AGV composite robot stacking structure

Abstract

The AGV composite robot stacking structure comprises a machine body, driving wheels and universal wheels, the output end of the machine body is fixedly connected with the driving wheels, the universal wheels are installed at the four corners of the bottom face of the machine body, laser radars are installed on the front portion and the rear portion of the machine body, and an electric cylinder is installed at the bottom of the inner side of the machine body. The tail end of the output end of the electric cylinder is fixedly connected with a carrying table, the edge of the top face of the carrying table is fixedly connected with a side plate, and the inner side of the side plate is movably connected with a guide roller. The full-coverage cleaning device has the advantages that the frame, the servo motor, the lead screw, the track, the sliding block, the auxiliary servo motor, the rotating head and the air knife are arranged in a matched mode, full-coverage cleaning can be achieved, the linear moving stroke of the air knife covers the full length of the carrying table, and the 360-degree surfaces of all the guide rollers can be cleaned in cooperation with angle adjustment. Most particles can be removed through high-pressure airflow impact, the cleaning efficiency is greatly improved compared with that of a traditional brush, and it is guaranteed that goods are carried smoothly.

Description

Technical Field

[0001] This utility model relates to the field of AGV (Automated Guided Vehicle) technology, and in particular to the AGV composite robot palletizing structure. Background Technology

[0002] In traditional AGV handling equipment, dust, debris, or foreign objects easily accumulate on the surface of the guide rollers during transportation, causing jams in cargo transport and requiring frequent shutdowns for manual cleaning, thus affecting operational efficiency. Current technologies mostly use fixed brushes or scrapers for guide roller cleaning, which have problems such as cleaning dead zones and wear on the guide roller surface. Furthermore, traditional cleaning mechanisms lack dynamic adjustment capabilities and cannot cover the entire length of the guide rollers. Utility Model Content

[0003] The purpose of this invention is to at least solve one of the aforementioned technical defects.

[0004] Therefore, one objective of this utility model is to propose an AGV composite robot palletizing structure to solve the problems mentioned in the background art and overcome the shortcomings of the existing technology.

[0005] To achieve the above objectives, one embodiment of the present invention provides an AGV composite robot palletizing structure, including a body, a drive wheel, and casters. The output end of the body is fixedly connected to the drive wheel, and casters are installed at the four corners of the bottom surface of the body.

[0006] The machine body is equipped with lidar at the front and rear, and an electric cylinder is installed at the bottom of the inner side of the machine body.

[0007] A platform is fixedly connected to the end of the output terminal of the electric cylinder, and a side plate is fixedly connected to the edge of the top surface of the platform.

[0008] The inner side of the side plate is movably connected to a guide roller, and the end of the guide roller is fixedly connected to two sprockets;

[0009] The guide rollers are linked together by sprockets and chains, and the outermost guide roller is driven by a motor.

[0010] A frame is mounted on the top surface of the machine body, a servo motor is mounted on the outer end of the frame, and a lead screw is fixedly connected to the output end of the servo motor.

[0011] A track is installed on the inner side of the frame, and a slider is threadedly connected to the outer surface of the lead screw, with the slider being movably connected to the track.

[0012] A secondary servo motor is mounted on the top of the slider. A rotating head is fixedly connected to the output end of the secondary servo motor. An air knife is fixedly connected to one side of the rotating head. An air pipe communicating with the air knife is installed on one side of the rotating head. The angle of the air knife is adjustable.

[0013] Preferably, in any of the above embodiments, a drive motor for the drive wheels is installed inside the machine body, and the electric cylinder is installed vertically.

[0014] The above technical solution is adopted:

[0015] Self-cleaning structure of guide rollers: The surface of the guide rollers is cleaned by high-pressure gas impact through an air knife system that can move linearly and has an adjustable angle.

[0016] Dynamic coverage technology: The air knife can move along the length of the guide roller and adjust the spray angle in real time to eliminate cleaning blind spots.

[0017] Non-contact cleaning: avoids wear on guide rollers caused by mechanical friction, and extends equipment life.

[0018] Preferably, in any of the above schemes, the height of the platform is adjustable, and the end of the electric cylinder output terminal is located at the four corners of the bottom surface of the platform.

[0019] Preferably, of any of the above solutions, the electric cylinder is installed vertically, and the platform is welded to the side plate.

[0020] Preferably, in any of the above schemes, the length of the frame is greater than the length of the platform, and the servo motor is installed horizontally.

[0021] Air knife dynamic movement module

[0022] The servo motor drives the lead screw to rotate, which in turn moves the slider in a straight line along the track, so that the air knife covers the axial range of all guide rollers on the platform.

[0023] Air knife angle adjustment module

[0024] The auxiliary servo motor drives the rotating head to adjust the air knife's spray angle;

[0025] By adjusting the angle, the air jet from the air knife can impact the surface of the guide roller vertically or at an angle, providing comprehensive air jet cleaning along the length of the guide roller. At the same time, the guide roller can be activated to rotate freely, thereby achieving comprehensive cleaning of the guide roller surface.

[0026] Gas impact cleaning module

[0027] The air knife is connected to a high-pressure air pump via an air tube, generating a high-speed airflow;

[0028] The slit nozzle design of the air knife creates a laminar airflow, precisely removing foreign objects from the surface of the guide roller;

[0029] Cleaning process: The electric cylinder retracts the platform to the cleaning station, i.e., the initial station → the servo motor drives the air knife to move along the track → the auxiliary servo motor adjusts the air knife angle → high-pressure airflow impacts the surface of the guide roller.

[0030] Preferably, in any of the above embodiments, the lead screw is located directly above the track, the slider and the air knife can reciprocate along the axial direction of the track, and the air pipe on the rotary head is connected to the air pump.

[0031] Full-coverage cleaning: The air knife's linear travel covers the entire length of the stage, and with angle adjustment, it can clean the 360° surface of all guide rollers.

[0032] Highly efficient stain removal: High-pressure airflow can remove most particulate matter, significantly improving cleaning efficiency compared to traditional brushes.

[0033] Compared with the prior art, the advantages and beneficial effects of this utility model are as follows:

[0034] This AGV composite robot palletizing structure, through the coordinated arrangement of a frame, servo motor, lead screw, track, slider, auxiliary servo motor, rotating head, and air knife, achieves full-coverage cleaning: the air knife's linear travel covers the entire length of the platform, and with angle adjustment, it can clean the 360° surface of all guide rollers. High-efficiency contamination removal of guide rollers: high-pressure airflow impact removes most particulate matter, significantly improving cleaning efficiency compared to traditional brushes, ensuring smooth transport of goods. Simultaneously, the robot's built-in air cleaning mechanism provides non-contact cleaning of the guide rollers, minimizing wear.

[0035] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0036] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0037] Figure 1 This is a first-view structural schematic diagram of the present invention;

[0038] Figure 2 This utility model Figure 1 Enlarged structural diagram at point A;

[0039] Figure 3 This is a structural schematic diagram of the present invention from a second perspective;

[0040] Figure 4 This is a structural schematic diagram of the present invention from a third-view perspective.

[0041] In the diagram: 1-body, 2-drive wheel, 3-caster wheel, 4-laser radar, 5-electric cylinder, 6-platform, 7-side plate, 8-guide roller, 9-sprocket, 10-frame, 11-servo motor, 12-lead screw, 13-track, 14-slider, 15-auxiliary servo motor, 16-rotor head, 17-air knife. Detailed Implementation

[0042] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0043] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0044] like Figure 1-4 As shown, the AGV composite robot palletizing structure includes a body 1, a drive wheel 2, and a caster wheel 3. The output end of the body 1 is fixedly connected to the drive wheel 2, and the caster wheel 3 is installed at the four corners of the bottom surface of the body 1.

[0045] Laser radar 4 is installed at the front and rear of the machine body 1, and electric cylinder 5 is installed at the bottom inside the machine body 1.

[0046] A platform 6 is fixedly connected to the end of the output end of the electric cylinder 5, and a side plate 7 is fixedly connected to the edge of the top surface of the platform 6.

[0047] A guide roller 8 is movably connected to the inner side of the side plate 7, and two sprockets 9 are fixedly connected to the end of the guide roller 8;

[0048] The guide rollers 8 are linked together by sprockets 9 and chains, and the outermost guide roller 8 is driven by a motor;

[0049] A frame 10 is mounted on the top surface of the body 1, and a servo motor 11 is mounted on the outer end of the frame 10. A lead screw 12 is fixedly connected to the output end of the servo motor 11.

[0050] A track 13 is installed on the inner side of the frame 10, and a slider 14 is threadedly connected to the outer surface of the lead screw 12. The slider 14 is movably connected to the track 13.

[0051] A secondary servo motor 15 is mounted on the top of the slider 14. A rotating head 16 is fixedly connected to the output end of the secondary servo motor 15. An air knife 17 is fixedly connected to one side of the rotating head 16. An air pipe communicating with the air knife 17 is installed on one side of the rotating head 16. The angle of the air knife 17 is adjustable.

[0052] Example 1: The drive motor for the drive wheel 2 is installed inside the machine body 1, and the electric cylinder 5 is installed vertically. Self-cleaning structure of guide roller 8: The surface of the guide roller 8 is cleaned by high-pressure gas impact through a linearly movable and angle-adjustable air knife 17 system.

[0053] Dynamic coverage technology: The air knife 17 can move along the length of the guide roller 8 and adjust the spray angle in real time to eliminate cleaning blind spots.

[0054] Non-contact cleaning: avoids wear on the guide rollers 8 caused by mechanical friction, extending equipment life. The height of the platform 6 is adjustable, with the output end of the electric cylinder 5 positioned at the four corners of the bottom surface of the platform 6. The electric cylinder 5 is vertically mounted, and the platform 6 is welded to the side plate 7. The length of the frame 10 is greater than the length of the platform 6, and the servo motor 11 is horizontally mounted.

[0055] Example 2: Dynamic Moving Module of Air Knife 17

[0056] Servo motor 11 drives lead screw 12 to rotate, which in turn drives slider 14 to move linearly along track 13, so that air knife 17 covers the axial range of all guide rollers 8 on platform 6.

[0057] Air knife 17 angle adjustment module

[0058] The auxiliary servo motor 15 drives the rotating head 16 to rotate, thereby adjusting the spray angle of the air knife 17;

[0059] By adjusting the angle, the jet airflow of the air knife 17 can impact the surface of the guide roller 8 vertically or at an angle, and thoroughly clean the guide roller 8 along its length. At the same time, the guide roller 8 can be started to rotate freely, thereby achieving a thorough cleaning of the surface of the guide roller 8.

[0060] Gas impact cleaning module

[0061] The air knife 17 is connected to a high-pressure air pump via an air tube to generate a high-speed airflow;

[0062] The slit-type nozzle design of the air knife 17 creates a laminar airflow to precisely remove foreign objects from the surface of the guide roller 8. The cleaning process is as follows: the electric cylinder 5 retracts the platform 6 to the cleaning station, i.e., the initial station → the servo motor 11 drives the air knife 17 to move along the track 13 → the auxiliary servo motor 15 adjusts the air knife angle → high-pressure airflow impacts the surface of the guide roller 8. The lead screw 12 is located directly above the track 13, and the slider 14 and the air knife 17 can reciprocate along the axial direction of the track 13. The air pipe on the rotating head 16 is connected to the air pump.

[0063] The working principle of this utility model is as follows:

[0064] The working principle of this robot is based on the coordinated operation of four core modules: autonomous navigation and transportation, intelligent lifting and positioning, dynamic transmission of guide rollers, and air knife self-cleaning.

[0065] Autonomous navigation and motion control

[0066] Navigation and positioning:

[0067] The front and rear LiDAR 4 scans the environment in real time and builds a map by combining the SLAM algorithm. The drive wheel 2 and the omnidirectional wheel 3 work together to achieve omnidirectional movement forward / backward / lateral / rotation, with a positioning accuracy of ±2mm.

[0068] Path planning:

[0069] Based on task instructions such as pickup and palletizing locations, the system dynamically plans the optimal path, avoids obstacles, and automatically corrects deviations.

[0070] Platform lifting and cargo docking

[0071] Lifting mechanism:

[0072] The electric cylinder 5 drives the platform 6 to rise and fall vertically, and the platform 6 is leveled by synchronous lifting at the four corners to ensure that the levelness error of the platform 6 is ≤0.5°.

[0073] Goods compatibility:

[0074] Guide roller 8 forms a continuous conveying surface through chain drive. The motor drives the guide roller 8 to rotate, smoothly moving goods into / out of the platform 6. It is compatible with various carriers such as pallets and bins.

[0075] Compared with the prior art, the present invention has the following advantages:

[0076] This AGV composite robot palletizing structure, through the coordinated arrangement of frame 10, servo motor 11, lead screw 12, track 13, slider 14, auxiliary servo motor 15, rotating head 6, and air knife 17, can achieve full-coverage cleaning: the linear travel of the air knife 17 covers the entire length of the platform 6, and with angle adjustment, it can clean the 360° surface of all guide rollers 8. The guide rollers 8 efficiently remove contaminants: high-pressure airflow impact can remove most particulate matter, significantly improving cleaning efficiency compared to traditional brushes, ensuring smooth transport of goods.

Claims

1. An AGV composite robot palletizing structure, characterized in that, Includes a body (1), a drive wheel (2), and casters (3). The output end of the body (1) is fixedly connected to the drive wheel (2), and casters (3) are installed at the four corners of the bottom surface of the body (1). A laser radar (4) is installed at the front and rear of the body (1), and an electric cylinder (5) is installed at the bottom of the inner side of the body (1). The electric cylinder (5) has a platform (6) fixedly connected to its output end, and a side plate (7) is fixedly connected to the edge of the top surface of the platform (6). The inner side of the side plate (7) is movably connected to a guide roller (8), and the end of the guide roller (8) is fixedly connected to two sprockets (9). The guide rollers (8) are linked together by sprockets (9) and chains, and the outermost guide roller (8) is driven by a motor; A frame (10) is installed on the top surface of the body (1), and a servo motor (11) is installed on the outer end of the frame (10). A lead screw (12) is fixedly connected to the output end of the servo motor (11). The inner side of the frame (10) is equipped with a track (13), and the outer surface of the lead screw (12) is threaded with a slider (14), which is movably connected to the track (13). A secondary servo motor (15) is installed on the top of the slider (14). A rotating head (16) is fixedly connected to the output end of the secondary servo motor (15). An air knife (17) is fixedly connected to one side of the rotating head (16). An air pipe communicating with the air knife (17) is installed on one side of the rotating head (16). The angle of the air knife (17) is adjustable.

2. The AGV composite robot palletizing structure as described in claim 1, characterized in that: The drive motor for the drive wheel (2) is installed inside the body (1), and the electric cylinder (5) is installed vertically.

3. The AGV composite robot palletizing structure as described in claim 2, characterized in that: The height of the platform (6) is adjustable, and the end of the output end of the electric cylinder (5) is at the four corners of the bottom surface of the platform (6).

4. The AGV composite robot palletizing structure as described in claim 3, characterized in that: The platform (6) is welded to the side plate (7).

5. The AGV composite robot palletizing structure as described in claim 4, characterized in that: The length of the frame (10) is greater than the length of the platform (6), and the servo motor (11) is installed horizontally.

6. The AGV composite robot palletizing structure as described in claim 5, characterized in that: The lead screw (12) is located directly above the track (13), the slider (14) and the air knife (17) can move back and forth along the axial direction of the track (13), and the air pipe on the rotating head (16) is connected to the air pump.

Images