A fixed shaft rotating lifting mechanism for AGV robot

Abstract

The utility model relates to the related technical field of automatic conveying device especially, a kind of fixed shaft rotation lifting mechanism for AGV robot, including fuselage, installation slot, sensor and drive wheel, the side surface of the fuselage away from drive wheel is fixedly connected with connecting plate, the side surface of the connecting plate is equipped with rectangular slot, the side surface of the connecting plate away from drive wheel is fixedly connected with fixed frame, the side surface of the fixed frame is fixedly connected with guide sleeve.The fixed shaft rotation lifting mechanism for AGV robot, for the dynamic change of material state or docking environment in practical application, "motor drive rotation+electric cylinder maintain height" mode has quick response capability, when docking angle needs to be adjusted but docking height remains unchanged, without re-adjusting electric cylinder stroke or through moving change own position, only by control system sends rotation instruction, it can drive to place material board under fixed height fast rotation to target angle, response efficiency is higher.

Description

Technical Field

[0001] This utility model relates to the field of automated conveying device technology, and in particular to a fixed-axis lifting mechanism for AGV robots. Background Technology

[0002] AGV robots, short for Automated Guided Vehicles, are industrial automation devices that can autonomously travel along preset paths using navigation systems such as lasers, vision, and magnetic strips without human drivers. Their main function is to replace manual labor in repetitive tasks such as cargo handling and material transfer. They are widely used in manufacturing, logistics warehousing, and special industries such as pharmaceuticals and semiconductors. They can effectively improve handling efficiency, reduce labor costs, and ensure operational safety. Therefore, a fixed-axis lifting mechanism for AGV robots is particularly needed.

[0003] Chinese patent CN211196432U, published on August 9, 2020, discloses an AGV chassis and AGV trolley. The AGV chassis achieves omnidirectional movement and rotation through two differential drive wheels. Multiple casters cooperate with the two differential drive wheels to keep the chassis body stable, providing multiple support points and reducing the sliding friction between the AGV chassis and the ground when rotating. However, in practical applications, this AGV chassis and AGV trolley lack an effective rotation and lifting structure, making it difficult to adjust the height of goods or transfer them at multiple angles, thus limiting its applicability. Utility Model Content

[0004] The purpose of this invention is to provide a fixed-axis lifting mechanism for AGV robots to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a fixed-axis lifting mechanism for an AGV robot, comprising a body, a mounting groove, a sensor, and a drive wheel. A connecting plate is fixedly connected to the side surface of the body away from the drive wheel. A rectangular groove is formed on one side surface of the connecting plate. A fixing frame is fixedly connected to the side surface of the connecting plate away from the drive wheel. A guide sleeve is fixedly connected to one side surface of the fixing frame. An adjustment mechanism is provided on the inner surface of the mounting groove. The adjustment mechanism includes an electric cylinder, which is fixedly connected to the inner surface of the mounting groove. A horizontal plate is fixedly connected to the output end of the electric cylinder. A counterweight is fixedly connected to the side surface of the horizontal plate near the electric cylinder. A guide rod is fixedly connected to the side surface of the horizontal plate near the electric cylinder. A motor is fixedly connected to the output end of the motor, which passes through the horizontal plate and is fixedly connected to a first gear. A second gear is rotatably connected to the side surface of the horizontal plate away from the electric cylinder. A shelf is fixedly connected to the side surface of the second gear away from the electric cylinder.

[0006] Preferably, the first gear and the second gear are meshed, and the connecting plate, the horizontal plate, the second gear and the storage plate are located on the same vertical horizontal line.

[0007] Preferably, the inner wall dimension of the mounting groove is adapted to the outer wall dimension of the end of the electric cylinder away from the horizontal plate, and the inner wall dimension of the rectangular groove is larger than the outer wall dimension of the electric cylinder.

[0008] Preferably, the fixing frame and guide sleeve are provided with four of the same size and are symmetrically distributed along the horizontal central axis of the connecting plate, and the guide rod is provided with four of the same size and is symmetrically distributed along the horizontal central axis of the horizontal plate. The outer wall size of the guide rod is adapted to the inner wall size of the guide sleeve.

[0009] Preferably, the weight of the counterweight is the same as the weight of the motor, and the vertical central axis of the guide rod is perpendicular to the horizontal plate.

[0010] Preferably, the vertical center axis of the electric cylinder is perpendicular to the horizontal center axis of the horizontal plate, and the vertical center axis of the guide sleeve is perpendicular to the horizontal center axis of the connecting plate.

[0011] Preferably, a horizontal hole is formed on one side surface of the shelf, and six horizontal holes of the same size are provided and are symmetrically distributed along the horizontal central axis of the shelf.

[0012] Compared with the prior art, the present invention has the following beneficial effects: 1. In response to the dynamic changes in material state or docking environment in actual applications, the "motor-driven rotation + electric cylinder height maintenance" mode has a rapid response capability. When the docking angle needs to be adjusted but the docking height remains unchanged, there is no need to readjust the electric cylinder stroke or change its own position by moving. The control system can send a rotation command to drive the placement plate to rotate quickly to the target angle at a fixed height, resulting in higher response efficiency. 2. Four sets of fixed frames, guide sleeves and guide rods of the same size are symmetrically distributed along the horizontal axis of the connecting plate and the horizontal plate. The outer wall size of the guide rod is precisely matched with the inner wall size of the guide sleeve, which can provide stable guidance when the horizontal plate is driven by the electric cylinder to lift and lower. At the same time, the counterweight on the horizontal plate has the same weight as the motor, which can balance the force on both sides of the horizontal plate. With double protection, the shaking during the lifting process is greatly reduced, and the goods are prevented from shifting. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the shelf and horizontal hole structure of this utility model; Figure 3 This is a schematic diagram of the connecting plate, rectangular groove, fixing frame, and guide sleeve structure of this utility model; Figure 4 This is a schematic diagram of the structure of the body, mounting groove, sensor and drive wheel of this utility model; Figure 5 This is a schematic diagram of the structure of the horizontal plate, counterweight, and guide rod of this utility model; Figure 6 This is a schematic diagram of the first and second gears of this utility model.

[0014] In the diagram: 1. Body; 2. Mounting slot; 3. Sensor; 4. Drive wheel; 5. Connecting plate; 6. Rectangular slot; 7. Fixing frame; 8. Guide sleeve; 9. Adjustment mechanism; 901. Electric cylinder; 902. Horizontal plate; 903. Counterweight; 904. Guide rod; 905. Motor; 906. First gear; 907. Second gear; 908. Shelf; 909. Horizontal hole. Detailed Implementation

[0015] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0016] Please see Figure 1-6 This utility model provides a technical solution: a fixed-axis lifting mechanism for AGV robots, including a body 1, a mounting groove 2, a sensor 3 and a drive wheel 4. A connecting plate 5 is fixedly connected to the side surface of the body 1 away from the drive wheel 4. A rectangular groove 6 is opened on one side surface of the connecting plate 5. A fixing frame 7 is fixedly connected to the side surface of the connecting plate 5 away from the drive wheel 4. A guide sleeve 8 is fixedly connected to one side surface of the fixing frame 7. An adjustment mechanism 9 is provided on the inner surface of the mounting groove 2. The adjusting mechanism 9 includes an electric cylinder 901, which is fixedly connected to the inner surface of the mounting groove 2. A horizontal plate 902 is fixedly connected to the output end of the electric cylinder 901. A counterweight 903 is fixedly connected to the side surface of the horizontal plate 902 closest to the electric cylinder 901. A guide rod 904 is fixedly connected to the side surface of the horizontal plate 902 closest to the electric cylinder 901. A motor 905 is fixedly connected to the side surface of the horizontal plate 902 closest to the electric cylinder 901. The output end of the motor 905 passes through the horizontal plate 902. A first gear 906 is fixedly connected to the horizontal plate 902. A second gear 907 is rotatably connected to the surface of the horizontal plate 902 away from the electric cylinder 901. A shelf 908 is fixedly connected to the surface of the second gear 907 away from the electric cylinder 901. Through the arrangement of the electric cylinder 901, horizontal plate 902, counterweight 903, guide rod 904, motor 905, first gear 906, second gear 907, and shelf 908, during use, the extension and retraction of the output end of the electric cylinder 901 drives... The horizontal plate 902 moves vertically. At this time, the four guide rods 904 on the horizontal plate 902 slide in the guide sleeves 8 of the fixed frame 7. The guide cooperation ensures the stability of the horizontal plate 902 during the lifting process and avoids deviation. The counterweight 903 on the horizontal plate 902 has the same weight as the motor 905, which can balance the force on both sides of the horizontal plate 902 and further reduce the shaking during lifting. When it is necessary to adjust the angle of the shelf 908, the motor 905 on the horizontal plate 902 starts, and its output end drives the first gear 906 to rotate. Since the first gear 906 meshes with the second gear 907, the power is transmitted to the second gear 907 through gear transmission, causing the second gear 907 to rotate around its own axis on the surface of the horizontal plate 902, thereby driving the shelf 908 fixedly connected to it to rotate synchronously, realizing the angle adjustment of the goods. It can be adapted to various AGV application scenarios such as warehousing and handling, production line material replenishment, and logistics sorting, improving the versatility and applicability of the equipment.

[0017] Furthermore, the first gear 906 and the second gear 907 are meshed together. The connecting plate 5, the horizontal plate 902, the second gear 907, and the shelf 908 are located on the same vertical horizontal line. Through the arrangement of the first gear 906 and the second gear 907, the structural strength of the gear meshing transmission is high during use. When the first gear 906 and the second gear 907 transmit power, the contact area between the teeth is large, which can effectively disperse the load pressure brought by the shelf 908 and the goods. Even if the shelf 908 carries heavy goods, the problem of transmission failure is not likely to occur.

[0018] Furthermore, the inner wall dimension of the mounting groove 2 is adapted to the outer wall dimension of the end of the electric cylinder 901 away from the horizontal plate 902, and the inner wall dimension of the rectangular groove 6 is larger than the outer wall dimension of the electric cylinder 901. Through the setting of the mounting groove 2 and the electric cylinder 901, the design of the mounting groove 2 and the electric cylinder 901 being adapted to each other can provide guidance for the installation of the mechanism during use, and at the same time increase the overall stability of the mechanism.

[0019] Furthermore, the fixed frame 7 and guide sleeve 8 are provided with four of the same size, symmetrically distributed along the horizontal central axis of the connecting plate 5. The guide rods 904 are provided with four of the same size, symmetrically distributed along the horizontal central axis of the horizontal plate 902. The outer wall size of the guide rods 904 is adapted to the inner wall size of the guide sleeve 8. Through the setting of the guide rods 904 and guide sleeve 8, in use, the four symmetrically distributed guide rods 904 and guide sleeve 8 form a "frame support", which can greatly improve the overall rigidity of the adjustment mechanism 9. When the AGV robot encounters slight bumps during movement, or when the placement plate 908 rotates and generates radial force, the cooperation of the guide rods 904 and guide sleeve 8 can resist the lateral impact force, prevent the horizontal plate 902 from shaking or shifting, and ensure that the adjustment mechanism 9 can still operate stably in dynamic environments, providing reliable support for the lifting and angle adjustment of goods.

[0020] Furthermore, the weight of the counterweight 903 is the same as that of the motor 905, and the vertical center axis of the guide rod 904 is perpendicular to the horizontal plate 902. Through the setting of the counterweight 903 and the motor 905, when in use, the counterweight 903 and the motor 905 have the same weight and are symmetrically distributed, which can accurately offset the unilateral weight load of the motor 905, solve the problem of force imbalance of the horizontal plate 902, and prevent the horizontal plate 902 from tilting to the side of the motor 905.

[0021] Furthermore, the vertical center axis of the electric cylinder 901 is perpendicular to the horizontal center axis of the horizontal plate 902, and the vertical center axis of the guide sleeve 8 is perpendicular to the horizontal center axis of the connecting plate 5. Through the arrangement of the guide sleeve 8 and the connecting plate 5, during use, the vertical distribution of the guide sleeve 8 and the connecting plate 5 allows the guide sleeve 8 to evenly distribute the lateral force transmitted by the guide rod 904 to the connecting plate 5, and then the connecting plate 5 transmits it to the machine body 1. This avoids the guide sleeve 8 from deforming or loosening due to concentrated force, enhances the structural rigidity of the entire guiding system, and extends the service life of the guide sleeve 8.

[0022] Furthermore, a horizontal hole 909 is provided on one side surface of the shelf 908. There are six horizontal holes 909 of the same size, which are symmetrically distributed along the horizontal and vertical central axis of the shelf 908. Through the setting of the horizontal holes 909, a "hollow structure" can be formed on the surface of the shelf 908 during use. Compared with a solid shelf, it can effectively reduce the weight of the shelf 908 itself and reduce the load pressure of the electric cylinder 901 when it is raised and lowered.

[0023] Working principle: When the AGV robot needs to adjust the height or rotate the angle of the goods on the storage plate 908, the electric cylinder 901 in the mounting slot 2 serves as the lifting power source. When its output end extends or retracts, it drives the horizontal plate 902 to move vertically. At this time, the four guide rods 904 on the horizontal plate 902 slide in the guide sleeves 8 of the fixed frame 7, ensuring the stability of the horizontal plate 902 during the lifting process and preventing deviation. The counterweight 903 on the horizontal plate 902 has the same weight as the motor 905, which can balance the force on both sides of the horizontal plate 902 and further reduce the load. The shaking during lifting and lowering causes the motor 905 on the horizontal plate 902 to start when the angle of the shelf 908 needs to be adjusted. Its output drives the first gear 906 to rotate. Since the first gear 906 meshes with the second gear 907, the power is transmitted to the second gear 907 through gear transmission, causing the second gear 907 to rotate around its own axis on the surface of the horizontal plate 902. This, in turn, drives the shelf 908, which is fixedly connected to it, to rotate synchronously, thereby realizing the angle adjustment of the goods. This completes the use of a fixed-axis lifting mechanism for AGV robots.

[0024] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A fixed-axis lifting mechanism for an AGV robot, comprising a body (1), a mounting slot (2), a sensor (3), and a drive wheel (4), characterized in that: A connecting plate (5) is fixedly connected to the side surface of the body (1) away from the drive wheel (4). A rectangular groove (6) is opened on one side surface of the connecting plate (5). A fixing frame (7) is fixedly connected to the side surface of the connecting plate (5) away from the drive wheel (4). A guide sleeve (8) is fixedly connected to one side surface of the fixing frame (7). An adjustment mechanism (9) is provided on the inner surface of the mounting groove (2). The adjustment mechanism (9) includes an electric cylinder (901), which is fixedly connected to the inner surface of the mounting groove (2). A horizontal plate (902) is fixedly connected to the output end of the electric cylinder (901). A counterweight (903) is fixedly connected to the side surface of the horizontal plate (902) near the electric cylinder (901). A guide rod (904) is fixedly connected to the side surface of the horizontal plate (902) near the electric cylinder (901). A motor (905) is fixedly connected to the side surface of the horizontal plate (902) near the electric cylinder (901). A first gear (906) is fixedly connected to the output end of the motor (905) through the horizontal plate (902). A second gear (907) is rotatably connected to the side surface of the horizontal plate (902) away from the electric cylinder (901). A shelf (908) is fixedly connected to the side surface of the second gear (907) away from the electric cylinder (901).

2. The fixed-axis lifting mechanism for an AGV robot according to claim 1, characterized in that: The first gear (906) and the second gear (907) are meshed together, and the connecting plate (5), the horizontal plate (902), the second gear (907) and the storage plate (908) are located on the same vertical horizontal line.

3. The fixed-axis lifting mechanism for an AGV robot according to claim 1, characterized in that: The inner wall dimension of the mounting groove (2) is adapted to the outer wall dimension of the end of the electric cylinder (901) away from the horizontal plate (902), and the inner wall dimension of the rectangular groove (6) is larger than the outer wall dimension of the electric cylinder (901).

4. The fixed-axis lifting mechanism for an AGV robot according to claim 1, characterized in that: The fixing frame (7) and guide sleeve (8) are provided with four of the same size and are symmetrically distributed along the horizontal central axis of the connecting plate (5). The guide rod (904) is provided with four of the same size and is symmetrically distributed along the horizontal central axis of the horizontal plate (902). The outer wall size of the guide rod (904) is adapted to the inner wall size of the guide sleeve (8).

5. A fixed-axis lifting mechanism for an AGV robot according to claim 1, characterized in that: The weight of the counterweight (903) is the same as the weight of the motor (905), and the vertical center axis of the guide rod (904) is perpendicular to the horizontal plate (902).

6. A fixed-axis lifting mechanism for an AGV robot according to claim 1, characterized in that: The vertical center axis of the electric cylinder (901) is perpendicular to the horizontal center axis of the horizontal plate (902), and the vertical center axis of the guide sleeve (8) is perpendicular to the horizontal center axis of the connecting plate (5).

7. A fixed-axis lifting mechanism for an AGV robot according to claim 1, characterized in that: A horizontal hole (909) is provided on one side surface of the shelf (908). There are six horizontal holes (909) of the same size, which are symmetrically distributed along the horizontal central axis of the shelf (908).

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