CN116062066B - Intelligence AGV transfer robot - Google Patents

Abstract

The invention discloses an intelligent AGV (automatic guided vehicle) transfer robot, which relates to the technical field of transfer robots and comprises a moving assembly, wherein a supporting assembly is arranged at the top of the moving assembly, a pushing assembly and a positioning assembly are arranged at the top of the supporting assembly, the moving assembly comprises a mounting frame, and supporting arms are arranged at the middle parts of four inner walls of the mounting frame. And, AGV robot has slope or when unevenness in the in-process that removes, and the goods drops from the top of AGV robot easily, leads to the problem of the damage of goods.

Description

Intelligence AGV transfer robot

Technical Field

The invention relates to the technical field of transfer robots, in particular to an intelligent AGV transfer robot.

Background

AGVs Automated Guided Vehicle are abbreviated AGVs, the most common applications currently being: AGV transfer robot or AGV dolly, the main utility is concentrated in automatic commodity circulation and is moved the transportation, and AGV transfer robot is through special landmark navigation automatic transport to appointed place, and the most common guiding mode is the magnetic stripe guide, laser guide.

When carrying out the transport work, the AGV robot generally moves to the lower side of the logistics goods, and the goods are grabbed in a jacking mode of the goods, and then the goods are carried through the self-movement of the AGV robot, however, when carrying the goods, the AGV robot in the prior art needs to move to the unloading position of the goods, so that the goods can be unloaded, and when the goods are loaded into the boxcar, the goods cannot be unloaded into the boxcar because the boxcar cannot be directly connected with the ground of the warehouse, and therefore, the AGV robot can only move to the edge of the warehouse and cannot enter the boxcar, and the goods cannot be unloaded into the boxcar; and, AGV robot is when the in-process that removes, and the ground has slope or unevenness, and the goods drops from the top of AGV robot easily, leads to the damage of goods.

Therefore, it is necessary to invent an intelligent AGV handling robot to solve the above problems.

Disclosure of Invention

The invention aims to provide an intelligent AGV (automatic guided vehicle) carrying robot so as to solve the problems in the background art.

In order to achieve the above purpose, the present invention provides the following technical solutions: the intelligent AGV carrying robot comprises a moving assembly, wherein a supporting assembly is arranged at the top of the moving assembly, and a pushing assembly and a positioning assembly are arranged at the top of the supporting assembly;

The movable assembly comprises a mounting frame, and supporting arms are arranged in the middle of the four inner walls of the mounting frame;

The support assembly comprises a support plate, the support plate is arranged at the top of the installation frame, the middle part of the upper surface of the support plate is rotationally connected with a support column, the top end of the support column is provided with a movable plate, the middle parts of two sides of the bottom surface of the support plate are respectively provided with a fixed block, two fixed blocks are rotationally connected with two bidirectional screws, two symmetrical threads of the two bidirectional screws are sleeved with the movable block, and the top surface of the movable block is provided with an electromagnet;

Storage grooves are symmetrically formed in two sides of the supporting plate, protection plates are in sliding fit in the storage grooves, guide grooves corresponding to the movable blocks are formed in the bottoms of the storage grooves, and metal sliding seats are connected in the guide grooves in a sliding mode;

The middle part of the top surface of the support column is provided with a rubber seat, the top of the rubber seat is fixedly connected with the bottom surface of the movable plate, and the edge of the top surface of the support column is provided with a pressure sensor in a circumferential array;

The pushing assembly comprises a fixed box, and the fixed box is arranged in the middle of the surface of the movable plate;

the positioning assembly comprises a push plate, and the push plate is arranged between the support plate and the movable plate.

Preferably, the bottom surfaces of the movable blocks on two sides are hinged with support arms, one ends of the two groups of support arms, far away from the bidirectional screw, are respectively hinged with the middle parts of the surfaces of the two support arms, the bottom surface of the movable plate is provided with a lifting motor, and an output shaft of the lifting motor is fixedly connected with one end of the bidirectional screw.

Preferably, the inside rotation of fixed case is connected with accommodate the lead screw, the outside one end of fixed case is equipped with pushes away the material motor, the output shaft of pushing away the material motor and the one end fixed connection of accommodate the lead screw, the surface middle part of fixed case runs through and has seted up the bar groove, the inside of bar groove runs through and is provided with the slider, the middle part of slider runs through and has seted up the lead screw groove with accommodate the lead screw looks adaptation, the top of slider is equipped with the slide of "L" shape structure, the slide is located the top of fixed case.

Preferably, movable rods are arranged at two ends of the inner side face of the push plate, a plurality of movable frames which are distributed at equal intervals are arranged on the movable rods, positioning rods are arranged in the movable frames in a penetrating mode, positioning plates are arranged at two ends of the positioning rods, transmission rods are arranged at the top ends of the positioning plates, movable seats of V-shaped structures are arranged at two ends of the transmission rods, a first support and a second support are arranged in the middle of two ends of each movable seat respectively, supporting seats are movably connected to the top ends of the first support, and idler wheels are arranged at the top ends of the second support.

Preferably, the outside of support column is fixed to be cup jointed the worm wheel, one side of worm wheel is provided with the worm, the equal swing joint in both ends of worm has the fixing base, and two the fixing base all sets up in the surface of backup pad, one of them the side of fixing base is equipped with the switching-over motor, the output shaft of switching-over motor and the one end fixed connection of worm.

Preferably, the inside middle part of installing frame is provided with the annular plate, the side of annular plate with the tip fixed connection of support arm, the inside rotation of annular plate is connected with the drive seat, ring gear has been cup jointed to the top of drive seat is fixed, one of them the surface of support arm is equipped with the frame, be provided with the motor that turns to on the frame, the output shaft that turns to the motor is equipped with the drive gear with ring gear meshing, the bottom surface of drive seat is provided with the transmission shaft, the both ends of transmission shaft all rotate and are connected with the positioning seat, the bottom surface fixed connection of positioning seat and drive seat, the both ends of transmission shaft all are provided with the walking wheel, the surface of drive seat is provided with the walking motor, the main belt wheel of the output shaft tip of walking motor passes through the vice band pulley transmission connection at the middle part of driving belt, the middle part of drive seat runs through and has offered the square groove with driving belt looks adaptation.

Preferably, the outside four corners department of backup pad all is equipped with the extension piece, the bottom surface middle part of extension piece is equipped with the spacer sleeve, the surface both ends of fly leaf all are equipped with the riser, the both ends of transfer line rotate with the side of riser and fixed box respectively and be connected, the surface both ends of fly leaf all are provided with the casing, go up the surface both sides of casing and run through and have offered the logical groove with gyro wheel looks adaptation.

Preferably, the middle part in the outer side of the push plate is provided with an electric push rod, one end of the electric push rod far away from the push plate is provided with a mounting seat, and the mounting seat is arranged in the middle part of one end of the bottom surface of the movable plate.

Preferably, the inside four corners department of installing frame all is equipped with extends the seat, the bottom that extends the seat is provided with the universal wheel, the outside four corners department of installing frame all is equipped with spacing seat, the surface of spacing seat is equipped with the gag lever post with the spacer bush grafting, the outside of installing frame is equipped with the PLC controller.

Preferably, the side both ends of slide all are equipped with the slot seat, the top of slot seat is provided with the pushing plate, the bottom both sides of pushing plate are equipped with the inserted block that peg graft mutually with the slot seat.

The invention has the technical effects and advantages that:

1. the automatic loading and unloading device solves the problem that the carrying of the AGV robot is affected by the fact that the freight car and the warehouse are not connected, and the positioning assembly plays roles in positioning cargoes and assisting in pushing materials, so that the stable carrying of the AGV robot is ensured.

2. According to the invention, when goods are deflected, the two sides of the goods are tightly pressed through the supporting force of the supporting seat on the goods in an inclined way and the pushing force of the pushing plate on the goods in the horizontal direction, so that the goods are further fixed and clamped, and the goods are prevented from falling.

3. According to the invention, when the goods are further deflected, the protection plates on the two sides are unfolded, and the direction of the deflection of the goods corresponds to the extending direction of the protection plates, so that the protection plates can be utilized to prevent the goods from falling off in time when the goods fall.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention;

FIG. 2 is a schematic view of the positional relationship between a support assembly and a pushing assembly according to the present invention;

FIG. 3 is a schematic diagram of the positional relationship between the pushing assembly and the positioning assembly according to the present invention;

FIG. 4 is a schematic diagram of a support column according to the present invention;

FIG. 5 is a bottom view of the movable plate of the present invention;

FIG. 6 is a schematic view of a deck structure according to the present invention;

FIG. 7 is a schematic view of a skateboard structure according to the present invention;

FIG. 8 is a schematic view of a positioning assembly according to the present invention;

FIG. 9 is a schematic view of a movable seat according to the present invention;

FIG. 10 is a schematic diagram of a mobile assembly according to the present invention;

FIG. 11 is a schematic view of a bottom view of a mobile assembly according to the present invention;

FIG. 12 is a schematic view of a mounting frame structure of the present invention;

FIG. 13 is a schematic diagram of a mounting arm according to the present invention;

Fig. 14 is an enlarged schematic view of the structure of fig. 13 a according to the present invention.

In the figure: 1. a moving assembly; 2. a support assembly; 3. a pushing component; 4. a positioning assembly; 101. a mounting frame; 102. a support arm; 103. an annular plate; 104. a driving seat; 105. a ring gear; 106. a steering motor; 107. a drive gear; 108. a transmission shaft; 110. a walking wheel; 111. a walking motor; 112. a drive belt; 114. an extension seat; 115. a universal wheel; 117. a limit rod; 118. a PLC controller; 201. a support plate; 2011. a storage groove; 2012. a protection plate; 2013. a guide groove; 2014. a metal slide; 2015. an electromagnet; 202. a support column; 2021. a rubber seat; 2022. a pressure sensor; 203. a movable plate; 205. a bidirectional screw; 206. a movable block; 208. a support arm; 209. a worm wheel; 210. a worm; 212. reversing the motor; 214. a positioning sleeve; 215. a riser; 216. an upper housing; 218. a lifting motor; 301. a fixed box; 302. adjusting a screw rod; 303. a pushing motor; 305. a slide block; 307. a slide plate; 308. a groove seat; 309. a pushing plate; 401. a push plate; 402. a movable rod; 403. a movable frame; 404. a positioning rod; 405. a positioning plate; 406. a transmission rod; 407. a movable seat; 408. a first support; 409. a second support; 410. a support base; 411. a roller; 412. an electric push rod; 413. and (5) a mounting seat.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

First embodiment:

1-13, the invention provides an intelligent AGV (automatic guided vehicle) carrying robot, which comprises a moving assembly 1, wherein a supporting assembly 2 is arranged at the top of the moving assembly 1, and a pushing assembly 3 and a positioning assembly 4 are arranged at the top of the supporting assembly 2;

the moving assembly 1 comprises a mounting frame 101, supporting arms 102 are arranged in the middle of the four inner walls of the mounting frame 101, an annular plate 103 is arranged in the middle of the inner side of the mounting frame 101, the side face of the annular plate 103 is fixedly connected with the end part of the supporting arm 102, a driving seat 104 is rotatably connected in the annular plate 103, a ring gear 105 is fixedly sleeved on the top of the driving seat 104, a machine base is arranged on the surface of one supporting arm 102, a steering motor 106 is arranged on the machine base, and a driving gear 107 meshed with the ring gear 105 is arranged on an output shaft of the steering motor 106.

Specifically, the steering motor 106 can drive the driving seat 104 to rotate through the driving gear 107 and the ring gear 105, so that the adjustment of the running direction of the device can be realized, and the steering function is realized.

The four corners of the inner side of the installation frame 101 are respectively provided with an extension seat 114, the bottom of the extension seat 114 is provided with universal wheels 115, the four corners of the outer side of the installation frame 101 are respectively provided with a limit seat, the surface of each limit seat is provided with a limit rod 117 which is spliced with a locating sleeve 214, and the outer side of the installation frame 101 is provided with a PLC (programmable logic controller) 118.

Specifically, the stop lever 117 and the positioning sleeve 214 cooperate to ensure the stability of the movement between the support plate 201 and the mounting frame 101, and the PLC controller 118 can control the steering motor 106, the traveling motor 111, the reversing motor 212, the lifting motor 218, the pushing motor 303 and the electric push rod 412, so as to realize intelligent control of the device, and meanwhile, the PLC controller 118 can be externally connected with a guiding module to realize automatic path finding and automatic carrying of the AGV robot.

The bottom surface of drive seat 104 is provided with transmission shaft 108, and the both ends of transmission shaft 108 all rotate and are connected with the positioning seat, and the bottom surface fixed connection of positioning seat and drive seat 104, and the both ends of transmission shaft 108 all are provided with walking wheel 110, and the surface of drive seat 104 is provided with walking motor 111, and the main belt wheel of the output shaft tip of walking motor 111 passes through drive belt 112 and the vice band pulley transmission connection in the middle part of transmission shaft 108, and the square groove with drive belt 112 looks adaptation has been run through in the middle part of drive seat 104.

Specifically, the square groove is formed to ensure that the transmission belt 112 can realize the transmission of the traveling motor 111 and the transmission shaft 108.

The support component 2 includes backup pad 201, backup pad 201 sets up in the top of installing frame 101, the upper surface middle part rotation of backup pad 201 is connected with support column 202, the top of support column 202 is equipped with fly leaf 203, the bottom surface both sides middle part of backup pad 201 all is equipped with the fixed block, rotate on two fixed blocks and be connected with bi-directional screw 205, the bilateral symmetry screw thread of bi-directional screw 205 has cup jointed movable block 206, the bottom surface of the movable block 206 of both sides all articulates has support arm 208, the one end that bi-directional screw 205 was kept away from to two sets of support arms 208 articulates with the surface middle part of two support arms 102 respectively, the bottom surface of fly leaf 203 is equipped with elevator motor 218, elevator motor 218's output shaft and bi-directional screw 205's one end fixed connection.

Specifically, the bidirectional screw 205 is in threaded connection with the movable blocks 206 on two sides, so that the two movable blocks 206 are in relative motion, the movable blocks 206 drive the support arms 208 to move, the angles of the support arms 208 are changed, the support arms 208 can drive the support plate 201 to move, the distance between the support plate 201 and the mounting frame 101 is changed, and therefore the device height can be adjusted, and the adaptability of the device can be improved.

Extension blocks are arranged at four corners of the outer side of the supporting plate 201, positioning sleeves 214 are arranged in the middle of the bottom surface of the extension blocks, vertical plates 215 are arranged at two ends of the surface of the movable plate 203, two ends of a transmission rod 406 are respectively connected with the vertical plates 215 and the side surfaces of the fixed box 301 in a rotating mode, an upper shell 216 is arranged at two ends of the surface of the movable plate 203, and through grooves matched with the idler wheels 411 are formed in two sides of the surface of the upper shell 216 in a penetrating mode.

Specifically, the upper housing 216 may protect the positioning assembly 4, and the roller 411 and the support base 410 may move to above the device through the through slot.

The outside of support column 202 has fixedly cup jointed worm wheel 209, and one side of worm wheel 209 is provided with worm 210, and the both ends of worm 210 all swing joint has the fixing base, and two fixing bases all set up in the surface of backup pad 201, and the side of one of them fixing base is equipped with reversing motor 212, reversing motor 212's output shaft and worm 210's one end fixed connection.

Specifically, the reversing motor 212 drives the worm 210 to rotate, the worm 210 drives the worm wheel 209 to rotate, the worm wheel 209 drives the support column 202 to rotate, and the support column 202 drives the movable plate 203 to rotate, so that the adjustment of the cargo unloading angle can be realized, and meanwhile, the worm 210 and the worm wheel 209 have a self-locking effect, and the stability of the cargo in the carrying process can be ensured.

The pushing assembly 3 comprises a fixed box 301, the fixed box 301 is arranged in the middle of the surface of the movable plate 203, an adjusting screw rod 302 is rotatably connected to the inside of the fixed box 301, a pushing motor 303 is arranged at one end of the outer side of the fixed box 301, an output shaft of the pushing motor 303 is fixedly connected with one end of the adjusting screw rod 302, a strip-shaped groove is formed in the middle of the surface of the fixed box 301 in a penetrating mode, a sliding block 305 is arranged in the middle of the strip-shaped groove in a penetrating mode, a screw rod groove matched with the adjusting screw rod 302 is formed in the middle of the sliding block 305 in a penetrating mode, an L-shaped sliding plate 307 is arranged at the top end of the sliding block 305, the sliding plate 307 is located above the fixed box 301, groove seats 308 are formed in two ends of the side face of the sliding plate 307, a pushing plate 309 is arranged on the groove seats 308, and plug-in blocks are arranged on two sides of the bottom of the pushing plate 309 and are plugged with the groove seats 308.

Specifically, the adjusting screw 302 is matched with the screw groove, so that the sliding block 305 horizontally slides, the sliding block 305 drives the sliding plate 307 to move, and then the pushing plate 309 is driven to horizontally slide, so that goods are pushed out horizontally, the inserting block is matched with the groove seat 308, the pushing plate 309 can be mounted, and the pushing effect of the device on different types of goods can be improved by replacing the pushing plates 309 with different shapes and specifications.

The locating component 4 comprises a push plate 401, the push plate 401 is arranged between the supporting plate 201 and the movable plate 203, movable rods 402 are arranged at two ends of the inner side surface of the push plate 401, a plurality of movable frames 403 which are distributed at equal intervals are arranged on the movable rods 402, locating rods 404 are arranged in the movable frames 403 in a penetrating mode, locating plates 405 are arranged at two ends of the locating rods 404, transmission rods 406 are arranged at the top ends of the locating plates 405, movable seats 407 of a V-shaped structure are arranged at two ends of the transmission rods 406, a first support 408 and a second support 409 are arranged at the middle parts of the two ends of the movable seats 407 respectively, supporting seats 410 are movably connected at the top ends of the first support 408, idler wheels 411 are arranged at the top ends of the second support 409, electric push rods 412 are arranged at the middle parts of the outer sides of the push plate 401, mounting seats 413 are arranged at one ends of the electric push rods 412 away from the push plate 401, and the mounting seats 413 are arranged at the middle parts of one ends of the bottom surfaces of the movable plate 203.

Specifically, when carrying goods, electric putter 412 extends, and second support 409 drives supporting seat 410 motion for supporting seat 410 jack-up the goods, and the device can realize the snatching of goods this moment, and when the device was released the goods, electric putter 412 shortened, and first support 408 drives gyro wheel 411 upward movement, and the goods can slide on gyro wheel 411 this moment.

More specifically, the electric push rod 412 drives the push plate 401 to move, the push plate 401 drives the movable rod 402 to move, and then drives the movable frame 403 to move, the inner wall of the movable frame 403 presses the positioning rod 404, so that the positioning rod 404 slides, and the positioning rod 404 can drive the positioning plate 405 to move, and then drive the transmission rod 406 to move, and the transmission rod 406 drives the movable seat 407 to rotate, so as to drive the first support 408 and the second support 409 to rotate.

When the device of the embodiment is used, the moving assembly 1 integrally moves the device to the position below a goods shelf, the supporting seat 410 on the positioning assembly 4 jacks up goods, the device achieves grabbing of the goods, the moving assembly 1 drives the device integrally and the goods to move until the device integrally moves to the edge of a warehouse at the berthing position of a boxcar, the unloading angle of the goods can be adjusted through the supporting assembly 2, then unloading operation can be carried out, the supporting seat 410 on the positioning assembly 4 descends, the roller 411 ascends, the pushing assembly 3 can horizontally push the goods, the goods can be pushed into the boxcar, and the carrying work from the warehouse to the boxcar can be completed.

When the moving assembly 1 drives the device to integrally move, the driving shaft 108 is driven by the moving motor 111 to rotate through the driving belt 112, the moving shaft 108 drives the moving wheel 110 to rotate, the moving wheel 110 is matched with the universal wheel 115, so that the device horizontally moves, when the moving direction of the device is changed, the steering motor 106 drives the driving gear 107 to rotate, the driving gear 107 drives the ring gear 105 to rotate, the driving seat 104 rotates, the driving seat 104 drives the moving wheel 110 to rotate, the moving direction of the moving wheel 110 is changed, the moving wheel 110 acts on the device, the moving direction of the device is changed, the direction of the universal wheel 115 is changed, at the moment, the moving direction of the device is switched, and the steering function is realized.

When the goods are jacked up by the positioning component 4, the electric push rod 412 drives the push plate 401 to move, the push plate 401 drives the movable rod 402 to move, and then drives the movable frame 403 to move, the inner wall of the movable frame 403 extrudes the positioning rod 404, so that the positioning rod 404 slides, and the positioning rod 404 can drive the positioning plate 405 to move, and then drives the transmission rod 406 to move, because two ends of the transmission rod 406 are respectively movably connected with the fixed box 301 and the vertical plate 215 through bearings, the transmission rod 406 rotates under the action of the positioning plate 405, and the transmission rod 406 drives the movable seat 407 to rotate, so that the first support 408 and the second support 409 are driven to rotate, when the device carries the goods, the electric push rod 412 extends, the second support 409 drives the support seat 410 to move, so that the support seat 410 jacks the goods, at the moment, the device can realize grabbing of the goods, when the device pushes the goods out, the electric push rod 412 shortens, the first support 408 drives the roller 411 to move upwards, and at the moment the goods can slide on the roller 411.

When the pushing assembly 3 pushes out the goods, the pushing motor 303 drives the adjusting screw 302 to rotate, the adjusting screw 302 is matched with the screw groove, the sliding block 305 horizontally slides, the sliding block 305 drives the sliding plate 307 to move, and then the pushing plate 309 horizontally slides, so that the goods are pushed out horizontally.

When the unloading angle of the goods is adjusted through the supporting component 2, the reversing motor 212 drives the worm 210 to rotate, the worm 210 drives the worm wheel 209 to rotate, the worm wheel 209 drives the support column 202 to rotate, and the support column 202 drives the movable plate 203 to rotate, so that the adjustment of the unloading angle of the goods can be realized.

When the device is adjusted according to the bottom suspension height of the goods shelf, the lifting motor 218 is utilized to drive the bidirectional screw 205 to rotate, so that the two movable blocks 206 move relatively, the movable blocks 206 drive the support arms 208 to move, the angles of the support arms 208 change, the support arms 208 can drive the support plates 201 to move, the distance between the support plates 201 and the mounting frame 101 changes, and therefore the adjustment of the device height can be achieved, and the adaptability of the device can be improved.

Second embodiment:

As shown in fig. 14, an intelligent AGV transfer robot provided based on the first embodiment, in the actual use, especially when this intelligent AGV transfer robot travels on a road surface having a gradient or not being sufficiently flat, can cause the goods at top to deviate to one side, if not in time intervene and adjust, can cause the goods to drop easily, causes the damage of goods, in order to solve the above-mentioned problem:

An electromagnet 2015 is provided on the top surface of the movable block 206.

The two sides of the supporting plate 201 are symmetrically provided with a storage groove 2011, a protection plate 2012 is in sliding fit with the inside of the storage groove 2011, a guide groove 2013 corresponding to the movable block 206 is formed in the bottom of the storage groove 2011, and a metal sliding seat 2014 is connected in a sliding manner in the guide groove 2013.

The middle part of the top surface of the support column 202 is provided with a rubber seat 2021, the top of the rubber seat 2021 is fixedly connected with the bottom surface of the movable plate 203, the edge of the top surface of the support column 202 is provided with a pressure sensor 2022 in a circumferential array, and the top surface of the pressure sensor 2022 is coplanar with the top surface of the rubber seat 2021.

The flexible connection between the support column 202 and the movable plate 203 can be realized by the rubber seat 2021, the rubber seat 2021 has better elastic deformation capability, and when goods are deflected, the pressure of the movable plate 203 received by the goods can be transmitted to the pressure sensor 2022, so that the change of the pressure of the movable plate 203 can be conveniently and rapidly sensed.

When the device of the embodiment is used, the pressure sensors 2022 are four, and the four pressure sensors 2022 are respectively arranged at four directions of the front, the rear, the left and the right of the support column 202, when the goods at the top are deflected to one side, the elastic deformation of the rubber seat 2021 can cause the stress of the pressure sensor 2022 at the side to be increased, so that the goods at the top are actively judged to be in a deflection state.

In the running process of the intelligent AGV robot, when the goods at the top are biased to one side, the stress of the pressure sensor 2022 corresponding to the side is increased, when the pressure sensor 2022 at the side detects that the stress of the pressure sensor 2022 at the side reaches a preset first threshold value, the goods are judged to be in a deflection state, the electric push rod 412 is started at the moment, the electric push rod 412 continues to stretch, the movable rod 402 is driven to move through the push plate 401, the supporting seat 410 is further driven to move upwards, the supporting force for the goods at the top is further increased, meanwhile, the pushing motor 303 is started, the adjusting screw 302 is driven to rotate, the pushing plate 309 is driven to move through the sliding plate 307, the side of the goods is tightly attached to the pushing plate 309, and then the two sides of the goods are tightly pressed through the supporting force of the supporting seat 410 and the pushing force of the goods on the pushing plate 309 in the horizontal direction, the goods are further fixedly clamped, and the goods are prevented from falling.

In addition, when the goods biased to one side continuously deflect outwards, the center position of the goods is closer to the pressure sensor 2022 on the side, and then the stress of the pressure sensor 2022 on the side is further increased, when the pressure on the pressure sensor 2022 on the side is larger than a second threshold value set by the side pressure sensor 2022 and the second threshold value is larger than a first threshold value, the electromagnet 2015 and the lifting motor 218 are started, the lifting motor 218 is utilized to drive the bidirectional screw 205 to rotate, the movable blocks 206 on the two sides are far away from each other, meanwhile, the magnetic attraction generated by the electromagnet 2015 is utilized to absorb the metal sliding seat 2014, so that the movable blocks 206 on the two sides are far away from each other, the protection plates 2012 on the two sides are driven to be unfolded to the two sides respectively, meanwhile, the reversing motor 212 is started to drive the worm 210 to rotate, the support column 202 is driven to rotate by meshing of the worm 210 and the worm wheel 209, then the movable plate 203 is driven to rotate, the direction of the goods is realized, the direction of the goods on the top is enabled to be corresponding to the extending direction of the protection plate 2012, and accordingly, when the goods drop, the protection plate 2012 can be utilized to prevent the goods from falling on the ground.

In addition, this intelligence AGV transfer robot is when going on the slope or downhill, because supporting seat 410 stretches out the length limited, in order to prevent the landing of goods, utilizes reversing motor 212 to drive worm 210 and rotates, and worm 210 drives worm wheel 209 and rotates, adjusts the position that is close to the slope bottom all the time with pushing away the flitch 309, starts simultaneously and pushes away material motor 303 and drives accommodate lead screw 302 and rotate, and the drive pushes away the flitch 309 and applys thrust to the goods, prevents the goods landing.

Therefore, according to the above embodiment, this intelligent AGV transfer robot has effectively solved when the ground that is uneven or has the slope goes, effectively prevents the skew of goods to effectively avoided the goods to drop from the top and lead to the condition that the goods damaged, have better guard action to the goods.

Claims (5)

1. The intelligent AGV carrying robot is characterized by comprising a moving assembly, wherein the top of the moving assembly is provided with a supporting assembly, and the top of the supporting assembly is provided with a pushing assembly and a positioning assembly;

The movable assembly comprises a mounting frame, and supporting arms are arranged in the middle of the four inner walls of the mounting frame;

The support assembly comprises a support plate, the support plate is arranged at the top of the installation frame, the middle part of the upper surface of the support plate is rotationally connected with a support column, the top end of the support column is provided with a movable plate, the middle parts of two sides of the bottom surface of the support plate are respectively provided with a fixed block, two fixed blocks are rotationally connected with two bidirectional screws, two symmetrical threads of the two bidirectional screws are sleeved with the movable block, and the top surface of the movable block is provided with an electromagnet;

Storage grooves are symmetrically formed in two sides of the supporting plate, protection plates are in sliding fit in the storage grooves, guide grooves corresponding to the movable blocks are formed in the bottoms of the storage grooves, and metal sliding seats are connected in the guide grooves in a sliding mode;

The middle part of the top surface of the support column is provided with a rubber seat, the top of the rubber seat is fixedly connected with the bottom surface of the movable plate, and the edge of the top surface of the support column is provided with a pressure sensor in a circumferential array;

The outer side of the support column is fixedly sleeved with a worm wheel, one side of the worm wheel is provided with a worm, two ends of the worm are movably connected with fixing seats, the two fixing seats are arranged on the surface of the support plate, one side surface of one fixing seat is provided with a reversing motor, and an output shaft of the reversing motor is fixedly connected with one end of the worm;

The pushing assembly comprises a fixed box, the fixed box is arranged in the middle of the surface of the movable plate, an adjusting screw rod is rotationally connected in the fixed box, a pushing motor is arranged at one end of the outer side of the fixed box, an output shaft of the pushing motor is fixedly connected with one end of the adjusting screw rod, a strip-shaped groove is formed in the middle of the surface of the fixed box in a penetrating mode, a sliding block is arranged in the strip-shaped groove in a penetrating mode, a screw rod groove matched with the adjusting screw rod is formed in the middle of the sliding block in a penetrating mode, an L-shaped sliding plate is arranged at the top end of the sliding block, the sliding plate is located above the fixed box, groove seats are formed in two ends of the side face of the sliding plate, a pushing plate is arranged above the groove seats, and inserting blocks which are inserted into the groove seats are arranged on two sides of the bottom of the pushing plate;

the positioning assembly comprises a push plate, the push plate is arranged between a supporting plate and a movable plate, movable rods are arranged at two ends of the inner side surface of the push plate, a plurality of movable frames which are distributed at equal intervals are arranged on the movable rods, positioning rods are arranged in the movable frames in a penetrating manner, positioning plates are arranged at two ends of the positioning rods, transmission rods are arranged at the top ends of the positioning plates, movable seats of a V-shaped structure are arranged at two ends of the transmission rods, a first support and a second support are respectively arranged in the middle of two ends of each movable seat, a supporting seat is movably connected to the top end of each first support, and idler wheels are arranged at the top ends of the second supports;

the electric push rod is arranged in the middle of the outer side of the push plate, an installation seat is arranged at one end, far away from the push plate, of the electric push rod, and the installation seat is arranged in the middle of one end of the bottom surface of the movable plate.

2. The intelligent AGV handling robot of claim 1 wherein: the bottom surfaces of the movable blocks on two sides are hinged with support arms, one ends of the two groups of support arms, which are far away from the bidirectional screw rods, are respectively hinged with the middle parts of the surfaces of the two support arms, the bottom surfaces of the movable plates are provided with lifting motors, and output shafts of the lifting motors are fixedly connected with one ends of the bidirectional screw rods.

3. The intelligent AGV handling robot of claim 1 wherein: the utility model discloses a drive belt, including the mounting frame, the inboard middle part of mounting frame is provided with the annular plate, the side of annular plate with the tip fixed connection of support arm, the inside rotation of annular plate is connected with the drive seat, ring gear has been fixedly cup jointed at the top of drive seat, one of them the surface of support arm is equipped with the frame, be provided with the motor that turns to on the frame, the output shaft that turns to the motor is equipped with the drive gear with ring gear meshing, the bottom surface of drive seat is provided with the transmission shaft, the both ends of transmission shaft all rotate and are connected with the positioning seat, the bottom surface fixed connection of positioning seat and drive seat, the both ends of transmission shaft all are provided with the walking wheel, the surface of drive seat is provided with the walking motor, the main belt wheel of the output shaft tip of walking motor passes through the vice band pulley transmission connection at the middle part of driving belt, the middle part of drive seat runs through and has seted up the square groove with driving belt looks adaptation.

4. The intelligent AGV handling robot of claim 1 wherein: the outside four corners department of backup pad all is equipped with the extension piece, the bottom surface middle part of extension piece is equipped with the spacer sleeve, the surface both ends of fly leaf all are equipped with the riser, the both ends of transfer line rotate with the side of riser and fixed case respectively and be connected, the surface both ends of fly leaf all are provided with the casing, go up the surface both sides of casing run through and have seted up the logical groove with gyro wheel looks adaptation.

5. The intelligent AGV handling robot of claim 4 wherein: the utility model discloses a PLC installation frame, including the installation frame, the inboard four corners department of installation frame all is equipped with extends the seat, the bottom that extends the seat is provided with the universal wheel, the outside four corners department of installation frame all is equipped with the spacing seat, the surface of spacing seat is equipped with the gag lever post with the position sleeve grafting, the outside of installation frame is equipped with the PLC controller.