An agv carrying robot

Abstract

The application discloses an AGV carrying robot, which comprises a fixed plate, a top plate and an AGV trolley, the upper end of the AGV trolley is provided with a chassis for carrying goods, the inner cavity of the fixed plate is provided with a lifting mechanism for driving the vertical movement of the chassis, the upper end of the chassis is provided with a taking and placing mechanism for taking and placing goods, the taking and placing mechanism comprises a clamping rod, the side wall of the clamping rod is respectively connected with a taking and placing rod one and a taking and placing rod two, when the taking and placing rod one is perpendicular to the side wall of the clamping rod, the taking and placing rod two is retracted into the inner cavity of the clamping rod, and the outer wall is parallel to the side wall of the clamping rod. The application adopts double rack, movable driving gear and two-stage driving structure, the stroke of the clamping rod is close to double, the clamping rod can be deeply placed into the deep part of a goods shelf to take and place goods, and unilateral / bilateral goods shelves can be efficiently operated; the clamping rod can be bidirectionally and long-distance moved, the AGV does not need to turn when carrying across the goods shelves, the distance between the goods shelves can be greatly reduced, and more goods shelves can be placed in a warehouse with the same area.

Description

Technical Field

[0001] This invention relates to the field of intelligent logistics technology, specifically to an AGV (Automated Guided Vehicle) handling robot. Background Technology

[0002] AGV (Automated Guided Vehicle) is a wheeled mobile robot that can navigate autonomously without human drivers and is used for automatically transporting goods within factories / warehouses. Its core purpose is to replace manual forklifts and ground handling, achieving unmanned, flexible, and highly efficient internal logistics.

[0003] For example, Chinese Patent Publication No. CN114368595B and an AGV handling robot solve the technical problems of large weight, poor operational stability and reliability, and poor stability of lifting mechanism in existing automatic material handling robots. It includes an AGV chassis, a lifting device, a fork-holding device and a pallet. The AGV chassis includes a base, a shell, a charging plate, a first laser radar, a second laser radar, a battery, a main control circuit board, a first drive wheel module, a second drive wheel module and casters. The lifting device is connected to the AGV chassis and the fork-holding device is connected to the lifting device.

[0004] In this solution, goods are moved to shelves of different heights by the cooperation of a fork-holding device and a lifting device. However, the fork-holding device can only move in one direction and the moving distance is limited. It can only place goods on the outside of the shelf and it is difficult to handle goods that extend out of the shelf. When moving goods between shelves, the robot body needs to rotate to move the goods to the shelf on the other side, which requires a large handling space, thus reducing the warehouse storage capacity. Summary of the Invention

[0005] The purpose of this invention is to provide an AGV (Automated Guided Vehicle) handling robot to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An AGV handling robot includes a fixed plate, a top plate, and an AGV trolley. The upper end of the AGV trolley is fitted with a chassis for carrying goods. The middle of the inner cavity of the fixed plate is provided with a lifting mechanism for driving the chassis to move vertically. The upper end of the chassis is provided with a picking and placing mechanism for picking up and placing goods. The picking and placing mechanism includes a clamping rod. The lower part of the side wall of the clamping rod is rotatably connected to a first picking and placing rod and a second picking and placing rod. When the first picking and placing rod is perpendicular to the side wall of the clamping rod, the second picking and placing rod retracts into the inner cavity of the clamping rod, and its outer wall is parallel to the side wall of the clamping rod.

[0008] As a further aspect of the present invention: the lifting mechanism includes symmetrical lifting motors, which are respectively driven and connected to both sides of the inner cavity of the top plate. The inner cavity of the fixed plate is rotatably connected to symmetrical transmission gears. The transmission gear located at the top is fixedly connected to the output end of the lifting motor. The outer walls of the symmetrical transmission gears mesh together to drive a chain. The side of the chain near the top plate is driven and connected to a hanging lug. The hanging lug is vertically slidably connected to the middle of the side of the fixed plate near the chassis. The lower end of the chassis has a symmetrical square groove in the middle. The side of the hanging lug away from the fixed plate is fixedly connected to the inner cavity of the square groove.

[0009] As a further aspect of the present invention: the upper middle part and both sides of the chassis are provided with sliding grooves, the inner cavity of the sliding groove is slidably connected to symmetrical sliders, the middle part of the inner cavity of the sliding groove is fixedly connected to an I-beam plate, and both sides of the inner cavity of the I-beam plate are drivenly connected to electric push rods, the output end of the electric push rod is fixedly connected to the side wall of the slider.

[0010] As a further embodiment of the present invention: a positioning plate is fixedly connected to the upper end of the slider away from the I-beam plate, a side plate is attached to the side of the clamping rod away from the I-beam plate, the bottom of the side plate is attached to the upper end surface of the slider, the upper end surface of the slider coincides with the upper end surface of the chassis, a positioning groove is provided on the lower part of the side plate near the positioning plate, and the upper part of the positioning plate is slidably connected in the positioning groove.

[0011] As a further embodiment of the present invention: a sliding plate is slidably connected between the clamping rod and the side plate, and a mounting plate is fixedly connected to the upper middle part of the sliding plate. A moving groove is opened in the upper middle part of the side plate, and the mounting plate is slidably connected in the moving groove. A servo motor is drivenly connected to the upper middle part of the mounting plate. The output end of the servo motor passes through the upper part of the mounting plate and is fixedly connected to a drive gear. A first rack is fixedly connected to the upper part of the inner cavity of the side plate, and a second rack is fixedly connected to the upper part of the side of the clamping rod near the mounting plate. The second rack and the first rack mesh with the drive gear simultaneously.

[0012] As a further aspect of the present invention: a drive motor is connected to the middle of the slider located at the upper middle part of the chassis, on the side away from the I-beam plate. The output end of the drive motor passes through the top of the slider and is fixedly connected to a driven gear. The lower end face of the driven gear is higher than the upper end face of the positioning plate. A driven rack is fixedly connected to the side wall of the side plate near the driven gear. The driven rack meshes with the driven gear.

[0013] As a further aspect of the present invention: the clamping rod has two sets of symmetrical fan-shaped grooves on the side near the I-beam plate, and a rotating rod is rotatably connected between the symmetrical fan-shaped grooves in the same set. A synchronous pulley is rotatably connected to the middle of the rotating rod, and a synchronous belt is rotatably connected between the symmetrical synchronous pulleys. The rotating rod and the synchronous pulley are both rotatably connected to the clamping rod, and the synchronous belt is movably connected to the clamping rod. A silicone pad is fixedly connected to the side of the clamping rod near the I-beam plate.

[0014] As a further aspect of the present invention: an auxiliary rod is provided in the upper sector-shaped groove cavity, the auxiliary rod being fixedly connected to the upper part of the rotating rod; a pick-and-place rod one is provided in the lower sector-shaped groove cavity on one side, and a pick-and-place rod two is provided in the lower sector-shaped groove cavity on the other side; both pick-and-place rod one and pick-and-place rod two are fixedly connected to the lower part of the rotating rod adjacent to them; both pick-and-place rod one and pick-and-place rod two are composed of an outer rod and an inner rod, the outer rod and the inner rod being perpendicular to each other; the inner rod is elastically connected to the inner wall of the sector-shaped groove cavity through a return spring.

[0015] As a further aspect of the present invention: an installation groove is provided on the side of the lower sector-shaped groove away from the synchronous pulley. The center of the installation groove and the center of the synchronous pulley are located in the same vertical plane. A limiting rod is elastically connected to the inner cavity of the installation groove. An arc-shaped groove is provided at the bottom of the outer rod. A limiting groove is provided at the center of the bottom of the inner rod. An inclined surface is provided on the side of the limiting groove near the limiting rod. The top of the inner cavity of the arc-shaped groove and the side of the inclined surface away from the limiting groove are located in the same horizontal plane. The top of the inner cavity of the arc-shaped groove and the top of the limiting rod are located in the same horizontal plane.

[0016] As a further aspect of the present invention: a through groove is provided at the lower end of the clamping rod, the center of the through groove and the center of the limiting rod are located in the same vertical plane, and a bar magnet is fixedly connected to the upper end of the slider located in the middle, and the bar magnet slides in cooperation with the inner cavity of the through groove.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] Employing a double rack and pinion mechanism, movable drive gears, and a two-stage drive structure, the gripping rod stroke is nearly doubled, allowing for deep access to retrieve and place goods from within shelving units. It can operate efficiently on both single and double sides of shelving. The gripping rods can move long distances in both directions, eliminating the need for the AGV to turn when transporting goods across shelving units. This significantly reduces the distance between shelving units, allowing for more shelving units to be placed in the same warehouse area, increasing storage density. Flexible silicone pad gripping and lifting rod support prevent deformation of thin boxes under pressure. Limiting mechanisms and magnetic reset ensure that goods do not retract after placement or are pushed out of the shelving, resulting in a low failure rate during continuous operation. Simultaneous lifting by dual motors and chains, with the hooks centered for force distribution, prevents goods from tilting or swaying during lifting, maintaining stability even under heavy loads. The electric push rod can simultaneously adjust the distance between the gripping rods on both sides, accommodating various goods widths and pallet sizes, eliminating the need for frequent tooling adjustments during continuous transport. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the working state of the picking and placing mechanism of the present invention.

[0020] Figure 2 This is a schematic diagram of the AGV robot moving between shelves in this invention.

[0021] Figure 3 This is a schematic diagram of the chassis connection structure in this invention.

[0022] Figure 4 This is a schematic diagram of the lifting mechanism in this invention.

[0023] Figure 5 This is a schematic diagram of the pick-and-place mechanism in this invention.

[0024] Figure 6 For the present invention Figure 5 A schematic diagram of the structure of area A in the middle.

[0025] Figure 7 This is a schematic diagram of the positioning plate in this invention.

[0026] Figure 8 This is a schematic diagram of the sliding plate in this invention.

[0027] Figure 9 This is a schematic diagram showing the connection relationship between the side plate and the clamping rod in this invention.

[0028] Figure 10 This is a schematic diagram of the internal structure of the sector-shaped groove in this invention.

[0029] Figure 11 This is a schematic diagram of the structure of the pick-and-place rod in this invention.

[0030] Figure 12 This is a schematic diagram showing the positional relationship between the limiting groove and the arc-shaped groove in this invention.

[0031] In the diagram: 1. Fixed plate; 2. AGV trolley; 3. Chassis; 4. Side plate; 5. Slide groove; 6. Slider; 7. Top plate; 8. Lifting motor; 9. Transmission gear; 10. Chain; 11. Hanging lug; 12. I-beam; 13. Electric push rod; 14. Sliding plate; 15. First rack; 16. Clamping rod; 17. Silicone pad; 18. Second rack; 19. Mounting plate; 20. Moving slot; 21. Servo motor; 22. Drive gear; 2 3. Positioning plate; 24. Positioning transverse groove; 25. Bar magnet; 26. Through groove; 27. Synchronous belt; 28. Auxiliary rod; 29. ​​Pick-up and put-out rod one; 30. Fan-shaped groove; 31. Rotating rod; 32. Synchronous pulley; 33. Return spring; 34. Limiting rod; 35. Mounting groove; 36. Pick-up and put-out rod two; 37. Limiting groove; 38. Inclined surface; 39. Arc-shaped groove; 40. Square groove; 41. Drive motor; 42. Driven gear; 43. Driven rack. Detailed Implementation

[0032] Please see Figure 1-3 and Figure 10 In this embodiment of the invention, an AGV handling robot includes a fixed plate 1, a top plate 7, and an AGV trolley 2. The upper end of the AGV trolley 2 is fitted with a chassis 3 for carrying goods. The middle of the inner cavity of the fixed plate 1 is provided with a lifting mechanism for driving the chassis 3 to move vertically. The upper end of the chassis 3 is provided with a pick-and-place mechanism for picking up and storing goods. The pick-and-place mechanism includes a clamping rod 16. The lower part of the side wall of the clamping rod 16 is rotatably connected to a first pick-and-place rod 29 and a second pick-and-place rod 36. When the first pick-and-place rod 29 is perpendicular to the side wall of the clamping rod 16, the second pick-and-place rod 36 retracts into the inner cavity of the clamping rod 16, and its outer wall is parallel to the side wall of the clamping rod 16.

[0033] Please see Figure 3-4 The lifting mechanism includes symmetrical lifting motors 8, which are respectively connected to both sides of the inner cavity of the top plate 7. Symmetrical transmission gears 9 are rotatably connected to the inner cavity of the fixed plate 1. The upper transmission gear 9 is fixedly connected to the output end of the lifting motor 8, meaning the output end of the lifting motor 8 passes through the outer wall of the fixed plate 1 and is fixedly connected to the transmission gear 9 located at the upper part of the inner cavity of the fixed plate 1, thereby driving the transmission gear 9 to rotate. A chain 10 meshes with the outer walls of the symmetrical transmission gears 9, driving the transmission gear 9 to rotate via the lifting motor 8. This drives the chain 10 to move back and forth in the vertical direction. The side of the chain 10 closest to the top plate 7 is connected to a lug 11. The lug 11 is vertically slidably connected to the middle of the side of the fixed plate 1 closest to the chassis 3. The lower end of the chassis 3 has a symmetrical square groove 40. The side of the lug 11 away from the fixed plate 1 is fixedly connected to the inner cavity of the square groove 40. Then, the symmetrical lifting motor 8 drives the symmetrical chain 10 to move simultaneously, thereby driving the chassis 3 to move back and forth in the vertical direction through the symmetrical lug 11, thus completing the lifting or lowering of the goods.

[0034] Please see Figure 1-6 The AGV trolley 2 drives the fixed plate 1, top plate 7, and chassis 3 to move synchronously in the horizontal direction. With the lifting chassis 3, the height of the goods can be changed, so that the goods can be placed on shelves of different heights. With the picking and placing mechanism set on the chassis 3, the goods on the shelf can be taken out and new goods can be put in. For example, when the goods on the lower side of the shelf need to be taken out, the lower shelf will be empty. At this time, new goods can be placed on the shelf, or the goods on the upper part of the shelf can be moved to the lower shelf for easy retrieval. At the same time, the newer goods can be placed back on the upper part of the shelf, so as to ensure that the goods stored earlier can be taken out and used in time to avoid the goods from expiring. Moving the goods at the top to the bottom also makes it easier to retrieve the goods.

[0035] During the storage of goods in the warehouse, multiple shelves are placed side by side. The AGV trolley 2 can drive the chassis 3 and the goods to move horizontally in sync. This allows goods on the upper part of the other shelves to be moved to the bottom of the empty shelves as long as there is space under the shelves. The upper middle and both sides of the chassis 3 are provided with slide grooves 5. The inner cavity of the slide groove 5 is slidably connected to symmetrical sliders 6. The inner cavity of the slide groove 5 is fixedly connected to the I-beam plate 12. The inner cavities of the I-beam plate 12 are driven to both sides of the inner cavity of the I-beam plate 12. The two electric push rods 13 are only different in the direction of their output ends. The output ends of the electric push rods 13 are fixedly connected to the side wall of the sliders 6. The electric push rods 13 can drive the symmetrical sliders 6 to move synchronously closer to or away from the position of the I-beam plate 12. The lugs 11 are fixedly connected to the middle of the chassis 3 to ensure that the state of the goods is more stable during the lifting and lowering of the chassis 3 and the goods.

[0036] Please see Figure 5-7A positioning plate 23 is fixedly connected to the upper end of the slider 6 away from the I-beam 12. A side plate 4 is attached to the side of the clamping rod 16 away from the I-beam 12. The bottom of the side plate 4 is attached to the upper end face of the slider 6, and the upper end face of the slider 6 coincides with the upper end face of the chassis 3. A positioning groove 24 is opened on the lower part of the side plate 4 near the positioning plate 23. The upper part of the positioning plate 23 is slidably connected to the inner cavity of the positioning groove 24. When the electric push rod 13 drives the slider 6 to move horizontally, the side plate 4 and the clamping rod 16 will be driven by the cooperation of the positioning plate 23 and the positioning groove 24. The levers 16 move synchronously closer to / away from the I-beam 12. By changing the position between the symmetrical clamping levers 16, goods of different sizes can be accommodated. Goods of different sizes can be transported to the upper surface of the chassis 3 and then transported from the upper surface of the chassis 3 to different shelves to complete the storage of goods. Thus, during the continuous handling and storage of goods, the distance between the symmetrical clamping levers 16 can adapt to goods of different sizes. It will not be difficult to quickly and accurately handle goods due to changes in the size of the goods or the specifications of the pallet carrying the goods.

[0037] Please see Figure 5-6 and Figure 8 A sliding plate 14 is slidably connected between the clamping rod 16 and the side plate 4. The two side walls of the sliding plate 14 are slidably engaged with the clamping rod 16 and the side plate 4, respectively. A mounting plate 19 is fixedly connected to the upper middle part of the sliding plate 14. The upper end surface of the mounting plate 19 is higher than the upper end surface of the side plate 4. A moving groove 20 is opened in the upper middle part of the side plate 4. The mounting plate 19 is slidably connected in the moving groove 20. A servo motor 21 is drivenly connected to the upper middle part of the mounting plate 19. The output end of the servo motor 21 passes through the upper part of the mounting plate 19 and is fixedly connected to a drive gear 22. The drive gear 22 is located in the inner middle part of the mounting plate 19. A first rack 15 is fixedly connected to the upper part of the inner cavity of the side plate 4 near the mounting plate 19. A second rack 18 is fixedly connected to the upper part of the clamping rod 16 near the mounting plate 19. The second rack 18 and the first rack 15 mesh with the drive gear 22 at the same time.

[0038] Please see Figure 8-9When the servo motor 21 drives the drive gear 22 to rotate, since the position of the side plate 4 remains fixed, the drive gear 22, during its rotation, will simultaneously drive the second rack 18 and the clamping rod 16 to move horizontally. At the same time, the drive gear 22 will also drive the sliding plate 14, the mounting plate 19, and the moving groove 20 to move horizontally in the direction of the clamping rod 16. The working principle is that when racks are meshed on both sides of a single gear simultaneously, if the horizontal position of the gear is fixed and the racks can move horizontally, the racks on both sides will move in opposite directions. When the rack on one side is fixed, the gear and rack mesh, and the rotation of the gear will inevitably cause relative movement with the rack. Therefore, when the side plate 4 drives the first rack 15 to remain stationary, the drive gear 22 will drive the second rack 18 and the clamping rod 16 to move synchronously in one direction. The drive gear 22 will also move relative to the first rack 15. Therefore, the drive gear 22 will drive the sliding plate 14 to move synchronously in the direction of the clamping rod 16. The speed of the sliding plate 14 is less than the speed of the clamping rod 16.

[0039] Since the drive gear 22, sliding plate 14, clamping rod 16, and second rack 18 can move simultaneously in one direction, the drive gear 22 can also move relative to the end of the first rack 15 during the movement of the clamping rod 16. Assuming the drive gear 22 moves relative to the left end of the first rack 15, the right end of the second rack 18 will coincide with the left end of the first rack 15, thus increasing the horizontal movement distance of the clamping rod 16. That is, through the synchronous setting of the drive gear 22, although the initial position of the drive gear 22 is set in the middle between the side plate 4 and the clamping rod 16, it also moves relative to the drive... The gear 22 drives the clamping rod 16 to move horizontally to both sides at both ends of the first rack 15. This makes the moving length of the clamping rod 16 equal to the horizontal length of the second rack 18. Compared to the rack moving while the gear position remains unchanged, the latter's moving distance is only half the length of the rack. In this solution, a single servo motor 21 and drive gear 22 can drive the clamping rod 16 to move the entire length of the second rack 18 to both sides, thereby significantly increasing the distance that the first pick-up and drop-off rod 29 and the second pick-up and drop-off rod 36 can pick up and store goods. Goods can be stored deeper into the shelf, and similarly, goods deep in the shelf can also be retrieved.

[0040] Please see Figure 7A drive motor 41 is connected to the middle of the slider 6 located at the upper middle part of the chassis 3, away from the I-beam plate 12. The output end of the drive motor 41 passes through the top of the slider 6 and is fixedly connected to the driven gear 42. The lower end face of the driven gear 42 is higher than the upper end face of the positioning plate 23. A driven rack 43 is fixedly connected to the side wall of the side plate 4 near the driven gear 42. The driven rack 43 meshes with the driven gear 42. So, during the process of the servo motor 21 driving the drive gear 22 to rotate, that is, during the process of the drive gear 22, the sliding plate 14 and the clamping rod 16 moving in the same direction, the self-locking of the drive motor 41 and the meshing of the driven gear 42 and the driven rack 43 can ensure that the side plate 4 and the first rack 15 remain stationary.

[0041] When it is necessary to further increase the moving distance of the clamping rod 16, the self-locking of the servo motor 21 and the meshing of the drive gear 22 with the second rack 18 and the first rack 15 ensure that there will be no relative movement between the side plate 4 and the clamping rod 16. At this time, the drive motor 41 drives the driven gear 42 to rotate, thereby driving the side plate 4, the sliding plate 14 and the clamping rod 16 to move synchronously in one direction through the transmission cooperation between the driven gear 42 and the driven rack 43, thereby further increasing the horizontal moving distance of the clamping rod 16, thus further increasing the distance at which the first pick-up and drop-off rod 29 and the second pick-up and drop-off rod 36 can pick up and store goods.

[0042] Please see Figure 2 Furthermore, when shelves are placed side-by-side on both sides of the AGV handling robot, since the gripping rod 16 can drive the pick-and-place rod 29 and pick-and-place rod 36 to move in two directions, goods on one shelf can be moved to the other shelf. Because the gripping rod 16 can move a considerable distance in both directions, when moving goods from one shelf to the other, the AGV handling robot only needs to drive the chassis 3 to move vertically and horizontally. During the handling process, the AGV handling robot does not need to rotate; it only needs to adjust the chassis 3 to a suitable height and horizontal position, and drive the gripping rod 16 horizontally... After moving to one side and extending into the shelf, the symmetrical gripping rods 16 are driven by the electric push rod 13 to approach the I-beam plate 12 to grip and position the goods. Then, the gripping rods 16 are retracted to move the goods onto the chassis 3. The gripping rods 16 can then be driven to move to the other side to push the goods into the shelf on the other side, completing the transfer of goods between different shelves. Since the robot body does not need to rotate, the space required for handling is smaller, which allows the robot to adapt to more working conditions. The distance between shelves only needs to be greater than the length of the AGV trolley 2, allowing more shelves to be placed in warehouses with limited space, thereby increasing the warehouse's storage capacity.

[0043] Please see Figure 8-10 A silicone pad 17 is fixedly connected to the side of the clamping rod 16 near the I-beam plate 12. The silicone pad 17 can increase the friction between the goods and the clamping rod 16, and at the same time reduce the pressure on the goods from the clamping rod 16, thus preventing the goods from deforming. Although the silicone pad 17 can increase the friction between the goods and the clamping rod 16, when the goods are heavy but the box is thin, if the goods are clamped by friction and moved, the pressure on the goods will only continue to increase. This may cause the thin box to deform. To avoid this situation, pick-up and drop-off rod 1 29 and pick-up and drop-off rod 2 36 are provided to assist in handling the goods.

[0044] The clamping rod 16 has two sets of symmetrical sector-shaped slots 30 on the side near the I-beam plate 12. A rotating rod 31 is rotatably connected between the symmetrical sector-shaped slots 30 in the same set. A synchronous pulley 32 is rotatably connected to the middle of the rotating rod 31. A synchronous belt 27 is connected between the symmetrical synchronous pulleys 32. Both the rotating rod 31 and the synchronous pulley 32 are rotatably connected to the clamping rod 16, and the synchronous belt 27 is movably connected to the clamping rod 16. Through the transmission cooperation of the rotating rod 31, the synchronous pulley 32, and the synchronous belt 27, it is ensured that the rotating rods 31 on both sides can have the same motion state. An auxiliary rod 28 is provided in the inner cavity of the upper sector-shaped slot 30. The auxiliary rod 28 is fixedly connected to the upper part of the rotating rod 31. The lower sector-shaped slot on one side... The inner cavity of 30 is provided with a first pick-up rod 29, and the inner cavity of the lower sector groove 30 on the other side is provided with a second pick-up rod 36. Both the first pick-up rod 29 and the second pick-up rod 36 are fixedly connected to the lower part of the nearby rotating rod 31. That is, when the first pick-up rod 29 rotates, it will drive the auxiliary rod 28 and the second pick-up rod 36 on the other side to rotate synchronously through the rotating rod 31 and the synchronous wheel 32. The first pick-up rod 29 and the second pick-up rod 36 rotate in the same direction. Both the first pick-up rod 29 and the second pick-up rod 36 are composed of an outer rod and an inner rod. The outer rod and the inner rod are perpendicular to each other. The inner rod is elastically connected to the inner cavity side wall of the sector groove 30 through a return spring 33. The return spring 33 keeps the outer rod at a 45° angle with the side wall of the clamping rod 16.

[0045] The surface of the silicone pad 17 has symmetrical grooves. The height of the grooves is greater than the vertical height of the first pick-up rod 29. The position of the upper groove corresponds to the position of the auxiliary rod 28, and the position of the lower groove corresponds to the positions of the first pick-up rod 29 and the second pick-up rod 36. The only difference between the first pick-up rod 29 and the second pick-up rod 36 is their position. Both are inclined toward the center of the clamping rod 16. The vertical height of the auxiliary rod 28 is the same as the vertical height of the first pick-up rod 29.

[0046] When storing goods, i.e., the goods are located on the upper surface of the chassis 3 and need to be moved towards the direction of the second pick-up lever 36, the height of the chassis 3 and the goods is first adjusted by the lifting motor 8, transmission gear 9, chain 10 and hanging lug 11. After adjusting to a suitable height, the position between the clamping lever 16 and the goods is adjusted by the electric push rod 13, so that the silicone pad 17 is in contact with the surface of the goods. The servo motor 21 drives the drive gear 22 to rotate, thereby driving the clamping lever 16 to move towards the direction of the second pick-up lever 36. When the clamping lever 16 moves, it will drive the first pick-up lever 29 and the second pick-up lever 36 to move synchronously. During this process... The first pick-up and release lever 29 will gradually approach the outer wall of the goods. After the outer lever contacts the side wall of the goods, the first pick-up and release lever 29 will be driven to rotate 45°, so that the outer lever is perpendicular to the side wall of the clamping lever 16. During the rotation of the first pick-up and release lever 29, through the transmission of the rotating rod 31, the synchronous pulley 32 and the synchronous belt 27, the auxiliary rod 28 and the second pick-up and release lever 36 will rotate 45° synchronously. Thus, when the outer lever of the first pick-up and release lever 29 is perpendicular to the clamping lever 16, the outer lever of the second pick-up and release lever 36 and the auxiliary rod 28 close to the second pick-up and release lever 36 will both retract into the inner cavity of the fan-shaped groove 30, so that the side wall of the outer lever of the second pick-up and release lever 36 coincides with the side wall of the clamping lever 16.

[0047] At this time, by continuously driving the clamping rod 16 to move the outer rod and the pick-and-place rod 29 perpendicular to the clamping rod 16, the goods can be pushed from the upper surface of the chassis 3 onto the shelf. At the same time, the driven gear 42 and driven rack 43 can be used to push the goods to the required depth, thus completing the loading of multiple goods on the same shelf. Since the pick-and-place rod 29 and the pick-and-place rod 36 are elastically connected to the sector groove 30, during the process of the pick-and-place rod 29 pushing the goods, the obstruction of the goods allows the pick-and-place rod 29 to rotate and remain in contact with the clamping rod. In the vertical position of lever 16, after the goods are pushed into the shelf, if the first pick-and-place lever 29 returns to the 45° tilt position under the action of the spring force during the process of the clamping lever 16 returning to the top of the chassis 3, the second pick-and-place lever 36 will extend out of the inner cavity of the fan-shaped slot 30, thereby causing the second pick-and-place lever 36 to push the goods out of the shelf. Although the distance between the clamping lever 16 and the goods can be adjusted by the setting of the electric push rod 13, when the width of the goods is large, the adjustment of the electric push rod 13 will be ineffective, thus making it impossible to place the goods.

[0048] Please see Figure 10-12A mounting groove 35 is provided on the side of the lower sector-shaped groove 30 away from the synchronous pulley 32. The center of the mounting groove 35 and the center of the synchronous pulley 32 are located in the same vertical plane. A limiting rod 34 is elastically connected to the inner cavity of the mounting groove 35. The limiting rod 34 is an iron metal rod. An arc-shaped groove 39 is provided at the bottom of the outer rod, and a limiting groove 37 is provided at the center of the bottom of the inner rod. An inclined surface 38 is provided on the side of the limiting groove 37 near the limiting rod 34. The top of the inner cavity of the arc-shaped groove 39 and the side of the inclined surface 38 away from the limiting groove 37 are located in the same vertical plane. On a horizontal plane, the top of the inner cavity of the arc-shaped groove 39 is on the same horizontal plane as the top of the limiting rod 34. Therefore, during the rotation of the first pick-up rod 29 or the second pick-up rod 36, when the first pick-up rod 29 and the second pick-up rod 36 rotate toward the inner cavity of the fan-shaped groove 30, that is, the outer rod with the arc-shaped groove 39 rotates toward the inner cavity of the fan-shaped groove 30. During this process, the position of the arc-shaped groove 39 will coincide with the position of the limiting rod 34, and the top of the inner cavity of the arc-shaped groove 39 will fit against the upper end face of the limiting rod 34. The limiting rod 34 cannot limit the outer rod.

[0049] When the first pick-up rod 29 or the second pick-up rod 36 rotates away from the sector groove 30, that is, when the inner rod moves toward the position of the limiting rod 34, the inclined surface 38 will first contact the side wall of the limiting rod 34 as the inner rod approaches the limiting rod 34, thereby pressing the limiting rod 34 toward the bottom of the inner cavity of the mounting groove 35. After the limiting rod 34 and the limiting groove 37 coincide, the limiting rod 34 moves upward along the inner cavity of the mounting groove 35 under the action of elastic force, and finally the top of the limiting rod 34 is engaged in the inner cavity of the limiting groove 37. The limiting rod 34 limits and fixes the inner rod, thereby limiting and fixing the position of the first pick-up rod 29 or the second pick-up rod 36. As mentioned above, when the first pick-up rod 29 pushes the goods, the outer rod and the clamping rod 16 remain perpendicular. At this time, the inner rod of the first pick-up rod 29 will be limited by the limiting rod 34, so that the first pick-up rod 29 can still remain perpendicular to the clamping rod 16 after it is separated from the goods. This ensures that the second pick-up rod 36 will not pop out of the inner cavity of the fan-shaped groove 30, causing the goods that have just been placed to be pushed out of the shelf again.

[0050] Please see Figure 8-12The lower end of the clamping rod 16 has a through groove 26. The center of the through groove 26 and the center of the limiting rod 34 are located in the same vertical plane. The upper end of the slider 6 in the middle is fixedly connected to a bar magnet 25. The bar magnet 25 slides in the inner cavity of the through groove 26. The length of the bar magnet 25 is one-third of the length of the through groove 26. When the clamping rod 16 drives the pick-up and put-down rod 29 to move horizontally, the pick-up and put-down rod 29 will remain vertical when pushing the goods. The limiting rod 34 will then limit and fix the position of the pick-up and put-down rod 29. After the limiting rod 34 approaches the position of the bar magnet 25, the limiting rod 34 will move down under the action of magnetic force. Since the outer rod of the pick-up and put-down rod 29 is still in contact with the goods, the pick-up and put-down rod 29 will remain vertical. After the limiting rod 34 moves away from the position of the bar magnet 25, the limiting rod 34 will limit the pick-up and put-down rod 29 again.

[0051] Therefore, the downward magnetic attraction of the bar magnet 25 to the limiting rod 34 will not affect the process of pushing goods by the first pick-up rod 29 or the second pick-up rod 36. However, after the first pick-up rod 29 or the second pick-up rod 36 has finished pushing or picking up the goods, the downward magnetic attraction of the bar magnet 25 to the limiting rod 34 can release the limiting rod 34 from the limiting rod 34 during the resetting process of the clamping rod 16. This allows the first pick-up rod 29 and the second pick-up rod 36 to return to their initial tilted state, facilitating the picking / placing of goods again, thus quickly completing the handling of goods. Furthermore, the bar magnet 25 is located in the middle of the upper end of the chassis 3, meaning that the position of the first pick-up rod 29 / the second pick-up rod 36 is already fixed before the goods are pushed into the shelf, while ensuring that the first pick-up rod 29 / the second pick-up rod 36 are removed. After placing the shelf, confirm that it will not affect the condition of the goods before resetting it. When retrieving goods, if there is only one item on the shelf, the clamping rod 16 can be driven to extend into the shelf, and then the silicone pad 17 can be driven to approach the surface of the goods. Then the clamping rod 16 can be driven to reset. During the reset process, the pick-and-place rod 1 29 / pick-and-place rod 2 36 will contact the side of the goods away from the chassis 3, thereby moving the goods to the top of the chassis 3. Whether it is pick-and-place rod 1 29 or pick-and-place rod 2 36 depends on the position of the shelf. That is, if the shelf is close to the direction of pick-and-place rod 1 29, the goods are picked up by pick-and-place rod 1 29 and placed by pick-and-place rod 2 36, and vice versa. Pick-and-place rod 1 29 and pick-and-place rod 2 36 only differ in direction and position when picking up / placing goods, and have no functional difference.

[0052] When two or more goods are placed together on the shelf, the clamping rod 16 is extended into the shelf, and the silicone pad 17 is driven by the electric push rod 13 to adhere to the surface of the goods. Through the clamping and friction of the clamping rod 16 and the silicone pad 17, the outer goods are pulled towards the position of the chassis 3, causing the attached goods to separate. Then the clamping rod 16 can be driven to extend into the shelf again, and the goods can be picked up by the pick-and-place rod 29 / pick-and-place rod 36. When the AVG robot has a shelf on only one side, the chassis 3 is moved down to the upper surface of the AGV trolley 2 by the chain 10. Then the clamping rod 16 can move the goods on the ground to the chassis 3 by the pick-and-place rod 29 / pick-and-place rod 36, and finally move the goods to the shelf. At the same time, the goods on the shelf can also be moved to the ground, which facilitates the transportation of goods.

Claims

1. An AGV handling robot, comprising a fixed plate, a top plate, and an AGV trolley, characterized in that, The upper end of the AGV is fitted with a chassis for carrying goods. The middle of the inner cavity of the fixed plate is provided with a lifting mechanism to drive the chassis to move vertically. The upper end of the chassis is provided with a picking and placing mechanism for picking up and storing goods. The picking and placing mechanism includes a clamping rod. The lower part of the side wall of the clamping rod is rotatably connected to a picking and placing rod one and a picking and placing rod two. When the picking and placing rod one is perpendicular to the side wall of the clamping rod, the picking and placing rod two retracts into the inner cavity of the clamping rod, and its outer wall is parallel to the side wall of the clamping rod.

2. The AGV handling robot according to claim 1, characterized in that, The lifting mechanism includes symmetrical lifting motors, which are respectively driven and connected to both sides of the inner cavity of the top plate. The inner cavity of the fixed plate is rotatably connected to symmetrical transmission gears. The transmission gear located at the top is fixedly connected to the output end of the lifting motor. The outer walls of the symmetrical transmission gears mesh together to drive a chain. The side of the chain near the top plate is driven and connected to a lug. The lug is vertically slidably connected to the middle of the side of the fixed plate near the chassis. The lower end of the chassis has a symmetrical square groove in the middle. The side of the lug away from the fixed plate is fixedly connected to the inner cavity of the square groove.

3. The AGV handling robot according to claim 1, characterized in that, The upper middle and both sides of the chassis are provided with sliding grooves. Symmetrical sliders are slidably connected to the inner cavity of the sliding groove. An I-beam is fixedly connected to the middle of the inner cavity of the sliding groove. Electric push rods are drivenly connected to both sides of the inner cavity of the I-beam. The output end of the electric push rod is fixedly connected to the side wall of the slider.

4. An AGV handling robot according to claim 3, characterized in that, A positioning plate is fixedly connected to the upper end of the slider away from the I-beam. A side plate is attached to the side of the clamping rod away from the I-beam. The bottom of the side plate is attached to the upper end face of the slider. The upper end face of the slider coincides with the upper end face of the chassis. A positioning groove is opened on the lower part of the side plate near the positioning plate. The upper part of the positioning plate is slidably connected in the positioning groove.

5. An AGV handling robot according to claim 3, characterized in that, A sliding plate is slidably connected between the clamping rod and the side plate. A mounting plate is fixedly connected to the upper middle part of the sliding plate. A moving groove is opened in the upper middle part of the side plate. The mounting plate is slidably connected in the moving groove. A servo motor is drivenly connected to the upper middle part of the mounting plate. The output end of the servo motor passes through the upper part of the mounting plate and is fixedly connected to a drive gear. A first rack is fixedly connected to the upper part of the inner cavity of the side plate. A second rack is fixedly connected to the upper part of the clamping rod near the mounting plate. The second rack and the first rack mesh with the drive gear.

6. An AGV handling robot according to claim 4, characterized in that, A drive motor is connected to the middle of the slider located at the upper middle part of the chassis, on the side away from the I-beam plate. The output end of the drive motor passes through the top of the slider and is fixedly connected to a driven gear. The lower end face of the driven gear is higher than the upper end face of the positioning plate. A driven rack is fixedly connected to the side wall of the side plate near the driven gear. The driven rack meshes with the driven gear.

7. An AGV handling robot according to claim 5, characterized in that, The clamping rod has two sets of symmetrical fan-shaped slots on the side near the I-beam plate. A rotating rod is rotatably connected between the symmetrical fan-shaped slots in the same set. A synchronous pulley is rotatably connected to the middle of the rotating rod. A synchronous belt is connected between the symmetrical synchronous pulleys. The rotating rod and the synchronous pulley are rotatably connected to the clamping rod. The synchronous belt is movably connected to the clamping rod. A silicone pad is fixedly connected to the side of the clamping rod near the I-beam plate.

8. An AGV handling robot according to claim 7, characterized in that, An auxiliary rod is provided in the upper part of the sector-shaped groove cavity. The auxiliary rod is fixedly connected to the upper part of the rotating rod. A pick-and-place rod one is provided in the lower part of the sector-shaped groove cavity on one side, and a pick-and-place rod two is provided in the lower part of the sector-shaped groove cavity on the other side. Both pick-and-place rod one and pick-and-place rod two are fixedly connected to the lower part of the rotating rod nearby. Both pick-and-place rod one and pick-and-place rod two are composed of an outer rod and an inner rod. The outer rod and the inner rod are perpendicular to each other. The inner rod is elastically connected to the inner wall of the sector-shaped groove cavity through a return spring.

9. An AGV handling robot according to claim 8, characterized in that, A mounting groove is provided on the side of the lower sector-shaped groove away from the synchronous pulley. The center of the mounting groove and the center of the synchronous pulley are located in the same vertical plane. A limiting rod is elastically connected to the inner cavity of the mounting groove. An arc-shaped groove is provided at the bottom of the outer rod. A limiting groove is provided at the center of the bottom of the inner rod. An inclined surface is provided on the side of the limiting groove near the limiting rod. The top of the inner cavity of the arc-shaped groove and the side of the inclined surface away from the limiting groove are located on the same horizontal plane. The top of the inner cavity of the arc-shaped groove and the top of the limiting rod are located on the same horizontal plane.

10. An AGV handling robot according to claim 9, characterized in that, The lower end of the clamping rod is provided with a through groove. The center of the through groove and the center of the limiting rod are located in the same vertical plane. A bar magnet is fixedly connected to the upper end of the slider located in the middle. The bar magnet slides in cooperation with the inner cavity of the through groove.

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