Material fixing mechanism of AGV carrying robot

Abstract

The AGV carrying robot material fixing mechanism comprises an AGV trolley, a bottom plate capable of moving up and down is arranged on the AGV trolley, a buffering mechanism is arranged at the top of the bottom plate, a material frame is arranged at the top of the buffering mechanism, the buffering mechanism comprises vertical plates arranged at the four corners of the top of the bottom plate, and a first sliding groove is formed in the outer wall of each vertical plate; first sliding blocks are arranged in the first sliding grooves in a damping sliding mode, and first springs fixed to the inner sides of the first sliding grooves are arranged on the two sides of the first sliding blocks correspondingly. Electric push rods are arranged at the tops of the first sliding blocks, output shafts of the electric push rods are provided with steel cables, the other ends of all the steel cables penetrate through the tops of the vertical plates to be connected with balance blocks, top plates are fixed to the tops of the balance blocks, and pulleys matched with the steel cables are arranged at the tops of the vertical plates; tilt angle sensors for detecting the tilt angle are arranged at four corners of the bottom of the balance block; the mechanism can solve the problems that in the prior art, when an AGV transports materials, stability is poor, adjustment is not flexible, and fixing and dismounting efficiency is low.

Description

Technical Field

[0001] The present invention relates to the technical field of automated logistics equipment, and in particular to a material fixing mechanism of an AGV (Automated Guided Vehicle) handling robot. Background Art

[0002] In modern intelligent manufacturing and smart logistics systems, AGVs (Automated Guided Vehicles), with their high degree of automation and flexibility, have become core equipment in the material handling process. With the advancement of Industry 4.0, the accelerated production pace and increasingly complex logistics routes have placed higher demands on the material-carrying stability of AGVs. This is particularly true when transporting high-precision materials such as electronic components and precision instruments.

[0003] Problems with existing technologies:

[0004] Traditional AGV material securing mechanisms typically utilize linear guides coupled with a linkage-type balancing mechanism. This structure presents significant limitations during movement: First, the linear guide's fixed direction of movement makes it difficult to adapt to the multi-directional swaying of the AGV during complex travel, resulting in poor material stability. Second, the linkage-type balancing mechanism lacks flexibility and cannot quickly respond to changes in the AGV's motion, limiting its ability to protect the material. Furthermore, with traditional securing methods, most AGVs lift the material rack containing the material and secure it using the rack's own weight and friction with the AGV. This can lead to material shifting and falling due to factors such as the AGV's starting and stopping acceleration, centrifugal force on curves, and ground bumps, compromising material stability and impacting work progress. Summary of the Invention

[0005] The purpose of the present invention is to provide an AGV material fixing mechanism for transporting materials, which can solve the problems of poor stability, inflexible adjustment, and low fixing and disassembly efficiency of AGV in the prior art when transporting materials.

[0006] The AGV according to the present invention comprises a material fixing mechanism of an AGV transport robot, comprising a bottom plate which is movable up and down, a buffer mechanism being provided on the top of the bottom plate, and a material rack being provided on the top of the buffer mechanism, wherein the buffer mechanism comprises a vertical plate arranged at four corners of the top of the bottom plate, and each of the vertical plates has a first slide groove formed on an outer wall of the vertical plate, a first slider being provided inside the first slide groove for damping sliding, and first springs being provided on both sides of the first slider being fixed to the inner side of the first slide groove; an electric push rod being provided on the top of the first slider, an output shaft of the electric push rod being provided with a steel cable, and the other ends of all the steel cables being connected to a balancing block through the top of the vertical plate, and four steel cables being fixedly connected to the four corners of the bottom of the balancing block in sequence, a top plate being fixed on the top of the balancing block, a pulley cooperating with the steel cable being provided on the top of the vertical plate, and an inclination sensor for detecting its inclination being provided at the four corners of the bottom of the balancing block;

[0007] When the material on the top plate shakes, the balance block drives the first slider to slide in the first chute through the steel cable, and the first spring undergoes elastic deformation to absorb the shaking energy; when the inclination sensor detects that the balance block is tilted, it controls the electric push rod to pull or loosen the steel cable, adjusts the tension distribution on each side of the balance block, and drives the balance block and the top plate to return to a horizontal state;

[0008] The fixing assembly includes a plurality of second slide grooves equidistantly arranged at the bottom of the material rack and located on both sides of the top plate, the second slide groove is slidably installed in the inside of the second slide groove, one side of the second slide groove is fixed with a second spring fixed to the inner side of the second slide groove, and the other side of the second slide groove is provided with a second mounting groove; the two inner sides of the second mounting groove are symmetrically penetrated by a vertical waist groove, the bottom of the material rack is provided with a fixing ear on both sides of the second slide groove, and a clamping plate is rotatably installed between the outer walls of the two fixing ears, one end of the clamping plate is provided with a first limiting slider engaged with the vertical waist groove, and the top plate has a plurality of clamping grooves engaged with the clamping plate; the two inner sides of the second mounting groove are provided with an oblique waist groove on one side of the vertical waist groove, and the second limiting slider is slidably installed in the oblique waist groove, an extrusion plate is fixed between the two second limiting sliders, the top of the extrusion plate is provided with a polygonal guide groove, and a limiting plug rod slidably connected to the polygonal guide groove is fixed on the inner top of the second mounting groove, and the bottom end of the limiting plug rod is fixed with a fourth spring connected to the inner bottom of the polygonal guide groove;

[0009] A material rack is provided on the top of the buffer mechanism, and the material rack is connected to the buffer mechanism through a fixing assembly. When the AGV trolley moves to the bottom of the material rack and completes the position alignment, the hydraulic cylinder drives the top plate to move up and lifts the material rack. At the same time, the extrusion plate is pushed up, driving the second limit slider to slide along the oblique waist groove, pushing the second slider to move horizontally, so that the card plate rotates and is stuck in the card slot, thereby realizing the locking connection between the material rack and the buffer mechanism;

[0010] The material rack is provided with a locking mechanism for locking the clamping plate.

[0011] Furthermore, a ball groove is provided at the center of the bottom of the balancing block in the present invention, and a ball block rotatably connected to the ball groove is fixed on the top of the bottom plate.

[0012] The locking mechanism of the present invention comprises a first plugging slot arranged in the inner side of the second slide slot, one side of the second sliding block is fixed with a first plugging plate inserted into the first plugging slot, and a plurality of one-way ratchet teeth are equidistantly arranged at the bottom of the first plugging slot, and a third slide slot is provided at the bottom of the first plugging slot for sliding the one-way ratchet teeth; the inner bottom of the third slide slot is provided with a third mounting slot, and a locking tooth block that cooperates with the one-way ratchet is slidably installed inside the third mounting slot, and the bottom of the locking tooth block is fixed with a mounting rod, the outer wall of the mounting rod is sleeved with a third spring, and the two ends of the third spring are respectively fixed with the outer wall of the locking tooth block and the inner side of the third mounting slot; the bottom end of the mounting rod passes through the outer wall of the material rack and is fixed with a fixing block, the outer wall of the fixing block is provided with a first waist groove, the bottom of the material rack and a connecting ear are fixed on one side of the fixing block, and the outer wall of the connecting ear is rotatably mounted with a connecting rod, and one end of the connecting rod is provided with a first limit block that cooperates with the first waist groove.

[0013] Furthermore, the teeth on the locking tooth block and the one-way ratchet in the present invention are both asymmetric triangular teeth, and the gentle slope surfaces of the teeth are arranged in opposite directions.

[0014] Furthermore, the four corners of the bottom end of the material rack in the present invention are each provided with a supporting leg, a second plug-in slot is provided on the top of the supporting leg, a fixing rod is slidably installed inside the second plug-in slot, the top end of the fixing rod extends to the outside of the second plug-in slot and is fixed to the bottom wall of the material rack, and a fifth spring connected to the fixing rod is provided on the inner side of the second plug-in slot; a connecting plate is provided between the two supporting legs, a second limit block is provided on one side of the connecting plate, and a second waist groove is provided on the outer wall of the connecting rod to cooperate with the second limit block.

[0015] The technical effects achieved by the present invention are:

[0016] 1. The present invention allows the balancing block to swing in any direction through the coordination of the ball block and the ball groove. Combined with the independent tension adjustment of the four corner steel cables, it can quickly respond to material displacement caused by actions such as AGV start-stop and turning, breaking through the movement limitations of traditional linear guides and maintaining the stability of the material table under complex movement conditions. The balancing block drives the first slider to slide in the first slide groove through the steel cable, and the first spring undergoes elastic deformation to absorb shaking energy, forming a three-dimensional buffer system, which effectively protects the material from damage due to bumps and improves the stability of material transportation.

[0017] 2. In the present invention, after the AGV trolley moves to the bottom of the material rack and completes the position alignment, the hydraulic cylinder drives the top plate on the bottom plate to move up. During the process of the top plate moving up, the extrusion plate is squeezed to push the extrusion plate up, and the second limit slider on the extrusion plate slides along the inclined track of the oblique waist groove, generating a lateral component force to push the second slider to move laterally, thereby driving the card plate to accurately fit into the card slot on the top plate, thereby achieving a firm locking of the material rack and the buffer mechanism; compared with the traditional method, the stability and safety during transportation are greatly improved, and even when the AGV trolley starts, stops, turns or climbs, it can prevent the material rack from falling due to inertia or tilting.

[0018] 3. The card plate provided in the present invention is automatically locked by the locking mechanism during the process of being inserted into the card slot, without the need for additional manual operation, thereby improving work efficiency; when the material rack needs to be disassembled, the bottom plate is driven downward by the hydraulic cylinder, and after the supporting legs of the material rack come into contact with the ground, gravity and the connecting rod mechanism are used to drive the locking tooth block to separate from the one-way ratchet, and then the elastic force of the second spring is used to separate the card plate from the card slot. The structure is simple, the operation is convenient, and the flexibility of equipment use is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the front three-dimensional structure of the present invention;

[0020] Figure 2 It is a schematic structural diagram of the buffer mechanism in the present invention;

[0021] Figure 3 This is a schematic diagram of the material rack structure when viewed from above in the present invention;

[0022] Figure 4 It is a schematic diagram of the connection structure between the fixing assembly and the locking mechanism in the present invention;

[0023] Figure 5 It is a schematic diagram of the partial connection structure of the buffer mechanism and the locking mechanism in the present invention;

[0024] Figure 6 It is a schematic cross-sectional view of the buffer mechanism and the locking mechanism in the present invention;

[0025] Figure 7 yes Figure 6 Schematic diagram of the enlarged structure of area A in the middle.

[0026] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0027] 1. AGV trolley; 2. First mounting slot; 3. Hydraulic cylinder; 4. Bottom plate; 5. Buffer mechanism; 51. Vertical plate; 52. First chute; 53. First slider; 54. Electric push rod; 55. Steel cable; 56. Pulley; 57. Balance block; 58. Top plate; 59. Ball block; 510. Ball slot; 511. Inclination sensor; 6. Material rack; 7. Fixing assembly; 71. Second chute; 72. Second slider; 73. Second mounting slot; 74. Vertical waist slot; 75. Card plate; 76. First limit slider; 77. Oblique waist slot; 78. Extrusion plate; 7 9. Second limiting slider; 710. Slot; 711. Limiting rod; 712. Second spring; 8. Locking mechanism; 81. First plug-in slot; 82. First plug-in plate; 83. Third slide slot; 84. One-way ratchet; 85. Third mounting slot; 86. Locking tooth block; 87. Mounting rod; 88. Third spring; 89. Fixed block; 810. First waist groove; 811. Connecting ear; 812. Connecting rod; 813. First limiting block; 814. Second waist groove; 815. Connecting plate; 816. Second limiting block; 9. Fixed rod; 10. Support leg. DETAILED DESCRIPTION

[0028] The technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. It is obvious that the embodiments described are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the protection scope of the present invention. In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, or the directions or positional relationships in which the invented product is usually placed when in use. They are only for the convenience of describing the present invention or simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed or operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0029] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0030] See also Figure 1 、 Figure 2The present invention is an AGV material fixing mechanism for handling robots, comprising an AGV trolley 1, a first mounting groove 2 being provided on the top of the AGV trolley 1, a hydraulic cylinder 3 being provided on the inner bottom of the first mounting groove 2, a bottom plate 4 being provided on the output shaft of the hydraulic cylinder 3, a buffer mechanism 5 being provided on the top of the bottom plate 4, the buffer mechanism 5 comprising vertical plates 51 provided at the four corners of the top of the bottom plate 4, a first slide groove 52 being provided on the outer wall of the vertical plate 51, a first slider 53 being provided inside the first slide groove 52 for damping sliding, and both sides of the first slider 53 being provided with a first slider. A first spring is fixed inside the slot 52; an electric push rod 54 is provided at the top of the first slider 53, and a steel cable 55 is provided on the output shaft of the electric push rod 54. The other ends of the multiple steel cables 55 pass through the top of the vertical plate 51 and are connected to a balance block 57. The four steel cables 55 are fixedly connected to the four corners of the bottom of the balance block 57 in sequence. A top plate 58 is fixed on the top of the balance block 57. A pulley 56 that cooperates with the steel cables 55 is provided on the top of the vertical plate 51. The four corners of the bottom of the balance block 57 are each provided with an inclination sensor 511 for detecting its inclination.

[0031] A ball groove 510 is provided at the center of the bottom of the balancing block 57 , and a ball block 59 rotatably connected to the ball groove 510 is fixed to the top of the bottom plate 4 .

[0032] According to the above structure, the cooperation of the set ball block 59 and the ball groove 510 allows the balance block 57 to swing in any direction, and cooperates with the independent tension adjustment of the four-corner steel cables 55 to quickly respond to the material deviation caused by the start, stop, turning and other actions of the AGV. This structure breaks through the movement limitations of the traditional linear guide rail and can keep the material table stable under complex movement conditions. Compared with the connecting rod type balance mechanism, the adjustment flexibility is improved. In addition, it can also further support the balance block 57 to avoid gravity acting on the steel cable 55, thereby increasing the service life of the steel cable 55; the balance block 57 drives the first slider 53 in the first slide groove 5 through the steel cable 55. 2 performs damping sliding, and the first spring undergoes elastic deformation to absorb shaking energy, forming a three-dimensional buffer system, which effectively protects the material from damage due to bumps and also improves the stability of material transportation; the set inclination sensor 511 is used to detect the tilt state of the top plate 58. If the inclination sensor 511 detects that the balance block 57 is tilted, the electric push rod 54 is controlled to pull or loosen the steel cable 55, adjust the tension on each side, and drive the balance block 57 and the top plate 58 to restore to the level through the rotation cooperation of the ball block 59 and the ball groove 510; the set pulley 56 facilitates the movement of the steel cable 55, can effectively reduce its wear and tear, and further improve the service life of the steel cable 55.

[0033] like Figure 2-Figure 6As shown, a material rack 6 is provided on the top of the buffer mechanism 5, and the material rack 6 is connected to the buffer mechanism 5 through a fixing assembly 7. The fixing assembly 7 includes a plurality of second chutes 71 equidistantly provided at the bottom of the material rack 6 and located on both sides of the top plate 58. A second slider 72 is slidably installed inside the second chute 71. A second spring 712 fixed to the inner side of the second chute 71 is fixed to one side of the second slider 72, and a second mounting groove 73 is opened on the other side of the second slider 72.

[0034] The inner sides of the second mounting groove 73 are symmetrically penetrated with vertical waist grooves 74. The bottom of the material rack 6 and both sides of the second slide groove 71 are provided with fixing ears. A clamping plate 75 is rotatably installed between the outer walls of the two fixing ears. One end of the clamping plate 75 is provided with a first limiting slider 76 that cooperates with the vertical waist groove 74. A plurality of clamping grooves 710 that cooperate with the clamping plate 75 are opened on both sides of the top plate 58.

[0035] An oblique waist groove 77 is provided on both inner sides of the second mounting groove 73 and on one side of the vertical waist groove 74. A second limiting slider 79 is slidably installed inside the oblique waist groove 77. An extrusion plate 78 is fixed between the two second limiting sliders 79. A polygonal guide groove is provided on the top of the extrusion plate 78. A limiting rod 711 slidably connected to the polygonal guide groove is fixed on the inner top of the second mounting groove 73. The bottom end of the limiting rod 711 is fixed with a fourth spring connected to the bottom of the polygonal guide groove.

[0036] According to the above structure, when the AGV trolley 1 moves to the bottom of the material rack 6 and completes the position alignment, the top plate 58 on the bottom plate 4 is moved up by the hydraulic cylinder 3 until the supporting legs 10 on the material rack 6 are separated from the ground. During the upward movement of the top plate 58, the extrusion plate 78 is squeezed to push the extrusion plate 78 up, and the second limiting slider 79 on the extrusion plate 78 slides along the inclined track of the oblique waist groove 77, generating a lateral component force to push the second slider 72 to move horizontally, and the second slider 72 drives the vertical waist groove 74 to move, and the vertical waist groove 74 is connected to the vertical waist groove 74. The cooperation of the first limit slider 76 drives the card plate 75 to rotate, so that the card plate 75 is accurately inserted into the card slot 710 on the top plate 58, thereby achieving a firm locking of the material rack 6 and the buffer mechanism 5. Compared with the traditional method, the stability and safety during transportation are greatly improved. Even when the AGV car 1 starts, stops, turns or climbs, it can prevent the material rack from falling due to inertia or tilt, thereby enhancing the practicality and reliability of the overall device; the cooperation of the set polygonal guide groove and the limit rod 711 makes the up and down movement of the extrusion plate 78 relatively stable.

[0037] like Figure 1-Figure 7As shown, the material rack 6 is provided with a locking mechanism 8 for locking the card plate 75. The locking mechanism 8 includes a first plug-in slot 81 provided inside the second slide 71. A first plug-in plate 82 inserted into the first plug-in slot 81 is fixed to one side of the second slider 72. A plurality of one-way ratchets 84 are equidistantly provided at the bottom of the first plug-in slot 82. A third slide 83 is provided at the bottom of the first plug-in slot 81 for the one-way ratchets 84 to slide.

[0038] A third mounting groove 85 is formed at the inner bottom of the third slide groove 83. A locking tooth block 86 cooperating with the one-way ratchet 84 is slidably mounted inside the third mounting groove 85. A mounting rod 87 is fixed to the bottom of the locking tooth block 86. A third spring 88 is sleeved on the outer wall of the mounting rod 87. The two ends of the third spring 88 are respectively fixed to the outer wall of the locking tooth block 86 and the inner side of the third mounting groove 85. The teeth on the locking tooth block 86 and the one-way ratchet 84 are uniformly asymmetrical triangular teeth, and the gentle slope surfaces of the teeth of the two are arranged in opposite directions.

[0039] The bottom end of the mounting rod 87 passes through the outer wall of the material rack 6 and is fixed with a fixing block 89. The outer wall of the fixing block 89 is provided with a first waist groove 810. A connecting ear 811 is fixed to the bottom of the material rack 6 and located on one side of the fixing block 89. The outer wall of the connecting ear 811 is rotatably mounted with a connecting rod 812. One end of the connecting rod 812 is provided with a first limit block 813 that cooperates with the first waist groove 810.

[0040] The four corners of the bottom end of the material rack 6 are each provided with a support leg 10, and a second plug-in slot is provided on the top of the support leg 10. A fixing rod 9 is slidably installed inside the second plug-in slot. The top end of the fixing rod 9 extends to the outside of the second plug-in slot and is fixed to the bottom wall of the material rack 6. A fifth spring connected to the fixing rod 9 is provided on the inner side of the second plug-in slot;

[0041] A connecting plate 815 is provided between the two supporting legs 10 , a second limiting block 816 is provided on one side of the connecting plate 815 , and a second waist groove 814 that cooperates with the second limiting block 816 is opened on the outer wall of the connecting rod 812 .

[0042] When the locking cam 86 is in the locked state, the locking cam 86 is pressed against the locking cam 86, and the locking cam 86 is pressed against the locking cam 86, so that the locking cam 86 is pressed against the locking cam 86, thereby locking the first plug plate 82 and the second plug plate 82. When the material rack 6 needs to be separated from the AGV trolley 1, the hydraulic cylinder 3 drives the bottom plate 4 to move down, and the bottom plate 4 drives the material rack 6 on the top plate 58 to move down. When the support legs 10 on the material rack 6 contact the ground, they continue to move down. Because the fixing rod 9 and the support legs 10 are connected by sliding up and down, the support legs 10 contact the ground, and the material rack 6 moves downward due to gravity. Through the setting of the connecting rod 812, in conjunction with the first limit block 813 and the first waist groove 810, the fixing block 89 is driven to move down, and the fixing block 89 drives the mounting rod 87 to move down. The mounting rod 87 drives the locking tooth block 86 to separate from the one-way ratchet 84, and then the elastic force of the second spring 712 pushes the second slider 72 to move to the other side, thereby driving the card plate 75 to separate from the card slot 710, making it convenient to disassemble the material rack 6. The structure is simple, the operation is convenient, and the flexibility of equipment use is improved.

[0043] The working principle of the present invention is as follows: when the AGV trolley 1 needs to transport the material rack 6, the AGV trolley 1 moves to the bottom of the material rack 6 and completes the position alignment; the hydraulic cylinder 3 is activated, the output shaft of the hydraulic cylinder 3 extends, driving the bottom plate 4 to move upward, and the buffer mechanism 5 on the bottom plate 4 rises accordingly; during the rising process, the top plate 58 gradually contacts the bottom of the material rack 6 and squeezes the squeezing plate 78;

[0044] After being squeezed, the extrusion plate 78 moves upward, and the second limiting slider 79 on the extrusion plate 78 slides along the inclined track of the oblique waist groove 77. Due to the inclined design of the oblique waist groove 77, the second limiting slider 79 generates a lateral component of force during the sliding process, pushing the second slider 72 to move laterally in the second slide groove 71; the second slider 72 drives the vertical waist groove 74 to move, and the vertical waist groove 74 cooperates with the first limiting slider 76 to drive the clamping plate 75 to rotate around its rotation axis, so that the clamping plate 75 is accurately clamped into the clamping groove 710 on the top plate 58;

[0045] When the second slide block 72 moves to one side, the second slide block 72 drives the first plug plate 82 to move to one side, and the one-way ratchet 84 at the bottom of the first plug plate 82 also moves accordingly; the one-way ratchet 84 and the tooth gentle slope surface of the locking tooth block 86 slide into contact, and during the contact process, the locking tooth block 86 is pressurized to retract into the third mounting groove 85, so that the first plug plate 82 can move smoothly; when the card plate 75 is fully engaged in the card groove 710, the first plug plate 82 stops moving. At this time, the elastic force of the third spring 88 pushes the locking tooth block 86 to move upward, and the locking tooth block 86 engages with the one-way ratchet 84, locking the second slide block 72 at one end of the first plug plate 82, thereby achieving a firm locking of the card plate 75, completing the fixed connection between the material rack 6 and the buffer mechanism 5;

[0046] During the process of the AGV trolley 1 transporting the material rack 6, if the AGV trolley 1 starts, stops, turns, or other actions occur, causing the top plate 58 to tilt, the inclination sensor 511 at the bottom of the balance block 57 detects the tilt state and transmits a signal to the control system; the control system controls the electric push rod 54 to pull or loosen the corresponding steel cable 55 to adjust the tension on each side; due to the cooperation between the ball block 59 and the ball groove 510, the balance block 57 is allowed to swing in any direction, and by adjusting the tension of the steel cable 55, the balance block 57 and the top plate 58 are driven to restore to a horizontal level; at the same time, the balance block 57 drives the first slider 53 to slide in the first slide groove 52 through the steel cable 55, and the first spring undergoes elastic deformation to absorb the shaking energy and protect the material from damage due to bumps;

[0047] When the AGV trolley 1 transports the material rack 6 to the designated position, the material rack 6 needs to be separated from the AGV trolley 1; the hydraulic cylinder 3 is started, the output shaft of the hydraulic cylinder 3 is retracted, driving the bottom plate 4 to move downward, and the bottom plate 4 drives the material rack 6 on the top plate 58 to move downward; when the support legs 10 on the material rack 6 contact the ground, they continue to move downward. Since the fixed rod 9 and the support legs 10 are connected by an up and down sliding motion, the support legs 10 no longer move downward after contacting the ground, and the material rack 6 continues to move downward due to gravity; at this time, through the setting of the connecting rod 812, in conjunction with the first limit block 813 and the first waist groove 810, the fixed block 89 is driven to move downward, and the fixed block 89 drives the mounting rod 87 to move downward, and the mounting rod 87 drives the locking tooth block 86 to separate from the one-way ratchet 84; then, the elastic force of the second spring 712 pushes the second slider 72 to move to the other side, thereby driving the card plate 75 to separate from the card slot 710, thereby realizing convenient separation of the material rack 6 from the AGV trolley 1.

[0048] The foregoing is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art may make various improvements and modifications without departing from the principles of the present invention, and such improvements and modifications are also within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described or explained herein shall, unless otherwise specified or limited, be implemented in accordance with conventional means in the art.

Claims

1. An AGV material handling robot fixing mechanism, comprising an AGV trolley, wherein the AGV trolley is provided with a bottom plate that can move up and down, characterized in that: The top of the bottom plate is provided with a buffer mechanism, and the top of the buffer mechanism is provided with a material rack, and the buffer mechanism includes vertical plates arranged at the four corners of the top of the bottom plate, and the outer wall of each vertical plate is provided with a first slide groove, and the first slide groove has a first slider for internal damping sliding, and both sides of the first slider are provided with a first spring fixed to the inner side of the first slide groove; the top of the first slider is provided with an electric push rod, and the output shaft of the electric push rod is provided with a steel cable, and the other ends of all the steel cables are connected to a balancing block through the top of the vertical plate, and the four steel cables are fixedly connected to the four corners of the bottom of the balancing block in sequence, and the top of the balancing block is fixed with a top plate, and the top of the vertical plate is provided with a pulley cooperating with the steel cable, and the four corners of the bottom of the balancing block are provided with inclination sensors for detecting its inclination; When the material on the top plate shakes, the balance block drives the first slider to slide in the first chute through the steel cable, and the first spring undergoes elastic deformation to absorb the shaking energy; when the inclination sensor detects that the balance block is tilted, it controls the electric push rod to pull or loosen the steel cable, adjusts the tension distribution on each side of the balance block, and drives the balance block and the top plate to return to a horizontal state; The fixing assembly includes a plurality of second slide grooves equidistantly arranged at the bottom of the material rack and located on both sides of the top plate, the second slide groove is slidably installed in the inside of the second slide groove, one side of the second slide groove is fixed with a second spring fixed to the inner side of the second slide groove, and the other side of the second slide groove is provided with a second mounting groove; the two inner sides of the second mounting groove are symmetrically penetrated by a vertical waist groove, the bottom of the material rack is provided with a fixing ear on both sides of the second slide groove, and a clamping plate is rotatably installed between the outer walls of the two fixing ears, one end of the clamping plate is provided with a first limiting slider engaged with the vertical waist groove, and the top plate has a plurality of clamping grooves engaged with the clamping plate; the two inner sides of the second mounting groove are provided with an oblique waist groove on one side of the vertical waist groove, and the second limiting slider is slidably installed in the oblique waist groove, an extrusion plate is fixed between the two second limiting sliders, the top of the extrusion plate is provided with a polygonal guide groove, and a limiting plug rod slidably connected to the polygonal guide groove is fixed on the inner top of the second mounting groove, and the bottom end of the limiting plug rod is fixed with a fourth spring connected to the inner bottom of the polygonal guide groove; A material rack is provided on the top of the buffer mechanism, and the material rack is connected to the buffer mechanism through a fixing assembly. When the AGV trolley moves to the bottom of the material rack and completes the position alignment, the hydraulic cylinder drives the top plate to move up and lifts the material rack. At the same time, the extrusion plate is pushed up, driving the second limit slider to slide along the oblique waist groove, pushing the second slider to move horizontally, so that the card plate rotates and is stuck in the card slot, thereby realizing the locking connection between the material rack and the buffer mechanism; The material rack is provided with a locking mechanism for locking the clamping plate.

2. The material fixing mechanism of the AGV handling robot according to claim 1, characterized in that: A ball groove is provided at the center of the bottom of the balancing block, and a ball block rotatably connected to the ball groove is fixed on the top of the bottom plate.

3. The material fixing mechanism of the AGV handling robot according to claim 1, characterized in that: The locking mechanism comprises a first plugging slot arranged in an inner portion of the second slide groove, one side of the second sliding block is fixed with a first plugging plate inserted into the first plugging slot, and a plurality of one-way ratchet teeth are equidistantly provided at the bottom of the first plugging slot, and a third slide groove is provided at the bottom of the first plugging slot for sliding the one-way ratchet teeth; an inner bottom portion of the third slide groove is provided with a locking tooth block that cooperates with the one-way ratchet teeth, and the bottom of the locking tooth block is fixed with a mounting rod, an outer wall of the mounting rod is sleeved with a third spring, and two ends of the third spring are respectively fixed with the outer wall of the locking tooth block and the inner side of the third mounting groove; the bottom end of the mounting rod passes through the outer wall of the material rack and is fixed with a fixing block, the outer wall of the fixing block is provided with a first waist groove, the bottom of the material rack is provided with a connecting ear fixed on one side of the fixing block, and the outer wall of the connecting ear is rotatably mounted with a connecting rod, and one end of the connecting rod is provided with a first limiting block that cooperates with the first waist groove.

4. The material fixing mechanism of the AGV handling robot according to claim 3, characterized in that: The teeth on the locking tooth block and the one-way ratchet are both asymmetrical triangular teeth, and the gentle slope surfaces of the teeth are arranged in opposite directions.

5. The material fixing mechanism of the AGV handling robot according to claim 1, characterized in that: The four corners of the bottom end of the material rack are each provided with a supporting leg, the top of the supporting leg is provided with a second plug-in slot, a fixing rod is slidably installed inside the second plug-in slot, the top end of the fixing rod extends to the outside of the second plug-in slot and is fixed to the bottom wall of the material rack, and a fifth spring connected to the fixing rod is provided on the inner side of the second plug-in slot; a connecting plate is provided between the two supporting legs, a second limit block is provided on one side of the connecting plate, and a second waist groove is provided on the outer wall of the connecting rod to cooperate with the second limit block.

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