CN116238618A - Storage commodity circulation handling device based on AGV mobile robot - Google Patents
Storage commodity circulation handling device based on AGV mobile robot Download PDFInfo
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- CN116238618A CN116238618A CN202310147498.3A CN202310147498A CN116238618A CN 116238618 A CN116238618 A CN 116238618A CN 202310147498 A CN202310147498 A CN 202310147498A CN 116238618 A CN116238618 A CN 116238618A
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- 230000007246 mechanism Effects 0.000 claims abstract description 83
- 238000001125 extrusion Methods 0.000 claims description 9
- 230000003014 reinforcing effect Effects 0.000 claims description 7
- 230000000694 effects Effects 0.000 abstract description 5
- 230000007723 transport mechanism Effects 0.000 description 5
- 230000005484 gravity Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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Abstract
The invention discloses a warehouse logistics transport device based on an AGV mobile robot, which belongs to the technical field of logistics transport and comprises a vehicle body, wherein protection plates are symmetrically and fixedly connected to the left side and the right side of the upper surface of the vehicle body, and a support plate is arranged in the middle of the upper side of the vehicle body; the surfaces of the sides, far away from each other, of the left and right side protection plates are provided with carrying mechanisms; the rear side of the vehicle body is provided with a sliding frame, the upper side surface of the sliding frame is provided with a lifting mechanism, the surface of the vehicle body is provided with a first driving mechanism, and the first driving mechanism is used for driving the carrying mechanism and the lifting mechanism to operate in a coordinated manner; the device can realize automatic transport material and can be stable with the effect that a plurality of materials stacked up, can guarantee that the material is right side up all the time when carrying the material again simultaneously, can guarantee the security of material.
Description
Technical Field
The invention relates to the technical field of logistics transport, in particular to a warehouse logistics transport device based on an AGV mobile robot.
Background
AGV mobile robots are also commonly referred to as AGV carts; an electromagnetic or optical automatic navigation device capable of traveling along a predetermined navigation path, comprisingSecurity protectionTransportation with various transfer functionsAnd (5) a vehicle.
The existing AGV mobile robot generally has traction type and carrying type, and the carrying type AGV mobile robot needs the manual work to carry the material to the automobile body when transporting the material to pile a plurality of materials, the operation is more laborious, and relies on the arm to realize the effect of automatic handling material although stacking the material, but the material can be piled up more and more, so the arm not only needs very high of design, but also needs the complicated procedure of design, use cost is great, can lead to the automobile body focus unstable easily when the arm design is higher simultaneously.
Disclosure of Invention
The invention aims to provide a warehouse logistics carrying device based on an AGV mobile robot, which aims to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the storage logistics carrying device based on the AGV mobile robot comprises a vehicle body, wherein protection plates are symmetrically and fixedly connected to the left side and the right side of the upper side surface of the vehicle body, and a support plate is arranged in the middle of the upper side of the vehicle body; the surfaces of the sides, far away from each other, of the protection plates on the left side and the right side are respectively provided with a carrying mechanism, and the carrying mechanisms are used for stably carrying materials to the surfaces of the support plates; the back side of the car body is provided with a sliding frame, the upper side surface of the sliding frame is provided with a lifting mechanism, and the lifting mechanism is used for driving the supporting plate to automatically reduce the thickness of one material when the carrying mechanism carries the material to the surface of the supporting plate, so that the next material can be stably stacked on the surface of the last material; the surface of the vehicle body is provided with a first driving mechanism, and the first driving mechanism is used for driving the carrying mechanism and the lifting mechanism to operate in a coordinated manner.
The carrying mechanism comprises two first connecting rods, and the two first connecting rods are equal in length and parallel to each other; the rear end parts of the two first connecting rods are rotationally connected with the protection plate; the front end parts of the two connecting rods are provided with first connecting frames which are simultaneously connected with the two connecting rods in a rotating way; the device comprises a first connecting frame, a second connecting frame, a clamping plate, a first sliding rod, a second sliding rod, a clamping plate and a clamping plate.
The lifting mechanism comprises two first threaded rods, and the two first threaded rods are distributed at the left side and the right side of the sliding frame; the two first threaded rods are rotationally connected with the sliding frame and are in threaded fit with the supporting plate, and the first threaded rods have self-locking performance; the middle part of the upper surface of the sliding frame is fixedly connected with a reinforcing rod, and the reinforcing rod is in sliding connection with the supporting plate.
The first driving mechanism comprises a motor, the motor is fixedly connected with a vehicle body, output shafts at the left end and the right end of the motor are symmetrically and fixedly connected with a first bevel gear, the first bevel gear is rotationally connected with the vehicle body, a second bevel gear is meshed with the surface of the first bevel gear, the second bevel gears at the left side and the right side are respectively rotationally connected with protection plates at the left side and the right side, the second bevel gears are coaxially and fixedly connected with a second threaded rod, and the second threaded rod has self-locking property; a first chute is formed in the position of the surface of the protection plate along the second threaded rod, and a second connecting frame is connected in a sliding manner in the first chute; the surface of the protection plate is provided with a telescopic rod at the outer side of the first chute, the lower side part of the telescopic rod is fixedly connected with a first push plate, and the upper side part of the telescopic rod is fixedly connected with a second push plate; the connection position of the second connecting frame and the second threaded rod is positioned in the middle of the telescopic rod, and the second connecting frame is fixedly connected with the upper part of the telescopic rod; the upper side and the lower side of the telescopic rod are respectively provided with a second driving mechanism and a third driving mechanism, the second driving mechanism is used for driving the carrying mechanism to operate, and the third driving mechanism is used for driving the lifting mechanism to operate in cooperation with the carrying mechanism.
The second driving mechanism comprises first racks, a second chute is formed in the position, corresponding to the first racks, of the surface of the protection plate, the length of the second chute is greater than that of the two first racks, and the first racks are in sliding connection with the second chute; the bottom part of the first rack is attached to the surface of the first push plate; the worm wheel is fixedly connected to the position, at the joint of the first connecting rod surface and the protection plate, of the bottom side, a worm is arranged at the upper side of the worm wheel, the worm is rotationally connected with the protection plate and meshed with the worm wheel, a first gear is fixedly connected to one end of the bottom side of the worm, the first gear is meshed with the first rack, and the first gear is positioned in the middle of the second chute; the second pushing plate is positioned on the sliding track on the upper side of the first rack.
The third driving mechanism comprises a second rack, a third chute is formed in the position, corresponding to the second rack, of the surface of the protection plate, and the second rack is in sliding connection with the third chute; the second rack is equal to the first rack in length, and the second chute is equal to the third chute in length; the bottom part of the second rack is attached to the surface of the first push plate; the surface of the protection plate is rotationally connected with a second gear, the second gear is positioned in the middle of the third chute and is meshed with the second rack; a third bevel gear is coaxially and fixedly connected to one end of the bottom side of the second gear, a fourth bevel gear is meshed with the surface of the third bevel gear, a third gear is coaxially and fixedly connected to the fourth bevel gear, and the third gear is rotationally connected with the vehicle body; the left end and the right end of the first sliding block on the left side and the right side are fixedly connected with third racks respectively meshed with third gears on the left side and the right side; the surface of the bottom side of the sliding frame is fixedly connected with a third spring, and the other end of the third spring is fixedly connected with the vehicle body.
Two second sliding rods are arranged at the rear side part of the position between the protection plates at the left side and the right side, and are fixedly connected with the protection plates at the left side and the right side; the left side and the right side of the rear side of the surface of the vehicle body are symmetrically provided with fourth racks which are simultaneously connected with two second sliding bars in a sliding way; the surface of the second sliding rod is sleeved with a first spring, and the left end and the right end of the first spring are respectively and fixedly connected with fourth racks on the left side and the right side; the bottom part of the surface of the first threaded rod is fixedly connected with a fourth gear, and the fourth gears on the left side and the right side are respectively meshed with fourth racks on the left side and the right side.
A fixed block is fixedly connected to the bottom side of the rear part of the fourth rack; inclined plates are symmetrically and fixedly connected to the left side and the right side of the upper surface of the sliding frame, and the fixed blocks are positioned at the rear side of the inclined plates; clamping blocks are symmetrically and slidably connected to the left side and the right side of the bottom of the vehicle body, a second spring is fixedly connected to the surface of each clamping block, an extrusion block is fixedly connected to the rear end of each clamping block, and the other end of each second spring is fixedly connected with the vehicle body and the extrusion block is slidably connected with the vehicle body; and the bottom surface of the front side part of the fourth spring is provided with a clamping groove, and the extrusion block is in clamping fit with the clamping groove.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the vehicle body is moved to the front position of the material, then the first driving mechanism is started to drive the carrying mechanism and the lifting mechanism to operate, the front material can be carried upwards to the surface of the supporting plate through the carrying mechanism, then the trolley is started to move to the front position of the next material, the material is carried again through the carrying mechanism, in the process of carrying the material by the carrying mechanism, the lifting mechanism can drive the supporting plate to move downwards by the thickness of one material, at the moment, when the carrying mechanism carries the material to the upper position of the supporting plate again, the material can be directly piled on the upper position of the upper material, so that the effects of automatically carrying the material and stably piling up a plurality of materials can be realized, meanwhile, the front face of the material can be always upwards when the material is carried again, and the safety of the material can be ensured.
2. When the first push plate is driven to move to the upper side position by the telescopic rod, the first push plate simultaneously pushes the first rack and the second rack to move, the first rack and the second rack respectively drive the first gear and the second gear to rotate when moving, the second gear drives the third bevel gear to rotate when rotating, the third bevel gear drives the third gear to rotate through the fourth bevel gear, the third gear drives the first sliding block to slide backwards when rotating, the first sliding block drives the sliding frame to move backwards when sliding backwards, and the sliding frame drives the supporting plate and materials on the surface of the supporting plate to move backwards when moving backwards; at the moment, the first gear can just drive the first connecting rod to rotate to convey materials when rotating, and the gravity of the materials conveyed by the first connecting rod can be balanced by the backward sliding of the supporting plate, so that the stability of the vehicle body is further improved; meanwhile, as the materials conveyed by the first connecting rod move to the upper rear position along the arc track, when the materials are conveyed to the rear side position by the supporting plate, the materials are just conveyed to the uppermost side position, and at the moment, the upper surface of the supporting plate and the lower surface of the materials are at the same height; then, the motor is started to drive the second connecting frame to start to reset, when the second connecting frame is reset, the sliding frame can drive the supporting plate to reset under the action of the third spring, and when the second connecting frame moves to the middle position of the first sliding groove, the supporting plate is reset and is just positioned at the bottom position of a material, and at the moment, the carrying mechanism can directly loosen the material; when the second connecting frame continues to slide, the upper part of the telescopic rod starts to shrink, the upper part of the telescopic rod starts to push the first rack to reset through the second push plate, and the first rack can drive the first connecting rod to rotate downwards to start to carry the next material when the first rack resets.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic rear view of the present invention;
FIG. 3 is a schematic view of a split structure of the present invention;
FIG. 4 is a schematic view of a carriage according to the present invention;
FIG. 5 is an enlarged schematic view of the structure of FIG. 4A;
FIG. 6 is an enlarged schematic view of the structure of B in FIG. 4;
FIG. 7 is a schematic view of the structure of a vehicle body according to the present invention;
FIG. 8 is an enlarged schematic view of the structure of FIG. 7C;
fig. 9 is a schematic structural view of a conveying mechanism in the present invention.
In the drawings, the list of components represented by the various numbers is as follows:
1. a vehicle body; 2. a protection plate; 3. a support plate; 4. a carriage; 5. a first link; 6. a first connection frame; 7. a cylinder; 8. a clamping plate; 9. a first slide bar; 10. a first threaded rod; 11. a reinforcing rod; 12. a motor; 13. a first bevel gear; 14. a second bevel gear; 15. a second threaded rod; 16. a first chute; 17. a second connecting frame; 18. a telescopic rod; 19. a first push plate; 20. a second push plate; 21. a first rack; 22. a second chute; 23. a worm wheel; 24. a worm; 25. a first gear; 26. a second rack; 27. a third chute; 28. a second gear; 29. a third bevel gear; 30. a fourth bevel gear; 31. a third gear; 32. a fourth chute; 33. a first slider 33; 34. a third rack; 35. a second slide bar; 36. a fourth rack; 37. a first spring; 38. a fourth gear; 39. a fixed block; 40. a sloping plate; 41. a clamping block; 42. a second spring; 43. extruding a block; 44. a clamping groove; 45. and a third spring.
Detailed Description
Referring to fig. 1-9, the present invention provides a technical solution: the storage logistics carrying device based on the AGV mobile robot comprises a vehicle body 1, wherein protection plates 2 are symmetrically and fixedly connected to the left side and the right side of the upper side surface of the vehicle body 1, and a support plate 3 is arranged in the middle of the upper side of the vehicle body 1; the surfaces of the sides, far away from each other, of the left and right protection plates 2 are provided with a conveying mechanism which is used for stably conveying materials to the surface of the support plate 3; the rear side of the vehicle body 1 is provided with a sliding frame 4, the upper side surface of the sliding frame 4 is provided with a lifting mechanism, and the lifting mechanism is used for driving the supporting plate 3 to automatically descend the thickness of one material when the conveying mechanism conveys the material to the surface of the supporting plate 3, so that the next material can be stably stacked on the surface of the last material; the surface of the vehicle body 1 is provided with a first driving mechanism, and the first driving mechanism is used for driving the carrying mechanism and the lifting mechanism to operate in a coordinated manner;
in operation, an AGV mobile robot is also commonly referred to as an AGV cart; a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation path, and having safety protection and various transfer functions; the existing AGV mobile robot is usually of a traction type and a carrying type, the carrying type AGV mobile robot needs to manually carry materials to a vehicle body when transporting the materials, and stacks a plurality of materials, the operation is laborious, and the automatic material transporting effect can be realized by means of a mechanical arm, but the materials can be stacked more and more when the materials are stacked, so that the mechanical arm is not only required to be designed very high, but also is required to be provided with a complex program, the use cost is high, and meanwhile, the gravity center of the vehicle body is easy to be unstable when the mechanical arm is designed to be higher; the device is through removing automobile body 1 to the place ahead of material position, then start first actuating mechanism drive transport mechanism and elevating system operation, can upwards carry the backup pad 3 surface with the material in place ahead through transport mechanism, then move the place ahead of next material at the start-up dolly, transport the material through transport mechanism again, in the in-process of transport mechanism transport material, elevating system can drive backup pad 3 the thickness of a material that moves downwards, when transport mechanism carries the material again to backup pad 3 upside position this moment, the material can directly pile up the upside position of last material, thereby can realize automatic transport material and can be stable with the effect that a plurality of materials stacked, can guarantee that the material is right side up all the time when transporting the material again, can guarantee the security of material.
As a further aspect of the present invention, the carrying mechanism includes two first links 5, and the two first links 5 are equal in length and parallel to each other; the rear end parts of the two first connecting rods 5 are rotationally connected with the protection plate 2; the front end parts of the two connecting rods are provided with first connecting frames 6, and the first connecting frames 6 are simultaneously connected with the two connecting rods in a rotating way; the surface of the first connecting frame 6 is fixedly connected with an air cylinder 7, the output end of the air cylinder 7 is fixedly connected with a clamping plate 8, the surface of the clamping plate 8 is fixedly connected with two first sliding rods 9, and the two first sliding rods 9 are both in sliding connection with the first connecting frame 6; when the material is required to be carried, the two first connecting rods 5 on the surfaces of the protection plates 2 on the left side and the right side are driven to rotate, the first connecting frames 6 at the front positions can be driven to move when the two connecting rods which are parallel to each other and equal in length rotate simultaneously, the first connecting frames 6 can drive the clamping plates 8 to move through the two first sliding rods 9 on the surfaces of the first connecting frames, when the clamping plates 8 move to the bottommost positions, the first connecting rods 5 on the left side and the right side are stopped to rotate and simultaneously drive the cylinders 7 on the left side and the right side, the clamping plates 8 on the left side and the right side can be driven to clamp the material through the cylinders 7 on the left side and the right side, and after the material is clamped by the clamping plates 8 on the left side and the right side, the first connecting rods 5 on the left side and the right side are driven to rotate upwards to drive the material to move upwards and backwards.
As a further scheme of the invention, the lifting mechanism comprises two first threaded rods 10, and the two first threaded rods 10 are distributed at the left side and the right side of the sliding frame 4; the two first threaded rods 10 are both in rotary connection with the sliding frame 4 and in threaded fit with the supporting plate 3, and the first threaded rods 10 have self-locking property; a reinforcing rod 11 is fixedly connected to the middle part of the upper surface of the sliding frame 4, and the reinforcing rod 11 is in sliding connection with the supporting plate 3; when the conveying mechanism starts to convey the second material, the first threaded rods 10 on the left side and the right side are driven to rotate to drive the supporting plate 3 to move downwards, and when the supporting plate 3 moves downwards to the thickness of one material, the first threaded rods 10 can be stopped being driven at the moment, and then the conveying mechanism can stably convey the second material to the upper side of the first material.
As a further scheme of the invention, the first driving mechanism comprises a motor 12, the motor 12 is fixedly connected with the vehicle body 1, output shafts at the left end and the right end of the motor 12 are symmetrically and fixedly connected with a first bevel gear 13, the first bevel gear 13 is rotationally connected with the vehicle body 1, the surface of the first bevel gear 13 is meshed with a second bevel gear 14, the second bevel gears 14 at the left side and the right side are respectively rotationally connected with the protection plates 2 at the left side and the right side, the second bevel gears 14 are coaxially and fixedly connected with a second threaded rod 15, and the second threaded rod 15 has self-locking property; a first chute 16 is formed in the surface of the protection plate 2 along the position of the second threaded rod 15, and a second connecting frame 17 is connected in the first chute 16 in a sliding manner; the surface of the protection plate 2 is provided with a telescopic rod 18 at the outer side of the first chute 16, the lower part of the telescopic rod 18 is fixedly connected with a first push plate 19, and the upper part of the telescopic rod 18 is fixedly connected with a second push plate 20; the connection position of the second connecting frame 17 and the second threaded rod 15 is positioned in the middle of the telescopic rod 18, and the second connecting frame 17 is fixedly connected with the upper part of the telescopic rod 18; the upper side and the lower side of the telescopic rod 18 are respectively provided with a second driving mechanism and a third driving mechanism, the second driving mechanism is used for driving the carrying mechanism to operate, and the third driving mechanism is used for driving the lifting mechanism to operate in cooperation with the carrying mechanism; when the telescopic rod works, the motor 12 is started to drive the first bevel gears 13 on the left side and the right side to rotate, the first bevel gears 13 can drive the second bevel gears 14 meshed with the first bevel gears to rotate, the second bevel gears 14 can drive the second threaded rods 15 connected with the second bevel gears to rotate, the second threaded rods 15 can drive the second connecting frames 17 to slide in the first sliding grooves 16 when rotating, and the telescopic rods 18 can be driven to move when sliding in the first sliding grooves 16 through the second connecting frames 17; when the first sliding groove 16 slides in the first sliding groove 16 to the upper side, the whole telescopic rod 18 is driven to move to the upper side, and when the second connecting frame 17 slides in the first sliding groove 16 to the lower side, the upper side of the telescopic rod 18 is driven to start to shrink.
As a further scheme of the invention, the second driving mechanism comprises first racks 21, a second chute 22 is formed on the surface of the protection plate 2 at a position corresponding to the first racks 21, the length of the second chute 22 is longer than that of the two first racks 21, and the first racks 21 are in sliding connection with the second chute 22; the bottom part of the first rack 21 is attached to the surface of the first push plate 19; the surface of the first connecting rod 5 at the bottom side is fixedly connected with a worm wheel 23 at the position of the connection part with the protection plate 2, a worm 24 is arranged at the upper side of the worm wheel 23, the worm 24 is rotationally connected with the protection plate 2 and meshed with the worm wheel 23, a first gear 25 is fixedly connected with one end of the bottom side of the worm 24, the first gear 25 is meshed with the first rack 21, and the first gear 25 is positioned at the middle part of the second chute 22; the second push plate 20 is positioned on the sliding track on the upper side of the first rack 21; when the conveying mechanism is required to be driven to convey materials, the telescopic rod 18 is driven to move to the upper side position by the starting motor 12, the telescopic rod 18 drives the first push plate 19 and the second push plate 20 to move, the first push plate 19 pushes the first rack 21 to slide in the second sliding groove 22, the first rack 21 drives the first gear 25 to rotate when sliding, the first gear 25 drives the worm 24 to rotate, and the worm 24 drives the first connecting rod 5 at the bottom side position to rotate; the material can be carried through the rotation of the first connecting rod 5; after the material is carried, the starting motor 12 drives the second connecting frame 17 to move in the opposite direction, the second connecting frame 17 drives the telescopic rod 18 to reset, and finally drives the upper part of the telescopic rod 18 to start to shrink, and when the upper part of the telescopic rod 18 shrinks, the second push plate 20 is driven to start to push the first rack 21, and at the moment, the first rack 21 starts to reset.
As a further scheme of the invention, the third driving mechanism comprises a second rack 26, a third chute 27 is arranged on the surface of the protection plate 2 at a position corresponding to the second rack 26, and the second rack 26 is in sliding connection with the third chute 27; the second rack 26 is equal to the first rack 21 in length and the second runner 22 is equal to the third runner 27 in length; the bottom part of the second rack 26 is attached to the surface of the first push plate 19; the surface of the protection plate 2 is rotatably connected with a second gear 28, the second gear 28 is positioned in the middle of the third chute 27, and the second gear 28 is meshed with the second rack 26; a third bevel gear 29 is coaxially and fixedly connected to one end of the bottom side of the second gear 28, a fourth bevel gear 30 is meshed with the surface of the third bevel gear 29, a third gear 31 is coaxially and fixedly connected to the fourth bevel gear 30, and the third gear 31 is rotatably connected with the vehicle body 1; the left end and the right end of the vehicle body 1 are symmetrically provided with a fourth sliding groove 32, a first sliding block 33 is connected in a sliding way in the fourth sliding groove 32, the rear ends of the first sliding blocks 33 on the left side and the right side are fixedly connected with a sliding frame 4, the left end of the first sliding block 33 on the left side and the right end of the first sliding block 33 on the right side are fixedly connected with a third rack 34, and the third racks 34 on the left side and the right side are respectively meshed with the third gears 31 on the left side and the right side; the surface of the bottom side of the sliding frame 4 is fixedly connected with a third spring 45, and the other end of the third spring 45 is fixedly connected with the vehicle body 1; when the telescopic rod 18 drives the first push plate 19 to move to the upper side, the first push plate 19 simultaneously pushes the first rack 21 and the second rack 26 to move, the first rack 21 and the second rack 26 respectively drive the first gear 25 and the second gear 28 to rotate when moving, the second gear 28 drives the third bevel gear 29 to rotate when rotating, the third bevel gear 29 drives the third gear 31 to rotate through the fourth bevel gear 30, the third gear 31 drives the first sliding block 33 to slide backwards through the third rack 34, the first sliding block 33 drives the sliding frame 4 to move backwards when sliding backwards, and the supporting plate 3 and the material on the surface of the supporting plate 3 are driven to move backwards when the sliding frame 4 moves backwards; at the moment, the first gear 25 can just drive the first connecting rod 5 to rotate to convey materials when rotating, and the gravity of the first connecting rod 5 for conveying materials can be balanced by the backward sliding of the supporting plate 3, so that the stability of the vehicle body 1 is further improved; meanwhile, as the materials conveyed by the first connecting rod 5 move to the upper rear position along the arc track, when the materials are conveyed to the rear side position by the supporting plate 3, the materials are just conveyed to the uppermost side position, and at the moment, the upper surface of the supporting plate 3 and the lower surface of the materials are at the same height; then, the motor 12 is started to drive the second connecting frame 17 to start resetting, when the second connecting frame 17 is reset, the sliding frame 4 can drive the supporting plate 3 to reset under the action of the third spring 45, when the second connecting frame 17 moves to the middle position of the first sliding groove 16, the supporting plate 3 is reset and is just positioned at the bottom position of a material, and at the moment, the carrying mechanism can directly loosen the material; when the second connecting frame 17 continues to slide, the upper part of the telescopic rod 18 starts to shrink, the upper part of the telescopic rod 18 starts to push the first rack 21 to reset through the second push plate 20, and the first rack 21 drives the first connecting rod 5 to rotate downwards to start to prepare for carrying the next material when reset.
As a further scheme of the invention, two second slide bars 35 are arranged at the rear side part between the protection plates 2 at the left side and the right side, and the two second slide bars 35 are fixedly connected with the protection plates 2 at the left side and the right side; fourth racks 36 are symmetrically arranged on the left side and the right side of the rear side of the surface of the vehicle body 1, and the fourth racks 36 are simultaneously connected with two second sliding rods 35 in a sliding manner; the surface of the second slide bar 35 is sleeved with a first spring 37, and the left end and the right end of the first spring 37 are respectively fixedly connected with a fourth rack 36 on the left side and the right side; the bottom part of the surface of the first threaded rod 10 is fixedly connected with a fourth gear 38, and the fourth gears 38 on the left side and the right side are respectively meshed with the fourth racks 36 on the left side and the right side; when the sliding frame 4 moves backwards, under the action of the fourth racks 36, the fourth racks 38 drive the first threaded rod 10 to rotate, the first threaded rod 10 drives the supporting plate 3 to move downwards when rotating, and when the sliding frame 4 moves to the rearmost position, the first threaded rod 10 just can move downwards the supporting plate 3 to a distance of one material thickness, so that the next material can be accurately piled on the upper surface of the previous material when the supporting plate 3 is reset.
As a further scheme of the invention, a fixed block 39 is fixedly connected to the bottom side position behind the fourth rack 36; the left side and the right side of the upper surface of the sliding frame 4 are symmetrically and fixedly connected with the sloping plate 40, and the fixed block 39 is positioned at the rear side of the sloping plate 40; clamping blocks 41 are symmetrically and slidably connected to the left side and the right side of the bottom of the vehicle body 1, a second spring 42 is fixedly connected to the surface of the clamping blocks 41, an extrusion block 43 is fixedly connected to the rear end of the clamping blocks 41, the other end of the second spring 42 is fixedly connected with the vehicle body 1, and the extrusion block 43 is slidably connected with the vehicle body 1; a clamping groove 44 is formed in the bottom surface of the front side part of the fourth spring, and the extrusion block 43 is in clamping fit with the clamping groove 44; when the slide rack 4 moves backwards, the two inclined plates 40 on the surface of the slide rack 4 are driven to move backwards, when the slide rack 4 moves to the rearmost position and the driving support plate 3 moves downwards for a distance of one material thickness, at the moment, the inclined plates 40 on the left side and the right side are respectively contacted with the fixed blocks 39 on the left side and the right side, the fixed blocks 39 on the left side and the right side can be simultaneously pressed towards the positions close to each other along with the backward movement of the inclined plates 40, the fixed blocks 39 are pressed by the inclined plates 40 to drive the fourth racks 36 to slide on the surface of the second slide rod 35, the fourth racks 36 on the left side and the right side can be simultaneously slid towards the positions close to each other, the fourth racks 36 are disengaged from the fourth gears 38 when the fourth racks 36 are disengaged from the fourth gears 38, and the clamping grooves 44 on the surfaces of the fourth racks 36 are just clamped with the pressing blocks 43; when the sliding frame 4 is reset, the fourth racks 36 at the left side and the right side are kept still, and the fourth gear 38 does not rotate any more; when the carriage 4 moves forward to a position attached to the vehicle body 1, the clamping block 41 is pressed downward, the pressing block 43 can be driven to move downward when the clamping block 41 is pressed downward by the carriage 4, the pressing block 43 can be separated from the clamping groove 44 when moving downward, and at this time, under the action of the first spring 37, the fourth racks 36 on the left side and the right side are meshed with the fourth gears 38 on the left side and the right side respectively.
Claims (8)
1. Storage commodity circulation handling device based on AGV mobile robot, including automobile body (1), its characterized in that: the left side and the right side of the upper surface of the vehicle body (1) are symmetrically and fixedly connected with protection plates (2), and the middle part of the upper side of the vehicle body (1) is provided with a support plate (3); the surfaces of the sides, far away from each other, of the protection plates (2) on the left side and the right side are respectively provided with a conveying mechanism, and the conveying mechanisms are used for stably conveying materials to the surfaces of the support plates (3); the automatic material stacking device is characterized in that a sliding frame (4) is arranged at the rear side of the vehicle body (1), a lifting mechanism is arranged on the upper side surface of the sliding frame (4), and the lifting mechanism is used for driving the supporting plate (3) to automatically descend the thickness of one material when the conveying mechanism conveys the material to the surface of the supporting plate (3), so that the next material can be stably stacked on the surface of the last material; the surface of the vehicle body (1) is provided with a first driving mechanism, and the first driving mechanism is used for driving the carrying mechanism and the lifting mechanism to operate in a coordinated manner.
2. The warehouse logistics transport apparatus based on the AGV mobile robot of claim 1, wherein: the conveying mechanism comprises two first connecting rods (5), and the two first connecting rods (5) are equal in length and parallel to each other; the rear end parts of the two first connecting rods (5) are rotationally connected with the protection plate (2); the front end parts of the two connecting rods are provided with first connecting frames (6), and the first connecting frames (6) are simultaneously connected with the two connecting rods in a rotating way; the novel connecting device is characterized in that the first connecting frame (6) is fixedly connected with an air cylinder (7), the output end of the air cylinder (7) is fixedly connected with a clamping plate (8), the surface of the clamping plate (8) is fixedly connected with two first sliding rods (9), and the two first sliding rods (9) are both in sliding connection with the first connecting frame (6).
3. The warehouse logistics transport apparatus based on the AGV mobile robot of claim 1, wherein: the lifting mechanism comprises two first threaded rods (10), and the two first threaded rods (10) are distributed at the left side and the right side of the sliding frame (4); the two first threaded rods (10) are rotationally connected with the sliding frame (4) and are in threaded fit with the supporting plate (3), and the first threaded rods (10) have self-locking performance; the middle part of the upper side surface of the sliding frame (4) is fixedly connected with a reinforcing rod (11), and the reinforcing rod (11) is in sliding connection with the supporting plate (3).
4. The warehouse logistics handling device based on the AGV mobile robot of claim 2, wherein: the first driving mechanism comprises a motor (12), the motor (12) is fixedly connected with the vehicle body (1), output shafts at the left end and the right end of the motor (12) are symmetrically and fixedly connected with a first bevel gear (13), the first bevel gear (13) is rotationally connected with the vehicle body (1), a second bevel gear (14) is meshed with the surface of the first bevel gear (13), the second bevel gears (14) at the left side and the right side are respectively rotationally connected with protection plates (2) at the left side and the right side, the second bevel gears (14) are coaxially and fixedly connected with a second threaded rod (15), and the second threaded rod (15) has self-locking performance; a first sliding groove (16) is formed in the surface of the protection plate (2) along the position of the second threaded rod (15), and a second connecting frame (17) is connected in the first sliding groove (16) in a sliding manner; the surface of the protection plate (2) is provided with a telescopic rod (18) at the outer side of the first chute (16), the lower side part of the telescopic rod (18) is fixedly connected with a first push plate (19) and the upper side part of the telescopic rod (18) is fixedly connected with a second push plate (20); the connection position of the second connecting frame (17) and the second threaded rod (15) is positioned in the middle of the telescopic rod (18), and the second connecting frame (17) is fixedly connected with the upper part of the telescopic rod (18); the upper side and the lower side of the telescopic rod (18) are respectively provided with a second driving mechanism and a third driving mechanism, the second driving mechanism is used for driving the carrying mechanism to operate, and the third driving mechanism is used for driving the lifting mechanism to operate in cooperation with the carrying mechanism.
5. The warehouse logistics transport apparatus based on the AGV mobile robot of claim 4, wherein: the second driving mechanism comprises first racks (21), a second chute (22) is formed in a position, corresponding to the first racks (21), on the surface of the protection plate (2), the length of the second chute (22) is greater than that of the two first racks (21), and the first racks (21) are in sliding connection with the second chute (22); the bottom part of the first rack (21) is attached to the surface of the first push plate (19); the surface of the first connecting rod (5) at the bottom side is fixedly connected with a worm wheel (23) at the position of the connection part with the protection plate (2), a worm (24) is arranged at the upper side of the worm wheel (23), the worm (24) is rotationally connected with the protection plate (2) and is meshed with the worm wheel (23), a first gear (25) is fixedly connected with one end of the bottom side of the worm (24), the first gear (25) is meshed with the first rack (21), and the first gear (25) is positioned at the middle part of the second chute (22); the second pushing plate (20) is positioned on the sliding track on the upper side of the first rack (21).
6. The warehouse logistics transport apparatus based on the AGV mobile robot of claim 5, wherein: the third driving mechanism comprises a second rack (26), a third sliding groove (27) is formed in the surface of the protection plate (2) at a position corresponding to the second rack (26), and the second rack (26) is in sliding connection with the third sliding groove (27); the second rack (26) is equal to the first rack (21) in length, and the second chute (22) is equal to the third chute (27) in length; the bottom part of the second rack (26) is attached to the surface of the first push plate (19); the surface of the protection plate (2) is rotationally connected with a second gear (28), the second gear (28) is positioned in the middle of the third chute (27), and the second gear (28) is meshed with the second rack (26); a third bevel gear (29) is coaxially and fixedly connected to one end of the bottom side of the second gear (28), a fourth bevel gear (30) is meshed with the surface of the third bevel gear (29), a third gear (31) is coaxially and fixedly connected to the fourth bevel gear (30), and the third gear (31) is rotationally connected with the vehicle body (1); the left end and the right end of the vehicle body (1) are symmetrically provided with fourth sliding grooves (32), a first sliding block (33) is connected in a sliding way in the fourth sliding grooves (32), the rear ends of the first sliding blocks (33) on the left side and the right side are fixedly connected with a sliding frame (4), the left end of the first sliding block (33) on the left side and the right end of the first sliding block (33) on the right side are fixedly connected with third racks (34), and the third racks (34) on the left side and the right side are respectively meshed with third gears (31) on the left side and the right side; the surface of the bottom side of the sliding frame (4) is fixedly connected with a third spring (45), and the other end of the third spring (45) is fixedly connected with the vehicle body (1).
7. A warehouse logistics transport apparatus based on an AGV mobile robot as set forth in claim 3, wherein: two second slide bars (35) are arranged at the rear side part of the position between the protection plates (2) at the left side and the right side, and the two second slide bars (35) are fixedly connected with the protection plates (2) at the left side and the right side; fourth racks (36) are symmetrically arranged on the left side and the right side of the rear side of the surface of the vehicle body (1), and the fourth racks (36) are simultaneously connected with two second sliding rods (35) in a sliding manner; a first spring (37) is sleeved on the surface of the second sliding rod (35), and the left end and the right end of the first spring (37) are fixedly connected with a fourth rack (36) on the left side and the right side respectively; the bottom part of the surface of the first threaded rod (10) is fixedly connected with a fourth gear (38), and the fourth gears (38) on the left side and the right side are respectively meshed with fourth racks (36) on the left side and the right side.
8. The warehouse logistics transport apparatus based on the AGV mobile robot of claim 7, wherein: a fixed block (39) is fixedly connected to the rear bottom side of the fourth rack (36); the left side and the right side of the upper surface of the sliding frame (4) are symmetrically and fixedly connected with sloping plates (40), and the fixed blocks (39) are positioned at the rear side of the sloping plates (40); clamping blocks (41) are symmetrically and slidingly connected to the left side and the right side of the bottom of the vehicle body (1), a second spring (42) is fixedly connected to the surface of each clamping block (41), an extrusion block (43) is fixedly connected to the rear end of each clamping block (41), the other end of each second spring (42) is fixedly connected with the vehicle body (1), and the extrusion blocks (43) are slidingly connected with the vehicle body (1); and a clamping groove (44) is formed in the bottom surface of the front side part of the fourth spring, and the extrusion block (43) is in clamping fit with the clamping groove (44).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310147498.3A CN116238618A (en) | 2023-02-21 | 2023-02-21 | Storage commodity circulation handling device based on AGV mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310147498.3A CN116238618A (en) | 2023-02-21 | 2023-02-21 | Storage commodity circulation handling device based on AGV mobile robot |
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| Publication Number | Publication Date |
|---|---|
| CN116238618A true CN116238618A (en) | 2023-06-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310147498.3A Withdrawn CN116238618A (en) | 2023-02-21 | 2023-02-21 | Storage commodity circulation handling device based on AGV mobile robot |
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| Country | Link |
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| CN (1) | CN116238618A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117885837A (en) * | 2024-02-19 | 2024-04-16 | 东莞市鼎力自动化科技有限公司 | Automatic circulation conveying equipment for AGV materials |
-
2023
- 2023-02-21 CN CN202310147498.3A patent/CN116238618A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117885837A (en) * | 2024-02-19 | 2024-04-16 | 东莞市鼎力自动化科技有限公司 | Automatic circulation conveying equipment for AGV materials |
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