Lifting device of AGV intelligent transfer robot

Abstract

The utility model discloses a lifting device of an AGV intelligent transfer robot, and relates to the technical field of transfer robots. A horizontal moving assembly used for driving the mounting table to move horizontally is arranged in the containing cavity, a downward pressing driving mechanism used for driving the horizontal moving assembly is arranged in the mounting through hole, and side limiting parts used for limiting and intercepting the two sides of goods are arranged in the storage cavity. The positioning plate can be driven to move up and down by driving the electric lifting platform, so that the positioning plate can be moved to the position above goods, and the bottom of the downward pressing part is pressed and attached to the top of the goods; meanwhile, the arranged electric lifting platform can limit and intercept the goods which are stacked on the upper surface of the loading platform and are moved and carried on the outer side, and the situation that due to lack of limitation, the goods shake or even fall off due to vibration force during movement or inertia during starting and sudden stop is avoided; and the stability and the safety during cargo moving and carrying are effectively guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of transport robots, in particular to a lifting device of an AGV intelligent transport robot. Background Art

[0002] With the rapid development of intelligent warehousing, AGV intelligent handling robots have become an indispensable and important part of intelligent warehousing. Intelligent handling robots can not only walk on their own, but also lift and put down goods. The main function of AGV intelligent handling robots is to automatically transport goods to designated locations through special landmark navigation. The most common guidance methods are magnetic strip guidance, laser guidance, RFID guidance, etc.

[0003] When existing AGV intelligent transport robots are used in logistics warehouses, they generally move to the bottom of the unloading platform and then use their own lifting system to drive the loading pillars to move up and down, so as to move all the stacked goods out. However, when too many goods are stacked together for transportation, the goods cannot always be completely stacked on the same vertical level. In addition, since the goods are stacked too high, the center of gravity of the goods will become higher. Therefore, when the intelligent transport robot moves, the goods may shake due to vibration force or inertia during starting or stopping, and the goods may fall, affecting the stability and safety of the goods during movement and transportation.

[0004] For this purpose, a lifting device of an AGV intelligent handling robot is proposed. Utility Model Content

[0005] The purpose of the utility model is to solve the problems existing in the prior art and provide a lifting device for an AGV intelligent transport robot.

[0006] In order to achieve the above-mentioned purpose, the utility model specifically adopts the following technical solutions:

[0007] A lifting device for an AGV intelligent handling robot comprises an AGV intelligent handling robot body, a lifting structure, a control panel and two loading platforms, a receiving cavity is provided on the side of the two loading platforms away from each other, two mounting platforms are arranged inside the receiving cavity, a horizontal moving component for driving the mounting platform to move horizontally is arranged inside the receiving cavity, four mounting through holes are provided on the top of the loading platform, a downward driving mechanism for driving the horizontal moving component is arranged inside the mounting through holes, a storage cavity is provided on the top of the mounting platform, and a side limiting part for limiting and intercepting the goods on both sides is arranged inside the storage cavity.

[0008] Furthermore, the side limiting portion includes a positioning plate, a positioning plate is arranged inside the storage cavity, and a plurality of electric lifting platforms are equidistantly arranged inside the storage cavity for driving the positioning plate to move smoothly up and down, and a downward pressing portion is arranged between the side of the bottom of the positioning plate close to the loading platform and the outer wall of the electric lifting platform.

[0009] Furthermore, removable protrusions are respectively installed on the left and right outer wall surfaces of the positioning plate, and a camera 1 with a lens facing the bottom edge of the pressing part is installed on the wall surface of the protrusion facing the loading platform.

[0010] Furthermore, the horizontal movement assembly includes a motor, and the interior of the accommodating chamber is detachably installed with a motor located vertically below the downward driving mechanism, the output end of the motor is connected to an electric telescopic column, and the outer wall surface of the mounting platform is threadedly connected with a mounting block connected to the other end of the electric telescopic column.

[0011] Furthermore, a second camera with a lens facing upward is installed on the top side of the carrying block away from the storage cavity.

[0012] Furthermore, the downward driving mechanism includes a lifting platform 2 and a lifting platform 1, and the inner wall surface of the mounting through hole is installed with an annular lifting platform 2 and an annular lifting platform 1 from top to bottom, and the inner wall surfaces of the lifting platform 1 and the lifting platform 2 form a lowering cavity inside the mounting through hole, and a damping spring is welded to the top of the lifting platform 1, and the movable end of the damping spring is connected to the support plate, and a control rod with one end connected to the bottom of the support plate is provided inside the lowering cavity.

[0013] The beneficial effects of the utility model are as follows:

[0014] The lifting platform is operated by a plurality of lifting devices, and the lifting device is used to lift the load board and the lifting device is used to lift the load board, so that the lifting load board can be lifted and lowered, thereby greatly improving the lifting efficiency of the lifting equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a side perspective schematic diagram of the overall structure of the utility model when not in use;

[0016] Figure 2 It is a side perspective schematic diagram of the overall structure of the utility model when in use;

[0017] Figure 3 It is an enlarged schematic diagram of the structure of the side limit portion of the utility model;

[0018] Figure 4 This is an exploded schematic diagram of the structure of the downward pressure driving mechanism of the utility model;

[0019] Figure numerals: 1. AGV intelligent transport robot body; 2. lifting structure; 3. control panel; 4. loading platform; 5. downward pressure drive mechanism; 501. lifting platform one; 502. lifting platform two; 503. joystick; 504. support plate; 505. damping spring; 6. mounting platform; 7. horizontal moving component; 701. carrying block; 702. motor; 703. electric telescopic column; 8. side limit part; 801. positioning plate; 802. electric lifting platform; 803. bump; 804. camera one; 805. downward pressure part; 9. camera two. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Generally, the components of the embodiment of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In addition, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0023] In the description of the embodiments of the present invention, it should be noted that the terms "inside", "outside", "upper", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the utility model product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0024] Example: Figures 1 to 4 As shown, a lifting device of an AGV intelligent handling robot comprises an AGV intelligent handling robot body 1, a lifting structure 2, a control panel 3 and two loading platforms 4, a receiving cavity is provided on the side away from each other of the two loading platforms 4, two mounting platforms 6 are arranged inside the receiving cavity, a horizontal moving component 7 for driving the mounting platform 6 to move horizontally is arranged inside the receiving cavity, four mounting through holes are provided on the top of the loading platform 4, a downward driving mechanism 5 for driving the horizontal moving component 7 is arranged inside the mounting through holes, a storage cavity is provided on the top of the mounting platform 6, and a side limiting portion 8 for limiting and intercepting the two sides of the goods is arranged inside the storage cavity;

[0025] Specifically, the downward pressure driving mechanism 5 can move downward when the goods on the unloading platform are placed on the loading platform 4 so as to control the start-up of the horizontal moving component 7, so that the mounting platform 6 can be smoothly pushed horizontally out of the accommodating cavity under the driving action of the horizontal moving component 7, and then the driving side limit part 8 can limit and intercept the goods stacked on the upper surface of the loading platform 4, so as to avoid the goods shaking or even falling due to the vibration force or inertia during starting or stopping during movement due to lack of limit, thereby effectively ensuring the stability and safety of the goods during movement and transportation.

[0026] like Figure 3 As shown, the side limiting portion 8 includes a positioning plate 801, the positioning plate 801 is arranged inside the storage cavity, and a plurality of electric lifting platforms 802 for driving the positioning plate 801 to move up and down smoothly are arranged equidistantly inside the storage cavity, and a pressing portion 805 is arranged between the side of the bottom of the positioning plate 801 close to the loading platform 4 and the outer wall of the electric lifting platform 802;

[0027] Specifically, by driving the electric lifting platform 802, the positioning plate 801 can be driven to move up and down, so that the positioning plate 801 can be moved above the goods, so that the bottom of the pressing part 805 is pressed and fit with the top of the goods, thereby playing a downward limit role for the stacked goods, ensuring the stability and safety of the goods when they are moved and transported on the loading platform 4.

[0028] like Figure 3As shown, detachable protrusions 803 are respectively installed on the outer wall surfaces on the left and right sides of the positioning plate 801, and a camera 1 804 with a lens facing the bottom edge of the pressing portion 805 is installed on the wall surface of the protrusion 803 facing the loading platform 4. A pressing portion 805 is arranged between the side of the bottom of the positioning plate 801 close to the loading platform 4 and the outer wall surface of the electric lifting platform 802, and a control module and an image information processing module are arranged inside the mounting platform 6, and the side limit portion 8 and the camera 2 9 are both connected to the image information processing module signal, and the output end of the image information processing module is connected to the input end of the control module;

[0029] Specifically, the camera 804 is set up to transmit the captured image to the image information processing module, and the information of the corresponding position of the upper surface of the uppermost cargo and the bottom of the pressing part 805 is transmitted to the control module. The control module starts the electric lifting platform 802 to move up or down, so that the pressing part 805 can be moved to the top of the uppermost cargo, pressing down and fixing the cargo, thereby ensuring the stability of the cargo during movement and transportation.

[0030] like Figure 4 As shown, the horizontal moving assembly 7 includes a motor 702, and the motor 702 located vertically below the control rod 503 is detachably installed inside the accommodating cavity, and the output end of the motor 702 is connected to the electric telescopic column 703, and the outer wall surface of the mounting platform 6 is threadedly connected with a carrying block 701 connected to the other end of the electric telescopic column 703;

[0031] Specifically, the electric telescopic column 703 can be driven to extend and retract by the driving motor 702, so that the mounting platform 6 can be horizontally moved out from the interior of the accommodating cavity, thereby ensuring that the subsequent side limiting portion 8 can limit and fix the goods.

[0032] like Figure 4 As shown, a camera 2 9 with the lens facing upward is installed on the top of the carrying block 701 away from the storage cavity;

[0033] Specifically, the camera 2 9 is arranged to capture the relative position between the side of the side limit portion 8 close to the loading platform 4 and the outermost side of the cargo, so that the mounting platform 6 can be moved to the outside of the cargo, so that the side limit portion 8 can be smoothly moved out of the storage cavity to limit and fix the cargo.

[0034] like Figure 4As shown, the downward driving mechanism 5 includes a lifting platform 2 502 and a lifting platform 1 501, and the inner wall surface of the installation through hole is installed with an annular lifting platform 2 502 and an annular lifting platform 1 501 from top to bottom, and the inner wall surfaces of the lifting platform 1 501 and the lifting platform 2 502 form a lowering cavity inside the installation through hole, and a damping spring 505 is welded on the top of the lifting platform 1 501, and the movable end of the damping spring 505 is connected to the support plate 504, and a control rod 503 with one end connected to the bottom of the support plate 504 is arranged inside the lowering cavity, and the inner radius value of the lifting platform 1 501 is three-fifths of the inner radius value of the lifting platform 2 502, and the distance between the top of the lifting platform 1 501 and the upper surface of the loading platform 4 is consistent with the height of the support plate 504, and when the upper surface of the support plate 504 is flush with the upper surface of the loading platform 4, the bottom of the control rod 503 collides with the switch on the motor 702;

[0035] Specifically, the support plate 504 can be driven by the weight of the cargo and the elastic action of the damping spring 505 to drive the control rod 503 to move downward until the bottom of the control rod 503 collides with the control switch on the motor 702, thereby driving the motor 702 to drive the electric telescopic column 703 to operate.

[0036] When in use, the AGV intelligent handling robot body can move to the bottom of the unloading platform that needs to be transported according to a pre-set route, and then the loading platform 4 can lift the goods on the unloading platform upward under the driving action of the lifting structure 2. When the goods come into contact with the support plate 504, the support plate 504 pressed by the goods can move downward under the elastic cooperation of the damping spring 505, thereby driving the control rod 503 to move vertically downward until the bottom of the control rod 503 collides with the control switch on the motor 702 (a protective soft rubber pad is bonded to the bottom of the control rod 503 during actual use), so that the motor 702 can be started to drive the electric telescopic column 703 to extend, so that the mounting table 6 connected to the carrying block 701 at one end can be pushed out of the accommodating cavity smoothly and horizontally. At the same time, the camera 29 set can synchronously capture the picture and transmit it to the image information processing module. When the captured picture shows that there is no goods above, the image information processing module transmits the signal to the control module, and the control module can stop the operation of the motor 702 and start the electric lifting platform 802 to move up. During the upward movement of the positioning plate 801, the camera 1 804 can capture the relative horizontal position relationship between the bottom edge of the pressing portion 805 and the top of the uppermost cargo in real time. When the pressing portion 805 is located above the uppermost cargo, the image information processing module transmits a signal to the control module, and the control module drives the motor 702 to control the mounting platform 6 to move toward the side of the loading platform 4, and at the same time controls the electric lifting platform 802 to move downward. When the captured image shows that there is cargo above the camera 2 9 and there is cargo at the bottom of the pressing portion 805, ... The dynamic positioning plate 801 stops the operation of the motor 702 at the same time. When the camera 804 captures the image that the bottom of the pressing part 805 is in contact with the uppermost cargo, the electric lifting platform 802 stops operating. At this time, the pressing part 805 can limit the downward pressure on the cargo and fix it. In addition, the electric lifting platform 802 can also intercept and limit the cargo on the outside to prevent the cargo from shaking or even falling due to vibration force or inertia during starting or stopping during movement, thereby effectively ensuring the stability and safety of the cargo during movement and transportation.

[0037] In summary: the downward pressure driving mechanism 5 can move downward when the goods on the unloading platform are placed on the loading platform 4, so as to control the start of the horizontal moving component 7, so that the mounting table 6 can be smoothly pushed horizontally out of the accommodating cavity under the driving action of the horizontal moving component 7, and the positioning plate 801 can be driven to move up and down by driving the electric lifting platform 802, so that the positioning plate 801 can be moved above the goods, so that the bottom of the downward pressure part 805 is pressed and fit with the top of the goods, and the electric lifting platform 802 can also limit and intercept the goods stacked on the upper surface of the loading platform 4 for moving and transportation on the outside, so as to avoid the situation where the goods shake or even fall due to the lack of limit during movement due to vibration force or inertia during starting or stopping, thereby effectively ensuring the stability and safety of the goods during movement and transportation.

[0038] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and the specification only describe the principles of the utility model. The utility model may be subject to various changes and improvements without departing from the spirit and scope of the utility model. These changes and improvements fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. A lifting device for an AGV intelligent handling robot, characterized in that: The invention comprises an AGV intelligent handling robot body (1), a lifting structure (2), a control panel (3) and two loading platforms (4); a receiving cavity is provided on the side of the two loading platforms (4) which are away from each other; two mounting platforms (6) are arranged inside the receiving cavity; a horizontal moving component (7) for driving the mounting platforms (6) to move horizontally is arranged inside the receiving cavity; four mounting through holes are provided on the top of the loading platform (4); a downward driving mechanism (5) for driving the horizontal moving component (7) is arranged inside the mounting through holes; a storage cavity is provided on the top of the mounting platform (6); a side limiting part (8) for limiting and intercepting the two sides of the goods is arranged inside the storage cavity.

2. The lifting device of the AGV intelligent handling robot according to claim 1 is characterized in that: The side limiting portion (8) comprises a positioning plate (801), the positioning plate (801) is arranged inside the storage cavity, a plurality of electric lifting platforms (802) are equidistantly arranged inside the storage cavity for driving the positioning plate (801) to move up and down smoothly, and a pressing portion (805) is arranged between a side of the bottom of the positioning plate (801) close to the loading platform (4) and an outer wall surface of the electric lifting platform (802).

3. The lifting device of the AGV intelligent handling robot according to claim 2 is characterized in that: Removable protrusions (803) are respectively installed on the left and right outer wall surfaces of the positioning plate (801), and a camera 1 (804) with a lens facing the bottom edge of the pressing portion (805) is installed on the wall surface of the protrusion (803) facing the loading platform (4).

4. The lifting device of the AGV intelligent handling robot according to claim 1, characterized in that: The horizontal moving assembly (7) comprises a motor (702), the interior of the accommodating chamber is detachably provided with a motor (702) located vertically below the downward pressing driving mechanism (5), the output end of the motor (702) is connected to an electric telescopic column (703), and a carrying block (701) connected to the other end of the electric telescopic column (703) is threadedly connected to the outer wall surface of the mounting platform (6).

5. The lifting device of the AGV intelligent handling robot according to claim 4 is characterized in that: A second camera (9) with a lens facing upward is installed on the top of the carrying block (701) on a side away from the storage cavity.

6. The lifting device of the AGV intelligent handling robot according to claim 1, characterized in that: The downward pressure driving mechanism (5) includes a lifting platform 2 (502) and a lifting platform 1 (501), and the inner wall surface of the installation hole is installed with an annular lifting platform 2 (502) and an annular lifting platform 1 (501) from top to bottom, and the inner wall surfaces of the lifting platform 1 (501) and the lifting platform 2 (502) form a lowering cavity inside the installation hole, and a damping spring (505) is welded to the top of the lifting platform 1 (501), and the movable end of the damping spring (505) is connected to the support plate (504), and a control rod (503) with one end connected to the bottom of the support plate (504) is arranged inside the lowering cavity.

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