AGV trolley based on medical solid waste barrel transportation

Abstract

An AGV trolley based on medical solid waste barrel transportation comprises a clamping device, a lifting device, a main supporting frame, a trolley chassis, an infrared sensor used for navigation, an ultrasonic sensor used for measuring the distance between the trolley and a solid waste barrel and a single-chip microcomputer, the clamping device is installed on the lifting device, the lifting device is installed on the main supporting frame, and the main supporting frame is installed on the trolley chassis. The main supporting frame and the infrared sensor are both installed on the trolley chassis, and the ultrasonic sensor is installed at the front end of the trolley chassis. The clamping device, the lifting device, the trolley chassis, the infrared sensor and the ultrasonic sensor are all connected with the single-chip microcomputer. The AGV trolley based on medical solid waste barrel transportation is efficient and intelligent, unmanned transportation treatment of medical solid waste barrels is achieved, and harm of medical solid waste is reduced to the maximum extent.

Description

Technical Field

[0001] The utility model relates to the technical field of medical solid waste transportation, in particular to an AGV cart based on the transportation of medical solid waste barrels. Background Technique

[0002] Medical solid waste is a kind of hazardous waste, which has the characteristics of acute, latent infection and space pollution. The harmfulness of its germs is several times or even hundreds of times that of ordinary garbage. If not properly treated, it will cause direct harm to the human body. Although medical solid waste is waste, its utilization value is extremely high. In order to prevent medical solid waste from being illegally treated by others and the infection of staff during transportation, it is very important to achieve full-automatic and high-precision calculation in the treatment process. Summary of the Invention

[0003] In order to overcome the defects existing in the prior art, the utility model provides an AGV cart based on the transportation of medical solid waste barrels, which is efficient and intelligent, realizes the unmanned transportation and treatment of medical solid waste barrels, and maximally reduces the harm of medical solid waste.

[0004] The technical solution adopted by the utility model to solve its technical problems is:

[0005] An AGV cart based on the transportation of medical solid waste barrels includes a clamping device, a lifting device, a general support frame, a cart chassis, an infrared sensor for navigation, a ultrasonic sensor for measuring the distance between the cart and the solid waste barrel, and a single-chip microcomputer. The clamping device is installed on the lifting device, the lifting device is installed on the general support frame, the general support frame and the infrared sensor are both installed on the cart chassis, and the ultrasonic sensor is installed on the front end of the cart chassis; the clamping device, the lifting device, the cart chassis, the infrared sensor and the ultrasonic sensor are all connected to the single-chip microcomputer;

[0006] The general support frame includes two guide rails, a main cross beam and a secondary cross beam. The two guide rails are symmetrically installed on the cart chassis from left to right. The secondary cross beam is installed at the upper ends of the two guide rails, and the main cross beam is fixedly installed in the middle of the two guide rails;

[0007] The lifting device includes a clamping bracket, two chains, a sprocket shaft, a conversion joint and a cylinder. The clamping device is installed on the clamping bracket. Guide wheels are respectively arranged at the left and right ends of the clamping bracket. The guide wheels cooperate with the corresponding guide rails to form an up-and-down sliding pair. One end of the two chains is fixedly connected to the main cross beam, and the other end of the two chains is connected to the clamping bracket. A sprocket is respectively arranged at the left and right ends of the sprocket shaft, and at the same time the two chains are respectively meshed and connected with a corresponding sprocket. The piston rod of the cylinder is connected to the middle of the sprocket shaft through the conversion joint, and the cylinder is installed on the cart chassis;

[0008] The single-chip microcomputer controls the traveling path of the trolley according to the navigation of the infrared sensor. When the ultrasonic sensor detects the solid waste bin, after the trolley runs along the fixed path to the preset distance, the lifting device starts to work, raises the clamping bracket and the clamping device thereon to a suitable height, and then the clamping device grabs the solid waste bin. The trolley moves to the solid waste bin transportation carriage along the fixed path. At the same time, the clamping device releases the solid waste bin to complete the transportation of the solid waste bin.

[0009] Further, the trolley chassis includes a main bottom plate, a secondary bottom plate, four stepping motors and four wheels. The output shaft of each stepping motor is connected to the corresponding wheel through a flange coupling, and each stepping motor is respectively installed at the bottom of the secondary bottom plate through a motor bracket. The main bottom plate is located above the secondary bottom plate, and the two are connected by a support member.

[0010] The beneficial effects of the present utility model are mainly manifested in that: on the basis of meeting the existing solid waste bin transportation devices in related fields, the present utility model has the advantages of high efficiency and accuracy; the device is based on the YOLOV4-Tiny deep learning framework, imports a large number of images to train the model, and finally the trained model is used for image recognition, which improves the accuracy of identifying the types of medical solid waste bins; in addition, the fixed path is used as the guiding method for the trolley, and the infrared sensor is used as the navigation and the single-chip microcomputer is used as the controller to implement the AGV navigation and positioning strategy; the ultrasonic sensor can measure the distance between the vehicle and the bin by the echo reflected by the solid waste bin after emission, so as to realize the clamping operation. Description of the Drawings

[0011] Figure 1 is the structural schematic diagram of the present utility model.

[0012] Figure 2 is the structural schematic diagram of the total support frame.

[0013] Figure 3 is the structural schematic diagram of the lifting device.

[0014] Figure 4 is the structural schematic diagram of the sprocket shaft.

[0015] Figure 5 is the structural schematic diagram of the trolley chassis, with the right wheel omitted. Detailed Embodiments

[0016] The present utility model will be further described below with reference to the drawings.

[0017] Refer to Figures 1 to 5, An AGV cart based on the transportation of medical waste bins, comprising a clamping device, a lifting device, a general support frame, a cart chassis, an infrared sensor for navigation, a ultrasonic sensor for measuring the distance between the cart and the waste bin, and a single-chip microcomputer. The clamping device is installed on the lifting device, the lifting device is installed on the general support frame, the general support frame and the infrared sensor are both installed on the cart chassis, and the ultrasonic sensor is installed on the front end of the cart chassis; the clamping device, the lifting device, the cart chassis, the infrared sensor and the ultrasonic sensor are all connected to the single-chip microcomputer;

[0018] The lifting device includes a clamping bracket 14, two chains 11, a sprocket shaft 21, a conversion joint 16 and a cylinder 17. The clamping device is installed on the clamping bracket 14. Guide wheels 15 are respectively provided at the left and right ends of the clamping bracket 14. The guide wheels 15 cooperate with the corresponding guide rails 5 to form an up-and-down sliding pair. One end of the two chains 11 is fixedly connected to the main cross beam 7, and the other end of the two chains 11 is connected to the clamping bracket 14. One sprocket 10 is respectively arranged at the left and right ends of the sprocket shaft 21. At the same time, the two chains 11 are respectively meshed and connected with a corresponding sprocket 10. The piston rod of the cylinder 17 is connected to the middle of the sprocket shaft 21 through the conversion joint 16, and the cylinder 17 is installed on the cart chassis;

[0019] The single-chip microcomputer controls the traveling path of the cart according to the navigation of the infrared sensor. When the ultrasonic sensor detects the waste bin, after the cart runs along the fixed path to the preset distance, the lifting device starts to work, lifts the clamping bracket 14 and the clamping device thereon to a suitable height, and then the clamping device grabs the waste bin. The cart moves along the fixed path to the waste bin transportation carriage, and at the same time the clamping device releases the waste bin to complete the transportation of the waste bin.

[0020] As Figure 2 shown, the general support frame includes two guide rails 5, a main cross beam 7, a secondary cross beam 4, two support members 9, support member gaskets 6 and cross beam gaskets 8. The two guide rails are symmetrically installed on the cart chassis. The secondary cross beam is installed at the upper ends of the two guide rails. The main cross beam is fixedly installed in the middle of the two guide rails.

[0021] The lower end of the guide rail 5 is connected to the main bottom plate 1 by bolts. The secondary cross beam 4 is directly connected to the upper end of the guide rail 5 by bolts to fix the guide rail. The main cross beam 7, the cross beam gasket 8 and the guide rail 5 are connected by bolts. The support members 9 and the support member gaskets 6 are respectively connected to the main bottom plate 1 and the guide rail 5 by bolts. The upper and lower ends of the support member 9 are respectively fixed to the guide rail 5 and the main bottom plate 1 with the help of the support member gaskets 6 to reinforce the guide rail 5 and prevent it from tilting. In addition to supporting each mechanism, the general support frame also provides guide rails for the lifting device and restricts movement, enabling the lifting device to operate normally.

[0022] As Figure 3 shown, the lifting device is composed of a cylinder 17, a cylinder bracket 18, a chain 11, a conversion joint 16, a transmission mechanism and a motion mechanism. The transmission mechanism is composed of a sprocket shaft 21, a sprocket 10, a main bearing 19, a washer 22 and a hexagon nut 20. The motion mechanism is composed of a clamping bracket 14, a guide wheel 15, a guide wheel shaft 12 and a secondary bearing 13. The cylinder 17 is matched with the cylinder bracket 18 through bolts, and the cylinder bracket 18 is connected to the main base plate 1 through bolts. The two ends of the chain 11 are fixed on the main cross beam 7 and the clamping bracket 14 through nuts and are meshed with the sprocket 10. In the transmission mechanism, the main bearing 19 is in interference fit with the sprocket 10 and is positioned with the sprocket shaft 21 through the inner ring. The sprocket shaft 21 is in interference fit with the conversion joint 16. In the motion mechanism, the clamping bracket 14 is in interference fit with the guide wheel shaft 12; the guide wheel shaft 12 is in interference fit with the secondary bearing 13; the secondary bearing 13 is in interference fit with the guide wheel 15; the guide wheel 15 is tangent to the inner wall of the guide rail 5, restricting the motion mechanism to move vertically while reducing the friction force. When the piston rod of the cylinder moves outwards, since both ends of the chain are fixed, the sprocket rotates counterclockwise to drive the clamping bracket to move upwards. Since the guide wheel is embedded inside the guide rail, the clamping bracket is further restricted to move vertically only, thereby driving the clamping device to move up and down.

[0023] As Figure 1 and Figure 5 shown, the chassis of the trolley is composed of a main base plate 1, a secondary base plate 3, a support member 2, four stepper motors 25, four wheels 24, a motor bracket 23 and a flange coupling 26. The output shaft of each stepper motor 25 is connected to the corresponding wheel 24 through the flange coupling 26, and each stepper motor 25 is respectively installed at the bottom of the secondary base plate 3 through the motor bracket 23. The main base plate 1 is located above the secondary base plate 3, and the two are connected through the support member 2.

[0024] The main base plate 1 is connected to the support member 2 through bolts, and the support member 2 is connected to the secondary base plate 3 through bolts. The wheel is connected to the flange coupling 26 through bolts, and the flange coupling 26 is connected to the output shaft of the stepper motor 25 through bolts. The stepper motor 25 is fixed on the motor bracket 23 through bolts, and the motor bracket 23 is connected to the secondary base plate 3 through bolts.

[0025] The working process of the present utility model is as follows:

[0026] Using a fixed path as the guiding method for the trolley, an infrared sensor for navigation, and a single-chip microcomputer as the controller to implement the AGV navigation and positioning strategy. After the ultrasonic sensor emits and measures the distance between the vehicle and the waste bin based on the echo reflected by the waste bin, when the trolley runs along the fixed path to a preset distance, the cylinder starts to move, and the clamping bracket is lifted to an appropriate height through the sprocket and the sprocket shaft. Then, the waste bin is grabbed with the help of the clamping device. After successfully grabbing the waste bin, the trolley moves along the fixed path to the waste bin transportation carriage, the cylinder moves in the opposite direction, and at the same time the clamping device releases, completing a complete waste bin transportation action.

Claims

1. An AGV vehicle for transporting medical solid waste barrels, characterized by: It includes a clamping device, a lifting device, a general support frame, a trolley chassis, an infrared sensor for navigation, an ultrasonic sensor for measuring the distance between the trolley and the solid waste barrel, and a single-chip microcomputer. The clamping device is installed on the lifting device, the lifting device is installed on the general support frame, the general support frame and the infrared sensor are both installed on the trolley chassis, and the ultrasonic sensor is installed on the front end of the trolley chassis; the clamping device, the lifting device, the trolley chassis, the infrared sensor and the ultrasonic sensor are all connected to the single-chip microcomputer; The main support frame includes two guide rails, a main crossbeam and a secondary crossbeam. The two guide rails are installed on the trolley chassis symmetrically. The secondary crossbeam is installed on the upper ends of the two guide rails, and the main crossbeam is fixedly installed on the middle parts of the two guide rails. The lifting device includes a clamping bracket, two chains, a sprocket shaft, a conversion joint and a cylinder. The clamping device is installed on the clamping bracket. Guide wheels are respectively provided at the left and right ends of the clamping bracket. The guide wheels cooperate with corresponding guide rails to form an upper and lower sliding pair. One end of the two chains is fixedly connected to the main beam, and the other ends of the two chains are connected to the clamping bracket. A sprocket is respectively provided at the left and right ends of the sprocket shaft, and the two chains are respectively meshed and connected with a corresponding sprocket. The piston rod of the cylinder is connected to the middle part of the sprocket shaft through a conversion joint, and the cylinder is installed on the chassis of the trolley.

2. The AGV vehicle for transporting medical solid waste barrels as claimed in claim 1, characterized in that: The trolley chassis includes a main base plate, a secondary base plate, four stepper motors and four wheels. The output shaft of each stepper motor is connected to the corresponding wheel through a flange coupling, and each stepper motor is installed on the bottom of the secondary base plate through a motor bracket. The main base plate is located above the secondary base plate, and the two are connected by a support.

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