CN109205202B

CN109205202B - Unmanned intelligent AGV transfer robot

Info

Publication number: CN109205202B
Application number: CN201810718496.4A
Authority: CN
Inventors: 梁鹏
Original assignee: Hefei Billion Power Machinery Manufacture Co ltd
Current assignee: Hefei Billion Power Machinery Manufacture Co ltd
Priority date: 2018-07-03
Filing date: 2018-07-03
Publication date: 2021-04-06
Anticipated expiration: 2038-07-03
Also published as: CN109205202A

Abstract

The invention relates to an unmanned intelligent AGV transfer robot, which comprises a robot body, wherein the bottom of the robot body is fixedly connected with a chassis, one end of a hydraulic cylinder is far away from a charging seat and is connected with a transfer frame, the bottom of the transfer frame is provided with a bearing sensor, the top of the hydraulic cylinder is connected with a hydraulic control system connected with the hydraulic cylinder through a lifting rod, one side of the top end of the lifting rod is connected with a camera and an infrared sensor positioned at the bottom of the camera, a push rod is arranged between the infrared sensor and the camera, one side of a telescopic rod is connected with a PLC guide controller through an electric control switch, the PLC guide controller is simultaneously in data connection with the infrared sensor, the camera and the bearing sensor, a GPS module and an input route which are connected with a power supply are arranged in the PLC guide controller, and the output end of, alarm and integrated module. Has the advantages that: the positioning accuracy is high, the carrying route and the direction of the robot are effectively controlled, and the practicability is high.

Description

Unmanned intelligent AGV transfer robot

Technical Field

The invention relates to the technical field of intelligent carrying devices, in particular to an unmanned intelligent AGV carrying robot.

Background

The AGV is: automatic guided vehicles, AGVs for short, are currently most commonly used in applications such as: AGV transfer robot or AGV dolly, main function is concentrated on automatic commodity circulation and is moved the transportation, and AGV transfer robot is through the automatic goods transportation to appointed place of special landmark navigation, and the most common guide mode is magnetic stripe guide, laser guide. The magnetic stripe guidance mode is a common mode and a mode with the lowest cost, but the site has certain limitations and certain influence on the site decoration style; the laser guide cost is highest, and the laser guide cost is higher in requirement on the field, so that the laser guide cost is not adopted generally; the RFID guiding cost is moderate, and the RFID guiding method has the advantages that the guiding precision is high, the station setting is more convenient, the most complex station layout can be met, the whole decoration environment of a place is not influenced, and the high safety and stability of the RFID are not possessed by magnetic stripe navigation and laser navigation modes.

Current AGV transfer robot mainly used is at the on-line handling work of commodity circulation, when meetting the transportation route and turning round, because the weight of self can not keep better stability, the route also can not obtain better assurance when producing the skew, has influenced transportation work, can not carry out effectual categorised transport to unqualified product simultaneously, has reduced work efficiency to a certain extent, is unfavorable for the use of device.

Disclosure of Invention

The invention aims to provide an unmanned intelligent AGV transfer robot, and provides a transfer robot with high stability and good control effect.

In order to achieve the above purpose, the invention adopts the technical scheme that: an unmanned intelligent AGV transfer robot comprises a robot body, wherein the bottom of the robot body is fixedly connected with a chassis, the top of the chassis is connected with a charging seat positioned on the outer wall of the robot body, one side of the charging seat is connected with a hydraulic cylinder, one end of the hydraulic cylinder is far away from the charging seat and is connected with a transfer frame, the bottom of the transfer frame is provided with a bearing sensor matched with the transfer frame, the top of the hydraulic cylinder is connected with a hydraulic control system positioned on the hydraulic cylinder through a lifting rod, one side of the top end of the lifting rod is connected with a camera and an infrared sensor positioned at the bottom of the camera, a push rod is arranged between the infrared sensor and the camera, the bottom of the push rod is connected with a containing box positioned inside the robot body, and the bottom of the containing box is provided with a telescopic rod connected with the chassis, one side of the telescopic rod is connected with a PLC (programmable logic controller) through an electric control switch, and the PLC is simultaneously in data connection with the infrared sensor, the camera and the bearing sensor.

Furthermore, driven wheels are arranged on two sides of the bottom end of the chassis, a driving wheel connected with the chassis is arranged between the driven wheels, the top of the driving wheel is connected with a first motor through a transmission rack, a gearbox connected with the driven wheels is mounted on the first motor through a motor shaft, a cylindrical gear on the gearbox is connected with a rotating bearing located above the driven wheels, the other side of the motor shaft is connected with a second motor through the motor shaft, the first motor and the second motor are both connected with the PLC, the top of the gearbox is connected with the second motor through a pushing ball in a rectangular array, and the top of the pushing ball is connected with a buffer bag located inside the robot body.

Furthermore, a GPS module and an input route which are connected with a power supply are arranged in the PLC, the output end of the PLC is connected with a classification system, an alarm and an integrated module at the same time, the classification system is connected with the containing box through the bearing sensor in a data connection mode, an emergency stop safety device inside the integrated module is connected with the PLC in a control mode, the output ends of the classification system and the integrated module are connected with a feedback unit and a comparison unit respectively, and the output ends of the feedback unit, the alarm and the comparison unit are connected with an execution mechanism at the same time.

Furthermore, the top of the containing box is connected with a containing opening close to the push rod.

Furthermore, one side of the telescopic rod is provided with a mounting groove connected with the chassis.

Further, a photoelectric detector inside the infrared sensor is connected with the camera.

Furthermore, a chain between the driven wheels is fixedly connected to the center of the outer wall of the transmission rack.

Furthermore, the first motor is fixedly connected with the pushing ball through an anti-skidding sleeve.

The invention has the technical effects that: camera and infrared inductor can be collected and the work of robot under the not good condition of illumination to the dress of product respectively, the cooperation is carried the bearing sensor on the frame, to the product that is not conform to the requirement, carry on the containing box through the lifter on the hydraulic cylinder, the rethread catch bar is with article propelling movement in the containing box, the first motor that the action wheel passes through driving rack and connects on the chassis, under the effect of motor shaft and second motor, can effectually arrive power transmission from the driving wheel, and the buffer capsule that the promotion ball on the rolling bearing on the gearbox and the motor is connected, the stability of as robot main part transportation work has been guaranteed, can not take place great positional deviation in the department of turning.

PLC guide controller can be in advance with the input route of robot through the treater of encoder input to the controller, the device is in the transportation, the real-time data information can be reacted to the GPS module, carry out unified data processing through categorised system and integrated module to the robot of different routes and direction, the joining of contrast unit and feedback unit can carry out comparative analysis and storage to data respectively, take place respective interference with robot route to prevent that the route is different, very big assurance work efficiency, such unmanned intelligent AGV transfer robot has greatly improved performance, the degree of automation is high, control effect is good, and stability is strong.

Drawings

FIG. 1 is a schematic diagram of an unmanned AGV handling robot according to the present invention;

FIG. 2 is a schematic view of the connection of the retractable rod and the storage box according to the present invention;

FIG. 3 is a schematic structural view of the chassis of the present invention;

fig. 4 is a schematic diagram of the interior of the PLC pilot controller of the present invention.

Reference numerals: 1-a robot body; 2-a chassis; 3-a charging seat; 4-a hydraulic cylinder; 5-a carrying frame; 6-a load bearing sensor; 7-a lifting rod; 8-a camera; 9-an infrared sensor; 10-a push rod; 11-a storage box; 12-a telescopic rod; 13-an electrically controlled switch; 14-a PLC guidance controller; 15-driven wheel; 16-a driving wheel; 17-a drive rack; 18-a first electric machine; 19-motor shaft; 20-a gearbox; 21-cylindrical gear; 22-a rotational bearing; 23-a second motor; 24-a push ball; 25-a buffer bag; 26-a power supply; 27-a GPS module; 28-input route; 29-a classification system; 30-an alarm; 31-an integration module; 32-a feedback unit; 33-a comparison unit; 34-an actuator; 35-a receiving port; 36-a mounting groove; 37-a chain; 38-anti-slip sleeve.

Detailed Description

Referring to the attached figures 1-4, an unmanned intelligent AGV transfer robot comprises a robot body 1, wherein the bottom of the robot body 1 is fixedly connected with a chassis 2, the top of the chassis 2 is connected with a charging seat 3 positioned on the outer wall of the robot body 1, one side of the charging seat 3 is connected with a hydraulic cylinder 4, one end of the hydraulic cylinder 4, which is far away from the charging seat 3, is connected with a transfer frame 5, the bottom of the transfer frame 5 is provided with a bearing sensor 6 matched with the transfer frame 5, the top of the hydraulic cylinder 4 is connected with a hydraulic control system positioned and connected with the hydraulic cylinder 4 through a lifting rod 7, one side of the top end of the lifting rod 7 is connected with a camera 8 and an infrared sensor 9 positioned at the bottom of the camera 8, a push rod 10 is arranged between the infrared sensor 9 and the camera 8, the bottom of the push rod 10 is connected with a containing box 11 positioned inside the robot body 1, the bottom of the containing box 11 is provided with an expansion link 12 connected with the chassis 2, one side of the expansion link 12 is connected with a PLC (programmable logic controller) guide controller 14 through an electric control switch 13, and the PLC guide controller 14 is simultaneously in data connection with the infrared sensor 9, the camera 8 and the bearing sensor 6.

Preferably, driven wheels 15 are arranged on two sides of the bottom end of the chassis 2, a driving wheel 16 connected with the chassis 2 is arranged between the driven wheels 15, the top of the driving wheel 16 is connected with a first motor 18 through a transmission rack 17, the first motor 18 is provided with a gearbox 20 connected with the driven wheels 15 through a motor shaft 19, a cylindrical gear 21 on the gearbox 20 is connected with a rotating bearing 21 positioned above the driven wheels 15, the other side of the motor shaft 19 is connected with a second motor 23 through the motor shaft 19, the first motor 18 and the second motor 23 are both connected with the PLC guide controller 14, the top of the gearbox 20 is connected with the second motor 23 through a pushing ball 24 in a rectangular array, and the top of the pushing ball 24 is connected with a buffer bag 25 positioned inside the robot body 1.

Preferably, a GPS module 27 and an input route 28 connected with a power supply 26 are arranged in the PLC guidance controller 14, an output end of the PLC guidance controller 14 is simultaneously connected with a classification system 29, an alarm 30 and an integration module 31, the classification system 29 is in data connection with the storage box 11 through the load-bearing sensor 6, an emergency stop safety device inside the integration module 31 is in control connection with the PLC guidance controller 14, output ends of the classification system 29 and the integration module 31 are respectively connected with a feedback unit 32 and a comparison unit 33, and output ends of the feedback unit 32, the alarm 20 and the comparison unit 33 are simultaneously connected with an execution mechanism 34.

Preferably, camera 8 and infrared inductor 9 can be collected and the work of robot under the bad condition of illumination to the dress of product respectively, cooperate the bearing sensor 6 on the transport frame 5, to the product that does not conform to the requirements, carry on containing box 11 through lifter 7 on the hydraulic cylinder 4, rethread catch bar 10 with article propelling movement in the storage port 35, the first motor 18 that action wheel 16 passes through driving rack 17 and connects on the chassis 2, under the effect of motor shaft 19 and second motor 23, can be effectual with power transmission to from driving wheel 15, and the buffer bag 25 that rolling bearing 22 on the gearbox 20 and the last propelling movement ball 24 of motor are connected, guaranteed the stability of transporting work as the robot main part, can not take place great position deviation in the turning.

PLC guide controller 14 can be in advance with the input route 28 of robot through the treater of encoder input to the controller, the device is in the transportation, GPS module 27 can reflect real-time data information, carry out unified data processing through sortation system 29 and integrated module 31 to the robot of different routes and direction, contrast unit 33 and feedback unit 32's joining can carry out comparative analysis and storage to data respectively, in order to prevent that the robot route of route difference from taking place respective interference, very big assurance work efficiency, such unmanned intelligent AGV transfer robot has greatly improved performance, degree of automation is high, control effect is good, and stability is strong.

Preferably, a receiving opening 35 is connected to the top of the receiving box 11 near the push rod 10.

Preferably, one side of the telescopic rod 12 is provided with a mounting groove 36 connected with the chassis 2, and the mounting groove 36 is provided to improve the stability of the connection between the chassis 2 and the storage box 11.

Preferably, a photo detector inside the infrared sensor 9 is connected to the camera 8, and the photo detector can assist the thermal imaging process of the infrared sensor 9.

Preferably, a chain 37 between the driven wheels 15 is fixedly connected to the center of the outer wall of the driving rack 17.

Preferably, the first motor 18 and the pushing ball 24 are fixedly connected through an anti-slip sleeve 38.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. An unmanned intelligent AGV transfer robot comprises a robot body (1) and is characterized in that a chassis (2) is fixedly connected to the bottom of the robot body (1), a charging seat (3) located on the outer wall of the robot body (1) is connected to the top of the chassis (2), a hydraulic cylinder (4) is connected to one side of the charging seat (3), a carrying frame (5) is connected to one end of the hydraulic cylinder (4) far away from the charging seat (3), a bearing sensor (6) matched with the carrying frame (5) is installed at the bottom of the carrying frame (5), a hydraulic control system located on the hydraulic cylinder (4) is connected to the top of the hydraulic cylinder (4) through a lifting rod (7), a camera (8) and an infrared sensor (9) located at the bottom of the camera (8) are connected to one side of the top end of the lifting rod (7), infrared inductor (9) with be equipped with catch bar (10) between camera (8), catch bar (10) bottom is connected with and is located containing box (11) inside robot body (1), containing box (11) bottom install with telescopic link (12) that chassis (2) are connected, telescopic link (12) one side is connected with PLC guide controller (14) through electric control switch (13), PLC guide controller (14) simultaneously with infrared inductor (9), camera (8) and bearing sensor (6) data connection.

2. An unmanned intelligent AGV transfer robot according to claim 1, wherein driven wheels (15) are arranged on both sides of the bottom end of the chassis (2), a driving wheel (16) connected with the chassis (2) is arranged between the driven wheels (15), a first motor (18) is connected to the top of the driving wheel (16) through a transmission rack (17), a gear box (20) connected with the driven wheels (15) is mounted on the first motor (18) through a motor shaft (19), a cylindrical gear (21) on the gear box (20) is connected with a rotating bearing (22) positioned above the driven wheels (15), a second motor (23) is connected to the other side of the motor shaft (19) through the motor shaft (19), and the first motor (18) and the second motor (23) are connected with the PLC guide controller (14), the top of the gearbox (20) is connected with the second motor (23) through a pushing ball (24) in a rectangular array, and the top of the pushing ball (24) is connected with a buffer bag (25) located inside the robot body (1).

3. An unmanned intelligent AGV transfer robot according to claim 1, a GPS module (27) and an input route (28) which are connected with a power supply (26) are arranged in the PLC guide controller (14), the output end of the PLC guide controller (14) is simultaneously connected with a classification system (29), an alarm (30) and an integration module (31), the sorting system (29) is in data connection with the storage box (11) through the bearing sensor (6), an emergency stop safety device inside the integrated module (31) is in control connection with the PLC guide controller (14), the output ends of the classification system (29) and the integration module (31) are respectively connected with a feedback unit (32) and a comparison unit (33), and the output ends of the feedback unit (32), the alarm (30) and the comparison unit (33) are simultaneously connected with an actuating mechanism (34).

4. An unmanned intelligent AGV transfer robot according to claim 1, wherein a storage opening (35) is connected to the top of the storage box (11) near the push bar (10).

5. An unmanned intelligent AGV transfer robot according to claim 1, wherein a mounting slot (36) connected to the chassis (2) is installed at one side of the telescopic rod (12).

6. An unmanned intelligent AGV handling robot according to claim 1, wherein a photo detector inside said infrared sensor (9) is connected to said camera (8).

7. An unmanned intelligent AGV handling robot according to claim 2, wherein a chain (37) is fixedly attached to the center of the outer wall of the drive rack (17) between the driven wheels (15).

8. An unmanned intelligent AGV transfer robot according to claim 2, wherein said first motor (18) is fixedly connected to said push ball (24) by an anti-slip sleeve (38).