CN219565306U

CN219565306U - Special transport AGV for carrying sterilization rack in center for disinfection and supply

Info

Publication number: CN219565306U
Application number: CN202320287386.3U
Authority: CN
Inventors: 朱书建; 宋迪; 李现刚; 韩健康; 杨国威; 魏振先; 夏京亮; 郭少辉
Original assignee: Shinva Medical Instrument Co Ltd
Current assignee: Shinva Medical Instrument Co Ltd
Priority date: 2023-02-23
Filing date: 2023-02-23
Publication date: 2023-08-22
Anticipated expiration: 2033-02-23

Abstract

The utility model belongs to the technical field of medical equipment, and particularly relates to a special transport AGV for a transport sterilization rack in a center for sterilization, which comprises a chassis and a jacking mechanism, wherein the jacking mechanism is fixedly arranged on the chassis, a jacking stabilizing device is arranged between the chassis and the jacking mechanism, and the jacking stabilizing device is arranged on two sides of the jacking mechanism along the length direction of the AGV. According to the utility model, the jacking stabilizing device is added in the jacking mechanism of the AGV, so that the AGV is more stable and safer in the jacking process, and the bearing capacity is larger; climbing mechanism is directly fixed to the bottom plate on AGV chassis, and the AGV reduces at the size of direction of height for reduce AGV complete machine height, thereby the focus of AGV full load sterilization reduces, stability, security when increasing AGV and transporting full load sterilization frame.

Description

Special transport AGV for carrying sterilization rack in center for disinfection and supply

Technical Field

The utility model belongs to the technical field of medical equipment, and particularly relates to a special transport AGV for a transport sterilization rack in a sterilization supply center.

Background

Along with logistics system's rapid development, unmanned carrier (Automated Guided Vehicle acronym AGV) application scope is also constantly expanding, in intelligent disinfection supply center, the automation of sterilization frame is an important link in intelligent disinfection supply center, after the transport AGV received dispatch system's command, the AGV transported the appointed station with empty sterilization frame according to appointed command, staff sent the sterilization command after the sterilization frame was full-load, the AGV was carried the sterilization frame automation of full-load and is carried in the sterilizer and disinfect, after the sterilization was accomplished, the AGV transported aseptic article storage area with the sterilization frame that fills with article after the sterilization. The whole process does not need manual intervention, realizes the automatic conveying function of the sterilizing rack, reduces labor cost and improves working efficiency. The disinfection supply center internal equipment is more, puts comparatively closely for the special passageway of AGV walking is limited, and the total weight is great after the sterilization frame is fully loaded simultaneously, and current sterilization frame transport AGV is provided with the secondary platform on the chassis, sets up climbing mechanism again on the secondary platform, and the height of AGV is higher, and stability is relatively poor and occupation space is great when walking, consequently needs a small in overall dimension and has the special AGV of transport sterilization frame of great bearing capacity.

Disclosure of Invention

The utility model aims to overcome the defects of the prior art and provide the special transport AGV which has small overall dimension and high stability and is used for transporting a sterilizing rack in a sterilizing center.

The technical scheme adopted by the utility model for realizing the purposes is as follows: the special transport AGV for the transport sterilization rack in the center for disinfection comprises a chassis and a jacking mechanism, wherein the jacking mechanism is fixedly arranged on the chassis, a jacking stabilizing device is arranged between the chassis and the jacking mechanism, and the jacking stabilizing device is arranged on two sides of the jacking mechanism along the length direction of the AGV;

the jacking stabilizing device comprises a parallelogram mechanism, the parallelogram mechanism comprises a fixed rod, a jacking rod, two swinging rods and two connecting rods, the fixed rod is parallel to the jacking rod, one ends of the two connecting rods are rotationally connected to the chassis, two ends of the fixed rod are rotationally connected with the two connecting rods respectively, the jacking rod is fixed on the jacking mechanism, and the two swinging rods are rotationally connected to two ends of the fixed rod and the jacking rod respectively.

Preferably, the jacking stabilizing device further comprises a guide rail and a sliding block, wherein the guide rail is vertically arranged on the chassis, the sliding block is fixedly connected with the jacking mechanism, and the sliding block is in sliding connection with the guide rail.

Preferably, the chassis comprises a bottom plate, a driving device, a traveling device, a control device and a navigation device, wherein the driving device, the traveling device, the control device and the navigation device are all fixedly arranged on the bottom plate, the traveling device is connected with the driving device, and the jacking mechanism is arranged on the bottom plate.

Preferably, the driving device is a driving motor, the walking device comprises a driving wheel and a universal wheel, the driving wheel is connected with the driving motor, and the universal wheel is movably connected with the bottom plate.

Preferably, the driving motor is arranged in an L shape.

Preferably, the navigation device comprises a front laser scanner and a rear laser scanner which are respectively arranged at the front end and the rear end of the bottom plate.

Preferably, the chassis further comprises a battery, a charging interface and an antenna, and the battery, the charging interface and the antenna are arranged on the bottom plate.

Preferably, the jacking mechanism comprises a top plate, a jacking power device and a top plate supporting frame, wherein the jacking power device is fixedly arranged on the chassis, the top plate supporting frame is fixedly connected to the jacking power device, and the top plate is fixedly arranged above the top plate supporting frame.

Preferably, the device further comprises a positioning block and a height detection mechanism, wherein the positioning block is arranged on the top plate, and the height detection mechanism is fixedly arranged on the chassis.

Compared with the prior art, the technical scheme has the following beneficial effects:

1. increase jacking stabilising arrangement between climbing mechanism and chassis of AGV for AGV is more stable, safe at jacking in-process, and the bearing is bigger.

2. The jacking mechanism is directly fixed on the bottom plate of the AGV chassis, the size of the AGV in the height direction is reduced, the overall height of the AGV is reduced, the gravity center of the AGV for full-load sterilization is reduced, and the stability and safety of the AGV when conveying a full-load sterilization frame are improved.

3. According to the utility model, the driving motor is arranged in an L shape, so that the size of the whole AGV in the width direction is reduced, and the space utilization rate of the chassis is increased.

4. The AGV adopts double lasers, and 360-degree coverage can be realized in the navigation field of view, and the AGV walks on the walking line and does not have the field blind area, has improved AGV safety in utilization greatly.

Drawings

Fig. 1 is a schematic structural view of the present utility model.

Fig. 2 is a schematic structural view of the chassis of the present utility model.

Fig. 3 is a schematic structural view of the lifting mechanism of the present utility model.

Wherein: 1. the device comprises a bottom plate 2, a front laser scanner 3, a charging interface 4, an antenna 5, universal wheels 6, a driving motor 7, driving wheels 8, a rear laser scanner 9, a core controller 10, a battery 11, a chassis frame 12, a parallelogram mechanism 13, a top plate supporting frame 14, a sliding block 15, a lifting motor 16, a height detection mechanism 17, a top plate 18, a positioning block 19, a fixed rod 20, a swinging rod 21, a lifting rod 22, a fixed rod support 23, a guide rail 24 and a connecting rod.

Detailed Description

Fig. 1 to 3 are preferred embodiments of the present utility model, and the present utility model is further described with reference to fig. 1 to 3.

As shown in FIG. 1, the special transport AGV for carrying a sterilization frame in a center for sterilization comprises a chassis and a jacking mechanism, wherein the jacking mechanism is fixedly arranged on the chassis, the chassis is used for realizing the functions of walking, navigation, obstacle avoidance and the like of the AGV, the jacking mechanism is used for carrying the AGV for secondary lifting when the sterilization frame is carried, the jacking mechanism is directly installed and fixed on the chassis of the AGV, the height of the AGV is reduced, a jacking stabilizing device is arranged between the chassis and the jacking mechanism, and the jacking stabilizing device is arranged on two sides along the length direction of the AGV, so that the AGV is more stable and safer in the jacking process.

As shown in fig. 2, the novel chassis comprises a bottom plate 1, a driving device, a traveling device, a control device and a navigation device, wherein the driving device, the traveling device, the control device and the navigation device are all fixed on the bottom plate 1, the driving device drives the traveling device to enable an AGV to travel, the control device is a core controller 9 and provides a control function for the AGV, and the navigation device provides a navigation function for the AGV to travel.

Specifically, the driving device is a driving motor 6, and the driving motor 6 is arranged on the bottom plate 1 in an L shape, so that the width of the AGV is reduced compared with that of the AGV which is arranged side by side; the traveling device comprises driving wheels 7 and universal wheels 5, wherein the driving wheels 7 are arranged in the middle of the base plate 1, the two driving wheels 7 are symmetrically arranged at the left side and the right side of the base plate 1, the universal wheels 5 are arranged at the four corners of the base plate 1 and support the base plate 1 and other devices, the driving wheels 7 are connected with driving motors 6, the driving motors 6 drive the driving wheels 7 to provide traveling and steering of the AGV trolley, the driving motors 6 control the driving wheels 7 to advance and retract through forward rotation and reverse rotation, when the driving motors 6 at the two sides rotate positively, the two driving wheels 7 advance, when the driving motors 6 at the two sides rotate reversely, the two driving wheels 7 retract, the carrying AGV also retracts, when the driving wheels 7 at the left side advance and the driving wheels 7 at the right side retract, and when the driving wheels 7 at the left side retract, the carrying AGV rotates left side; the navigation device comprises a front laser scanner 2 and a rear laser scanner 8 which are respectively arranged at the front end and the rear end of the AGV, the two scanners are fixed on the bottom plate 1 through a navigation bracket, the navigation bracket is connected with the bottom plate 1 through bolts, and provides navigation function for the traveling of the AGV.

In addition, the chassis still includes interface 3, antenna 4 and battery 10 charge, and interface 3, antenna 4 and battery 10 all are fixed to be set up on bottom plate 1 charge, and antenna 4 exports and receives wireless signal for AGV to be connected with external network, interface 3 charges for AGV provides the mouth that charges, and battery 10 provides the power for the operation of AGV.

As shown in fig. 3, the jacking mechanism comprises a top plate 17, a jacking power mechanism and a top plate supporting frame 13, wherein the jacking power mechanism is fixedly arranged on the bottom plate 1, the top plate supporting frame 13 is fixedly arranged at the output end of the jacking power mechanism, the top plate 17 is fixedly arranged above the top plate supporting frame 13, the jacking power mechanism is directly fixedly arranged on the bottom plate 1, and compared with a secondary jacking platform arranged on a chassis, the height of the AGV is reduced, so that the gravity center of the AGV is reduced when the AGV is fully loaded with a sterilizing frame, the stability and safety of the AGV when the AGV is fully loaded with the sterilizing frame are improved, the top plate supporting frame 13 moves up and down along with the output end of the jacking power mechanism, and the top plate 17 is lifted up and down, so that the sterilizing frame is transported to a proper position.

Specifically, jacking power device is jacking motor 15, jacking motor 15 is fixed to be set up on bottom plate 1, for jacking mechanism's jacking or decline provides power, be provided with accurate planetary reducer between roof support frame 13 and jacking motor 15, jacking motor 15 operation drives accurate planetary reducer and rotates, accurate planetary reducer output is jacked, drive roof support frame 13 and rise, thereby drive roof 17 and rise, evenly be provided with 4 each locating pieces 18 on roof 17, butt joint sterilization frame when locating pieces 18 are used for roof 17 to prevent that AGV's navigation device precision is not enough, unable accurate jacking sterilization frame. In addition, still be provided with high detection mechanism 16 on the bottom plate, high detection mechanism 16 comprises two photoelectric switch, switch support and detection baffle, the main function is the lift height of control elevating system, two photoelectric switch are fixed to be set up on the switch support, one is in the top below, the switch support is fixed to be set up on bottom plate 1, the fixed setting of detection baffle is on elevating system, the length of detection baffle is slightly greater than the distance between two photoelectric switch, when two photoelectric switch all detected the detection baffle, elevating system is in the decline state of putting in place, when the photoelectric switch on higher side detected the detection baffle, when the photoelectric switch on lower side did not detect, elevating system is in the process of jacking or decline, when two photoelectric switch all did not detect the detection baffle, elevating system was in the state of ascending in place.

The jacking stabilizing device comprises a parallelogram mechanism 12, wherein the parallelogram mechanism 12 is arranged between a bottom plate 1 and a top plate 17, two groups of parallelogram mechanisms 12 are arranged on two sides of an AGV, the parallelogram mechanisms 12 are arranged along the traveling direction of the AGV, each group of parallelogram mechanisms 12 comprises a fixing rod 19, a jacking rod 21, two swinging rods 20 and two connecting rods 24, the fixing rods 19 are mutually parallel to the jacking rod 21, one ends of the two connecting rods 24 are rotationally connected to a chassis, two ends of the fixing rods 19 are rotationally connected with the two connecting rods 24 respectively, the jacking rod 21 is fixed to the jacking mechanism, the two swinging rods 20 are rotationally connected to two ends of the fixing rods 19 and the jacking rod 21 respectively, and the two connecting rods 24 are rotationally connected to the bottom plate 1 through fixing rod brackets 22. The roof support frame 13 is fixed to be set up between the roof support frame 21 of both sides, roof support frame 13 drives the upward movement of roof support frame 21 when the jacking, the vertical motion of roof support frame 21, two connecting rods 24 rotate around dead lever support 22, parallelogram mechanism 12 sets up respectively in the both sides of roof 17 and jack up or descend along with roof support frame 13 together, the atress of roof 17 jacking process is more even to roof 17 jacking simultaneously of roof support frame 13 and the jacking rod 21 of both sides, the parallelogram mechanism 12 that both sides set up prevents that the sterilization frame from leading to the circumstances that AGV dolly turned on one's side on roof 17 focus unstably for AGV is more stable, safe in the jacking process.

The jacking stabilizing device further comprises a guide rail 23 and a slide block 14, wherein the guide rail 23 and the slide block 14 are arranged on the inner side of the parallelogram mechanism, the slide block 14 is in sliding connection with the guide rail 23, the guide rail 23 is fixedly arranged on the bottom plate 1, the guide rail 23 is vertically arranged, the slide block 14 is fixedly connected with the top plate supporting frame 13, the top plate supporting frame 13 drives the slide block 14 to ascend and descend when jacking or descending, the guide rail 23 limits the slide block 14 to move only in the vertical direction, and the top plate 17 moves only in the vertical direction when the AGV is jacked, so that the stability of the jacking mechanism is improved.

When the automatic sterilizing machine is used, the AGV is located in a parking area, after the core controller 9 receives a command for conveying a sterilizing frame, the driving motor 6 operates to drive the AGV to travel, so that the AGV reaches a destination, the front laser scanner 2 and the rear laser scanner 8 feed back whether a travel route is correct or not in real time in the traveling process of the AGV, meanwhile, the core controller 9 controls the driving motor to adjust a route error, the laser scanner identifies the sterilizing frame after the AGV reaches the destination, the AGV reaches a corresponding position after the identification, the core controller 9 sends a jacking command to the jacking motor 15, the jacking motor 15 operates to drive the precise planetary reducer to rotate, the output end of the precise planetary reducer is jacked to drive the top plate support 13 to ascend, the top plate support 13 ascends to drive the two groups of parallelogram mechanisms 12 and the sliding blocks 14 to ensure stability in the jacking process, the top plate support 13 is jacked up simultaneously when the top plate support 13 ascends, the sterilizing frame is jacked up, the sterilizing frame is enabled to be up, the AGV is conveyed into the sterilizing machine after the sterilizing frame reaches the destination, the core controller 9 sends a descending command to the sterilizing frame, the jacking mechanism starts to descend, the sterilizing mechanism is automatically to the sterilizing machine to the position after the sterilizing frame reaches the destination, the sterilizing machine is automatically assigned to the position, and the sterilizing machine can be automatically lifted to the parking position after the sterilizing machine is stopped, and the sterilizing machine can be automatically stopped at a position to a designated position.

The above description is only a preferred embodiment of the present utility model, and is not intended to limit the utility model in any way, and any person skilled in the art may make modifications or alterations to the disclosed technical content to the equivalent embodiments. However, any simple modification, equivalent variation and variation of the above embodiments according to the technical substance of the present utility model still fall within the protection scope of the technical solution of the present utility model.

Claims

1. A special transport AGV that is used for disinfection to use in center transport sterilization frame which characterized in that: the lifting mechanism is fixedly arranged on the chassis, a lifting stabilizing device is arranged between the chassis and the lifting mechanism, and the lifting stabilizing device is arranged on two sides of the lifting mechanism along the length direction of the AGV;

the jacking stabilizing device comprises a parallelogram mechanism (12), the parallelogram mechanism (12) comprises a fixed rod (19), a jacking rod (21), two swinging rods (20) and two connecting rods (24), the fixed rod (19) is parallel to the jacking rod (21), one ends of the two connecting rods (24) are rotationally connected to a chassis, two ends of the fixed rod (19) are rotationally connected with the two connecting rods (24) respectively, the jacking rod (21) is fixed on the jacking mechanism, and the two swinging rods (20) are rotationally connected to two ends of the fixed rod (19) and the jacking rod (21) respectively.

2. A transport AGV for in-center transport sterilization racks for sterilization as set forth in claim 1 wherein: the jacking stabilizing device further comprises a guide rail (23) and a sliding block (14), wherein the guide rail (23) is vertically arranged on the chassis, the sliding block (14) is fixedly connected with the jacking mechanism, and the sliding block (14) is in sliding connection with the guide rail (23).

3. A transport AGV for in-center transport sterilization racks for sterilization as set forth in claim 1 wherein: the chassis comprises a bottom plate (1), a driving device, a traveling device, a control device and a navigation device, wherein the driving device, the traveling device, the control device and the navigation device are fixedly arranged on the bottom plate (1), the traveling device is connected with the driving device, and the jacking mechanism is arranged on the bottom plate (1).

4. A transport AGV for in-center transport sterilization racks as set forth in claim 3 wherein: the driving device is a driving motor (6), the walking device comprises a driving wheel (7) and a universal wheel (5), the driving wheel (7) is connected with the driving motor (6), and the universal wheel (5) is movably connected with the bottom plate (1).

5. A transport AGV for in-center transport sterilization racks for sterilization as set forth in claim 4 wherein: the driving motor (6) is arranged in an L-shaped mode.

6. A transport AGV for in-center transport sterilization racks as set forth in claim 3 wherein: the navigation device comprises a front laser scanner (2) and a rear laser scanner (8) which are respectively arranged at the front end and the rear end of the bottom plate (1).

7. A transport AGV for in-center transport sterilization racks as set forth in claim 3 wherein: the chassis also comprises a battery (10), a charging interface (3) and an antenna (4), wherein the battery (10), the charging interface (3) and the antenna (4) are also arranged on the bottom plate (1).

8. A transport AGV for in-center transport sterilization racks for sterilization as set forth in claim 1 wherein: the jacking mechanism comprises a top plate (17), a jacking power device and a top plate supporting frame (13), wherein the jacking power device is fixedly arranged on the chassis, the top plate supporting frame (13) is fixedly connected to the jacking power device, and the top plate (17) is fixedly arranged above the top plate supporting frame (13).

9. A transport AGV dedicated to in-center transport sterilization racks for sterilization as set forth in claim 8 wherein: the device further comprises a positioning block (18) and a height detection mechanism (16), wherein the positioning block (18) is arranged on the top plate (17), and the height detection mechanism (16) is fixedly arranged on the chassis.