AGV (Automatic Guided Vehicle) robot trolley for logistics pick-up

Abstract

The utility model discloses an AGV robot trolley for logistics pick-up, and relates to the technical field of AGVs, the AGV robot trolley comprises a moving trolley, a storage box is arranged above the moving trolley, a fixing plate is fixed at the top of the storage box, and a rotating table is rotatably connected above the fixing plate; a gear ring is fixed on the outer side of the rotating table; the gear ring is connected with a driving gear in a meshed mode, the driving gear is installed on an output shaft of a rotating motor in a matched mode, and the rotating motor is fixed to the bottom of the fixing plate. When the cargo taking device is used, the movable trolley moves to the front of a container where cargoes need to be taken, the visual camera is used for identifying the serial numbers of the cargoes, and therefore the positions of the cargoes can be conveniently and accurately found; the mechanical arm is responsible for taking down the goods, then putting the goods on the conveying belt, and then conveying the goods into the storage box for storage; and through the arrangement of the rotating table, flexible rotation of the mechanical arm can be achieved, so that goods at different angles can be taken, and the posture is adjusted according to the actual situation.

Description

Technical Field

[0001] The utility model specifically relates to the technical field of AGV trolleys, in particular to an AGV robot trolley for logistics pickup. Background Art

[0002] AGV robotic vehicles can autonomously drive according to pre-set programs and routes without human intervention, automating logistics pickup operations and significantly improving work efficiency. They can flexibly adjust driving routes and task schedules to suit diverse work scenarios, tailored to specific logistics layouts and pickup requirements. Equipped with a variety of safety devices, such as laser sensors, anti-collision strips, and emergency stop buttons, they monitor their surroundings in real time, avoiding collisions with people and obstacles and ensuring operational safety.

[0003] Chinese patent publication No. CN 113752231 B discloses an industrial production robot grasping device, comprising a rotating gripper device, wherein a pressure sensing device is provided on an outer surface of one side of the rotating gripper device.

[0004] The robot in the above patent is used for cargo sorting. Although it can also be used for logistics cargo outbound delivery, the robot can only pick up one object at a time. When used for logistics pickup and outbound delivery, the number of round trips of the robot is increased, thereby reducing the efficiency of logistics outbound delivery. Utility Model Content

[0005] The purpose of this utility model is to provide an AGV robot cart for logistics pickup, which can pick up items one by one according to the required outbound information, and can transport multiple logistics items at the same time, thereby realizing the outbound delivery of goods. Compared with traditional robots, this method effectively improves the work efficiency of logistics pickup; so as to solve the technical problems raised in the above background technology.

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

[0007] An AGV robot cart for picking up items in logistics, comprising a mobile cart, a storage box disposed above the mobile cart, and a fixed plate fixed to the top of the storage box, a rotating platform rotatably connected to the fixed plate; a gear ring fixed to the outer side of the rotating platform; the gear ring meshingly connected to a drive gear, the drive gear being mounted on the output shaft of a rotating motor, and the rotating motor being fixed to the bottom of the fixed plate;

[0008] A robotic arm is fixedly installed above the rotating table, and two visual cameras are provided on the top of the robotic arm; the interior of the storage box is also provided with a conveyor belt for storing and transporting logistics boxes.

[0009] As a further technical solution of the present invention, the two ends of the conveyor belt are installed on the transmission rollers; the two ends of the transmission rollers are connected to the storage box through bearings, and one end of one of the transmission rollers is also installed with a driven gear, which is meshed with the driving gear; the driving gear is installed on the output shaft of the transmission motor.

[0010] As a further technical solution of the present invention, a protective assembly is provided at the end of the mobile cart away from the storage box; the protective assembly includes an arc-shaped protective frame, which is movably connected to one end of the storage box through a rotating shaft; a pulley is also installed at one end of the rotating shaft; two pulleys are provided, and the other pulley is installed on the output shaft of the flip motor, and the two pulleys are connected by a flat belt transmission.

[0011] As a further technical solution of the present invention, a storage box is further provided below one end of the storage box close to the protective assembly, a controller is provided inside the storage box, and an obstacle avoidance sensor is provided outside the storage box.

[0012] As a further technical solution of the present invention, wheels are installed at the four corners of the mobile cart, and a walking wheel assembly is provided in the middle position of the bottom of the mobile cart.

[0013] Compared with the prior art, the beneficial effects of the present invention are:

[0014] 1. When the utility model is in use, the mobile cart moves to the container where the goods need to be picked up. The visual camera is used to identify the goods number, so as to accurately find the location of the goods. The robotic arm is responsible for taking the goods, placing them on the conveyor belt, and then transferring them to the storage box for storage. The setting of the rotating platform can realize the flexible rotation of the robotic arm, so that it can pick up goods at different angles and adjust its posture according to the actual situation.

[0015] 2. In this utility model, the conveyor belt moves the goods into the storage box for a distance to make room for the next goods. This allows multiple goods to be picked up at the same time, thereby reducing the number of round trips of the robot car and improving the efficiency of goods outbound.

[0016] 3. In the present invention, after the storage box is full of goods, the flip motor drives the rotating shaft to flip under the cooperation of the pulley and the flat belt, so that the arc-shaped protective frame flips upward, thereby blocking the end of the storage box to prevent the goods from falling during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional structural diagram of the utility model.

[0018] Figure 2 is another perspective view of the present application Figure 1 .

[0019] Figure 3 is a front view of the present application Figure 1 .

[0020] Figure 4 is an A-A sectional view of the present application Figure 3 .

[0021] Figure 5 is a partial structure schematic view of the present application Figure 1 .

[0022] Figure 6 is an enlarged view of B of the present application Figure 1 .

[0023] Figure 7 is an enlarged view of C of the present application Figure 2 .

[0024] Figure 8 is an enlarged view of D of the present application Figure 5 .

[0025] In the figure: 1 - moving trolley, 2 - walking wheel assembly, 3 - storage box, 4 - fixed plate, 5 - rotating table, 6 - gear ring, 7 - drive gear, 8 - mechanical arm, 9 - protection assembly, 10 - visual camera, 11 - rotating motor, 12 - conveying belt, 13 - transmission roller, 14 - driving gear, 15 - driven gear, 16 - transmission motor, 17 - controller, 18 - obstacle avoidance sensor;

[0026] 91 - arc-shaped protection frame, 92 - rotating shaft, 93 - pulley, 94 - flat belt, 95 - overturning motor. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0028] Please refer to Figures 1-8In an embodiment of the present invention, an AGV robot cart for picking up items in logistics includes a mobile cart 1, a storage box 3 is provided above the mobile cart 1, and a fixed plate 4 is fixed on the top of the storage box 3, and a rotating platform 5 is rotatably connected to the top of the fixed plate 4; a gear ring 6 is fixed to the outside of the rotating platform 5; the gear ring 6 is meshed with a drive gear 7, and the drive gear 7 is mounted on the output shaft of a rotating motor 11, and the rotating motor 11 is fixed to the bottom of the fixed plate 4;

[0029] A robotic arm 8 is fixedly installed above the rotating platform 5, and two visual cameras 10 are also provided on the top of the robotic arm 8; the interior of the storage box 3 is also provided with a conveyor belt 12 for storing and transporting logistics boxes.

[0030] To be more specific, wheels are installed at the four corners of the mobile cart 1, and a walking wheel assembly 2 is provided in the middle position of the bottom of the mobile cart 1.

[0031] The wheels are responsible for the movement of the mobile trolley 1. The travel wheel assembly 2 includes a drive motor and a gear assembly, wherein the gear assembly is connected to the outer travel wheel after multi-stage transmission; the travel wheel assembly 2 as a whole drives the mobile trolley.

[0032] Furthermore, a running wheel assembly 2 is provided on both sides of the mobile trolley, and the two running wheel assemblies 2 realize the steering function of the mobile trolley 1 by controlling different rotation speeds.

[0033] By adopting the above technical solution, when in use, the mobile cart 1 moves to the container where the goods need to be taken, and the visual camera 10 is used to identify the goods number, so as to facilitate the accurate location of the goods; the robotic arm 8 is responsible for taking the goods, and then placing them on the conveyor belt 12, and then transferring them to the storage box 3 for storage;

[0034] The setting of the rotating platform 5 can realize the flexible rotation of the robot arm 8, so that it can pick up goods at different angles and adjust its posture according to actual conditions.

[0035] The mobile cart 1 can flexibly shuttle between cargo racks, flexibly adjust the driving path and task arrangement according to different logistics layouts and pickup requirements, and adapt to diverse work scenarios.

[0036] In this embodiment, the two ends of the conveyor belt 12 are mounted on the transmission roller 13; the two ends of the transmission roller 13 are connected to the storage box 3 through bearings, and one end of one of the transmission rollers 13 is also mounted with a driven gear 15, which is meshed with the driving gear 14; the driving gear 14 is mounted on the output shaft of the transmission motor 16.

[0037] By adopting the above technical solution, after the robotic arm 8 places the grabbed goods onto the conveyor belt 12, the transmission motor 16 drives the transmission roller 13 in cooperation with the driving gear 14 and the driven gear 15, so that the conveyor belt 12 transports the goods into the storage box 3 and moves a certain distance to make room for the next goods to be placed; in this way, multiple goods can be picked up at the same time, thereby reducing the number of round trips of the robot cart and improving the efficiency of goods outbound.

[0038] In this embodiment, a protective component 9 is provided at the end of the mobile cart 1 away from the storage box 3; the protective component 9 includes an arc-shaped protective frame 91, which is movably connected to one end of the storage box 3 through a rotating shaft 92; one end of the rotating shaft 92 is also cooperated with to be installed with a pulley 93; there are two pulleys 93, and the other pulley 93 is cooperated with to be installed on the output shaft of the flip motor 95, and the two pulleys 93 are connected through a flat belt 94.

[0039] By adopting the above technical solution, when the storage box 3 is full of goods, the flipping motor 95 drives the rotating shaft 92 to flip with the cooperation of the pulley 93 and the flat belt 94, so that the arc-shaped protective frame 91 flips upward, thereby blocking the end of the storage box 3 to prevent the goods from falling during transportation.

[0040] In this embodiment, a storage box is further provided below the storage box 3 near one end of the protection component 9 , a controller 17 is provided inside the storage box, and an obstacle avoidance sensor 18 is provided outside the storage box.

[0041] As a further illustration of this embodiment, the controller 17 adopts a layered architecture, which is mainly divided into the following layers:

[0042] The perception layer is the foundation of the control system and is responsible for collecting information about the AGV's status and surrounding environment. Using various sensors such as lidar, vision sensors, encoders, inertial measurement units (IMUs), ultrasonic sensors, and anti-collision strips, it obtains information about the vehicle's position, speed, posture, and obstacles in its path, providing data support for subsequent decision-making and control.

[0043] Decision-making layer: Also known as the control layer, it receives information from the perception layer, analyzes and processes it according to preset algorithms and rules, and makes decisions, such as determining the vehicle's driving path, speed adjustment, task allocation (in a multi-vehicle system), and strategies for dealing with various emergencies. It is equivalent to the "brain" of the AGV vehicle, directing the vehicle's actions.

[0044] Execution layer: According to the instructions of the decision-making layer, the various actuators of the AGV are driven to perform corresponding actions, mainly including the drive motor, steering mechanism, fork (if it has a loading function), etc., to ensure that the vehicle can move at the desired speed and direction, and complete operations such as loading and unloading of goods.

[0045] Communication layer: Responsible for information exchange between AGVs and external systems, such as data transmission with the host logistics management system, monitoring system, and other AGVs (when multiple vehicles work together), to achieve tasks, status feedback, collaborative scheduling and other functions, to ensure the smooth connection of the entire logistics operation process.

[0046] Navigation module

[0047] Navigation method selection: Select the appropriate navigation method based on the application scenario and accuracy requirements. Common navigation methods include laser navigation, visual navigation, magnetic stripe navigation, inertial navigation, etc. Composite navigation that integrates multiple navigation methods can also be used to improve navigation accuracy and reliability.

[0048] Positioning algorithms use data acquired by sensors to determine the precise position of the AGV in its working environment through corresponding positioning algorithms, such as those based on laser scanning matching and visual feature matching. These algorithms calculate the coordinate position and attitude angle of the vehicle by comparing the data collected in real time by sensors with pre-established map information (the map can be an environmental map built based on laser scanning or a visual image feature map).

[0049] Path planning: Based on the locations of the target pickup and delivery points and the distribution of obstacles in the working environment, a path planning algorithm (such as the A* algorithm, Dijkstra algorithm, etc.) is used to plan an optimal or feasible driving path for the AGV. Path planning must consider multiple factors such as shortest distance, smooth passage, and collision avoidance.

[0050] Task management module

[0051] Task reception and analysis: Receive task instructions from the upper computer logistics management system through the communication layer, analyze the task content, including key elements such as the pickup location, delivery location, cargo information, task priority, etc., and pass the task information to the subsequent scheduling module for processing.

[0052] Task Scheduling: In a multi-vehicle system, tasks are rationally assigned to the appropriate AGVs based on their current status (e.g., location, availability, load, etc.) and task priority, ensuring the highest overall logistics efficiency. For example, urgent tasks are prioritized for idle AGVs that are closer to the target pickup point. Task assignment conflicts are also avoided to ensure coordinated and orderly operation of all AGVs.

[0053] Task execution and monitoring: Track the progress of task execution and provide real-time feedback to the host computer system on status information during task execution (such as arrival at the pickup point, loading goods, departure for the delivery point, etc.). If any task execution anomalies occur (such as encountering an insurmountable obstacle, vehicle failure, etc.), report to the host computer in a timely manner and take appropriate countermeasures, such as replanning the route or requesting manual intervention.

[0054] Considering the continuity requirements of logistics operations, AGV robotic cargo vehicle control systems must possess high reliability and fault tolerance. By adopting redundant designs (such as sensor redundancy and key actuator redundancy), fault diagnosis algorithms (model-based fault diagnosis, data-driven fault diagnosis, etc.), and backup and recovery mechanisms, the system can maintain basic operational functions or quickly switch to backup solutions when some components fail, ensuring the normal operation of logistics operations.

[0055] In addition, the control system of the AGV robot car is a mature existing technology, so only a brief description is given here, and its specific structure and control are not repeated.

[0056] The working principle of the present invention is as follows: when in use, the mobile cart 1 moves to the front of the container where goods need to be taken, and the visual camera 10 is used to identify the goods number, so as to facilitate the accurate location of the goods; the mechanical arm 8 is responsible for taking the goods off and then placing them on the conveyor belt 12, and the transmission motor 16 drives the transmission roller 13 to move in cooperation with the driving gear 14 and the driven gear 15, so that the conveyor belt 12 transports the goods into the storage box 3 and moves a distance to make room for the next goods to be placed; when the storage box 3 is full of goods, the flipping motor 95 drives the rotating shaft 92 to flip in cooperation with the pulley 93 and the flat belt 94, so that the arc-shaped protective frame 91 flips upward, thereby blocking the end of the storage box 3 to avoid falling when transporting goods.

[0057] The above solution can realize the simultaneous pickup of multiple goods, thereby reducing the number of round trips of the robot cart and improving the efficiency of goods outbound.

[0058] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be encompassed within the present invention. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0059] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. An AGV robot car for logistics pickup, characterized by: The invention comprises a mobile trolley (1), a storage box (3) is provided above the mobile trolley (1), and a fixed plate (4) is fixed on the top of the storage box (3), and a rotating platform (5) is rotatably connected above the fixed plate (4); a gear ring (6) is fixed on the outer side of the rotating platform (5); the gear ring (6) is meshed with a driving gear (7), and the driving gear (7) is mounted on the output shaft of a rotating motor (11), and the rotating motor (11) is fixed to the bottom of the fixed plate (4); A robotic arm (8) is fixedly installed above the rotating platform (5), and two visual cameras (10) are also provided on the top of the robotic arm (8); a conveyor belt (12) for storing and transporting logistics boxes is also provided inside the storage box (3).

2. The AGV robot car for logistics pickup according to claim 1, characterized in that: The two ends of the conveyor belt (12) are mounted on the transmission rollers (13); the two ends of the transmission rollers (13) are connected to the storage box (3) through bearings, and one end of one of the transmission rollers (13) is also mounted with a driven gear (15), and the driven gear (15) is meshed and connected with the driving gear (14); the driving gear (14) is mounted on the output shaft of the transmission motor (16).

3. The AGV robot car for logistics pickup according to claim 2, characterized in that: The end of the mobile trolley (1) away from the storage box (3) is provided with a protective assembly (9); the protective assembly (9) includes an arc-shaped protective frame (91), and the arc-shaped protective frame (91) is movably connected to one end of the storage box (3) through a rotating shaft (92); one end of the rotating shaft (92) is also equipped with a pulley (93); two pulleys (93) are provided, and the other pulley (93) is equipped with an output shaft of a flip motor (95), and the two pulleys (93) are connected by a flat belt (94).

4. The AGV robot vehicle for logistics pickup according to claim 3, characterized in that: The storage box (3) is further provided with a storage box below one end close to the protection component (9), a controller (17) is provided inside the storage box, and an obstacle avoidance sensor (18) is provided outside the storage box.

5. The AGV robot vehicle for logistics pickup according to claim 4, characterized in that: Wheels are mounted on the four corners of the mobile trolley (1), and a travel wheel assembly (2) is provided at the middle position of the bottom of the mobile trolley (1).

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