Object conveying and placing frame for AGV robot

Abstract

The utility model relates to AGV robot is with object conveying and placing frame, including frame, backplate and clamping arm, backplate fixedly connected at the top of frame is used to load object, clamping arm is rotatively connected on the side wall of backplate respectively, the bottom of backplate rotatively connects with first gear, the surface of frame is equipped with servo motor to drive first gear, the bottom of backplate all solid is equipped with second gear, the surface of frame rotatively connects with third gear, the output of servo motor and the axle of first gear fixed connection, first gear is engaged with second gear and third gear respectively, third gear is also engaged with another second gear. The utility model discloses through first gear, servo motor, second gear, clamping arm and third gear cooperation, to facilitate the installation object of unfolding two clamping arms, when object placement is completed, can drive servo motor reversely, to drive clamping arm clamping object, to improve the stability of object loading transportation.

Description

Technical Field

[0001] This utility model relates to the field of filling machine technology, specifically to an object conveying and placement frame for AGV robots. Background Technology

[0002] AGV robots, also known as automated guided vehicles, are automated equipment that can autonomously complete material handling without human driving. The core of an AGV robot consists of a mechanical body, a drive system (with dual-wheel differential or omnidirectional wheel design, in conjunction with motor drive), a navigation system (magnetic navigation, laser navigation, etc., to obtain position information), a control system (PLC or embedded chip, to coordinate the various components), and a placement frame, which is used to load the goods being transported.

[0003] AGV robots use a navigation system for real-time positioning. After receiving task instructions from the host computer, the control system adjusts the movement state by driving motors according to the preset path and environment. When picking up and placing goods, the nested telescopic structure is controlled synchronously to complete the operation, achieving fully automated handling. It can be applied in factories, warehouses, and other scenarios. Existing AGV robots use object conveying and placement frames. Most of these frames have fixed dimensions and connection structures. When loading goods, the frames can easily become obstructed, affecting the convenience of loading. Furthermore, gaps may exist between the loaded goods and the frames. When the AGV starts, stops, or turns at high speed, lateral displacement due to inertia can easily occur, causing materials to collide or even fall, thus affecting the stability of goods transportation. Utility Model Content

[0004] The technical problem to be solved by this utility model is that the existing AGV robot uses a fixed design for the object conveying and placement frame, which affects the loading of goods and creates a gap between the goods and the placement frame, thus affecting the stability of goods transportation.

[0005] The technical solution of this utility model to solve the above-mentioned technical problems is as follows: An object conveying and placement frame for AGV robots includes a frame, a back plate and gripping arms. The back plate is fixedly connected to the top of the frame for loading objects. The gripping arms are rotatably connected to the side walls of the back plate. A first gear is rotatably connected to the bottom of the back plate. A servo motor is installed on the surface of the frame to drive the first gear. A second gear is fixedly provided at the bottom of the back plate. A third gear is rotatably connected to the surface of the frame.

[0006] The beneficial effects of this utility model are: by cooperating with the first gear, servo motor, second gear, clamping arm and third gear, it is convenient to unfold the two clamping arms to install objects. When the object is placed, the servo motor can be driven in reverse to drive the clamping arms to clamp the object, thereby improving the stability of loading and transporting the object.

[0007] Based on the above technical solution, the present invention can be further improved as follows.

[0008] Furthermore, the output end of the servo motor is fixedly connected to the shaft of the first gear. The first gear meshes with the second gear and the third gear respectively. The third gear also meshes with another second gear. Two limit blocks are fixed on the side wall of each second gear.

[0009] Furthermore, the surface of the frame has grooves for mounting servo motors, and two sets of drive wheels are rotatably connected to the bottom of the frame. The frame contains a drive unit and a battery to drive the drive wheels.

[0010] Furthermore, clamping plates are movably connected to the inner walls of both clamping arms, and protective pads are fitted onto the side walls of the clamping plates.

[0011] Furthermore, pressure sensors are embedded in the surface of the protective pad, and each pressure sensor is coupled to a servo motor.

[0012] Furthermore, several dampers are fixed on the side wall of the clamp away from the protective pad, and the other end of each damper is fixedly connected to the inner side wall of the clamp arm. Springs are wound around the outer surface of each damper.

[0013] Furthermore, a pawl is rotatably connected to the side wall of one clamping arm, and a locking block is fixed to the side wall of the other clamping arm. Several slots are provided on the surface of the locking block for the pawl to engage.

[0014] Furthermore, a camera is fixedly connected to the side wall of the rack, and several displacement sensors are fixedly connected to the side wall of the rack near the camera.

[0015] The beneficial effects of adopting the above-mentioned further solutions are: by combining clamping plates, protective pads and pressure sensors, the safety of object clamping can be improved; the damper and spring can effectively buffer impacts, suppress resonance, and improve the stability of clamping plate support. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 1 ;

[0017] Figure 2 This is a schematic diagram of the overall structure of the present invention. Figure 2 ;

[0018] Figure 3 This is a schematic diagram of the backplate structure of this utility model;

[0019] Figure 4 This is a schematic diagram of the clamping plate structure of this utility model;

[0020] Figure 5 This is a schematic diagram of the overall unfolded structure of this utility model;

[0021] The attached diagram lists the components represented by each number as follows:

[0022] 1. Frame; 2. Backplate; 3. First gear; 4. Servo motor; 5. Second gear; 6. Grip arm; 7. Drive wheel; 8. Clamping plate; 9. Third gear; 10. Claw; 11. Clamping block; 12. Camera; 13. Displacement sensor; 14. Limit block; 15. Damper; 16. Spring; 17. Protective pad; 18. Pressure sensor. Detailed Implementation

[0023] The principles and features of this utility model are described below with reference to the accompanying drawings. The examples given are only for explaining this utility model and are not intended to limit the scope of this utility model.

[0024] In the description of this application, it should be understood that the terms "upper," "lower," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In the description of this application, "a plurality of" means two or more, unless otherwise precisely specified.

[0025] like Figure 1-5As shown, the AGV robot uses an object transport and placement frame, including a frame 1, a back plate 2, and gripping arms 6. The back plate 2 is fixedly connected to the top of the frame 1 to load objects. The back plate 2 is made of aluminum alloy and is L-shaped to provide support and limit positioning. Two gripping arms 6 are rotatably connected to the side wall of the back plate 2. The two gripping arms 6 and the back plate 2 cooperate to form a closed space to support the object. A camera 12 is fixedly connected to the side wall of the frame 1 by bolts. The camera 12 detects position information through sensing. Several displacement sensors 13 are fixedly connected to the side wall of the frame 1 near the camera 12 by bolts. The displacement sensors 13 detect the mechanical displacement of the object by converting it into a measurable electrical signal, thereby achieving measurement and positioning. The bottom of the back plate 2 is rotatably connected to a first gear 3 via a bearing. A servo motor 4 is bolted to the surface of the frame 1. The surface of the frame 1 has grooves for the servo motor 4 to be fixed by bolts. Two sets of drive wheels 7 are rotatably connected to the bottom of the frame 1. The frame 1 contains a drive unit and a battery for... The drive wheel 7 rotates, enabling object transport. The output end of the servo motor 4 is fixedly connected to the shaft of the first gear 3 via a coupling to drive the first gear 3. The bottom end of the back plate 2 is fixedly equipped with a second gear 5. The surface of the frame 1 is rotatably connected to a third gear 9. The first gear 3 meshes with the second gear 5 and the third gear 9 respectively. The third gear 9 also meshes with another second gear 5. When loading an object, the servo motor 4 is started to drive the first gear 3 to rotate clockwise. The second gear 5 meshes with the first gear 3, driving one clamping arm 6 to rotate counterclockwise. At the same time, the third gear 9 cooperates with the first gear 3 and the other end of the second gear 5, thereby driving the other clamping arm 6 to rotate clockwise, thus opening the clamping arm 6 and expanding the installation range, making it easier to stack objects on the inner bottom of the back plate 2. When the objects are stacked, the servo motor 4 is driven in the opposite direction to drive the first gear 3 to rotate counterclockwise, thereby driving the two clamping arms 6 to clamp the goods, thus limiting the lateral displacement of the goods and improving the stability of the loading.

[0026] like Figure 1-5As shown, clamping plates 8 are movably connected to the inner walls of both clamping arms 6. Protective pads 17, made of rubber, are fitted onto the side walls of the clamping plates 8. These rubber pads directly buffer the clamping force, preventing damage to objects, and are especially suitable for fragile and delicate items. Pressure sensors 18 are embedded in the surface of each protective pad 17. These pressure sensors 18 are coupled to servo motors 4. The pressure sensors 18 sense pressure through elastic sensitive elements, causing deformation of these elements. A conversion element then converts the deformation into an electrical signal for pressure monitoring and control. When the pressure sensor 18 detects that the pressure has reached a set value, it stops driving the servo motor 4. The linkage between the pressure sensor 18 and the servo motor 4 allows for precise monitoring of clamping pressure. Automatically stopping the drive prevents overpressure damage, improving clamping safety and enabling intelligent force control. This makes the AGV more adaptable to goods of different materials and strengths during material handling, broadening its application range.

[0027] like Figure 4 As shown, several dampers 15 are fixed on the side wall of the clamping plate 8 away from the protective pad 17. The other end of the damper 15 is fixedly connected to the inner side wall of the clamping arm 6. The outer surface of the damper 15 is wound with a spring 16. The spring 16 can store and release energy through elastic deformation, buffer external impact force and maintain structural stability. The damper 15 can consume energy by friction or viscous resistance, suppress the rapid decay of the spring vibration amplitude. The damper 15 and the spring 16 work together to effectively mitigate impact, suppress resonance, and improve the stability of the clamping plate 8 support.

[0028] like Figure 3 and Figure 5 As shown, a pawl 10 is rotatably connected to the side wall of the clamping arm 6, and a pawl 11 is fixedly provided on the side wall of the other clamping arm 6. Several slots are provided on the surface of the pawl 10 for the pawl 10 to engage. Two limit blocks 14 are fixedly provided on the side wall of the second gear 5. The limit blocks 14 are used to support and limit the movement.

[0029] Working principle: When using this AGV robot to transport and place objects, the built-in power supply first starts the servo motor 4, which drives the first gear 3 to rotate clockwise. The second gear 5 meshes with the first gear 3, driving one clamping arm 6 to rotate counterclockwise. At the same time, the third gear 9 cooperates with the first gear 3 and the second gear 5 at the other end, thereby driving the other clamping arm 6 to rotate clockwise, thus opening the clamping arm 6 and expanding the installation range, making it easier to stack objects on the inner bottom of the back plate 2. When the objects are stacked, the servo motor 4 is driven in the reverse direction to drive the first gear 3 to rotate counterclockwise, thereby driving the two clamping arms 6 to clamp the goods, thus limiting the lateral displacement of the goods. By starting the drive wheel 7, the objects can be moved, improving the stability of loading and transporting objects.

[0030] By combining the clamping plate 8, the protective pad 17 and the pressure sensor 18, the pressure sensor 18 stops the drive of the servo motor 4 when it detects that the pressure has reached the set value, thereby improving the safety of clamping. The damper 15 and the spring 16 work together to effectively buffer the impact and suppress resonance, thereby improving the stability of the clamping plate 8 support.

[0031] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An object conveying and placement frame for AGV robots, characterized in that: It includes a frame (1), a back plate (2) and clamping arms (6). The back plate (2) is fixedly connected to the top of the frame (1) to load objects. The clamping arms (6) are rotatably connected to the side wall of the back plate (2). The bottom end of the back plate (2) is rotatably connected to a first gear (3). The surface of the frame (1) is equipped with a servo motor (4) to drive the first gear (3). The bottom end of the back plate (2) is fixedly provided with a second gear (5). The surface of the frame (1) is rotatably connected to a third gear (9).

2. The object conveying and placement frame for AGV robots according to claim 1, characterized in that, The output end of the servo motor (4) is fixedly connected to the shaft of the first gear (3). The first gear (3) meshes with the second gear (5) and the third gear (9) respectively. The third gear (9) also meshes with another second gear (5). Two limit blocks (14) are fixed on the side wall of the second gear (5).

3. The object conveying and placement frame for AGV robots according to claim 1, characterized in that, The surface of the frame (1) has grooves for mounting the servo motor (4). The bottom of the frame (1) is rotatably connected to two sets of drive wheels (7). The inside of the frame (1) is equipped with a drive device and a battery to drive the drive wheels (7) to rotate.

4. The object conveying and placement frame for AGV robots according to claim 1, characterized in that, Clamping plates (8) are movably connected to the inner sidewalls of both clamping arms (6), and protective pads (17) are fitted on the sidewalls of the clamping plates (8).

5. The object conveying and placement frame for AGV robots according to claim 4, characterized in that, Pressure sensors (18) are embedded in the surface of the protective pad (17), and the pressure sensors (18) are coupled to the servo motor (4).

6. The object conveying and placement frame for AGV robots according to claim 4, characterized in that, Several dampers (15) are fixed on the side wall of the clamping plate (8) away from the protective pad (17). The other end of the damper (15) is fixedly connected to the inner side wall of the clamping arm (6). The outer surface of the damper (15) is wound with springs (16).

7. The object conveying and placement frame for AGV robots according to claim 6, characterized in that, A pawl (10) is rotatably connected to the side wall of the clamping arm (6), and a pawl (11) is fixed to the side wall of the other clamping arm (6). The surface of the pawl (11) has several slots for the pawl (10) to engage.

8. The object conveying and placement frame for AGV robots according to claim 7, characterized in that, A camera (12) is fixedly connected to the side wall of the rack (1), and several displacement sensors (13) are fixedly connected to the side wall of the rack (1) near the camera (12).

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