklift stops suddenly due to an accident or a fault. After the accident and fault of the AGV forklift are resolved, the medicine boxes can continue to be transported, and the stability of the AGV forklift in the process of transporting the medicine boxes can be effectively improved; 2. In the present invention, by providing the bidirectional threaded rod, the hexagonal prism and the guide plate, the distance between the baffle plate and the baffle rod can be adjusted according to the length of the pallet, so as to be applicable to pallets of different sizes, and the applicable scope is wider. At the same time, by providing a plurality of guide plates, the stability of the connection and adjustment process between the first lifting arm and the second lifting arm can be further improved; 3. In the present invention, by setting up the second lifting arm and the internal structure, the gear lever can be automatically controlled to rotate to the corresponding position according to the height of the lifting arm, so as to stably cooperate with the first lifting arm to complete the lifting of the pallet and the separation process from the pallet after the transfer is completed, without the need for additional power input, which is more energy-saving. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 For the present invention Figure 1 Schematic diagram of the structure at A in the middle; Figure 3 This is a schematic diagram of the installation position structure of the gear lever of the present invention; Figure 4 For the present invention Figure 3 Schematic diagram of the structure at B in the middle; Figure 5 It is a schematic diagram of the gear lever structure of the present invention; Figure 6 For the present invention Figure 5 Schematic diagram of the structure at C in the middle; Figure 7 It is a schematic diagram of the structure of the second lifting arm of the present invention; Figure 8 For the present invention Figure 7 Schematic diagram of the structure at point D in the middle.

[0016] In the figure: 1. AGV forklift; 2. First lifting arm; 3. Second lifting arm; 31. Plate body; 32. Storage slot; 33. Rotating hole; 34. Round hole; 35. Vertical hole; 36. Sliding hole; 4. Gear lever; 5. Rivet; 6. Elastic cloth; 7. Baffle; 8. Guide plate; 9. Hexagonal prism; 10. Bidirectional threaded rod; 11. Tooth plate; 12. Moving part; 13. Telescopic spring; 14. Universal wheel; 15. Gear; 16. Rotating shaft. DETAILED DESCRIPTION

[0017] See also Figure 1-8 , the present invention provides a technical solution: The intelligent transfer device and control method based on the scheduling of the pharmaceutical packaging printing workshop include an AGV forklift 1 and a first lifting arm 2. The front end of the AGV forklift 1 is equipped with the first lifting arm 2 for lifting the goods. The upper end of the first lifting arm 2 is fixedly connected with a baffle plate 7 near the side of the AGV forklift 1 by fixing bolts. The front end of the first lifting arm 2 is connected with a second lifting arm 3 by a guide plate 8 and a bidirectional threaded rod 10. The second lifting arm 3 includes a plate body 31, and a portion for placing a gear lever is provided inside the plate body 31. 4 has a storage groove 32, a rotating hole 33, a circular hole 34, a vertical hole 35 and a sliding hole 36; a shift lever 4 is installed on the inner side of the second lifting arm 3, the lower end of the shift lever 4 is fixedly connected to the rotating shaft 16, the outer side of one end of the rotating shaft 16 is fixedly connected to the gear 15, one side of the gear 15 is meshed with the toothed plate 11, the lower end of the toothed plate 11 is fixedly connected to the moving part 12, the upper end of the moving part 12 is fixedly connected to the telescopic spring 13, and the lower end of the moving part 12 is fixedly connected to the universal wheel 14; one side of the shift lever 4 is fixedly connected to the elastic cloth 6 through the rivet 5.

[0018] As a technical solution for further implementation of this solution, two first lifting arms 2 are provided, the first lifting arms 2 are parallel to each other, the first lifting arms 2 and the second lifting arms 3 correspond to each other one by one, the corresponding first lifting arms 2 and the second lifting arms 3 are both slidably connected to the guide plate 8, the first lifting arm 2 and the second lifting arm 3 are both spirally connected to the bidirectional threaded rod 10, the vertical section of the guide plate 8 is a cross, a hexagonal prism 9 is fixedly connected in the middle of the bidirectional threaded rod 10, and guide plates 8 are provided on both sides of any bidirectional threaded rod 10, and the guide plates 8 are parallel to the bidirectional threaded rod 10. Through the above arrangement, the spacing between the baffle 7 and the gear rod 4 can be adjusted according to the length of the pallet by rotating the bidirectional threaded rod 10; As a technical solution for further implementation of this scheme, a gear lever 4 is installed at the front end of any second lifting arm 3, the gear levers 4 are parallel to each other, and the gear levers 4 are staggered. The lower end of the gear lever 4 is rotatably connected to the second lifting arm 3 through the rotating shaft 16 and the rotating hole 33. The upper and lower ends of the gear lever 4 are both arc-shaped. The elastic cloth 6 is arranged between the gear levers 4. Through the above arrangement, the elastic cloth 6 can be stably stored and positioned; As a further technical solution of this solution, the gear 15 is installed inside the circular hole 34, the gear 15 and the rotating shaft 16 have the same axis, the tooth plate 11 is installed inside the vertical hole 35, and the tooth plate 11 is slidably connected to the plate body 31 through the inner wall of the vertical hole 35. Through the above arrangement, the tooth plate 11 can stably drive the gear 15 to rotate; As a technical solution for further implementation of this solution, the lateral projection of the moving member 12 is a cross shape, the upper end of the moving member 12 is arranged inside the telescopic spring 13, the bottom end of the telescopic spring 13 is fixedly connected to the middle protrusion of the moving member 12, the upper end of the telescopic spring 13 is fixedly connected to the plate body 31 through the upper inner wall of the sliding hole 36, and the lower end of the moving member 12 is slidably connected to the plate body 31 through the sliding hole 36, and the vertical section of the sliding hole 36 is T-shaped. Through the above arrangement, the position of the moving member 12 can be automatically adjusted according to the actual position of the second lifting arm 3, and the stability of the moving member 12 during the movement process can be ensured; As a further technical solution of the present invention, the center points of the tooth plate 11, the moving member 12 and the universal wheel 14 are arranged on the same vertical plane, and the middle protrusion of the moving member 12 is arranged above the sliding hole 36. Through the above arrangement, the stability of the tooth plate 11 and the moving member 12 during the movement process can be improved; As a further technical solution of this solution, the receiving groove 32, the rotating hole 33, the circular hole 34, the vertical hole 35 and the sliding hole 36 are connected, and the sliding hole 36 is a through hole. Through the above arrangement, the tooth plate 11, the moving part 12, the telescopic spring 13, the gear 15 and the rotating shaft 16 can be stably limited; As a further technical solution for implementing this scheme, the baffle 7 is L-shaped, and the front end surface of the baffle 7 is parallel to the lever 4. Through the above arrangement, the baffle 7 and the lever 4 cooperate to prevent the medicine box on the tray from falling during the lifting process; As a technical solution for further implementation of this scheme, step 1: AGV forklift 1 dispatching: controlling the AGV forklift 1 to move to the front of the designated medicine box tray, and controlling the first lifting arm 2 to align with the lifting reserved slot under the tray; In this process, the distance between the baffle plate 7 and the lever 4 can be adjusted by rotating the bidirectional threaded rod 10 according to the length of the pallet; Step 2: AGV forklift 1 docks with the pallet: S1: Positioning: The AGV forklift 1 drives the first lifting arm 2 and the second lifting arm 3 to move toward the pallet, and the baffle 7 stops moving after contacting the pallet; S2: Raise: Control the first lifting arm 2 to rise and contact the bottom of the tray. During this process, the second lifting arm 3 rises synchronously and contacts the bottom of the tray. The telescopic spring 13 pushes the moving part 12 and the universal wheel 14 to move downward, and the toothed plate 11 descends accordingly, driving the gear 15 to rotate. The gear 15 drives the rotating shaft 16 to rotate the lever 4 through rotation. The lever 4 stops when the angle between the lever 4 and the plate body 31 is 90°. The elastic cloth 6 is unfolded under the drive of the two levers 4. S3: lifting is completed: the first lifting arm 2 and the second lifting arm 3 cooperate with each other to lift the pallet; Step 3: AGV forklift 1 transfers the pallet: Control AGV forklift 1 to transfer the pallet according to the predetermined route; Step 4: Transfer the pallet to the required location and the AGV forklift 1 evacuates: When the pallet is transferred to the required location, the AGV forklift 1 controls the first lifting arm 2 and the second lifting arm 3 to move downward. At this time, the universal wheel 14 contacts the ground, controls the moving part 12 and the toothed plate 11 to move upward, and drives the lever 4 to rotate in the opposite direction. The lever 4 rotates until it is on the same horizontal plane as the plate body 31. During the rotation process, the lever 4 twists and turns the elastic cloth 6 for storage, and then controls the AGV forklift 1 to move away from the pallet, and moves the first lifting arm 2 and the second lifting arm 3 out from the lower end of the pallet to complete the transfer.

[0019] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. The above is only a preferred implementation of the present invention. It should be pointed out that due to the limitations of textual expression and the objective existence of infinite specific structures, ordinary technicians in this technical field can make several improvements, modifications or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the inventive concept and technical solution to other occasions without improvement, should be regarded as the protection scope of the present invention.

Claims

1. An intelligent transfer device based on scheduling of a pharmaceutical packaging printing workshop, comprising an AGV forklift (1) and a first lifting arm (2), characterized in that: A first lifting arm (2) for lifting goods is installed at the front end of the AGV forklift (1); a baffle (7) is fixedly connected to the upper end of the first lifting arm (2) near the AGV forklift (1) via fixing bolts; and a second lifting arm (3) is connected to the front end of the first lifting arm (2) via a guide plate (8) and a bidirectional threaded rod (10); The second lifting arm (3) comprises a plate body (31), wherein the plate body (31) is provided with a receiving groove (32) for accommodating the shift lever (4), a rotating hole (33), a circular hole (34), a vertical hole (35) and a sliding hole (36); A shift lever (4) is installed on the inner side of the second lifting arm (3); the lower end of the shift lever (4) is fixedly connected to a rotating shaft (16); the outer side of one end of the rotating shaft (16) is fixedly connected to a gear (15); one side of the gear (15) is meshed with a toothed plate (11); the lower end of the toothed plate (11) is fixedly connected to a moving part (12); the upper end of the moving part (12) is fixedly connected to a telescopic spring (13); and the lower end of the moving part (12) is fixedly connected to a universal wheel (14); One side of the shift lever (4) is fixedly connected to an elastic cloth (6) via a rivet (5).

2. The intelligent transport device based on the scheduling of the pharmaceutical packaging printing workshop according to claim 1 is characterized in that: Two first lifting arms (2) are provided, the first lifting arms (2) are parallel to each other, the first lifting arms (2) and the second lifting arms (3) correspond to each other one by one, the corresponding first lifting arms (2) and the second lifting arms (3) are both slidably connected to the guide plate (8), and the first lifting arms (2) and the second lifting arms (3) are both spirally connected to the bidirectional threaded rod (10).

3. The intelligent transport device based on the scheduling of the pharmaceutical packaging printing workshop according to claim 1 is characterized in that: The vertical cross-section of the guide plate (8) is cross-shaped, a hexagonal prism (9) is fixedly connected in the middle of the bidirectional threaded rod (10), and guide plates (8) are provided on both sides of any bidirectional threaded rod (10), and the guide plates (8) are parallel to the bidirectional threaded rod (10).

4. The intelligent transport device based on the scheduling of the pharmaceutical packaging printing workshop according to claim 1 is characterized in that: A shift rod (4) is installed at the front end of any of the second lifting arms (3); the shift rods (4) are parallel to each other and arranged in a staggered manner; the lower end of the shift rod (4) is rotatably connected to the second lifting arm (3) via a rotating shaft (16) and a rotating hole (33); the upper and lower ends of the shift rod (4) are both arranged in an arc shape; and the elastic cloth (6) is arranged between the shift rods (4).

5. The intelligent transport device based on the scheduling of the pharmaceutical packaging printing workshop according to claim 1 is characterized in that: The gear (15) is installed inside the circular hole (34); the gear (15) and the rotating shaft (16) share the same axis; the toothed plate (11) is installed inside the vertical hole (35); and the toothed plate (11) is slidably connected to the plate body (31) via the inner wall of the vertical hole (35).

6. The intelligent transport device based on the scheduling of the pharmaceutical packaging printing workshop according to claim 1 is characterized by: The lateral projection of the moving member (12) is cross-shaped, the upper end of the moving member (12) is arranged inside the telescopic spring (13), the bottom end of the telescopic spring (13) is fixedly connected to the middle protrusion of the moving member (12), the upper end of the telescopic spring (13) is fixedly connected to the plate body (31) through the upper inner wall of the sliding hole (36), the lower end of the moving member (12) is slidably connected to the plate body (31) through the sliding hole (36), and the vertical section of the sliding hole (36) is T-shaped.

7. The intelligent transport device based on the scheduling of the pharmaceutical packaging printing workshop according to claim 1 is characterized by: The center points of the toothed plate (11), the moving member (12) and the universal wheel (14) are arranged on the same vertical plane, and the middle protrusion of the moving member (12) is arranged above the sliding hole (36).

8. The intelligent transport device based on the scheduling of the pharmaceutical packaging printing workshop according to claim 1 is characterized by: The receiving groove (32), the rotating hole (33), the circular hole (34), the vertical hole (35) and the sliding hole (36) are connected to each other, and the sliding hole (36) is a through hole.

9. The intelligent transport device based on the scheduling of the pharmaceutical packaging printing workshop according to claim 1 is characterized by: The baffle plate (7) is L-shaped, and the front end surface of the baffle plate (7) is parallel to the baffle rod (4).

10. The control method of the intelligent transport device based on the scheduling of the pharmaceutical packaging printing workshop according to any one of claims 1 to 9, characterized in that: Step 1: AGV forklift (1) dispatching: controlling the AGV forklift (1) to move to the front of the designated medicine box tray, and controlling the first lifting arm (2) to align with the lifting reserved slot under the tray; During this process, the distance between the baffle plate (7) and the baffle rod (4) can be adjusted according to the length of the pallet by rotating the bidirectional threaded rod (10); Step 2: AGV forklift (1) docking with the pallet: S1: Positioning: The AGV forklift (1) drives the first lifting arm (2) and the second lifting arm (3) to move toward the pallet, and the baffle (7) stops moving after contacting the pallet; S2: Raising: Control the first lifting arm (2) to rise and contact the bottom of the tray. During this process, the second lifting arm (3) rises synchronously and contacts the bottom of the tray. The telescopic spring (13) pushes the moving part (12) and the universal wheel (14) to move downward. The toothed plate (11) then descends, driving the gear (15) to rotate. The gear (15) drives the rotating shaft (16) to rotate the lever (4). The lever (4) stops when the angle between the lever and the plate body (31) is 90°. The elastic cloth (6) is unfolded under the drive of the two levers (4). S3: lifting is completed: the first lifting arm (2) and the second lifting arm (3) cooperate with each other to lift the pallet; Step 3: AGV forklift (1) transfers the pallet: controlling the AGV forklift (1) to transfer the pallet according to a predetermined route; Step 4: Transfer the pallet to the required location, and the AGV forklift (1) withdraws: When the pallet is transferred to the required location, the AGV forklift (1) controls the first lifting arm (2) and the second lifting arm (3) to move downward. At this time, the universal wheel (14) contacts the ground, controls the moving part (12) and the toothed plate (11) to move upward, and drives the lever (4) to rotate in the opposite direction. The lever (4) rotates until it is on the same horizontal plane as the plate body (31). During the rotation process, the lever (4) twists and bends the elastic cloth (6) and then controls the AGV forklift (1) to move away from the pallet, and moves the first lifting arm (2) and the second lifting arm (3) out from the lower end of the pallet to complete the transfer.

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