AGV storage intelligent robot

Abstract

The invention discloses an AGV storage intelligent robot, belongs to the technical field of mobile equipment for intelligent storage, and is used for providing the AGV storage intelligent robot which is simpler in structure and higher in operation efficiency, the AGV storage intelligent robot comprises a packaging shell, a two-way expansion piece is arranged in the middle of the packaging shell, and the two-way expansion piece is provided with a storage barrel and two telescopic rods; the storage barrel is fixedly connected with the packaging shell, the two telescopic rods stretch out of the two ends of the storage barrel correspondingly, and the end of each telescopic rod is rotationally connected with a pair of longitudinal driving assemblies through a hinge shaft. The two longitudinal driving assemblies and the two transverse driving assemblies are designed at the two ends of the two-way telescopic device, only one of the longitudinal driving assemblies and the transverse driving assemblies can be matched with the guide structure on the goods shelf at the same time through a reasonable hinge structure, and the guide structure on the goods shelf does not need to act; and the movement direction of the robot can be quickly switched only by utilizing one action of the bidirectional expansion piece, so that the efficiency of storing and taking goods in a warehouse is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mobile equipment for intelligent warehousing, and particularly relates to an AGV warehousing intelligent robot. BACKGROUND

[0002] In the prior art, an AGV warehousing intelligent robot can automatically climb a goods shelf, realize taking and placing goods on the goods shelf and ground carrying, such a robot has two sets of movement systems, one set is used for ground carrying and the other set is used for climbing and moving on the goods shelf. In order to meet the climbing requirement of the robot, the goods shelf needs to have a structure for turning with the robot, so whether the robot itself or the guide rail structure on the goods shelf has a relatively complex structure, and the design and use cost are relatively high. Since the guide structure on the goods shelf cannot quickly help the robot to turn in the air, the efficiency of the robot in storing goods is not high. SUMMARY

[0003] The present application aims to provide an AGV warehousing intelligent robot which has a simpler structure and higher operation efficiency.

[0004] To achieve the above purpose, the present application provides an AGV warehousing intelligent robot: including an encapsulating shell, a bidirectional telescopic device is arranged in the middle of the encapsulating shell, the bidirectional telescopic device has a receiving cylinder and two telescopic rods, the receiving cylinder is fixedly connected with the encapsulating shell, the two telescopic rods respectively extend from two ends of the receiving cylinder, the end of each telescopic rod is rotatably connected with a pair of longitudinal driving assemblies through a hinge shaft, the receiving cylinder further has a cantilever, each longitudinal driving assembly is movably connected with the cantilever, the longitudinal driving assembly is suitable for driving the encapsulating shell to make lifting movement; the symmetric sides of each telescopic rod are movably connected with a pair of transverse driving assemblies through two horizontal connecting rods, one end of each transverse driving assembly is further rotatably connected with the receiving cylinder, the transverse driving assembly is suitable for driving the encapsulating shell to make horizontal movement, when the two telescopic rods are synchronously retracted into the receiving cylinder, the pair of longitudinal driving assemblies are close to each other, and the pair of transverse driving assemblies are away from each other; when the two telescopic rods are synchronously extended out of the receiving cylinder, the pair of longitudinal driving assemblies are away from each other, and the pair of transverse driving assemblies are close to each other, one action can switch the horizontal and vertical movement directions.

[0005] The bottom of the encapsulating shell is fixedly connected with a carrier table, the carrier table is movably connected with a taking and placing mechanism through a track, the taking and placing mechanism has a pair of parallel clamping plates, the pair of clamping plates are suitable for rotating along the vertical axis and the horizontal axis, and the spacing is variable, the bottom of the encapsulating shell is further provided with a battery pack, the side surface of the carrier table is further provided with an inductor, the inductor is located below the longitudinal driving assembly, and is used for helping the robot to position.

[0006] As a preferred, the longitudinal drive assembly includes a longitudinal swing arm, the longitudinal swing arm is fixedly connected with a longitudinal servo motor away from one end of the telescopic rod, the output shaft of the longitudinal servo motor is horizontal, and is fixedly connected with a longitudinal self-propelled wheel, both ends of the longitudinal self-propelled wheel have left and right wheel rims, and the outer side of the longitudinal self-propelled wheel has a plurality of transverse teeth located between the left and right wheel rims and arranged equidistantly around the shaft; the transverse drive assembly includes a transverse swing arm, the transverse swing arm is fixedly connected with a transverse servo motor away from one end of the receiving cylinder, the output shaft of the transverse servo motor is vertical, and is fixedly connected with a transverse self-propelled wheel, both ends of the transverse self-propelled wheel have upper and lower wheel rims, and the outer side of the transverse self-propelled wheel has a plurality of longitudinal teeth located between the upper and lower wheel rims and arranged equidistantly around the shaft, for cooperating with the straight-tooth structure, ensuring the carrying strength and the position control precision during movement.

[0007] As a preferred, the cantilever has two pairs, the two pairs of cantilevers are left-right symmetrical, each telescopic rod is located between a pair of cantilevers, and each end of the cantilever away from the receiving cylinder is provided with a pair of supports, two supports are fixedly connected with a sliding shaft with an axis horizontal, the longitudinal swing arm is provided with a sliding groove penetrating through the side surface, suitable for the sliding shaft to pass through to form a sliding pair, and the movement mode of the longitudinal swing arm is limited.

[0008] As a preferred, the end of the telescopic rod is provided with a third hinged frame, the lower end of the upper longitudinal swing arm is provided with two side hinged frames, the upper end of the lower longitudinal swing arm is provided with a middle hinged frame, the middle hinged frame is located between the two side hinged frames, and is rotationally connected with the third hinged frame through a hinged shaft with an axis horizontal, so that the upper and lower longitudinal swing arms are ensured to move synchronously.

[0009] As a preferred, the outer side of the receiving cylinder is provided with a first hinged frame, the side of the telescopic rod is provided with a second hinged frame, one end of the transverse swing arm is provided with an end hinged frame opposite to the receiving cylinder, and the side of the transverse swing arm is provided with a side hinged frame opposite to the telescopic rod, the end hinged frame is rotationally connected with the first hinged frame through a hinged shaft with an axis vertical, one end of the connecting rod is rotationally connected with the second hinged frame through a hinged shaft with an axis vertical, and the other end of the connecting rod is rotationally connected with the side hinged frame through another hinged shaft with an axis vertical, so that the movement mode of the transverse swing arm is limited.

[0010] As a preferred, the track includes a pair of mounting plates fixedly connected to the lower surface of the object table, two mounting plates are fixedly connected with a straight guide rail, and the side surface of the straight guide rail is provided with a tooth groove; the taking and placing mechanism includes a slider, the slider has a guide channel communicating with opposite end surfaces, is suitable for the straight guide rail to pass through, and has a cooperation servo motor and a reducer structure in the slider, the gear driven by the reducer is engaged with the tooth groove of the straight guide rail, and slipping can be effectively avoided.

[0011] As a kind of preferred, the object table is provided with guide groove through upper and lower surfaces, the upper surface of the slider is fixedly connected with sliding plate by sliding block, the sliding plate is located above the object table, the sliding block is suitable for with the guide groove matched to constitute sliding pair, the upper surface of the sliding plate is fixedly connected with horizontal rotary drive, the output end of the horizontal rotary drive is fixedly connected with vertical rotary drive, the vertical rotary drive has two synchronous output ends, and each is fixedly connected with one-way telescopic device, each one-way telescopic device is fixedly connected with one clamping plate, for clamping goods to carry out short-distance transfer.

[0012] As a kind of preferred, the opposite side of two clamping plates is provided with friction pad;The opposite side of the packaging shell is provided with a let slot, the packaging shell is provided with a configuration cavity through the two let slots, the receiving cylinder is fixedly installed in the configuration cavity, the outer side of the packaging shell and the upper surface of the object table are further fixedly connected with the rib plate, to improve the connection strength of the object table and the packaging shell.

[0013] The application also provides a guide structure matched with the AGV warehouse intelligent robot: including guide rail frame (10), the guide rail frame (10) has two groups of same number of longitudinal guide plates, each group of the longitudinal guide plates is equidistantly arranged in the same vertical plane along the horizontal direction, each longitudinal guide plate includes a longitudinal connecting plate adapted to be fixedly connected with the goods shelf, the side of the longitudinal connecting plate has a longitudinal straight tooth plate, adapted to be located between the left and right wheel rims and engaged with the transverse teeth;The adjacent longitudinal guide plates in the same plane are further fixedly connected with a plurality of transverse guide plates equidistantly arranged from bottom to top, the number and height of the transverse guide plates between different longitudinal guide plates correspond to each other, each transverse guide plate includes a transverse connecting plate adapted to be fixedly connected with the goods shelf, the side of the transverse connecting plate has a transverse straight tooth plate, adapted to be located between the upper and lower wheel rims and engaged with the longitudinal teeth;When the transverse teeth are completely engaged with the longitudinal straight tooth plate, the transverse straight tooth plate is completely away from the upper and lower wheel rims, when the longitudinal teeth are completely engaged with the transverse straight tooth plate, the longitudinal straight tooth plate is completely away from the left and right wheel rims, before the transverse straight tooth plate slides into the upper and lower wheel rims, the transverse teeth are not separated from the longitudinal straight tooth plate;The longitudinal straight tooth plate is disconnected at the height of each transverse guide plate, and a sensing block is arranged at the disconnected position, adapted to be detected by the inductor, the upper and lower end surfaces of the sensing block and the longitudinal straight tooth plate form a transverse disconnected groove, adapted to pass through the upper and lower wheel rims, the left and right end surfaces of the sensing block and the transverse straight tooth plate form a longitudinal disconnected groove, adapted to pass through the left and right wheel rims, to avoid interference between the robot and the convex straight tooth plate when moving between the goods shelves.

[0014] As a preferred, the lower ends of all the longitudinal guide plates are fixedly connected to the same bottom supporting plate, and the upper ends of all the longitudinal guide plates are fixedly connected to the same bridging frame, further improving the installation stability of the whole guide rail frame.

[0015] Compared with the prior art, the application has the beneficial effects that: (1) By designing two sets of longitudinal driving assemblies and transverse driving assemblies at both ends of the bidirectional telescopic device, and through a reasonable hinged structure, only one of the longitudinal driving assemblies and the transverse driving assemblies can cooperate with the guide structure on the shelf at the same time, the guide structure on the shelf does not need to be moved, and only one action of the bidirectional telescopic device can quickly switch the movement direction of the robot, improving the efficiency of the AGV warehouse intelligent robot running on the shelf, thereby improving the efficiency of the warehouse goods storage and retrieval; (2) The robot does not need to carry out the work on the ground, and a set of driving mechanism for ground movement is saved, the structure is simpler, the corresponding guide structure on the shelf also does not need to cooperate with the robot to turn, and the guide structure will also be simpler, and the use and later maintenance cost will be lower; (3) By designing the taking and placing mechanism on the object carrying table, the robot can carry out the goods storage and retrieval operation on both sides of the shelf aisle, the work flexibility is higher, and the two sets of taking and placing mechanisms can further improve the goods warehousing and retrieval efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a first three-dimensional schematic view of the overall structure of the AGV warehouse intelligent robot.

[0017] Figure 2 It is a second three-dimensional schematic view of the overall structure of the AGV warehouse intelligent robot.

[0018] Figure 3 It is a three-dimensional structure schematic view of the transverse and longitudinal driving assemblies outside the packaging shell of the AGV warehouse intelligent robot.

[0019] Figure 4 It is a three-dimensional structure schematic view of the transverse and longitudinal driving assemblies and the bidirectional telescopic device of the AGV warehouse intelligent robot.

[0020] Figure 5 It is a first three-dimensional structure schematic view of the bidirectional telescopic device of the AGV warehouse intelligent robot.

[0021] Figure 6 It is a second three-dimensional structure schematic view of the bidirectional telescopic device of the AGV warehouse intelligent robot.

[0022] Figure 7 It is a three-dimensional structure schematic view of the upper longitudinal driving assembly of the AGV warehouse intelligent robot.

[0023] Figure 8 Figure 9 is a perspective view of the longitudinal driving assembly of the AGV warehousing intelligent robot.

[0024] Figure 9 Figure 10 is a perspective view of the lateral driving assembly of the AGV warehousing intelligent robot cooperating with the connecting rod.

[0025] Figure 10 Figure 11 is a perspective view of the lateral driving assembly of the AGV warehousing intelligent robot.

[0026] Figure 11 Figure 12 is a perspective view of the packaging shell of the AGV warehousing intelligent robot arranged on the object table.

[0027] Figure 12 Figure 13 is a perspective view of the track of the AGV warehousing intelligent robot arranged under the object table.

[0028] Figure 13 Figure 14 is a first perspective view of the taking and placing mechanism of the AGV warehousing intelligent robot.

[0029] Figure 14 Figure 15 is a second perspective view of the taking and placing mechanism of the AGV warehousing intelligent robot.

[0030] Figure 15 Figure 16 is a perspective view of the AGV warehousing intelligent robot cooperating with the guide rail frame.

[0031] Figure 16 Figure 17 is a perspective view of the guide rail frame cooperating with the AGV warehousing intelligent robot.

[0032] Figure 17 Figure 18 is a perspective view of the lateral guide plate and the longitudinal guide plate of the guide rail frame cooperating with the AGV warehousing intelligent robot.

[0033] Figure 18 Figure 19 is a perspective view of the guide rail frame cooperating with the AGV warehousing intelligent robot. Figure 17 Figure 20 is an enlarged view of the A outlet of the guide rail frame cooperating with the AGV warehousing intelligent robot.

[0034] In the figure: 1, package shell; 101, let the slot; 102, configuration cavity; 103, battery pack; 104, rib plate; 2, two-way telescopic device; 201, storage cylinder; 202, telescopic rod; 203, cantilever; 204, support; 205, sliding shaft; 206, first hinged frame; 207, second hinged frame; 208, third hinged frame; 209, connecting rod; 3, longitudinal driving assembly; 310, longitudinal swing arm; 311, intermediate hinged frame; 312, two side hinged frames; 313, sliding groove; 314, longitudinal drive servo motor; 320, longitudinal self-propelled wheel; 321, left and right wheel rims; 322, transverse teeth; 4, transverse driving assembly; 410, transverse swing arm; 411, end hinged frame; 412, side hinged frame; 413, transverse drive servo motor; 420, transverse self-propelled wheel; 421, upper and lower wheel rims; 422, longitudinal teeth; 5, object table; 501, guide slot; 6, track; 601, straight guide rail; 602, tooth groove; 603, mounting plate; 7, pick-and-place mechanism; 710, slider; 711, guide channel; 702, sliding block; 703, sliding plate; 704, horizontal rotary drive; 705, vertical rotary drive; 706, one-way telescopic device; 707, clamping plate; 708, friction pad; 8, inductor; 9, hinged shaft; 10, guide rail frame; 1010, longitudinal guide plate; 1011, longitudinal connecting plate; 1012, longitudinal straight tooth plate; 1013, inductive block; 1014, transverse disconnection slot; 1020, transverse guide plate; 1021, transverse connecting plate; 1022, transverse straight tooth plate; 1023, longitudinal disconnection slot; 1030, bottom support plate; 1040, bridging frame. DETAILED DESCRIPTION

[0035] Hereinafter, the present application will be further described in conjunction with specific embodiments, and it should be noted that the following described embodiments between or between technical features can be combined to form new embodiments without conflict.

[0036] In the description of the present application, it should be noted that for orientation words, such as the terms "center", "transverse", "longitudinal", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. The orientation and positional relationship shown in the drawing is based on the orientation or positional relationship, and is only for the convenience of describing the present application and simplifying the description, and cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and cannot be understood as limiting the specific protection scope of the present application.

[0037] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0038] The terms "comprises" and "having" and any variations thereof in the specification and claims of this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus that includes a series of steps or units is not necessarily limited to those steps or units expressly listed, but may include other steps or units not expressly listed or inherent to such process, method, product or apparatus.

[0039] like Figures 1-14 The AGV storage intelligent robot shown includes an enclosure 1 for protecting electronic components, which not only reduces the erosion of dust and moisture on the internal circuits of the robot, but also improves the regularity of the circuit arrangement and enhances the aesthetics of the robot. An electrically driven bidirectional retractor 2 is provided in the middle of the enclosure 1. The bidirectional retractor 2 has a storage cylinder 201 and two telescopic rods 202. The two telescopic rods 202 are synchronously extended or retracted into the storage cylinder 201. The storage cylinder 201 is fixedly connected to the enclosure 1, and the two telescopic rods 202 extend from the two ends of the storage cylinder 201 in the same straight line. A clearance groove 101 is provided on one opposite side of the enclosure 1 to make more space for the movable parts outside the enclosure 1. The enclosure 1 is provided with a configuration cavity 102 that passes through the two clearance grooves 101. The storage cylinder 201 is fixedly installed in the configuration cavity 102, so that the bidirectional retractor 2 can remain stably installed in the enclosure 1.

[0040] The end of each telescopic rod 202 is rotatably connected to a pair of longitudinal drive assemblies 3 through an articulated shaft 9. There are four longitudinal drive assemblies 3 in total, and the paired longitudinal drive assemblies 3 are divided into two upper and lower ones. The longitudinal drive assembly 3 can drive the packaging shell 1 to perform lifting and lowering movements. The longitudinal drive assembly 3 includes a longitudinal swing arm 310 that can only swing in a vertical plane. The end of the telescopic rod 202 has a third articulated frame 208, and the lower end of the longitudinal swing arm 310 located above has articulated frames 312 on both sides, and the upper end of the longitudinal swing arm 310 located below has an intermediate articulated frame 311. The intermediate articulated frame 311 is located between the articulated frames 312 on both sides, and is rotatably connected to the third articulated frame 208 through an articulated shaft 9 with a horizontal axis, so that the upper and lower longitudinal swing arms 310 can swing synchronously.

[0041] The fixed cantilever 203 is provided outside the receiving cylinder 201, the cantilever 203 has two pairs, a total of four, and each pair is divided into upper and lower two, the two pairs of cantilevers 203 are left-right symmetrical, each telescopic rod 202 is located between the pair of cantilevers 203, and each longitudinal driving assembly 3 is movably connected with the cantilever 203. Specifically, the end of each cantilever 203 away from the receiving cylinder 201 is provided with a pair of supports 204, the two supports 204 are fixedly connected with a sliding shaft 205 with a horizontal axis, the longitudinal swing arm 310 is provided with a sliding groove 313 penetrating the side surface, and the sliding groove 313 is just used for the sliding shaft 205 to penetrate to form a sliding pair. Of course, the longitudinal swing arm 310 can also rotate relative to the sliding shaft 205. When the telescopic rod 202 is retracted, the included angle of the two longitudinal swing arms 310 connected to the same telescopic rod 202 becomes smaller, and the end of the longitudinal swing arm 310 away from the telescopic rod 202 is farther away from the receiving cylinder 201 in the horizontal direction. When the telescopic rod 202 is extended, the included angle of the two longitudinal swing arms 310 connected to the same telescopic rod 202 becomes larger, and the end of the longitudinal swing arm 310 away from the telescopic rod 202 is closer to the receiving cylinder 201 in the horizontal direction.

[0042] The end of the longitudinal swing arm 310 away from the telescopic rod 202 is fixedly connected with a longitudinal servo motor 314, which is controlled by the circuit in the packaging shell 1. The output shaft of the longitudinal servo motor 314 is horizontal, and a coaxial longitudinal self-propelled wheel 320 is fixedly connected. The longitudinal self-propelled wheel 320 has coaxial left and right rims 321 with larger diameters at both ends. The outer side of the longitudinal self-propelled wheel 320 has a plurality of transverse teeth 322 located between the left and right rims 321 and equally spaced around the shaft, which cooperates with a straight tooth structure to well ensure the position control accuracy of the lifting movement.

[0043] The symmetrical sides of each telescopic rod 202 are movably connected with a pair of transverse driving assemblies 4 through two horizontal connecting rods 209. The transverse driving assemblies 4 are also four, and the transverse driving assemblies 4 are suitable for driving the packaging shell 1 to move horizontally. One end of each transverse driving assembly 4 is also rotatably connected with the receiving cylinder 201. Specifically, the transverse driving assembly 4 comprises a transverse swing arm 410, the outer side of the receiving cylinder 201 is provided with a first hinged frame 206, the side of the telescopic rod 202 is provided with a second hinged frame 207, the end of the transverse swing arm 410 opposite to the receiving cylinder 201 is provided with an end hinged frame 411, the side of the transverse swing arm 410 opposite to the telescopic rod 202 is provided with a side hinged frame 412, the end hinged frame 411 is rotatably connected with the first hinged frame 206 through a hinged shaft 9 with a vertical axis, one end of the connecting rod 209 is rotatably connected with the second hinged frame 207 through a hinged shaft 9 with a vertical axis, and the other end of the connecting rod 209 is rotatably connected with the side hinged frame 412 through another hinged shaft 9 with a vertical axis. In this way, each transverse swing arm 410 can swing in the same horizontal plane.

[0044] The end of the transverse swing arm 410 away from the receiving cylinder 201 is fixedly connected with a transverse drive servo motor 413, which is also controlled by the circuit in the packaging shell 1. The output shaft of the transverse drive servo motor 413 is vertical and fixedly connected with a coaxial transverse self-propelled wheel 420. The transverse self-propelled wheel 420 has coaxial upper and lower rims 421 with larger diameters at both ends. The outer side of the transverse self-propelled wheel 420 has a plurality of longitudinal teeth 422 located between the upper and lower rims 421 and equally spaced around the shaft, which are used to cooperate with the straight tooth structure and can also maintain the position control accuracy of horizontal motion. It should be noted that the end of the connecting rod 209 connected with the transverse swing arm 410 is closer to the receiving cylinder 201 and farther from the telescopic rod 202. Therefore, when the telescopic rod 202 is retracted, the included angle between the two transverse swing arms 410 connected with the same telescopic rod 202 will increase, and the end of the transverse swing arm 410 away from the receiving cylinder 201 will be closer to the receiving cylinder 201 in the horizontal direction. When the telescopic rod 202 is extended, the included angle between the two transverse swing arms 410 connected with the same telescopic rod 202 will decrease, and the end of the transverse swing arm 410 away from the receiving cylinder 201 will be farther from the receiving cylinder 201 in the horizontal direction.

[0045] In summary, when the two telescopic rods 202 are retracted into the receiving cylinder 201 synchronously, the paired longitudinal drive assemblies 3 approach each other, access the guide structure, and the paired transverse drive assemblies 4 move away from each other, leaving the guide structure. When the two telescopic rods 202 are extended out of the receiving cylinder 201 synchronously, the paired longitudinal drive assemblies 3 move away from each other, leaving the guide structure, and the paired transverse drive assemblies 4 approach each other, accessing the guide structure. This is the structural basis for switching between horizontal and vertical motion directions.

[0046] The bottom of the packaging shell 1 is fixedly connected with a loading table 5, and the upper surface of the loading table 5 is horizontal. A rib plate 104 is also fixedly connected between the outer side of the packaging shell 1 and the upper surface of the loading table 5, which is used to improve the connection stability of the loading table 5 and the packaging shell 1. The loading table 5 is movably connected with a taking and placing mechanism 7 through a track 6, which is a working mechanism for taking and placing goods from a shelf. The track 6 includes a pair of mounting plates 603 fixedly connected to the lower surface of the loading table 5. The two mounting plates 603 are fixedly connected with a straight guide rail 601. The straight guide rail 601 is parallel to the loading table 5. The side surface of the straight guide rail 601 is provided with a gear slot 602, which is used to cooperate with the gear structure and also to ensure the position control accuracy and can transmit a larger traction force.

[0047] The specific structure of the taking and placing mechanism 7 includes a slider 710 having guide channels 711 at opposite ends for the straight guide rail 601 to pass through, and the slider 710 has a matching servo motor and reducer structure inside, the output end of the servo motor is connected with the input end of the reducer, and the gear driven by the reducer is inserted into the guide channel 711 and engaged with the tooth groove 602 of the straight guide rail 601, so that the servo motor can transmit a larger thrust to the gear through the reducer, thereby driving the slider 710 to slide along the straight guide rail 601.

[0048] The taking and placing mechanism 7 has a pair of parallel clamping plates 707, and the pair of clamping plates 707 are adapted to rotate along the vertical and horizontal axes and have variable spacing. In order to achieve the above functions, the object table 5 is provided with guide grooves 501 penetrating the upper and lower surfaces, the upper surface of the slider 710 is fixedly connected with a sliding plate 703 through a sliding block 702, the sliding plate 703 is located above the object table 5, the sliding block 702 is matched with the guide groove 501 to form a sliding pair, the upper surface of the sliding plate 703 is fixedly connected with a horizontal rotation drive 704, the rotation axis is vertical, the output end of the horizontal rotation drive 704 is fixedly connected with a vertical rotation drive 705, the horizontal rotation drive 704 drives the vertical rotation drive 705 to rotate in the horizontal plane, the vertical rotation drive 705 has two synchronous output ends, the axes of the two output ends are both horizontal, and each output end is fixedly connected with a one-way telescopic device 706, the one-way telescopic device 706 can be driven to rotate in the vertical plane, and the two vertical planes are parallel. Each one-way telescopic device 706 is fixedly connected with a clamping plate 707, and rubber friction pads 708 are arranged on the opposite sides of the two clamping plates 707 to increase the contact friction with the goods packaging box, so as to more stably push the goods into the shelf or pull the goods out of the shelf. In fact, the taking and placing mechanism 7 and the track 6 have two groups, and the two groups of tracks 6 and taking and placing mechanisms 7 are symmetric about the front and back of the swing plane of the longitudinal swing arm 310.

[0049] The bottom of the packaging shell 1 is provided with a battery pack 103, and the battery pack 103 is filled with high-density lithium batteries for powering the entire AGV warehouse intelligent robot. The side of the object table 5 is also provided with an inductor 8 located below the longitudinal driving assembly 3 for cooperating with the inductive block 1013 on the guide structure to realize positioning.

[0050] As Figures 14-18The guide structure matched with the AGV storage intelligent robot shown includes a guide rail frame 10 fixedly connected with the shelf, the guide rail frame 10 has two groups of longitudinal guide plates 1010 with the same number, which are distributed on the left and right sides of the shelf aisle, each group of longitudinal guide plates 1010, that is, the longitudinal guide plates 1010 located on the same side of the shelf aisle are equidistantly arranged in the horizontal direction in the same vertical plane, the lower ends of all the longitudinal guide plates 1010 are fixedly connected to a same bottom supporting plate 1030, and the upper ends of all the longitudinal guide plates 1010 are fixedly connected to a same bridging frame 1040. In general, the bottom supporting plate 1030 is the ground of the warehouse, and the bridging frame 1040 is a metal frame on the top of the warehouse, which is connected with the fixed structure in the warehouse, and in addition to the constraint of the shelf itself, the longitudinal guide plates 1010 can be well stabilized.

[0051] Each longitudinal guide plate 1010 includes a longitudinal connecting plate 1011 adapted to be fixedly connected with the shelf, and the longitudinal connecting plate 1011 has a longitudinal straight tooth plate 1012 on the side facing the shelf aisle, which can be clamped between the left and right wheel rims 321 and engaged with the transverse teeth 322 to form a stable transmission structure; a plurality of transverse guide plates 1020 equidistantly arranged from bottom to top are further fixedly connected between the adjacent longitudinal guide plates 1010 in the same plane, and the spacing of the transverse guide plates 1020 is equal to the height of a single layer of shelves. The number and height of the transverse guide plates 1020 between different longitudinal guide plates 1010 correspond to each other, and all the transverse guide plates 1020 are aligned with the shelves. Each transverse guide plate 1020 includes a transverse connecting plate 1021 fixedly connected with the shelf, and the space surrounded by the two adjacent transverse guide plates 1020 and the longitudinal guide plate 1010 is a shelf compartment. The side of the transverse connecting plate 1021 has a transverse straight tooth plate 1022, which can be clamped between the upper and lower wheel rims 421 and engaged with the longitudinal teeth 422 to form a stable transmission structure.

[0052] The longitudinal straight tooth plate 1012 is disconnected at the height of each transverse guide plate 1020, and a sensing block 1013 is arranged at the center of the disconnected position, which is used to be detected by the inductor 8, so that the AGV storage intelligent robot can determine its position. A transverse disconnected groove 1014 is formed between the upper and lower end faces of the sensing block 1013 and the longitudinal straight tooth plate 1012, which is used for the upper and lower wheel rims 421 to pass through, so as to avoid the motion interference of the longitudinal straight tooth plate 1012 on the transverse self-propelled wheel 420. A longitudinal disconnected groove 1023 is formed between the left and right end faces of the sensing block 1013 and the transverse straight tooth plate 1022, which is used for the left and right wheel rims 321 to pass through, so as to avoid the motion interference of the transverse straight tooth plate 1022 on the longitudinal self-propelled wheel 320.

[0053] Working principle: Considering that the self-propelled wheel may cause damage to the induction block 1013 when passing through the induction block 1013, the induction block 1013 is usually not electronic, but a color block made of high-strength synthetic material. The same color block is used on each layer of the shelf, but the color of the color block at different positions on the same layer of the shelf is different in depth. The sensor 8 uses a camera. The program built into the robot can distinguish the color and depth of the color block image collected by the camera to determine the position, thereby realizing the positioning of the goods. The specific program implementation method does not belong to the content protected by the present application, and will not be introduced here.

[0054] Since the induction block 1013 itself is a solid material block, there is no internal structure to protect, so the surface of the induction block 1013 opposite the shelf aisle is also provided with a straight tooth groove, which can be engaged with the self-propelled wheel and can also avoid the self-propelled wheel from slipping when passing through the induction block 1013.

[0055] The robot usually only takes and places work between shelves and needs to work with a ground carrying robot. For example, when storing goods, the ground robot transports the goods to the shelf aisle according to the shelf position allocated by the system. The robot is lowered in height, determines whether to move to the front or rear of the ground robot according to the allocated shelf position, and then makes the upper surface of the loading table 5 slightly lower than the bottom of the goods packaging box. The vertical rotary drive 705 is started to turn the two clamping plates 707 from a vertical and distant state to a horizontal state, so that the goods packaging box is located between the two clamping plates 707. Then the two clamping plates 707 are driven by the one-way telescopic device 706 to approach each other to clamp the goods. It is determined whether to turn left or right. The two clamping plates 707 are driven by the horizontal rotary drive 704 to turn the goods to the corresponding direction on the loading table 5. After the ground robot unloads the goods, it can leave. The robot plans the path with the help of the system and moves to the expected storage compartment under the drive of the transverse drive assembly 3 and the longitudinal drive assembly 4. Finally, the sensor 8 acquires images for comparison to determine whether the color of the induction block 1013 corresponding to the storage position is correct. If it is correct, the sliding device 710 can start to push the goods into the specified storage compartment. The clamping plates 707 can be released and withdrawn from the storage compartment under the drive of the sliding device 710. When the goods need to be taken out, the robot moves to the corresponding storage compartment and uses the taking and placing mechanism 7 to pull the goods to the loading table 5. After lowering, the upper surface of the loading table 5 is slightly higher than the upper surface of the loading surface of the ground robot. The clamping plates 707 can turn the goods to the ground robot and release them. Then the robot can leave and the ground robot can carry the goods out of the warehouse.

[0056] When designing the length and angle of the longitudinal swing arm 310 and the transverse swing arm 410, the following requirements need to be met: First, when the lateral teeth 322 are fully engaged with the longitudinal straight teeth plate 1012, the lateral straight teeth plate 1022 is fully away from the upper and lower wheel rims 421, so that the robot can smoothly climb or descend along the shelf; Second, when the longitudinal teeth 422 are fully engaged with the lateral straight teeth plate 1012, the lateral straight teeth plate 1022 is fully away from the left and right wheel rims 321, so that the robot can smoothly move horizontally between the shelves; Third, the lateral teeth 322 are not disengaged from the longitudinal straight teeth plate 1012 until the lateral straight teeth plate 1022 is not slid into the upper and lower wheel rims 421, so that the robot will not fall from the shelves when the direction of horizontal and vertical motion is converted.

[0057] The above three requirements do not require quantitative standards, and in actual design, only the required parameters can be obtained through simple debugging according to the scene requirements.

[0058] The above describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above embodiments, and the above embodiments and descriptions in the specification are only the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection claimed by the present application is defined by the appended claims and their equivalents.

Claims

1. An AGV warehouse intelligent robot, characterized by: The invention comprises a packaging shell (1), wherein a bidirectional telescopic device (2) is provided in the middle of the packaging shell (1), wherein the bidirectional telescopic device (2) comprises a storage cylinder (201) and two telescopic rods (202), wherein the storage cylinder (201) is fixedly connected to the packaging shell (1), and the two telescopic rods (202) extend from both ends of the storage cylinder (201), and each end of the telescopic rod (202) is rotatably connected to a pair of longitudinal drive assemblies (3) via a hinge shaft (9), and the storage cylinder (201) further comprises a storage cylinder (201) and a storage cylinder (201). There is a cantilever (203), each of the longitudinal drive components (3) is also movably coordinated with the cantilever (203), and the longitudinal drive component (3) is suitable for driving the packaging shell (1) to perform lifting movements; the symmetrical sides of each telescopic rod (202) are movably connected to a pair of transverse drive components (4) through two horizontal connecting rods (209), and one end of each transverse drive component (4) is also rotatably connected to the storage tube (201), and the transverse drive component (4) is suitable for driving the packaging shell (1) to perform horizontal movements; When the two telescopic rods (202) are synchronously retracted into the storage cylinder (201), the paired longitudinal drive assemblies (3) move closer to each other, and the paired transverse drive assemblies (4) move away from each other; when the two telescopic rods (202) are synchronously extended out of the storage cylinder (201), the paired longitudinal drive assemblies (3) move away from each other, and the paired transverse drive assemblies (4) move closer to each other; The bottom of the packaging shell (1) is fixedly connected to a loading platform (5), and the loading platform (5) is movably connected to a pick-up and placement mechanism (7) via a track (6). The pick-up and placement mechanism (7) has a pair of parallel clamping plates (707), and the paired clamping plates (707) are suitable for rotating along a vertical axis and a horizontal axis, and the spacing between them is variable; A battery pack (103) is further provided at the bottom of the packaging shell (1), and a sensor (8) is further provided on the side of the loading platform (5), wherein the sensor (8) is located below the longitudinal drive assembly (3).

2. The AGV warehouse intelligent robot according to claim 1, characterized in that: The longitudinal drive assembly (3) comprises a longitudinal swing arm (310), one end of the longitudinal swing arm (310) away from the telescopic rod (202) being fixedly connected to a longitudinal drive servo motor (314), the output shaft of the longitudinal drive servo motor (314) being horizontal and fixedly connected to a longitudinal self-propelled wheel (320), the two ends of the longitudinal self-propelled wheel (320) having left and right wheel rims (321), and the outer side surface of the longitudinal self-propelled wheel (320) having a plurality of transverse teeth (322) located between the left and right wheel rims (321) and arranged equidistantly around the axis; The transverse drive assembly (4) comprises a transverse swing arm (410), one end of the transverse swing arm (410) away from the storage cylinder (201) being fixedly connected to a transverse drive servo motor (413), an output shaft of the transverse drive servo motor (413) being vertical and fixedly connected to a transverse self-propelled wheel (420), both ends of the transverse self-propelled wheel (420) being provided with upper and lower wheel rims (421), and an outer side surface of the transverse self-propelled wheel (420) being provided with a plurality of longitudinal teeth (422) being located between the upper and lower wheel rims (421) and being arranged equidistantly around the axis.

3. The AGV warehouse intelligent robot according to claim 2, characterized in that: There are two pairs of cantilevers (203), and the two pairs of cantilevers (203) are symmetrical. Each telescopic rod (202) is located between the paired cantilevers (203). Each cantilever (203) has a pair of brackets (204) at the end away from the storage tube (201). A sliding shaft (205) with a horizontal axis is fixedly connected between the two brackets (204). The longitudinal swing arm (310) is provided with a sliding groove (313) running through the side, which is suitable for the sliding shaft (205) to pass through to form a sliding pair.

4. The AGV warehouse intelligent robot according to claim 3, characterized in that: The end of the telescopic rod (202) has a third articulated frame (208), the lower end of the longitudinal swing arm (310) located above has two side articulated frames (312), and the upper end of the longitudinal swing arm (310) located below has a middle articulated frame (311), and the middle articulated frame (311) is located between the two side articulated frames (312) and is rotatably connected to the third articulated frame (208) through an articulated shaft (9) with a horizontal axis.

5. The AGV warehouse intelligent robot according to claim 2, characterized in that: The outer side surface of the storage cylinder (201) has a first articulated frame (206), the side surface of the telescopic rod (202) has a second articulated frame (207), the end of the transverse swing arm (410) facing the storage cylinder (201) has an end articulated frame (411), the side surface of the transverse swing arm (410) facing the telescopic rod (202) has a side articulated frame (412), the end articulated frame (411) is rotatably connected to the first articulated frame (206) via an articulated shaft (9) with a vertical axis, one end of the connecting rod (209) is rotatably connected to the second articulated frame (207) via an articulated shaft (9) with a vertical axis, and the other end of the connecting rod (209) is rotatably connected to the side articulated frame (412) via another articulated shaft (9) with a vertical axis.

6. The AGV warehouse intelligent robot according to any one of claims 2 to 5, characterized in that: The track (6) includes a pair of mounting plates (603) fixedly connected to the lower surface of the loading platform (5), a straight guide rail (601) is fixedly connected between the two mounting plates (603), and a tooth groove (602) is provided on the side of the straight guide rail (601); the pick-up and placement mechanism (7) includes a slider (710), the slider (710) has a guide channel (711) connected to the opposite end faces, suitable for the straight guide rail (601) to pass through, and the slider (710) has a matching servo motor and reducer structure, and the gear driven by the reducer is engaged with the tooth groove (602) of the straight guide rail (601).

7. The AGV warehouse intelligent robot according to claim 6, characterized in that: The loading platform (5) is provided with a guide groove (501) passing through the upper and lower surfaces. The upper surface of the slider (710) is fixedly connected to a slide plate (703) via a slider (702). The slide plate (703) is located above the loading platform (5). The slider (702) is suitable for cooperating with the guide groove (501) to form a sliding pair. The upper surface of the slide plate (703) is fixedly connected to a horizontal rotation drive (704). The output end of the horizontal rotation drive (704) is fixedly connected to a vertical rotation drive (705). The vertical rotation drive (705) has two synchronous output ends, both of which are fixedly connected to a one-way telescope (706). Each of the one-way telescopes (706) is fixedly connected to one of the splints (707).

8. The AGV warehouse intelligent robot according to claim 7, characterized in that: Friction pads (708) are provided on opposite sides of the two clamping plates (707); a clearance groove (101) is provided on an opposite side of the packaging shell (1); the packaging shell (1) is provided with a configuration cavity (102) that passes through the two clearance grooves (101); the storage tube (201) is fixedly installed in the configuration cavity (102); and a rib (104) is fixedly connected between the outer side surface of the packaging shell (1) and the upper surface of the loading platform (5).

9. A guide structure adapted for the AGV warehouse intelligent robot according to claim 8, characterized in that: The invention comprises a guide rail frame (10), wherein the guide rail frame (10) has two groups of longitudinal guide plates (1010) of the same number, wherein each group of longitudinal guide plates (1010) is arranged equidistantly in the horizontal direction in the same vertical plane, and each longitudinal guide plate (1010) comprises a longitudinal connecting plate (1011) suitable for being fixedly connected to a shelf, and a longitudinal straight tooth plate (1012) is provided on the side of the longitudinal connecting plate (1011), which is suitable for being located between the left and right wheel rims (321) and meshing with the transverse teeth (322); the adjacent longitudinal guide plates in the same plane are arranged in a longitudinal direction. A plurality of transverse guide plates (1020) arranged equidistantly from bottom to top are fixedly connected between the guide plates (1010), and the number and height of the transverse guide plates (1020) between different longitudinal guide plates (1010) are corresponding. Each transverse guide plate (1020) includes a transverse connecting plate (1021) suitable for being fixedly connected to the shelf. The side surface of the transverse connecting plate (1021) has a transverse straight tooth plate (1022) suitable for being located between the upper and lower wheel rims (421) and meshing with the longitudinal teeth (422); the transverse teeth When the longitudinal straight tooth plate (322) is fully engaged with the longitudinal straight tooth plate (1012), the transverse straight tooth plate (1022) is completely separated from the upper and lower wheel rims (421); when the longitudinal teeth (422) are fully engaged with the transverse straight tooth plate (1012), the longitudinal straight tooth plate (1022) is completely separated from the left and right wheel rims (321); before the transverse straight tooth plate (1022) slides into the space between the upper and lower wheel rims (421), the transverse teeth (322) are not separated from the longitudinal straight tooth plate (1012); the longitudinal straight tooth plate (1012) ) is disconnected at the height of each of the transverse guide plates (1020), and a sensing block (1013) is provided in the center of the disconnection, suitable for being detected by the sensor (8), a transverse disconnection groove (1014) is formed between the upper and lower end surfaces of the sensing block (1013) and the longitudinal straight tooth plate (1012), suitable for the upper and lower wheel rims (421) to pass through, and a longitudinal disconnection groove (1023) is formed between the left and right end surfaces of the sensing block (1013) and the transverse straight tooth plate (1022), suitable for the left and right wheel rims (321) to pass through.

10. The guide structure according to claim 9 adapted for the AGV warehouse intelligent robot according to claim 8, characterized in that: The lower ends of all the longitudinal guide plates (1010) are fixedly connected to the same bottom support plate (1030), and the upper ends of all the longitudinal guide plates (1010) are fixedly connected to the same bridge frame (1040).

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