CN113603022A - AGV (automatic guided vehicle) carrying flip robot for medical waste garbage cans - Google Patents

AGV (automatic guided vehicle) carrying flip robot for medical waste garbage cans Download PDF

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Publication number
CN113603022A
CN113603022A CN202111073818.2A CN202111073818A CN113603022A CN 113603022 A CN113603022 A CN 113603022A CN 202111073818 A CN202111073818 A CN 202111073818A CN 113603022 A CN113603022 A CN 113603022A
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CN
China
Prior art keywords
lifting arm
pair
robot
fixedly connected
agv
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Pending
Application number
CN202111073818.2A
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Chinese (zh)
Inventor
杨国伟
李磊
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Shanghai Daojian Mechanical & Electrical Technology Co ltd
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Shanghai Daojian Mechanical & Electrical Technology Co ltd
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Priority to CN202111073818.2A priority Critical patent/CN113603022A/en
Publication of CN113603022A publication Critical patent/CN113603022A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07559—Stabilizing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07568—Steering arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/08—Masts; Guides; Chains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/18—Load gripping or retaining means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention belongs to the technical field of garbage can carrying equipment, and particularly discloses an AGV (automatic guided vehicle) carrying flip robot for medical waste garbage cans; the chassis mechanism comprises a chassis frame, and a driving assembly is arranged on the chassis frame; a vehicle body mechanism is arranged above the chassis frame and comprises an obstacle avoidance assembly and a navigation assembly; the vehicle body mechanism is provided with a lifting mechanism; the invention provides an AGV (automatic guided vehicle) conveying flip robot for medical waste garbage cans.

Description

AGV (automatic guided vehicle) carrying flip robot for medical waste garbage cans
Technical Field
The invention belongs to the technical field of garbage can carrying equipment, and particularly relates to an AGV (automatic guided vehicle) carrying flip robot for medical waste garbage cans.
Background
The hospital is provided with the garbage bin of depositing medical discarded object, and present transport mode is still artifical transport. Different from common garbage, the medical waste can contaminate the body fluid of a patient and can carry pathogenic bacteria in the body of the patient; and the types of germs carried by medical wastes are different due to different diseases of patients. Because the medical waste carries a large number of germs and a large variety of germs, and people who contact the medical waste are easily infected with diseases, the trash can for manually carrying and storing the medical waste has great potential safety hazards.
Disclosure of Invention
The invention aims to provide an AGV (automatic guided vehicle) conveying flip robot for medical waste garbage cans.
Based on the purpose, the invention adopts the following technical scheme:
a AGV (automatic guided vehicle) carrying flip robot for medical waste garbage cans comprises a chassis mechanism, wherein the chassis mechanism comprises a chassis frame, and a driving assembly is arranged on the chassis frame; a vehicle body mechanism is arranged above the chassis frame and comprises an obstacle avoidance assembly and a navigation assembly; the car body mechanism is provided with a lifting mechanism.
Further, the lifting mechanism comprises a lifter connected with the vehicle body mechanism, the lifter is vertically arranged, and a weighing and counting assembly is arranged on the lifter; a pair of lifting arms which are horizontally arranged are connected to the lifter, and the lifting arms are arranged on one side of the lifter, which is far away from the vehicle body mechanism; the lifting arm is provided with a cover turning device.
Furthermore, the lifter comprises a pair of vertically arranged guide rails, and a pair of vertical primary sliding plates are connected on the pair of guide rails in a sliding manner; one side of the pair of first-stage sliding plates, which is far away from the guide rail, is connected with a pair of vertical second-stage sliding plates in a sliding manner; one side of each secondary sliding plate, which is far away from the primary sliding plate, is fixedly connected with a lifting arm; a vertical electric cylinder is arranged between the pair of guide rails, the bottom end of the electric cylinder is fixedly connected with the pair of guide rails, and the top end of the electric cylinder is connected with a cross ejector rod; the top end of the cross ejector rod is fixedly connected with the top ends of the pair of first-stage sliding plates; the left end and the right end of the cross ejector rod are rotatably connected with a pair of chain wheels, each chain wheel is connected with a chain, one end of each chain is fixedly connected with a pair of guide rails, and the other end of each chain is fixedly connected with the bottom ends of the pair of secondary sliding plates.
Furthermore, the pair of lifting arms is vertical to the plane where the pair of secondary sliding plates are located; each lifting arm is fixedly connected with a plurality of vertical cushion blocks, the cushion blocks are distributed along the length direction of the lifting arm, and each cushion block is arranged above the lifting arm and on one side close to the other lifting arm, namely the inner side of the lifting arm; one end (the front end of the lifting arm) of each lifting arm, which is far away from the secondary sliding plate, is provided with a laser sensor; one end that the second grade slide was kept away from to a pair of lifting arm leans out the setting, every all be provided with the horizontally leading wheel on the lifting arm, every the leading wheel all sets up in the lifting arm below.
Further, the cover turning device comprises a cover turning plate arranged above the lifting arm; one end of the flip plate is fixedly connected with a rotating shaft, the rotating shaft is connected with a motor, the rotating shaft is horizontally arranged and is vertical to the lifting arm, and the rotating shaft is arranged at one end of the lifting arm close to the secondary sliding plate and is in rotating connection with the lifting arm; one end of the turning cover plate, which is far away from the rotating shaft, is connected with a sucker, and the sucker is matched with a cover of the garbage can.
Further, the weighing and counting assembly comprises a pressure sensor; the bottom end of the pressure sensor is fixedly connected with the top end of the electric cylinder, and the top end of the pressure sensor is fixedly connected with the bottom end of the cross ejector rod.
Furthermore, the driving assembly comprises a pair of driving wheels arranged on the chassis frame, and one end of the chassis frame, which is far away from the driving wheels, is provided with a universal wheel; each driving wheel is connected with a driving shaft, and each driving shaft is rotationally connected with the chassis frame; every drive shaft all is connected with the speed reducer, and every speed reducer all is connected with servo motor.
Further, the vehicle body mechanism comprises a vertical machine body, and the bottom end of the machine body is fixedly connected with the chassis frame; the machine body is fixedly connected with one end of the guide rail far away from the lifting arm; obstacle avoidance assemblies are arranged at one end of the machine body close to the lifting arm and one end of the machine body far away from the lifting arm; keep away barrier subassembly and include that laser keeps away barrier sensor and anticollision switch, anticollision switch stretches out the organism setting.
Further, the navigation assembly comprises a laser navigation sensor; the laser navigation sensor is arranged at one end of the machine body far away from the lifting arm.
Further, a rotary warning lamp and an emergency stop button are arranged at the top of the machine body; a code scanner is arranged at one end of the machine body close to the lifting arm, and a two-dimensional code matched with the code scanner is arranged on the garbage can; the machine body is also provided with a charging brush plate.
Compared with the prior art, the invention has the following beneficial effects:
1. the chassis frame connects the driving assembly and the vehicle body mechanism together and supports the vehicle body mechanism; the navigation component can enable the planning robot to move a route, enable the robot to move to a position for transporting the garbage can and move the garbage can to a designated place; the obstacle avoidance assembly can prevent the robot from colliding with an obstacle to cause damage; the lifting mechanism can lift up the garbage can, so that the garbage can be stably transported.
2. The lifter drives the lifting arm to lift, so that the lifting arm lifts the garbage can, and stable transportation of the garbage can is guaranteed; the cover turning device can automatically open the trash can cover, so that people do not need to contact the trash can, and the germ transmission is reduced; the weighing counting assembly can weigh the garbage can, record the quantity of the garbage can to be transported, and conveniently perform data statistics.
3. The electric cylinder can jack the cross ejector rod and the primary sliding plate, the cross ejector rod can drive the chain wheel to ascend by ascending so as to drive the chain to ascend, one end of the chain, which is connected with the secondary slide plate, ascends and drives the secondary sliding plate to ascend due to the fact that one end of the chain is fixed on the guide rail, and the ascending distance of the secondary sliding plate is twice of the ascending distance of the cross ejector rod and the primary sliding plate; meanwhile, the first-stage sliding plate can provide a longer track for the second-stage sliding plate when rising, and the second-stage sliding plate can stably slide and rise on the first-stage sliding plate. This setting reduces half height with the required track of second grade slide lift (one-level slide promptly), can make second grade slide and one-level slide be in lower position when not using, reduces the space and occupies, makes AGV's overall structure compacter, improves the utilization ratio in AGV space.
4. When the lifting arm is close to the garbage can, the laser sensor can sense whether the garbage can inclines relative to the lifting arm, so that the robot can adjust the position in advance, and the lifting arm is aligned with the garbage can; the opening at the front end of the lifting arm is enlarged by the guide surface, and when the lifting arm moves towards the garbage can and contacts with the garbage can, the garbage can smoothly enter between the two lifting arms; the guide wheels are matched with the guide surfaces, so that sliding friction between the garbage can and the lifting arm is changed into rolling friction, and abrasion between the garbage can and the lifting arm is reduced; the cushion sets up the inboard at the lifting arm, and when the lifting arm drove the cushion and goes up, the cushion can imbed the inboard at the ladle body border of garbage bin just at the lifting in-process, prevents that the garbage bin from producing to rock in lifting process and transportation, guarantees to transport stably.
5. The motor can drive the rotating shaft and the flip plate to rotate, so that the flip plate drives the suction disc to rotate to the cover of the garbage can, the suction disc can suck the cover of the garbage can and open the cover of the garbage can under the driving of the motor, and the phenomenon that the garbage can is manually opened to cause germ propagation can be avoided.
6. The pressure sensor is arranged between the electric cylinder and the cross ejector rod, so that the gravity of the garbage can be conveniently sensed and calculated, and the recorded weight of the garbage can is more accurate.
7. Each driving wheel is connected with a speed reducer, so that the two driving wheels can rotate at different speeds, and the robot can turn conveniently; the universal wheels can be matched with the driving wheels to support the chassis frame, and meanwhile, the universal wheels can be matched with the driving wheels to enable the robot to turn stably.
8. The laser obstacle avoidance sensor can sense obstacles in a sensing range, so that the robot is decelerated and stopped, and the robot is prevented from colliding with the obstacles; the anti-collision switch can collide with the barrier, so that the robot is prevented from directly colliding with the barrier to cause damage; simultaneously the position of anticollision switch can collide the response garbage bin with the garbage bin, and cooperation lifting mechanism lifts up the garbage bin.
9. The laser navigation sensor can realize contour modeling, map editing and route planning of the environment, the use environment is not required to be transformed in a large range, the autonomous flexibility is high, the flexible carrying requirement is met, the autonomous positioning navigation of the AGV can be realized by the aid of the method, and the positioning is accurate, reliable and stable.
10. When a worker meets emergency or sudden things, the worker can quickly press the emergency stop button, and the AGV robot immediately carries out contracting brake parking, so that the safety of the robot and personnel is ensured. All post the exclusive two-dimensional code on every treating transport garbage bin bucket body, the AGV robot establishes the bar code scanner work scanning in its dead ahead before the transport lifting, can realize the data statistics to the garbage bin, can make things convenient for the system to trace back the relevant information of garbage bin when needs. The charging brush plate can facilitate automatic charging of the robot.
Drawings
FIG. 1 is a schematic view of example 1 of the present invention;
FIG. 2 is a schematic view of the use state of embodiment 1 of the present invention;
FIG. 3 is a schematic view of a chassis mechanism according to embodiment 1 of the present invention;
fig. 4 is an exploded view of a bearing housing and drive wheel connecting structure according to embodiment 1 of the present invention;
FIG. 5 is a schematic view of a vehicle body mechanism according to embodiment 1 of the present invention
Fig. 6 is a schematic view of a lifting mechanism according to embodiment 1 of the present invention;
fig. 7 is a schematic diagram of a flip cover device in embodiment 1 of the present invention.
In the figure: the device comprises a chassis frame 1, a universal wheel 2, a lithium battery 3, a servo motor 4, a speed reducer 5, a shaft baffle 6, a bearing seat 7, a deep groove ball bearing 8, a shaft sleeve 9, a bearing pressing plate 10, a driving shaft 11, a driving wheel 12, a first fixing plate 13, a lifting arm 14, a pressure sensor 15, a chain 16, a supporting rod 17, an electric cylinder top plate 18, a primary sliding plate 19, a chain wheel 20, a fixed pulling plate 21, a secondary sliding plate 22, a cushion block 23, a laser sensor 24, a guide wheel 25, an electric cylinder 26, a movable pulling plate 27, a second fixing plate 28, a laser obstacle avoidance sensor 29, a charging brush plate 30, an anti-collision switch 31, a laser navigation sensor 32, an emergency stop button 33, a rotary warning lamp 34, a code scanner 35, a lifting shaft 37, a guide surface 38, a flip plate 39, a rotating shaft 40, a suction cup 41, a supporting plate 42 and a machine body 43.
Detailed Description
Example 1
A robot for carrying and turning over a medical waste garbage can AGV comprises a chassis mechanism, as shown in figures 1-7, wherein the chassis mechanism comprises a chassis frame 1, and a driving assembly is arranged on the chassis frame 1; a vehicle body mechanism is arranged above the chassis frame 1, and comprises an obstacle avoidance assembly and a navigation assembly; the car body mechanism is provided with a lifting mechanism.
As shown in fig. 1, 3 and 4, the driving assembly includes a pair of driving wheels 12 disposed at the front end of the chassis frame 1, and the rear end of the chassis frame 1 is connected with the universal wheels 2; each driving wheel 12 is fixedly connected with a driving shaft 11 coaxial with the driving wheel, and each driving shaft 11 is rotatably connected with the chassis frame 1; every drive shaft 11 keeps away from the one end of its drive wheel 12 of connecting and all is connected with speed reducer 5, and speed reducer 5 is right angle type planetary reducer 5, and every speed reducer 5 all is connected with servo motor 4, and servo motor 4 is connected with lithium cell 3, and right angle type planetary reducer 5, servo motor 4, lithium cell 3 all link firmly with chassis frame 1. Each driving shaft 11 is sleeved with a pair of deep groove ball bearings 8, a shaft sleeve 9 is arranged between each pair of deep groove ball bearings 8, and the position between the two deep groove ball bearings 8 can be limited by the shaft sleeve 9; the chassis frame 1 is fixedly connected with a pair of bearing seats, the deep groove ball bearing 8 and the shaft sleeve 9 are both arranged in the bearing seats, a bearing pressing plate 10 is arranged at one end, close to the driving wheel 12, of each bearing seat, a shaft baffle plate 6 is arranged at the other end of each bearing seat, and the bearing pressing plate 10 and the shaft baffle plate 6 can limit the deep groove ball bearing 8 to move left and right in the axial direction.
As shown in fig. 1 and 5, the vehicle body mechanism includes a vertical body 43, the body 43 is a quadrangular prism structure disposed above the chassis frame 1, and the bottom end of the body 43 is fixedly connected with the chassis frame 1; the front end of the body 43 is connected with a lifting mechanism; obstacle avoidance assemblies are arranged at the front end and the rear end of the machine body 43; the obstacle avoidance assembly comprises a laser obstacle avoidance sensor 29 and an anti-collision switch 31 arranged above the laser obstacle avoidance sensor 29, wherein the anti-collision switch 31 extends out of the body 43 (in the figure I, the code scanner 35 is displayed, and the anti-collision switch 31 at the front end of the body 43 is hidden). The navigation assembly includes a laser navigation sensor 32; the laser navigation sensor 32 is disposed at the front end of the body 43 and above the bump switch 31. The top of the machine body 43 is provided with an emergency stop button 33; the front end of the machine body 43 is provided with a code scanner 35, the code scanner 35 is arranged above the anti-collision switch 31, and the garbage can is provided with a two-dimensional code matched with the code scanner 35; the right side of the body 43 is also provided with a charging brush plate 30.
As shown in fig. 1 and 6, the front end of the machine body 43 is provided with an installation groove, the installation groove is arranged at the upper part of the machine body 43, and a lifting mechanism is arranged in the installation groove; the vertical lifting mechanism comprises a lifter connected with the front end of the machine body 43, the lifter is vertically arranged and arranged above the code scanner 35, and a weighing and counting assembly is arranged on the lifter; a pair of lifting arms 14 which are horizontally arranged are connected to the lifter, and the lifting arms 14 are arranged at the front end of the lifter; the lift arm 14 is provided with a flip cover.
The riser includes the fixed bolster that links firmly in the mounting groove, and the fixed bolster includes the first fixed plate 13 of a pair of vertical setting, still includes and links firmly second fixed plate 28 with a pair of fixed plate bottom, and second fixed plate 28 level setting and both ends are connected with two first fixed plates 13 respectively. A pair of guide rails which are vertically arranged are fixedly connected to the pair of first fixing plates 13 and are arranged at the front ends of the first fixing plates 13; a pair of vertical primary sliding plates 19 are connected to the pair of guide rails in a sliding manner, and the primary sliding plates 19 are arranged at the front ends of the guide rails; one side (front end) of the pair of first-stage sliding plates 19 far away from the guide rail is connected with a pair of vertical second-stage sliding plates 22 in a sliding way; the side (front end) of each secondary slide plate 22 away from the primary slide plate 19 is fixedly connected with a lifting arm 14.
A vertical electric cylinder 26 is arranged between the pair of guide rails, the bottom end of the electric cylinder 26 is fixedly connected with a second fixing plate 28, the electric cylinder 26 is fixedly connected with the guide rails through fixing supports, the top end of the electric cylinder 26 is fixedly connected with a pressure sensor 15, and a cross ejector rod is fixed at the top end of the pressure sensor 15; the cross ejector rod comprises a supporting rod 17 which is vertically arranged, and the bottom end of the supporting rod 17 is connected with the pressure sensor 15 through threads; the top end of the supporting rod 17 is fixedly connected (in threaded connection) with a horizontal electric cylinder top plate 18, the left end and the right end of the electric cylinder top plate 18 are fixedly connected with the top ends of two first-stage sliding plates 19 respectively, and the top end of the cross ejector rod is fixedly connected with the top ends of a pair of first-stage sliding plates 19 through the electric cylinder top plate 18; the cross ejector pin still includes the lift axle 37 that links firmly with bracing piece 17, and lift axle 37 level sets up, and both ends are rotated and are connected with a pair of sprocket 20 about lift axle 37, all are connected with chain 16 on every sprocket 20. A horizontal fixed pulling plate 21 is connected between the pair of first fixed plates 13, the fixed pulling plate 21 is arranged above the second fixed plate 28, and the left end and the right end of the fixed pulling plate 21 are fixedly connected with the pair of first fixed plates 13; a movable pulling plate 27 is connected between the pair of secondary sliding plates 22, and two ends of the movable pulling plate 27 are fixedly connected with the bottom ends of the pair of secondary sliding plates 22 respectively; one end of each chain 16 is fixedly connected with the fixed pulling plate 21, and the other end is fixedly connected with the movable pulling plate 27.
The pair of lifting arms 14 is perpendicular to the plane of the pair of secondary sliding plates 22; the length direction of the lift arm 14 is the front-rear direction; each lifting arm 14 is fixedly connected with a plurality of vertical cushion blocks 23, two or three cushion blocks 23 can be arranged according to different garbage cans, the plurality of cushion blocks 23 are distributed along the length direction of the lifting arm 14, each cushion block 23 is arranged above the lifting arm 14 and is arranged at one side close to the other lifting arm 14, namely the cushion block 23 is arranged at the inner side of the lifting arm 14; one end (the front end of the lifting arm 14) of each lifting arm 14 far away from the secondary sliding plate 22 is provided with a laser sensor 24; one end, far away from the secondary sliding plate 22, of each lifting arm 14 is obliquely arranged outwards, the front end of each lifting arm is provided with a guide surface 38, the guide surfaces 38 are vertically arranged, the guide surfaces 38 are arranged on the inner sides of the lifting arms 14, and the projection of each guide surface 38 on the horizontal plane is oblique line, namely the front ends of the lifting arms are obliquely outwards in the horizontal direction; each lifting arm 14 is provided with two horizontal guide wheels 25, each guide wheel 25 is arranged below the guide surface 38, and the two guide wheels 25 on the same lifting arm 14 are distributed along the projection direction of the guide surface 38 in the horizontal plane direction.
As shown in fig. 1, 2, and 7, the flip cover includes a flip plate 39 disposed above the lift arm 14; one end of the flip plate 39 is fixedly connected with a rotating shaft 40, the rotating shaft 40 is connected with a motor, the rotating shaft 40 is horizontally arranged and is perpendicular to the lifting arm 14, and the rotating shaft 40 is arranged at one end, close to the secondary sliding plate 22, of the lifting arm 14 and is rotatably connected with the lifting arm 14; the end of the flip plate 39 far away from the rotating shaft 40 is connected with a suction cup 41, and the suction cup 41 is matched with the cover of the garbage can. A pair of vertical support plates 42 are fixedly connected to rear ends of the pair of lift arms 14, the support plates 42 are disposed above the lift arms 14, and the rotation shafts 40 are rotatably connected to the support plates 42.
During work, the laser navigation sensor 32 models the contour of the environment, and carries out map editing and route planning; after the route is planned, the servo motor 4 drives the driving shaft 11 and the driving wheel 12 to rotate through the right-angle planetary reducer 5, so that the robot is driven to run according to the planned route, and the garbage can is conveyed. When the robot runs to the position near the garbage can, the lifting arm 14 approaches the garbage can, the laser sensor 24 senses whether the garbage can is over against the lifting arm 14, and if the garbage can is not over against the lifting arm 14, the position of the robot is adjusted in advance, and the lifting arm 14 is aligned to the garbage can. When the lifting arms 14 move towards the garbage can and are in contact with the garbage can, the side walls of the garbage can are in contact with the guide wheels 25, and the guide wheels 25 further adjust the position of the garbage can to enable the garbage can to smoothly enter between the two lifting arms 14; the code scanner 35 scans the two-dimensional code on the trash can to obtain information, counts data of the trash can, and traces related information of the trash can when needed; when the garbage can touches the anti-collision switch 31, the robot is described to move to a position state that the garbage can be lifted. At this time, the electric cylinder 26 is started and drives the cross ram to ascend, the support rod 17 drives the electric cylinder top plate 18 and the first-stage sliding plate 19 to ascend, the lifting shaft 37 drives the chain wheel 20 and the chain 16 to ascend, the chain 16 drives the movable pulling plate 27 and the second-stage sliding plate 22 to ascend, and the ascending distance of the second-stage sliding plate 22 is twice of that of the first-stage sliding plate 19. The cushion blocks 23 of the pair of lifting arms 14 are just embedded into the inner side of the edge of the garbage can body in the lifting process and drive the garbage can to ascend, and meanwhile, the garbage can be prevented from shaking in the lifting process, and stable transportation is guaranteed. When the garbage bin rises, the pressure sensor 15 weighs the garbage bin and records the number of the conveyed garbage bins.
The electric cylinder 26 drives the garbage can to rise to a set position and then stop, the robot runs along a route to transport the garbage can to a designated position, the electric cylinder 26 retracts and drives the cross ejector rod and the primary sliding plate 19 to descend, the garbage can, the lifting arm 14 and the secondary sliding plate 22 descend and reset under the action of gravity, and the garbage can is put down. The electric cylinder 26 stops descending, at this time, the motor rotates forward to drive the rotating shaft 40 and the flip plate 39 to rotate, so that the flip plate 39 drives the suction cup 41 to rotate to the cover of the trash can, the suction cup 41 sucks the cover of the trash can, and the motor rotates backward to drive the suction cup 41 to open the cover of the trash can. After the garbage can cover is opened, the sucking disc 41 stops adsorbing the garbage can cover, the electric cylinder 26 continuously descends and resets, and after the electric cylinder 26 resets with the first-stage sliding plate 19 and the second-stage sliding plate 22, the robot leaves and continuously transports the next garbage can.
In the running process of the robot, if an obstacle enters the laser protection range of the laser obstacle avoidance sensor 29, the laser obstacle avoidance sensor 29 can sense the obstacle in the sensing range, and the servo motor 4 drives the robot to decelerate and stop. If the barrier leaves the protection range of the robot within the set time, the robot is automatically started and continues to run according to the route; if the preset time is exceeded, the safety protection of the vehicle is still in a triggering state, the robot stops to give an alarm, and the robot can continue to run after manual confirmation, so that the safe and stable operation of production operation is ensured. When a worker encounters an emergency or sudden accident, the worker can quickly press the down emergency stop button 33 of the robot, and the robot immediately carries out contracting brake parking, so that the safety of the robot and personnel is ensured. When the robot needs to supplement electric power, the robot can automatically report and request charging, the control center commands the robot to drive to a designated charging area for charging, the robot is automatically separated from a charging system after charging is completed, and the robot drives to a working area or a standby area to be put into normal operation, the charging process is automatic and intelligent, and no special person is needed to take care of the charging process.
Example 2
In contrast to embodiment 1, the present embodiment is not provided with a flip mechanism. After the robot transports the garbage can to a designated position and puts down the garbage can, the electric cylinder 26 and the cylinder are directly reset with the first-stage sliding plate 19 and the second-stage sliding plate 22 without stopping in the middle, and after the reset, the robot leaves and continues to transport the next garbage can.
Example 3
Compared with the embodiment 1, the lifter of the embodiment is not provided with the weighing and counting assembly, and the bottom end of the supporting rod 17 is directly and fixedly connected with the top end of the electric cylinder 26.
Example 4
In contrast to embodiment 1, the top end of the body 43 of the present embodiment is provided with a rotary warning light 34. When the robot alarms, the rotary warning lamp 34 flickers to prompt a worker to deal with the problem.
Example 5
In comparison with embodiment 1, the present embodiment is not provided with a scanner.

Claims (10)

1. A robot for carrying and turning over a medical waste garbage can AGV is characterized by comprising a chassis mechanism, wherein the chassis mechanism comprises a chassis frame, and a driving assembly is arranged on the chassis frame; a vehicle body mechanism is arranged above the chassis frame and comprises an obstacle avoidance assembly and a navigation assembly; and the vehicle body mechanism is provided with a lifting mechanism.
2. The AGV transporting lid turning robot for medical waste garbage cans according to claim 1, wherein the lifting mechanism comprises a lifter connected with the body mechanism, the lifter is vertically arranged, and a weighing and counting component is arranged on the lifter; the lifter is connected with a pair of horizontally arranged lifting arms, and the lifting arms are arranged on one side of the lifter, which is far away from the vehicle body mechanism; the lifting arm is provided with a cover turning device.
3. The AGV transporting lid turning robot for medical waste garbage cans according to claim 2, wherein the lifter comprises a pair of vertically arranged guide rails, and a pair of vertical primary sliding plates are slidably connected to the pair of guide rails; one side of the pair of primary sliding plates, which is far away from the guide rail, is connected with a pair of vertical secondary sliding plates in a sliding manner; one side of each secondary sliding plate, which is far away from the primary sliding plate, is fixedly connected with a lifting arm; a vertical electric cylinder is arranged between the pair of guide rails, the bottom end of the electric cylinder is fixedly connected with the pair of guide rails, and the top end of the electric cylinder is connected with a cross ejector rod; the top end of the cross ejector rod is fixedly connected with the top ends of the pair of first-stage sliding plates; the left end and the right end of the cross ejector rod are rotatably connected with a pair of chain wheels, each chain wheel is connected with a chain, one end of each chain is fixedly connected with a pair of guide rails, and the other end of each chain is fixedly connected with the bottom ends of the pair of second-stage sliding plates.
4. The AGV transport flap robot of claim 3, wherein the pair of lift arms are perpendicular to a plane in which the pair of secondary slide plates are located; each lifting arm is fixedly connected with a plurality of vertical cushion blocks, the cushion blocks are distributed along the length direction of the lifting arm, and each cushion block is arranged above the lifting arm and is arranged at one side close to the other lifting arm; one end of each lifting arm, which is far away from the secondary sliding plate, is provided with a laser sensor; one end that the second grade slide was kept away from to a pair of lifting arm leans out the setting, every all be provided with the horizontally leading wheel on the lifting arm, every the leading wheel all sets up in the lifting arm below.
5. The medical waste bin AGV transport flipper robot of claim 4, wherein said flipper includes a flipper plate disposed above a lift arm; one end of the flip plate is fixedly connected with a rotating shaft, the rotating shaft is horizontally arranged and is perpendicular to the lifting arm, and the rotating shaft is arranged at one end, close to the secondary sliding plate, of the lifting arm and is in rotating connection with the lifting arm; the rotating shaft is connected with a motor; one end of the turning cover plate, which is far away from the rotating shaft, is connected with a sucker, and the sucker is matched with a cover of the garbage can.
6. The AGV transport lid robot of claim 5, wherein the weigh counting assembly includes a pressure sensor; the bottom end of the pressure sensor is fixedly connected with the top end of the electric cylinder, and the top end of the pressure sensor is fixedly connected with the bottom end of the cross ejector rod.
7. The AGV transport flap robot of claim 6, wherein the drive assembly includes a pair of drive wheels mounted on a chassis frame, the chassis frame having a universal wheel mounted on an end thereof remote from the drive wheels; each driving wheel is connected with a driving shaft, and each driving shaft is rotatably connected with the chassis frame; each driving shaft is connected with a speed reducer, and each speed reducer is connected with a servo motor.
8. The AGV transporting and flipping robot of medical waste garbage cans according to claim 7, wherein the body mechanism includes a vertical body, and a bottom end of the body is fixedly connected with the chassis frame; the machine body is fixedly connected with one end of the guide rail, which is far away from the lifting arm; obstacle avoidance assemblies are arranged at one end, close to the lifting arm, of the machine body and at one end, far away from the lifting arm, of the machine body; keep away barrier subassembly and include that laser keeps away barrier sensor and anticollision switch, anticollision switch stretches out the organism setting.
9. The medical waste bin AGV transport clamshell robot of claim 8, wherein said navigation assembly includes a laser navigation sensor; the laser navigation sensor is arranged at one end of the machine body far away from the lifting arm.
10. The AGV transporting and lid turning robot for medical waste garbage cans according to claim 9, wherein a rotary warning lamp and an emergency stop button are arranged on the top of the machine body; a code scanner is arranged at one end of the machine body close to the lifting arm; and a charging brush plate is also arranged on the machine body.
CN202111073818.2A 2021-09-14 2021-09-14 AGV (automatic guided vehicle) carrying flip robot for medical waste garbage cans Pending CN113603022A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111073818.2A CN113603022A (en) 2021-09-14 2021-09-14 AGV (automatic guided vehicle) carrying flip robot for medical waste garbage cans

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Application Number Priority Date Filing Date Title
CN202111073818.2A CN113603022A (en) 2021-09-14 2021-09-14 AGV (automatic guided vehicle) carrying flip robot for medical waste garbage cans

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CN113603022A true CN113603022A (en) 2021-11-05

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Publication number Priority date Publication date Assignee Title
CN106223675A (en) * 2016-09-19 2016-12-14 沈阳通用机器人技术股份有限公司 A kind of automobile automatic transporting AGV and control method thereof
MX2016017166A (en) * 2016-12-20 2017-07-04 Univ Guadalajara Tribological machine for measuring wear in hip prothesis materials.
CN206783244U (en) * 2017-07-31 2017-12-22 盐城晟阳电子科技有限公司 A kind of laser navigation fork truck
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* Cited by examiner, † Cited by third party
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CN114180239A (en) * 2021-11-26 2022-03-15 云南昆船智能装备有限公司 Automatic unmanned dustbin handling system based on AGV

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