A mobile AGV service robot with automatic grabbing function

Abstract

The application discloses a mobile AGV service robot with an automatic grabbing function and relates to the technical field of robots.The mobile car is internally provided with a wireless mainboard, the wireless mainboard is internally connected with an external control platform signal through a WIFI module, the front end of the mobile car is provided with a path detection head, the upper end of the mobile car is provided with a mounting plate, the upper end of the mounting plate is provided with a moving plate, the upper end of the moving plate is provided with a stabilizing plate, and the upper end of the stabilizing plate is provided with a rotating table through a driving motor.The application is provided with a series of structures, the camera of the path detection head collects images, the searchlight assists in lighting, the detection angle is adjusted in cooperation with the positioning disc, the target can be accurately positioned and grabbed, the driving disc and the driven driving assembly are accurately matched, the linkage plate is limited and guided, the clamping plate is synchronously opened and closed and accurately aligned, the grabbing misplacement and the object sliding are effectively avoided, and the target grabbing demand of different placing angles is adapted.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a mobile AGV service robot with automatic grasping function. Background Technology

[0002] With the continuous development of intelligent manufacturing, intelligent warehousing, and intelligent park services, mobile AGV service robots with autonomous movement and automatic material picking and transfer functions have gradually replaced traditional manual labor to complete a number of repetitive tasks such as cargo handling, material picking, and item transfer within the site. These robots rely on autonomous walking mechanisms combined with mechanical gripping structures and wireless remote control modes to achieve unmanned operation. They can be widely used in various operation scenarios such as warehouses, indoor services, and factory transfers, and are also the mainstream equipment type that is currently the focus of research and development and popular application of intelligent mobile operation equipment.

[0003] Currently, conventional mobile AGV service robots with grasping functions have significant drawbacks in actual operation. First, the adjustment of the front-end path detection and target positioning structure is limited, making it difficult to flexibly adjust the detection angle. In dimly lit conditions, the lack of auxiliary lighting structures results in insufficient image clarity. Furthermore, the detection components lack buffer protection structures, making them highly susceptible to hard collisions during obstacle avoidance, which can damage the detection components and severely affect path planning and target positioning accuracy. Second, the traditional grasping robotic arm linkage structure is simple, with poor linkage between the main and secondary arms. The multi-section arm cannot operate synchronously and collaboratively, limiting the range of horizontal adjustment, angle rotation, and height adjustment. This makes it difficult to adapt to grasping objects at different distances, angles, and placement postures, resulting in poor operational adaptability. Third, the power transmission connection of conventional gripping structures is not reasonable enough, and the opening and closing of the gripping components on both sides are difficult to keep synchronized. Positional deviations are prone to occur during operation. The lack of angle limiting structures further reduces gripping stability, making it easy for materials to slip or be misaligned during operation. Finally, most similar devices lack overall structural stability, the upper structure is prone to shaking during grasping operations, the overall smoothness of automated operation is low, and the stability of remote control and autonomous preset operation modes is poor, which cannot meet the current demand for high-efficiency, high-precision, and high-stability automated unmanned grasping and transfer operations. Summary of the Invention

[0004] The purpose of this invention is to provide a mobile AGV service robot with automatic grasping function to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a mobile AGV service robot with automatic grasping function, comprising a mobile vehicle, wherein the mobile vehicle is equipped with a wireless motherboard, the wireless motherboard is connected to an external control platform via a WIFI module, a pathfinder is installed at the front end of the mobile vehicle, an mounting plate is installed at the upper end of the mobile vehicle, a moving plate is installed at the upper end of the mounting plate, a stabilizing plate is installed at the upper end of the moving plate, a rotating platform is installed at the upper end of the stabilizing plate via a drive motor, a first main arm and a second main arm are symmetrically installed at the upper end of the rotating platform, a secondary arm assembly is rotatably connected to the upper end of the first and second main arms, a first driving device is installed at the front end of the secondary arm assembly, a longitudinal plate is installed at the front end of the first driving device, a reinforcing plate is installed at the outer end of the longitudinal plate, an active driving disk is installed on the upper left side of the reinforcing plate, a driven driving assembly is installed on the upper right side of the reinforcing plate, a flipping plate is rotatably connected to the outer end of both the active driving disk and the driven driving assembly, a clamping plate is installed at the outer end of the flipping plate, and the two clamping plates are symmetrically arranged.

[0006] Preferably, the driven component includes a bottom disk, cylinders and a top disk. The bottom disk is rotatably connected to the upper right side of the reinforcing plate. Multiple cylinders are equidistantly arranged in a circular array at the upper edge of the bottom disk, and the top disk is mounted on the upper end of the multiple cylinders.

[0007] Preferably, the active drive disk has a plurality of protrusions installed at equal intervals at one end facing the driven drive component, and the size of the protrusions is adapted to the distance between any two cylinders.

[0008] Preferably, both of the flip plates are rotatably connected to a linkage plate, and one end of each linkage plate is rotatably connected to the surface of the reinforcing plate.

[0009] Preferably, a support frame and a second drive device are symmetrically mounted on the upper end of the rotary table. The outer end of the support frame is rotatably connected to a first main arm. The output end of the second drive device is connected to the second main arm. A linkage rod is installed between the second main arm and the first main arm.

[0010] Preferably, the secondary arm assembly includes a first drive arm and a second drive arm. The first drive arm is installed at the inner end of the first main arm, and the second drive arm is installed at the inner end of the second main arm. The first drive arm and the second drive arm are fixedly connected by a connector. A third drive device is installed at the rear end of the first drive arm and the second drive arm. The output end of the third drive device passes through the first drive arm and is fixedly connected to the first main arm.

[0011] Preferably, a drive main arm is rotatably connected to the front end of the first drive arm, and a drive secondary arm is rotatably connected to the front end of the second drive arm. A support plate is fixedly installed between the drive main arm and the drive secondary arm. The upper end of the support plate is connected to the first drive device. A fourth drive device is installed together inside the front ends of the first and second drive arms. The output end of the fourth drive device passes through the first drive arm and is connected to the drive main arm.

[0012] Preferably, the upper end of the mobile vehicle is equipped with a rotating spindle via a drive motor. The upper end of the rotating spindle is connected to a mounting plate. Two side plates are symmetrically mounted on the upper end of the mounting plate. A threaded rod and a guide rod are symmetrically mounted between the two side plates. A drive motor connected to the threaded rod is mounted on the outside of any side plate. A movable plate is threadedly connected to the surface of the threaded rod. The movable plate is threadedly connected to the mounting plate. The movable plate is slidably connected to the guide rod.

[0013] Preferably, two side plates are longitudinally symmetrically installed at the front center of the mobile vehicle, and a positioning disk is rotatably connected between the two side plates. The front end of the positioning disk is fixedly connected to the probing head. A drive motor is installed at the lower end of the lower side plate, and the output end of the drive motor is connected to the drive motor. A camera is installed at the front center of the probing head, and two searchlights are symmetrically installed at the two sides of the front edge of the probing head.

[0014] Preferably, two spring telescopic plates are symmetrically installed at the front edge of the mobile vehicle, and a compression plate is installed at the front end of each of the two spring telescopic plates. Two fixing plates are symmetrically installed at the rear edge of the probe head, and the two fixing plates are used in conjunction with the two compression plates respectively.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] 1. This mobile AGV service robot with automatic grasping function can accurately locate and grasp targets by using the camera of the probe head to collect images and the spotlight to assist in lighting, and adjusting the detection angle with the positioning plate. The active drive plate and the driven drive component work together precisely, and the linkage plate limits and guides, so that the clamping plate opens and closes synchronously and is precisely aligned, effectively avoiding misgrabbing and object slippage, and adapting to the target grasping needs of different placement angles.

[0017] 2. This mobile AGV service robot with automatic grasping function has a moving plate that can move horizontally and a rotating table that can rotate in a circle. The first main arm, the second main arm and the secondary arm components rotate in coordination. The driving main arm and the driving secondary arm can adjust the gripping orientation. The linkage of multiple components can flexibly adjust the grasping height, distance and direction, greatly expanding the grasping coverage area and adapting to grasping targets at different positions and heights.

[0018] 3. This mobile AGV service robot with automatic grasping function has a stabilizing plate and a reinforcing plate to enhance structural strength. The linkage rod ensures that the main arm moves synchronously and avoids shaking during operation. The spring telescopic plate and the compression plate work together to buffer the collision when the probe head rotates, preventing damage to the probe head, camera, searchlight and other components, and ensuring long-term stable operation of the equipment.

[0019] 4. This mobile AGV service robot with automatic grasping function sends instructions to the wireless motherboard via the WIFI module through an external control platform. It can preset control information to realize the automatic operation of the mobile vehicle and grasping components. The coordinated action of each component does not require manual intervention, which greatly saves labor costs, improves the efficiency of grasping and handling, and is suitable for automated operation scenarios. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the secondary arm assembly structure of the present invention;

[0022] Figure 3 This is a schematic diagram showing the disassembly of the mobile vehicle-related structures of the present invention;

[0023] Figure 4 This is a schematic diagram of the active drive disk and the driven drive assembly of the present invention;

[0024] Figure 5 This is a schematic diagram of the driven component structure of the present invention.

[0025] In the diagram: 1. Mobile vehicle; 2. Probe head; 3. Camera; 4. Searchlight; 5. Mounting plate; 6. Moving plate; 7. Stabilizing plate; 8. Rotary table; 9. First main boom; 10. Second main boom; 11. Linkage rod; 12. Secondary boom assembly; 1201. First drive boom; 1202. Second drive boom; 13. First drive device; 14. Support frame; 15. Second drive device; 16. Third drive device; 17. Fourth drive device; 18. Positioning plate; 19. Side 20. Plate; 21. Fixed plate; 22. Extrusion plate; 23. Spring telescopic plate; 24. Rotary spindle; 25. Drive main arm; 26. Drive secondary arm; 27. Support plate; 28. Longitudinal plate; 29. ​​Active drive disc; 20. Driven drive assembly; 2901. Bottom disc; 2902. Cylinder; 2903. Top disc; 30. Flipping plate; 31. Clamping plate; 32. Linkage plate; 33. Reinforcing plate; 34. Side plate; 35. Threaded rod; 36. Guide rod; 37. Protrusion. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0028] like Figures 1 to 5As shown, this embodiment of the mobile AGV service robot with automatic grasping function includes a mobile vehicle 1. The mobile vehicle 1 is equipped with a wireless motherboard, which is connected to an external control platform via a WIFI module. A pathfinder 2 is installed at the front end of the mobile vehicle 1. The pathfinder 2 is used to detect obstacles on the movement path and locate the grasping target, providing precise guidance for the robot's movement and grasping. A mounting plate 5 is installed on the upper end of the mobile vehicle 1. The mounting plate 5 serves as the mounting carrier for the upper structure, providing fixation and support. A moving plate 6 is installed on the upper end of the mounting plate 5, which can drive the upper grasping mechanism. The structure allows for horizontal position adjustment, increasing the gripping range. A stabilizing plate 7 is installed on the upper end of the moving plate 6. The stabilizing plate 7 enhances the stability of the upper structure and prevents swaying during gripping. A rotating platform 8 is mounted on the upper end of the stabilizing plate 7 via a drive motor. The drive motor can drive the rotating platform 8 to rotate circumferentially, causing the gripping structure to adjust its orientation to adapt to gripping needs in different directions. A first main arm 9 and a second main arm 10 are symmetrically installed on the upper end of the rotating platform 8. Both serve as the main support components of the gripping structure, providing support and power transmission for subsequent gripping actions. The upper ends of the first main arm 9 and the second main arm 10... A secondary arm assembly 12 is rotatably connected, allowing for flexible rotation to further extend the gripping radius and adjust the gripping height and angle. A first drive device 13 is mounted at the front end of the secondary arm assembly 12, and a longitudinal plate 27 is mounted at the front end of the first drive device 13. The first drive device 13 can drive the longitudinal plate 27 to rotate, thereby driving the gripping assembly to rotate. A reinforcing plate 33 is mounted on the outer end of the longitudinal plate 27. The longitudinal plate 27 is used to fix and support the reinforcing plate 33 and subsequent clamping components. The reinforcing plate 33 enhances the overall strength of the clamping structure and prevents deformation of components during clamping. The upper left side of the reinforcing plate 33 is... Equipped with an active drive disk 28, which rotates under the drive of the first drive device 13 to provide power for the clamping action, a driven drive assembly 29 is installed on the upper right side of the reinforcing plate 33. Both the active drive disk 28 and the driven drive assembly 29 are rotatably connected to a flip plate 30 at their outer ends. The driven drive assembly 29 moves in coordination with the active drive disk 28, driving the flip plates 30 on both sides to move synchronously. A clamping plate 31 is installed on the outer end of the flip plate 30. The two clamping plates 31 are symmetrically arranged. The flip plate 30 can rotate under the drive, causing the clamping plates 31 to open and close. The external control platform is connected via WIFI. The module sends instructions to the wireless motherboard, and the mobile vehicle 1 moves the entire structure. The pathfinder 2 detects the path in real time. The rotating table 8, the first main arm 9, the second main arm 10, and the secondary arm assembly 12 work together to adjust the gripping position and angle. The first drive device 13 drives the active drive disk 28 to rotate, which, together with the driven drive assembly 29, causes the two clamping plates 31 to open and close, completing the gripping and transporting of the target object. It should be noted that control information can be entered through preset instructions to achieve automatic operation of the mobile vehicle 1 and related gripping components. These are all conventional circuit control techniques.

[0029] Specifically, the driven component 29 includes a bottom disc 2901, cylinders 2902, and a top disc 2903. The bottom disc 2901 is rotatably connected to the upper right side of the reinforcing plate 33. Multiple cylinders 2902 are equidistantly arranged in a circular array at the upper edge of the bottom disc 2901. The top disc 2903 is mounted on the upper end of the multiple cylinders 2902. Multiple protrusions 37 are equidistantly installed on the end of the active drive disc 28 facing the driven component 29. The size of the protrusions 37 is adapted to the spacing between any two cylinders 2902. The core function of the protrusions 37 is to transmit power. When the active drive disc 28 rotates under the drive of the first drive device 13... When the protrusion 37 is inserted between the two cylinders 2902 of the driven component 29, it pushes the bottom disk 2901 to rotate, thereby driving the driven component 29 to move as a whole. The size of the protrusion 37 is adapted to the distance between any two cylinders 2902. This size design ensures that the protrusion 37 can be accurately inserted into the gap between the cylinders 2902, avoiding jamming or poor power transmission. This ensures that the power transmission between the active drive disk 28 and the driven component 29 is stable and efficient, thereby ensuring that the flip plates 30 on both sides move synchronously, so that the clamping plate 31 can complete the gripping action smoothly and accurately, avoiding gripping failure or object slippage due to power transmission deviation.

[0030] Furthermore, each of the two flip plates 30 is rotatably connected to a linkage plate 32. One end of each linkage plate 32 is rotatably connected to the surface of the reinforcing plate 33. The core function of the linkage plate 32 is to limit the flip angle of the flip plate 30 and enhance the stability of the flip plate 30's movement, preventing the flip plate 30 from shifting or shaking during the clamping process. One end of each linkage plate 32 is rotatably connected to the surface of the reinforcing plate 33, making the linkage plate 32 a fixed support point. When the flip plate 30 flips under the drive of the active drive disk 28 and the driven drive assembly 29, the linkage plate 32 rotates accordingly, guiding and limiting the movement trajectory of the flip plate 30, ensuring that the two flip plates 30 always maintain a symmetrical state. The clamping plate 31 can accurately align with the target object, improving the accuracy and stability of the gripping, avoiding problems such as misalignment of the gripping or slippage of the object due to the offset of the flip plate 30, and ensuring the smooth operation of the overall gripping action.

[0031] Furthermore, a support frame 14 and a second drive device 15 are symmetrically installed on the upper end of the rotary table 8. The outer end of the support frame 14 is rotatably connected to the first main arm 9. The output end of the second drive device 15 is connected to the second main arm 10. A linkage rod 11 is installed between the second main arm 10 and the first main arm 9. When the second drive device 15 is started, it can directly drive the second main arm 10 to rotate. The linkage rod 11 is installed between the second main arm 10 and the first main arm 9. The core function of the linkage rod 11 is to realize the synchronous movement of the first main arm 9 and the second main arm 10. When the second drive device 15 drives the second main arm 10 to rotate, the power is transmitted through the linkage rod 11 to drive the first main arm 9 to rotate synchronously, ensuring that the two movements are coordinated and consistent, avoiding movement deviation, and thus driving the secondary arm assembly 12 and the clamping structure to adjust their positions synchronously, improving the coordination and accuracy of the gripping action. The support frame 14 provides support and stability for the first main arm 9.

[0032] Furthermore, the secondary arm assembly 12 includes a first drive arm 1201 and a second drive arm 1202. The first drive arm 1201 and the second drive arm 1202 serve as the main components of the secondary arm assembly 12, extending the gripping radius and providing support and power transmission for the front-end clamping structure. The first drive arm 1201 is mounted on the inner end of the first main arm 9, and the second drive arm 1202 is mounted on the inner end of the second main arm 10. The first drive arm 1201 can rotate around the first main arm 9, and the second drive arm 1202 can rotate around the second main arm 10. The first drive arm 1201 and the second drive arm 1202 are fixedly connected by a connector, ensuring a secure connection and synchronous movement to prevent misalignment. Currently, a third drive device 16 is installed at the rear end between the first drive arm 1201 and the second drive arm 1202, with the third drive device 16 serving as a power source to provide power for the rotation of the first drive arm 1201 and the second drive arm 1202. The output end of the third drive device 16 passes through the first drive arm 1201 and is fixedly connected to the first main arm 9. When the third drive device 16 is activated, its output end remains fixed, thereby driving the first drive arm 1201 and the second drive arm 1202 to rotate around the first main arm 9 and the second main arm 10, adjusting the angle of the secondary arm assembly 12, further optimizing the gripping position, adapting to gripping targets of different heights and distances, and ensuring the flexibility of the gripping action.

[0033] Furthermore, a drive main arm 24 is rotatably connected to the front end of the first drive arm 1201. The drive main arm 24 is used to adjust the angle of the front end clamping structure. A drive secondary arm 25 is rotatably connected to the front end of the second drive arm 1202. The drive secondary arm 25 works in coordination with the drive main arm 24 to ensure the stability of the front end clamping structure. A support plate 26 is fixedly installed between the drive main arm 24 and the drive secondary arm 25. The support plate 26 is used to fix the first drive device 13 and at the same time enhance the connection strength between the drive main arm 24 and the drive secondary arm 25 to prevent the front end structure from shaking. The upper end of the support plate 26 is connected to the first drive device 13. The first drive arm 1201 and the second drive arm 1202 are rotatably connected to the front end of the second drive arm 1202. The front end of the 202 is equipped with a fourth drive device 17, which serves as a power source to drive the rotation of the main arm 24 and the secondary arm 25. The output end of the fourth drive device 17 passes through the first drive arm 1201 and is connected to the main arm 24. When the fourth drive device 17 is activated, it drives the main arm 24 to rotate, which in turn drives the secondary arm 25 to rotate synchronously through the support plate 26. This, in turn, drives the front longitudinal plate 27, the reinforcing plate 33, and the clamping structure to rotate as a whole, adjusting the orientation of the clamping plate 31 to ensure that the clamping plate 31 can accurately align with the target object, improving the flexibility and accuracy of the gripping, and adapting to the gripping needs of target objects at different placement angles.

[0034] Furthermore, a rotating spindle 23 is mounted on the upper end of the mobile vehicle 1 via a drive motor. The upper end of the rotating spindle 23 is connected to the mounting plate 5. Two side plates 34 are symmetrically mounted on the upper end of the mounting plate 5. Threaded rods 35 and guide rods 36 are symmetrically mounted between the two side plates 34. A drive motor connected to the threaded rod 35 is mounted on the outside of any side plate 34. A movable plate 6 is threadedly connected to the surface of the threaded rod 35. The movable plate 6 is threadedly connected to the mounting plate 5 and slidably connected to the guide rod 36. The drive motor drives the rotating spindle 23 to rotate, realizing the rotation of the mounting plate 5 and the upper structure. Another drive motor drives the threaded rod 35 to rotate, causing the movable plate 6 to move horizontally, thereby causing the gripping structure to adjust its horizontal position to adapt to gripping targets in different positions. The guide rod 36 can guide and limit the movement trajectory of the movable plate 6.

[0035] Furthermore, two side plates 19 are longitudinally symmetrically installed at the front center of the mobile vehicle 1. The side plates 19 are used to fix the positioning plate 18 and the drive motor, providing stable installation support. The positioning plate 18 is rotatably connected between the two side plates 19. The positioning plate 18 is used to fix the probe head 2 and can rotate around the side plate 19 to drive the probe head 2 to adjust the detection angle. The front end of the positioning plate 18 is fixedly connected to the probe head 2. The lower end of the lower side plate 19 is equipped with a drive motor, which provides power for the rotation of the positioning plate 18. The output end of the drive motor is connected to the positioning plate 18. The front center of the probe head 2 is equipped with... The robot has a camera 3 and two spotlights 4 symmetrically installed on the two sides of the front end of the pathfinding head 2. The camera 3 is used to collect real-time images of the path and the target object, and transmit them to the wireless motherboard to provide visual basis for the robot's movement and grasping. The spotlights 4 are used to provide illumination in low-light environments to ensure that the camera 3 can clearly collect images and ensure that the robot can complete the pathfinding and grasping operations normally in dim environments. The drive motor drives the positioning disk 18 to rotate, adjusting the detection angle of the pathfinding head 2. The camera 3 collects images in real time, and the spotlights 4 provide auxiliary illumination to provide accurate path and target information for the robot's movement and grasping.

[0036] Furthermore, two spring-loaded telescopic plates 22 are symmetrically installed at the front edge of the mobile vehicle 1. These spring-loaded telescopic plates 22 have elastic telescopic function and can retract when compressed, providing cushioning and protection. Each of the two spring-loaded telescopic plates 22 has a compression plate 21 installed at its front end. The compression plate 21 is used to directly contact obstacles and transfer the compressive force to the spring-loaded telescopic plates 22. Two fixed plates 20 are symmetrically installed at the rear edge of the probe head 2. The two fixed plates 20 cooperate with the two compression plates 21 respectively. When the probe head 2 rotates to its limit angle or encounters an obstacle, the fixed plates 20 will contact the compression plates 21, compressing the spring-loaded telescopic plates 22. The retraction of module 22 generates a buffering force, preventing the pathfinder 2 from colliding hard with the moving vehicle 1 or obstacles, protecting components such as the pathfinder 2, camera 3, and searchlight 4 from damage. It also limits the rotation angle of the pathfinder 2 to prevent excessive rotation that could damage components, ensuring its normal operation and thus guaranteeing the stability of the robot's overall grasping and moving functions. It's important to note that although the pathfinder 2 and positioning disk 18 are primarily controlled and driven by the drive motor, they are not completely locked. The connection between the positioning disk 18 and the drive motor output has a certain buffering range, which is standard technical and will not be described further.

[0037] The usage method of this embodiment is as follows: control information is entered through an external control platform in the form of preset instructions to complete the automatic operation parameter setting of the mobile vehicle 1 and each grasping component, and to ensure that the wireless motherboard is normally connected to the external control platform through the WIFI module.

[0038] After the equipment is started, the mobile vehicle 1 moves the entire structure, the probe head 2 detects the movement path and captures the target in real time, the camera 3 collects images of the path and the target, and the searchlight 4 can be turned on to provide auxiliary lighting when the light is dim. The positioning plate 18 can drive the probe head 2 to adjust the detection angle to avoid detection blind spots.

[0039] The external control platform sends a gripping command, the rotating spindle 23 drives the mounting plate 5 and the upper structure to rotate, the threaded rod 35 drives the moving plate 6 to move horizontally, and adjusts the horizontal position of the gripping structure; the rotating table 8 drives the first main arm 9, the second main arm 10 and the secondary arm assembly 12 to rotate in a circle, the second drive device 15 drives the second main arm 10 to rotate, and the first main arm 9 is driven to rotate synchronously through the linkage rod 11; the third drive device 16 drives the secondary arm assembly 12 to adjust the angle; the fourth drive device 17 drives the drive main arm 24 and drive secondary arm 25 to rotate, and coordinately adjust the gripping height, distance and orientation.

[0040] Once the gripping structure is aligned with the target, the first drive device 13 drives the active drive disk 28 to rotate. The protrusions 37 embed between the cylinders 2902 of the driven drive assembly 29, causing the driven drive assembly 29 to move synchronously. This, in turn, causes the two side flip plates 30 to flip, opening and closing the clamping plate 31 to complete the target gripping. After gripping, the target is transported to the designated position through the coordinated action of the aforementioned components. The clamping plate 31 is then opened to complete the placement.

[0041] During use, avoid hard collisions between the probe head 2 and obstacles. The spring telescopic plate 22 will play a buffering and protective role to ensure the normal operation of the equipment.

[0042] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A mobile AGV service robot with automatic grasping function, comprising a mobile vehicle (1), wherein the mobile vehicle (1) is equipped with a wireless motherboard, and the wireless motherboard is connected to an external control platform via a WIFI module, characterized in that: The mobile vehicle (1) is equipped with a pathfinder (2) at its front end. A mounting plate (5) is installed on the upper end of the mobile vehicle (1). A moving plate (6) is installed on the upper end of the mounting plate (5). A stabilizing plate (7) is installed on the upper end of the moving plate (6). A rotating platform (8) is mounted on the upper end of the stabilizing plate (7) via a drive motor. A first main arm (9) and a second main arm (10) are symmetrically mounted on the upper end of the rotating platform (8). A secondary arm assembly (12) is rotatably connected to the upper ends of the first main arm (9) and the second main arm (10). The front end of the secondary arm assembly (12) is equipped with... The device is equipped with a first drive device (13), a longitudinal plate (27) is installed at the front end of the first drive device (13), a reinforcing plate (33) is installed at the outer end of the longitudinal plate (27), an active drive disk (28) is installed on the upper left side of the reinforcing plate (33), a driven drive assembly (29) is installed on the upper right side of the reinforcing plate (33), a flip plate (30) is rotatably connected to the outer ends of the active drive disk (28) and the driven drive assembly (29), and a clamping plate (31) is installed at the outer end of the flip plate (30), and the two clamping plates (31) are symmetrically arranged.

2. The mobile AGV service robot with automatic grasping function according to claim 1, characterized in that: The driven component (29) includes a bottom disk (2901), a cylinder (2902) and a top disk (2903). The bottom disk (2901) is rotatably connected to the upper right side of the reinforcing plate (33). Multiple cylinders (2902) are installed in an equidistant circular array at the upper edge of the bottom disk (2901). The top disk (2903) is installed on the upper ends of the multiple cylinders (2902).

3. The mobile AGV service robot with automatic grasping function according to claim 2, characterized in that: The active drive disk (28) has a plurality of protrusions (37) installed at equal intervals on one end facing the driven drive assembly (29), and the size of the protrusions (37) is adapted to the spacing between any two cylinders (2902).

4. The mobile AGV service robot with automatic grasping function according to claim 1, characterized in that: Both of the flip plates (30) are rotatably connected to a linkage plate (32), and one end of each linkage plate (32) is rotatably connected to the surface of the reinforcing plate (33).

5. The mobile AGV service robot with automatic grasping function according to claim 1, characterized in that: The upper end of the rotary table (8) is symmetrically equipped with a support frame (14) and a second drive device (15). The outer end of the support frame (14) is rotatably connected to a first main arm (9). The output end of the second drive device (15) is connected to the second main arm (10). A linkage rod (11) is installed between the second main arm (10) and the first main arm (9).

6. The mobile AGV service robot with automatic grasping function according to claim 1, characterized in that: The secondary arm assembly (12) includes a first drive arm (1201) and a second drive arm (1202). The first drive arm (1201) is installed at the inner end of the first main arm (9), and the second drive arm (1202) is installed at the inner end of the second main arm (10). The first drive arm (1201) and the second drive arm (1202) are fixedly connected by a connector. A third drive device (16) is installed at the rear end of the first drive arm (1201) and the second drive arm (1202). The output end of the third drive device (16) passes through the first drive arm (1201) and is fixedly connected to the first main arm (9).

7. The mobile AGV service robot with automatic grasping function according to claim 6, characterized in that: The front end of the first drive arm (1201) is rotatably connected to the main drive arm (24), and the front end of the second drive arm (1202) is rotatably connected to the secondary drive arm (25). A support plate (26) is fixedly installed between the main drive arm (24) and the secondary drive arm (25). The upper end of the support plate (26) is connected to the first drive device (13). The front ends of the first drive arm (1201) and the second drive arm (1202) are jointly equipped with a fourth drive device (17). The output end of the fourth drive device (17) passes through the first drive arm (1201) and is connected to the main drive arm (24).

8. The mobile AGV service robot with automatic grasping function according to claim 1, characterized in that: The upper end of the mobile vehicle (1) is equipped with a rotating spindle (23) via a drive motor. The upper end of the rotating spindle (23) is connected to the mounting plate (5). Two side plates (34) are symmetrically installed on the upper end of the mounting plate (5). Threaded rods (35) and guide rods (36) are symmetrically installed between the two side plates (34). A drive motor connected to the threaded rod (35) is installed on the outside of any side plate (34). A moving plate (6) is threadedly connected to the surface of the threaded rod (35). The moving plate (6) is threadedly connected to the mounting plate (5). The moving plate (6) is slidably connected to the guide rod (36).

9. The mobile AGV service robot with automatic grasping function according to claim 1, characterized in that: Two side plates (19) are longitudinally symmetrically installed at the front center of the mobile vehicle (1). A positioning disk (18) is rotatably connected between the two side plates (19). The front end of the positioning disk (18) is fixedly connected to the probe head (2). A drive motor is installed at the lower end of the lower side plate (19). The output end of the drive motor is connected to the drive motor. A camera (3) is installed at the front center of the probe head (2). Two searchlights (4) are symmetrically installed at the two sides of the front edge of the probe head (2).

10. The mobile AGV service robot with automatic grasping function according to claim 1, characterized in that: Two spring telescopic plates (22) are symmetrically installed at the front edge of the mobile vehicle (1), and a pressing plate (21) is installed at the front end of each of the two spring telescopic plates (22). Two fixing plates (20) are symmetrically installed at the rear edge of the probing head (2), and the two fixing plates (20) are used in conjunction with the two pressing plates (21).

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