CN209634615U - A kind of transfer robot - Google Patents
A kind of transfer robot Download PDFInfo
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- CN209634615U CN209634615U CN201920448380.3U CN201920448380U CN209634615U CN 209634615 U CN209634615 U CN 209634615U CN 201920448380 U CN201920448380 U CN 201920448380U CN 209634615 U CN209634615 U CN 209634615U
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Abstract
The utility model discloses a kind of transfer robots, including AGV trolley body, the hopper for loading article is equipped in AGV trolley body, article feel trim actuator is additionally provided in AGV trolley body, the article feel trim actuator is for drawing off the article loaded in hopper, hopper is located at the top of AGV trolley body, hopper inclination fixed setting upwards in AGV trolley body, hopper is open-topped groove body, the outlet of unloading article is equipped in the wherein side of hopper, article feel trim actuator includes the push plate being slidably connected in hopper and with hopper and the driving mechanism for driving push plate linear reciprocating motion in hopper, driving mechanism pushes push plate to move to the export direction of hopper.The AGV trolley body of robot, without being laid with track, is not limited in the zone of action in pharmacy by place, road and space.In AGV trolley body in the drug delivery in pharmacy and allotment automatic Material Handling System, its automaticity and flexibility most can be fully embodied, realizes efficient, economic, flexible unmanned operation.
Description
Technical field
The utility model relates to automated guided vehicle technical fields, and in particular to a kind of transfer robot.
Background technique
Automatic guided vehicle (Automated Guided Vehicle, abbreviation AGV) refers to and magnetically or optically waits automatically equipped with electricity
Guiding device can be travelled along defined guide path, and the transport vehicle with safeguard protection and various transfer functions, industry is answered
The carrier of driver is not required in, with chargeable battery for its power resources.It can pass through computer generally to control its row
Route line and behavior, or it is set up using electromagnetic path (electromagnetic path-following system)
Travelling route, electromagnetic path are pasted on floor, automatic guided vehicle then follow information brought by electromagnetic path carry out it is mobile with
Movement.
AGV compared with walking, is creeped or other non-wheeled mobile robots have action fast characterized by wheel type mobile
The prompt, advantages such as work efficiency is high, structure is simple, controllability is strong, safety is good.With other equipment phase common in material conveying
Than the zone of action of AGV is not limited without being laid with the fixed device such as track, support saddle frame by place, road and space.Therefore,
In automatic Material Handling System, its automaticity and flexibility most can be fully embodied, realizes efficient, economic, flexible unmanned metaplasia
It produces.
Traditional pharmacy takes medicine by manually carrying out, and since medicine-chest is more and some medicine-chests are not easy to find, pharmacy and takes medicine window
Between mouthful, between pharmacy and pharmacy frequently with artificial drug delivery and allotment, efficiency is very low.Existing intelligent drugstore is very universal, medicine
It is also the imperative tendency of the day that object, which conveys, and allotment is intelligent, and pharmacy is taken new type auto using the purpose of intelligent carriage
Change technology and equipment, the working method of the artificial drug delivery allotment of traditional form reformed, and then accelerate the speed of adjustment,
And promote the quality and working efficiency of pharmacy allotment.Be conducive to push intelligent pharmacy allotment, pharmacy information and obtain
Obtain the development of hospital modernization.
Utility model content
To be solved in the utility model is that traditional pharmacy by manually carrying out takes medicine in the prior art, since medicine-chest is more and
Some medicine-chests are not easy to find, and pharmacy and take between medicine window frequently with artificial drug delivery and allotment, the very low technology of efficiency
Problem is, and it is an object of the present invention to provide a kind of transfer robot.
The utility model is achieved through the following technical solutions:
A kind of transfer robot, including AGV trolley body are equipped with the hopper for loading article in AGV trolley body, described
Article feel trim actuator is additionally provided in AGV trolley body, the article feel trim actuator is for drawing off the article loaded in hopper.
Preferred embodiment, the hopper are located at the top of AGV trolley body, and inclination is solid upwards in AGV trolley body for hopper
Fixed setting.
Preferred embodiment, the hopper are open-topped groove body, are equipped with the outlet of unloading article in the wherein side of hopper,
The article feel trim actuator includes that the push plate being slidably connected in hopper and with hopper and driving push plate are reciprocal straight in hopper
The driving mechanism of line movement, the driving mechanism push push plate to move to the export direction of hopper.
Preferred embodiment, the driving mechanism are straight line mould group, and the straight line mould group is located at the bottom of hopper, and straight line mould group
It is fixedly connected with AGV trolley body, the push plate is fixedly connected with the sliding block of straight line mould group, is offered and is pushed away on the bottom plate of hopper
The direction of motion of the escape groove that plate is connect with sliding block, the length direction of the escape groove and push plate altogether to.
Preferred embodiment is fixedly connected between the push plate and the sliding block of straight line mould group by vertical plate, one end of the vertical plate
It is fixedly connected with push plate, the other end of vertical plate is fixedly connected with the sliding block of straight line mould group, and the vertical plate follows directly in escape groove
The sliding block of line mould group moves along a straight line, and the both ends of the straight line mould group are respectively equipped with limit switch, and the limit switch is for controlling
The slider stroke range of straight line mould group.
Preferred embodiment, the bottom of the AGV trolley body are equipped with the two wheel guide robot vehicle with walking machine of driving AGV trolley body movement
Structure, the two wheel guide robot walking mechanism include left traveling wheel and right traveling wheel, are respectively equipped with drive on left traveling wheel and right traveling wheel
Dynamic motor, the rotor of output shaft axle of driving motor are connect with left traveling wheel and right lateral traction drive, and the left traveling wheel and right lateral are walked
It is connect respectively by damper mechanism with AGV trolley body on wheel.
Preferred embodiment, the damper mechanism include the float plate being pivotally connected with the rotor of output shaft axle of driving motor, driving
The shell of motor is fixedly connected with float plate, and two vertical guide rods, two guide rods are symmetrically arranged at the both ends of float plate
It is slidably connected respectively with float plate, the top of two guide rods is equipped with top positioning plate, sets in the low side of two guide rods
There is bottom positioning plate, the top positioning plate and bottom positioning plate are fixedly connected with AGV trolley body respectively, in top positioning plate
Elastic component is equipped between float plate, the elastic component resilient support float plate moves downward.
Preferred embodiment, the elastic component are compression helical spring, and the compression helical spring is arranged on the guide bar, two
The pressing plate for adjusting compression helical spring pressure is slidably connected on root guide rod, is threaded with adjusting spiral shell in the middle part of the pressing plate
Bar, one end and the top positioning plate of the adjusting screw rod offset.
Preferred embodiment, the bottom of the AGV trolley body is equipped with the universal caster wheel of support AGV trolley body, described universal
Castor is equipped with four groups, and four groups of universal caster wheels are respectively fixedly connected in the quadrangle of AGV trolley body bottom.
The utility model compared with prior art, has the following advantages and benefits: one kind of the utility model is defeated
Robot is sent, which is integrated in AGV trolley body loads article hopper and article feel trim actuator, article feel trim actuator
For the article loaded in hopper to be drawn off.
1) the AGV trolley body of robot is in the zone of action in pharmacy without being laid with the fixed dress such as track, support saddle frame
It sets, is not limited by place, road and space.Therefore, in AGV trolley body in the drug delivery in pharmacy and allotment automatic material flow system
In system, its automaticity and flexibility most can be fully embodied, realizes efficient, economic, flexible unmanned operation.
2) top that the hopper of robot is located at AGV trolley body tilts fixed setting upwards, which is equipped with and material
Struggle against the push plate being slidably connected and the driving mechanism for driving push plate linear reciprocating motion in hopper.In drug delivery and allotment article
When, article is loaded in hopper, and when AGV trolley body conveys and be formulated to setting station article, driving mechanism driving should
Article in hopper is unloaded to setting position by push plate.
3) the AGV trolley body of robot uses the walking mechanism of two wheel guide robot, the left traveling wheel of this walking mechanism
The two sides of AGV trolley body bottom are arranged symmetrically in right traveling wheel.Driving electricity is respectively equipped on left traveling wheel and right traveling wheel
Machine.AGV trolley body leans on the differential steering of the left traveling wheel and right traveling wheel of two sides, therefore steering wheel need not be arranged.The AGV trolley
Body construction is simple, reliable operation, at low cost.AGV trolley body, which can be done, under automatic operating state advances, retreats traveling and energy
Vertical turn mobility is good.
4) in order to improve AGV trolley body car body longitudinal stability when driving, in the left lateral of the walking mechanism of two wheel guide robot
It walks wheel and right traveling wheel and is connect with AGV trolley body using damper mechanism.The damper mechanism is equipped with float plate, guide rod and elasticity
The driving motor and float plate of part, left traveling wheel and right traveling wheel are rotatablely connected, and are symmetrically arranged with sliding at the both ends of float plate and are connected
Two vertical guide rods are connected to, elastic component resilient support float plate moves downward.Ground is encountered when driving in AGV trolley body
Vibration reduction and cushioning can usually not played the role of, the article loaded is avoided to fall or collide.This damper mechanism can simultaneously
The road holding of left traveling wheel and right traveling wheel is improved, the transfer efficiency of AGV trolley body is improved.
5) in order to improve AGV trolley body cross-car stability when driving, on the basis of the walking mechanism of two wheel guide robot
Four groups of universal caster wheels have been additionally arranged at the bottom of in AGV trolley body.Four groups of universal caster wheels are by bogie wheel by original left traveling wheel
It is arranged at four angles of AGV trolley body bottom with increasing four on the basis of right traveling wheel, improves the steady of operation
It is qualitative.
Detailed description of the invention
Attached drawing described herein is used to provide to further understand the utility model embodiment, constitutes the one of the application
Part does not constitute the restriction to the utility model embodiment.In the accompanying drawings:
Fig. 1 is the structural front view of the utility model；
Fig. 2 is the structure left view of the utility model；
Fig. 3 is the first viewing angle constructions perspective view of the utility model；
Fig. 4 is the second viewing angle constructions perspective view of the utility model.
Label and corresponding parts title in attached drawing:
1-AGV trolley body, 2- hopper, 3- push plate, 4- driving mechanism, 5- vertical plate, 6- escape groove, the left traveling wheel of 7-, 8-
Right traveling wheel, 9- float plate, 10- top positioning plate, the bottom 11- positioning plate, 12- guide rod, 13- compression helical spring, 14- pressure
Plate, 15- adjusting screw rod, 16- universal caster wheel, 17- limit switch.
Specific embodiment
For the purpose of this utility model, technical solution and advantage is more clearly understood, below with reference to embodiment and attached drawing,
The utility model is described in further detail, and the exemplary embodiment and its explanation of the utility model are only used for explaining this
Utility model is not intended to limit the scope of the present invention.
Embodiment
As shown in Figures 1 to 4, a kind of transfer robot of the utility model, the robot include AGV trolley body 1, In
AGV trolley body 1 is equipped with the hopper 2 for loading article, and hopper 2 is located at the top of AGV trolley body 1, and hopper 2 is in AGV trolley
Inclination fixed setting upwards on ontology 1.Article feel trim actuator is additionally provided in AGV trolley body 1, article feel trim actuator is used for handle
The article loaded in hopper 2 is drawn off.
Specifically, which is open-topped trough body structure, which is stainless steel plate one bending spicing forming type.
It is equipped with the outlet of unloading article in the wherein side of hopper 1, article feel trim actuator includes being located in hopper 2 and sliding with hopper 2
The push plate 3 of connection and the driving mechanism 4 for driving the linear reciprocating motion in hopper 2 of push plate 3, driving mechanism 4 push push plate 3 to material
The export direction movement of bucket 2.
Driving mechanism 4 be preferably straight line mould group, as those skilled in the art, driving mechanism 4 can also select cylinder,
Hydraulic cylinder, electric pushrod or gear, rackwork drive push plate 3 to move to the export direction of hopper 2 to realize.Straight line mould group position
In the bottom of hopper 2, and straight line mould group is fixedly connected with AGV trolley body 1, and the sliding block of push plate 2 and straight line mould group passes through vertical plate 5
It is fixedly connected, one end of vertical plate 5 is fixedly connected with push plate 2, and the other end of vertical plate 5 is fixedly connected with the sliding block of straight line mould group.In
The escape groove 6 that push plate 2 is connect with sliding block, the length direction of the escape groove 6 and the movement of push plate 3 are offered on the bottom plate of hopper 2
Direction altogether to.Vertical plate 5 follows the sliding block of straight line mould group to move along a straight line in escape groove 6, and vertical plate 5 and escape groove 6 are respectively equipped with two
Group, two groups of vertical plates 5 are parallel with escape groove 6 and interval setting, sliding block of two groups of vertical plates 5 respectively with push plate 2 and straight line mould group are fixed
Connection improves the structural strength of push plate 3.It is respectively equipped with limit switch 17 at the both ends of straight line mould group, limit switch 17 is for controlling
The slider stroke range of straight line mould group processed, when the sliding block of straight line mould group touches and arrives any one limit switch 17, limit switch
17 control straight line mould group stop motions.
Working principle
A kind of transfer robot of the utility model, which is integrated in AGV trolley body 1 loads article hopper
2 and article feel trim actuator, article feel trim actuator is for drawing off the article loaded in hopper 2.The AGV trolley body of robot
1 fixes device without being laid with track, support saddle frame etc. in the zone of action in pharmacy, is not limited by place, road and space.
The running track of AGV trolley body 1 and Path selection those skilled in the art can be using electromagnetic guides, tape guidance, light
Learn guidance, laser aiming or inertial guidance.Therefore, in AGV trolley body 1 in the drug delivery in pharmacy and allotment automatic Material Handling System
In, its automaticity and flexibility most can be fully embodied, realizes efficient, economic, flexible unmanned operation.The hopper 2 of robot
Fixed setting is tilted upwards positioned at the top of AGV trolley body 1, which is equipped with the push plate 3 being slidably connected with hopper 2 and drives
Move the driving mechanism 4 of the linear reciprocating motion in hopper of push plate 3.In drug delivery and allotment article, article is loaded in hopper 2
Interior, when AGV trolley body 1 conveys and be formulated to setting station article, driving mechanism 4 drives the push plate 3 in hopper 2
Article is unloaded to setting position.
The bottom of the AGV trolley body 1 of the utility model is equipped with the two wheel guide robot walking that driving AGV trolley body 1 moves
Mechanism, the two wheel guide robot walking mechanism include left traveling wheel 7 and right traveling wheel 8, right respectively on left traveling wheel 7 and right traveling wheel 8
It should be equipped with driving motor, driving motor those skilled in the art can select servo motor or stepper motor.Driving motor
Rotor of output shaft axle and left traveling wheel 7 and right traveling wheel 8 be sequentially connected, pass through vibration damping respectively on left traveling wheel 7 and right traveling wheel 8
Mechanism is connect with AGV trolley body 1.
Specifically, which includes the float plate 9 being pivotally connected with the rotor of output shaft axle of driving motor, driving motor
Shell be fixedly connected with float plate 9, two vertical guide rods 12, two guide rods are symmetrically arranged at the both ends of float plate 9
12 are slidably connected with float plate 9 respectively, the vertical linear motion up and down on two guide rods 12 of float plate 9.Two guide rods 12
Top be equipped with top positioning plate 10, two guide rods 12 low side be equipped with bottom positioning plate 11, top positioning plate 10 and bottom
Portion's positioning plate 11 is fixedly connected with AGV trolley body 1 respectively, and elastic component is equipped between top positioning plate 11 and float plate 9, should
Elastic component resilient support float plate 9 moves downward.The elastic component is compression helical spring 13, and compression helical spring 13, which is set in, leads
To on bar 12.The pressing plate 14 for adjusting 13 pressure of compression helical spring is slidably connected on two guide rods 12, in pressing plate 14
Portion is threaded with adjusting screw rod 15, and one end and the top positioning plate 10 of adjusting screw rod 15 offset, by rotating adjusting screw rod 15
The collapsing length of compression helical spring 13 is adjusted, increases or reduces compression helical spring 13 to the pressure of float plate 9.
It is equipped with the universal caster wheel 16 of support AGV trolley body 1 in the bottom of AGV trolley body 1, which is equipped with
Four groups, four groups of universal caster wheels 16 are respectively fixedly connected in the quadrangle of 1 bottom of AGV trolley body.
Working principle
A kind of transfer robot of the utility model, the AGV trolley body 1 of the robot use the vehicle with walking machine of two wheel guide robot
Structure, the left traveling wheel 7 and right traveling wheel 8 of this walking mechanism are arranged symmetrically in the two sides of 1 bottom of AGV trolley body.Left lateral is walked
Driving motor is respectively equipped on wheel 7 and right traveling wheel 8.AGV trolley body 1 is by the left traveling wheel 7 of two sides and the difference of right traveling wheel 8
Speed turns to, therefore steering wheel need not be arranged.1 structure of AGV trolley body is simple, reliable operation, at low cost.In automatic operating state
Lower AGV trolley body 1 can do advance, retreat traveling and can vertical turn mobility it is good.
In order to improve the car body longitudinal stability when driving of AGV trolley body 1, walked in the left lateral of the walking mechanism of two wheel guide robot
Wheel 7 and right traveling wheel 8 are connect with AGV trolley body 1 using damper mechanism.The damper mechanism is equipped with float plate 9,12 and of guide rod
The driving motor and float plate 9 of elastic component, left traveling wheel 7 and right traveling wheel 8 are rotatablely connected, and are symmetrically set at the both ends of float plate 9
Have and slidably connect two vertical guide rods 12, elastic component resilient support float plate 9 moves downward.In 7 row of AGV trolley body
It can play the role of vibration reduction and cushioning when encountering ground relief when sailing, the article loaded is avoided to fall or collide.Together
When this damper mechanism can be improved the road holding of left traveling wheel 7 and right traveling wheel 8, improve the transfer efficiency of AGV trolley body 1.
In order to improve AGV trolley body cross-car stability when driving, on the basis of the walking mechanism of two wheel guide robot
AGV trolley body 1 has been additionally arranged at the bottom of four groups of universal caster wheels 16.Four groups of universal caster wheels 16 are walked bogie wheel by original left lateral
Four are increased on the basis of wheel 7 and right traveling wheel 8 to be arranged at four angles of 1 bottom of AGV trolley body, improve AGV
The stability that trolley body 1 is run.
Above-described specific embodiment, to the purpose of this utility model, technical scheme and beneficial effects carried out into
One step is described in detail, it should be understood that being not used to limit the foregoing is merely specific embodiment of the present utility model
Determine the protection scope of the utility model, within the spirit and principle of the utility model, any modification for being made equally is replaced
It changes, improve, should be included within the scope of protection of this utility model.
Claims (9)
1. a kind of transfer robot, which is characterized in that including AGV trolley body, be equipped in AGV trolley body and load article
Hopper, article feel trim actuator is additionally provided in the AGV trolley body, and the article feel trim actuator is used for the object loaded in hopper
Product are drawn off.
2. a kind of transfer robot according to claim 1, which is characterized in that the hopper is located at AGV trolley body
Top, hopper inclination fixed setting upwards in AGV trolley body.
3. a kind of transfer robot according to claim 1, which is characterized in that the hopper is open-topped groove body,
It is equipped with the outlet of unloading article in the wherein side of hopper, the article feel trim actuator includes being located in hopper and sliding with hopper
The push plate of connection and the driving mechanism for driving push plate linear reciprocating motion in hopper, the driving mechanism push push plate to material
The export direction of bucket moves.
4. a kind of transfer robot according to claim 3, which is characterized in that the driving mechanism is straight line mould group, institute
The bottom that straight line mould group is located at hopper is stated, and straight line mould group is fixedly connected with AGV trolley body, the push plate and straight line mould group
Sliding block is fixedly connected, and the escape groove that push plate is connect with sliding block, the length direction of the escape groove are offered on the bottom plate of hopper
With the direction of motion of push plate altogether to.
5. a kind of transfer robot according to claim 4, which is characterized in that the sliding block of the push plate and straight line mould group it
Between be fixedly connected by vertical plate, one end of the vertical plate is fixedly connected with push plate, the sliding block of the other end of vertical plate and straight line mould group
It is fixedly connected, the vertical plate follows the sliding block of straight line mould group to move along a straight line in escape groove, the both ends difference of the straight line mould group
Equipped with limit switch, the limit switch is used to control the slider stroke range of straight line mould group.
6. a kind of transfer robot according to claim 1, which is characterized in that the bottom of the AGV trolley body is equipped with
The two wheel guide robot walking mechanism of AGV trolley body movement is driven, the two wheel guide robot walking mechanism includes left traveling wheel and right lateral
Wheel is walked, driving motor, the rotor of output shaft axle of driving motor and left traveling wheel and the right side are respectively equipped on left traveling wheel and right traveling wheel
Traction drive connects, and is connect respectively by damper mechanism with AGV trolley body on the left traveling wheel and right traveling wheel.
7. a kind of transfer robot according to claim 6, which is characterized in that the damper mechanism includes and driving motor
Rotor of output shaft axle be pivotally connected float plate, the shell of driving motor is fixedly connected with float plate, at the both ends pair of float plate
Claim to be equipped with two vertical guide rods, two guide rods are slidably connected with float plate respectively, and the top of two guide rods is set
There is top positioning plate, is equipped with bottom positioning plate, the top positioning plate and bottom positioning plate difference in the low side of two guide rods
It is fixedly connected with AGV trolley body, elastic component is equipped between top positioning plate and float plate, the elastic component resilient support is floating
Movable plate moves downward.
8. a kind of transfer robot according to claim 7, which is characterized in that the elastic component is compression helical spring,
The compression helical spring is arranged on the guide bar, is slidably connected on two guide rods and is adjusted compression helical spring pressure
Pressing plate is threaded with adjusting screw rod in the middle part of the pressing plate, and one end and the top positioning plate of the adjusting screw rod offset.
9. a kind of transfer robot according to claim 1, which is characterized in that the bottom of the AGV trolley body is equipped with
The universal caster wheel of AGV trolley body is supported, the universal caster wheel is equipped with four groups, and four groups of universal caster wheels are respectively fixedly connected in AGV
The quadrangle of trolley body bottom.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920448380.3U CN209634615U (en) | 2019-04-04 | 2019-04-04 | A kind of transfer robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920448380.3U CN209634615U (en) | 2019-04-04 | 2019-04-04 | A kind of transfer robot |
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| CN209634615U true CN209634615U (en) | 2019-11-15 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110935657A (en) * | 2019-12-16 | 2020-03-31 | 成都工业职业技术学院 | Sorting robot and control method thereof |
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2019
- 2019-04-04 CN CN201920448380.3U patent/CN209634615U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110935657A (en) * | 2019-12-16 | 2020-03-31 | 成都工业职业技术学院 | Sorting robot and control method thereof |
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