Fork type mobile robot capable of automatically loading and unloading

Abstract

The utility model discloses an autonomous loading and unloading fork type mobile robot which comprises an AGV trolley body, a loading module is arranged in the middle of the AGV trolley body, the loading module comprises two parallel first guide rails installed on the AGV trolley body, and a rack is installed on the first guide rails through first sliding blocks in a sliding fit mode. A translation driving mechanism used for driving the rack to move along the guide rail is installed on the rack, a carrying fork used for carrying goods is vertically connected to the rack in a sliding mode, the carrying fork is connected with a lifting driving mechanism used for driving the carrying fork to move up and down, and a bearing table used for bearing the goods is installed on the AGV trolley body. According to the fork type mobile robot capable of achieving independent loading and unloading, the loading module is arranged on the AGV trolley body, the functions of mobile transportation and cargo loading and unloading are achieved, independent loading and unloading can be completed without other equipment, the applicability of the equipment is improved, and the use cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of handling equipment, in particular to a fork-type mobile robot capable of autonomous loading and unloading. Background Art

[0002] Traditional cargo transportation is mainly completed by manual handling or by workers driving transport machinery. Compared with mechanized transportation, manual handling of goods has the disadvantages of slow speed, low efficiency and high cost. In recent years, with the continuous development of automatic control technology, sensor technology, etc., AGV handling robots have begun to be widely used. AGV is an automated and computer-controlled transport robot that can sense the surrounding environment by using laser, infrared or other sensing technologies, so as to navigate autonomously without human intervention and automatically perform cargo transportation tasks. At present, AGV handling robots mainly perform transportation tasks, and the loading and unloading of goods on AGV handling robots usually needs to be completed manually or with the help of other loading equipment. Therefore, it is particularly necessary to develop a handling robot that can load autonomously. Utility Model Content

[0003] The utility model aims to provide a fork-type mobile robot which can load and unload autonomously without the aid of external loading equipment.

[0004] The technical solution adopted by the utility model is as follows: an autonomous loading and unloading fork-type mobile robot, comprising an AGV trolley body, a loading module being arranged in the middle of the AGV trolley body, the loading module comprising two parallel first guide rails fixedly installed laterally on the AGV trolley body, a frame being slidably mounted on the first guide rail through a first slider, a translational driving mechanism for driving the frame to move along the guide rail being installed on the frame, a carrying fork for carrying goods being vertically slidably connected to the frame, the carrying fork being connected to a lifting driving mechanism for driving it to move up and down, and a carrying platform for carrying goods being arranged on the AGV trolley body located on both sides of the loading module.

[0005] Furthermore, a pallet positioning module for identifying material stacks is installed on the AGV trolley body located on one side of the transport fork.

[0006] Furthermore, the pallet positioning module is one or any combination of a laser rangefinder, an industrial camera, and a laser radar.

[0007] Furthermore, the frame is L-shaped, and the first sliding block is fixedly mounted on a parallel side of the frame.

[0008] Furthermore, the transport fork is fixedly mounted on a lifting plate, the lifting plate is slidably connected to a second slide rail arranged on a vertical side of the frame via a second slider, and the lifting plate is transmission-connected to the lifting drive mechanism.

[0009] Furthermore, the translation drive mechanism includes a rack fixedly mounted on the AGV trolley body, a translation drive motor is fixedly mounted on the frame, and an output end of the translation drive motor is connected to a gear meshing with the rack.

[0010] Furthermore, positioning mechanisms are symmetrically arranged on the bearing platforms on both sides, and the positioning mechanisms include a driving cylinder fixedly mounted on the bearing platforms, a piston rod end of the driving cylinder is connected to a slide frame, both ends of the slide frame are connected to guide rods, the guide rods are slidably matched with the guide slide seat arranged on the bearing platform, sliding clamps are symmetrically arranged on the slide frame, the sliding clamps are slidably matched with the slides arranged on the slide frame through sliders, a clamping cylinder is connected between the two sliding clamps, and the two sliding clamps are driven by the clamping cylinder to move relative to each other.

[0011] Furthermore, a limiting block for limiting the sliding clamp is provided on the sliding slot of the sliding slot frame.

[0012] Furthermore, the sliding clamp is L-shaped.

[0013] The autonomous loading and unloading fork-type mobile robot of the utility model has both mobile transportation and cargo loading and unloading functions by arranging a loading module on the AGV trolley body, so that it can complete autonomous loading and unloading without the aid of other equipment, thereby improving the applicability of the equipment and reducing the use cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0015] Figure 2 It is a structural schematic diagram of a loading module of the utility model.

[0016] Figure 3 It is another visual structural schematic diagram of the loading module of the utility model.

[0017] Figure 4 It is a structural schematic diagram of the positioning mechanism of the utility model.

[0018] Figure 5 , Figure 6 It is a schematic diagram of the working state of the utility model. DETAILED DESCRIPTION

[0019] In order to facilitate the understanding of the present invention, the present invention will be described more comprehensively and carefully below in conjunction with the accompanying drawings and preferred embodiments of the specification, but the protection scope of the present invention is not limited to the following specific embodiments.

[0020] like Figure 1-Figure 4 As shown, the autonomous loading and unloading fork-type mobile robot of this embodiment includes an AGV vehicle body 1. The AGV vehicle body 1 has conventional settings such as an autonomous mobile module, a navigation module, and an obstacle avoidance module. A loading module 2 for loading and unloading goods is also provided in the middle of the AGV vehicle body 1.

[0021] The loading module 2 includes two parallel first guide rails 201 fixedly installed horizontally on the AGV trolley body 1, and a rack 203 is slidably mounted on the first guide rail 201 through a first slider 202, and a translation driving mechanism for driving the rack 203 to move along the guide rail is installed on the rack 203. A transport fork 205 for transporting goods is vertically slidably connected to the rack 203, and the transport fork 205 is connected to a lifting driving mechanism 210 for driving it to move up and down. A carrying platform 4 for carrying goods is arranged on the AGV trolley body 1 located on both sides of the loading module 2.

[0022] In this embodiment, a pallet positioning module 3 for identifying material stacks is installed on the AGV trolley body 1 located on one side of the transport fork 205. The pallet positioning module can be one or any combination of a laser rangefinder, an industrial camera, and a laser radar, so as to obtain the material stack position information, material identification information, etc.

[0023] In this embodiment, the frame 203 is L-shaped, and the first slider 202 is fixedly mounted on the parallel side of the frame 203. The transport fork 205 is fixedly mounted on the lifting plate 206, and the lifting plate 206 is slidably connected to the second slide rail 208 provided on the vertical side of the frame 203 through the second slider 207, and the lifting plate 206 is transmission-connected to the lifting drive mechanism 210.

[0024] In this embodiment, the translation drive mechanism includes a rack 204 fixedly mounted on the AGV body 1, a translation drive motor 209 fixedly mounted on the frame 203, and an output end of the translation drive motor 209 is connected to a gear meshing with the rack 204. The translation drive mechanism is not limited to the above structure, and other existing technical means may also be used.

[0025] In order to achieve positioning and fixing of the loaded goods, in this embodiment, positioning mechanisms 5 are symmetrically arranged on the load-bearing platforms 4 on both sides. The positioning mechanism 5 includes a driving cylinder 501 fixedly installed on the load-bearing platform 4, and the piston rod end of the driving cylinder 501 is connected to a slide frame 502. The two ends of the slide frame 502 are connected to guide rods 503. The guide rods 503 are slidably matched with the guide slide 504 arranged on the load-bearing platform 4. Sliding clamps 505 are symmetrically arranged on the slide frame 502. The sliding clamps 505 are slidably matched with the slides arranged on the slide frame 502 through sliders. A clamping cylinder 506 is connected between the two sliding clamps 505, and the two sliding clamps 505 are driven by the clamping cylinder 506 to move relative to each other.

[0026] In this embodiment, a limit block 507 is provided on the slide of the slide frame 502 for limiting the sliding clamp 505 to avoid loss of goods due to excessive clamping.

[0027] In this embodiment, the sliding clamp plate 505 is L-shaped, so that it can position and fix the loaded goods in two directions perpendicular to each other.

[0028] See also Figure 5 , Figure 6 When the fork-type mobile robot for autonomous loading and unloading of the utility model is working, the AGV trolley body 1 moves to the material stack through automatic navigation, and the pallet positioning module 3 identifies the material stack, reads the logistics information, and identifies the size and position of the material stack and the pallet at the same time. Then, the AGV trolley body 1 is adjusted through the control system so that the loading module 2 faces the material stack. Through the automatic program, the transport fork 205 moves forward. When the transport fork 205 extends out of the vehicle body, it falls to a height where the material can be forked. Then, the AGV trolley body 1 moves forward to extend the transport fork 205 under the material pallet. Then, the transport fork 205 is lifted upward and retracted into the vehicle body. The material fork falls and the material stack is placed on the carrying platform 4 on the trolley. Then, the driving cylinder 501 and the clamping cylinder 506 of the positioning mechanism 5 work to position and fix the material. After the positioning and fixation are completed, the AGV trolley body 1 performs material transport through automatic navigation.

[0029] With the help of the teachings in the foregoing description and the related drawings, a person skilled in the art will be able to think of many modifications and other embodiments of the present invention. Therefore, it is to be understood that the present invention is not limited to the specific embodiments disclosed, and modifications and other embodiments are considered to be included within the scope of the appended claims. Although specific terms are used herein, they are used only in a general and descriptive sense and not for limitation.

Claims

1. An autonomous loading and unloading fork-type mobile robot, comprising an AGV vehicle body (1), characterized in that: A loading module (2) is arranged in the middle of the AGV trolley body (1), and the loading module (2) comprises two first guide rails (201) arranged in parallel and fixedly mounted on the AGV trolley body (1) in a transverse direction, a frame (203) is slidably mounted on the first guide rail (201) via a first slider (202), a translation driving mechanism for driving the frame (203) to move along the guide rail is mounted on the frame (203), a transport fork (205) for transporting goods is vertically slidably connected to the frame (203), and the transport fork (205) is connected to a lifting driving mechanism (210) for driving it to move up and down, and a carrying platform (4) for carrying goods is arranged on the AGV trolley body (1) located on both sides of the loading module (2).

2. The autonomous loading and unloading fork-type mobile robot according to claim 1, characterized in that: A pallet positioning module (3) for identifying a material stack is installed on the AGV trolley body (1) located on one side of the transport fork (205).

3. The autonomous loading and unloading fork-type mobile robot according to claim 2, characterized in that: The pallet positioning module (3) is one or any combination of a laser rangefinder, an industrial camera, and a laser radar.

4. The autonomous loading and unloading fork-type mobile robot according to claim 1, characterized in that: The frame (203) is L-shaped, and the first sliding block (202) is fixedly mounted on a parallel side of the frame (203).

5. The autonomous loading and unloading fork-type mobile robot according to claim 4, characterized in that: The transport fork (205) is fixedly mounted on a lifting plate (206); the lifting plate (206) is slidably connected to a second slide rail (208) arranged on a vertical side of the frame (203) via a second slider (207); and the lifting plate (206) is transmission-connected to the lifting drive mechanism (210).

6. The autonomous loading and unloading fork-type mobile robot according to claim 1, characterized in that: The translation drive mechanism comprises a rack (204) fixedly mounted on the AGV trolley body (1); a translation drive motor (209) fixedly mounted on the frame (203); and an output end of the translation drive motor (209) is connected to a gear meshing with the rack (204).

7. An autonomous loading and unloading fork-type mobile robot according to any one of claims 1 to 6, characterized in that: Positioning mechanisms (5) are symmetrically arranged on the bearing platforms (4) on both sides. The positioning mechanism (5) comprises a driving cylinder (501) fixedly mounted on the bearing platform (4). The piston rod end of the driving cylinder (501) is connected to a slide frame (502). Both ends of the slide frame (502) are connected to guide rods (503). The guide rods (503) are slidably matched with guide slide seats (504) arranged on the bearing platform (4). Sliding clamps (505) are symmetrically arranged on the slide frame (502). The sliding clamps (505) are slidably matched with slides arranged on the slide frame (502) through sliders. A clamping cylinder (506) is connected between the two sliding clamps (505). The two sliding clamps (505) are driven to move relative to each other by the clamping cylinder (506).

8. The autonomous loading and unloading fork-type mobile robot according to claim 7, characterized in that: A limiting block (507) for limiting the position of the sliding clamp (505) is provided on the sliding groove of the sliding groove frame (502).

9. The autonomous loading and unloading fork-type mobile robot according to claim 8, characterized in that: The sliding clamping plate (505) is L-shaped.

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