CN215924299U - AGV transfer robot for loading and unloading medical waste garbage can - Google Patents
AGV transfer robot for loading and unloading medical waste garbage can Download PDFInfo
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- CN215924299U CN215924299U CN202122212965.5U CN202122212965U CN215924299U CN 215924299 U CN215924299 U CN 215924299U CN 202122212965 U CN202122212965 U CN 202122212965U CN 215924299 U CN215924299 U CN 215924299U
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Abstract
The utility model belongs to the technical field of medical waste transportation, and particularly discloses an AGV (automatic guided vehicle) carrying robot for a medical waste garbage can loading and unloading vehicle, which comprises a chassis mechanism, wherein a lifting mechanism is arranged on the chassis mechanism, and a vehicle body mechanism matched with the chassis mechanism is arranged at the top end of the lifting mechanism; the chassis mechanism comprises a lower frame, and a lower frame bin is arranged on the lower frame; the vehicle body mechanism comprises an upper frame; the lifting mechanism comprises a connecting rod structure arranged in the lower frame bin, and the top end of the connecting rod structure is connected with the upper frame; according to the utility model, the chassis mechanism drives the AGV robot to move, so that the medical waste garbage can is driven to be transferred to a proper position, and the height of the vehicle body mechanism is adjusted through the lifting mechanism, so that the medical waste garbage can be conveniently transferred to a carriage with a certain height, the contact between an operator and the medical waste can be greatly reduced, and the carrying speed is greatly increased.
Description
Technical Field
The utility model belongs to the technical field of medical waste transportation, and particularly relates to an AGV (automatic guided vehicle) carrying robot for a medical waste garbage can loading and unloading vehicle.
Background
Automated Guided Vehicle, abbreviated AGV, is also commonly referred to as an AGV. The transport vehicle is provided with an electromagnetic or optical automatic navigation device, can run along a specified navigation path, and has safety protection and various transfer functions; when medical discarded object garbage bin shifts loading and unloading, adopt artifical mode to carry medical discarded object garbage bin to assigned position more, then carry out manual loading and unloading, at this in-process, can contact with medical discarded object garbage bin when operating personnel carries to when loading and unloading, operating personnel still can contact with medical discarded object garbage bin large tracts of land, lead to the porter to have the risk of infecting. In addition, when the medical waste garbage can is manually transported, the speed is slow, the efficiency is low, and the medical waste garbage can with a large number is difficult to be rapidly transported.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem of hidden dangers such as contact and infection during manual conveying of medical waste garbage cans, the AGV conveying robot for the loading and unloading vehicle of the medical waste garbage cans is capable of reducing contact with the medical waste garbage cans during conveying, greatly improving conveying speed, and achieving automatic, unmanned and efficient conveying.
Based on the above purpose, the utility model is realized by the following technical scheme:
an AGV (automatic guided vehicle) carrying robot for a medical waste garbage can loading and unloading vehicle comprises a chassis mechanism, wherein a lifting mechanism is arranged on the chassis mechanism, and a vehicle body mechanism matched with the chassis mechanism is arranged at the top end of the lifting mechanism; the chassis mechanism comprises a lower frame, and a lower frame bin is arranged on the lower frame; the vehicle body mechanism comprises an upper frame; the lifting mechanism comprises a connecting rod structure arranged in the lower frame bin, and the top end of the connecting rod structure is connected with the upper frame.
Preferably, the chassis mechanism further comprises a driving system, the driving system comprises more than two groups of mutually matched driving wheel sets, each driving wheel set comprises a driving motor, and the driving motors are connected with driving wheels through speed reducers arranged on the bottom surfaces of the lower frames; the driving motor is preferably a servo motor; the driving wheels are preferably Mecanum wheels; preferably, the drive system comprises four sets of drive wheels.
Preferably, the connecting rod structure comprises a connecting rod rotating shaft and a pair of connecting rod adjusters connected with the connecting rod rotating shaft, the connecting rod adjusters respectively comprise a pair of adjusting connecting rods which are arranged on the connecting rod rotating shaft in a crossed manner, one end of each adjusting connecting rod is connected with the lower frame cabin, and the other end of each adjusting connecting rod is connected with the upper frame.
Preferably, the adjusting connecting rod is connected with the corresponding adjusting connecting rod on the other side through the connecting rod connecting plate; an electric cylinder is arranged on the connecting rod rotating shaft, the electric cylinder is connected with the connecting rod rotating shaft through a rotating shaft rotating part, and the movable end of the electric cylinder is connected with the connecting rod connecting plate.
Preferably, one end of the rotating part of the rotating shaft is connected with the rotating shaft of the connecting rod through the rotating shaft barrel, and the other end of the rotating part of the rotating shaft is connected with the electric cylinder through the rotating connecting shaft.
Preferably, an upper vehicle body bin is arranged in the upper vehicle frame, and a vehicle body inlet is formed in one side of the upper vehicle body bin.
Preferably, the side face of the periphery of the upper frame is provided with an anti-collision switch, the upper frame is provided with an upper frame laser sensor, and the upper frame laser sensor is matched with a lower frame laser sensor arranged on the lower frame; and the lower frame is provided with an obstacle avoidance laser sensor matched with the lower frame laser sensor and the upper frame laser sensor.
Preferably, the upper frame laser sensor and the lower frame laser sensor are both non-contact laser sensors.
Preferably, a charging brush plate is arranged on the side surface of the lower frame; and an elastic charging pile is arranged on the side surface of one side, opposite to the vehicle body inlet, in the upper vehicle body bin.
Preferably, an emergency stop button and a sound box matched with the emergency stop button are arranged on the outer side surface of the upper frame; be equipped with on the frame down with driving motor, electric jar, crashproof switch, go up frame laser sensor, get off frame laser sensor, the brush board that charges, elasticity fill electric pile, scram button, stereo set electric connection's AGV treater.
Compared with the prior art, the utility model has the following beneficial effects:
(1) according to the utility model, the chassis mechanism drives the AGV robot to move, so that the medical waste garbage can is driven to be transferred to a proper position, and the height of the vehicle body mechanism is adjusted through the lifting mechanism, so that the medical waste garbage can be conveniently transferred to a carriage with a certain height, the contact between an operator and the medical waste can be greatly reduced, and the carrying speed is greatly improved; the driving system drives the driving wheel to move through the driving motor and the speed reducer, so that the lower frame is driven, the automatic, unmanned and efficient carrying is realized, the loading and unloading moving efficiency of the medical waste garbage can is effectively improved, and the treatment efficiency of the medical waste garbage can is improved.
(2) The arrangement of the connecting rod adjuster facilitates the electric cylinder to drive the connecting rod rotating shaft to move through the rotating shaft rotating part, so that the lifting of the connecting rod adjuster is realized, and the adjustment of a connecting rod structure is further realized; the adjusting connecting rods which are arranged in a crossed manner can extend or contract along with the connecting rod rotating shaft, the upper frame is driven to ascend or descend by extending or contracting, and the contracted adjusting connecting rods can be hidden in the lower frame bin; the arrangement of the rotating shaft barrel and the rotating connecting shaft enables the electric cylinder to be adjusted along with the movement of the connecting rod rotating shaft when the electric cylinder extends, the electric cylinder can continuously drive the connecting rod rotating shaft to move, and therefore the upper frame can be adjusted.
(3) The upper frame laser sensor and the lower frame laser sensor are matched with the obstacle avoidance laser sensor, so that the detection of obstacles and the scanning of the environment are conveniently realized; the collision prevention switch is arranged, so that collision of the upper frame can be effectively prevented, and collision of the AGV transfer robot and a barrier can be prevented; the arrangement of the vehicle body inlet facilitates the medical waste garbage can to be sent into the upper vehicle body bin.
(4) The charging brush plate is used for charging, so that the automatic charging action is convenient to perform; the elastic charging pile is arranged to facilitate charging of the mechanism staying in the upper vehicle body cabin; the emergency stop button is convenient to control when an emergency or sudden accident happens, and controls the AGV transfer robot to immediately carry out contracting brake parking, so that the safety of vehicles and personnel is ensured; the stereo set carries out pronunciation broadcast when this AGV transfer robot moves, and the suggestion pedestrian notices, reduces the potential safety hazard.
Drawings
FIG. 1 is a schematic view of the configuration of the chassis of the AGV transfer robot in embodiment 1;
FIG. 2 is a schematic diagram showing the lifting structure of the AGV transferring robot in embodiment 1;
FIG. 3 is a schematic view showing the structure of the body of the AGV transporting robot in embodiment 1;
fig. 4 is a schematic view of the structure of the body of the AGV transfer robot according to embodiment 1.
In the figure, a lower frame 1, a driving wheel 2, a speed reducer 3, a driving motor 4, an upper frame 5, an electric cylinder 6, a connecting rod structure 7, a charging brush plate 8, a lower frame laser sensor 9, an upper frame laser sensor 10, an anti-collision switch 11, an emergency stop button 12, a sound box 13, an elastic charging pile 14, an obstacle avoidance laser sensor 15, an adjusting connecting rod 16, a connecting rod rotating shaft 17, a connecting rod connecting plate 18 and a rotating shaft rotating part 19.
Detailed Description
The present invention is further illustrated by the following specific examples, which are not intended to limit the scope of the utility model.
Example 1
An AGV (automatic guided vehicle) carrying robot for a medical waste garbage can loading and unloading vehicle is structurally shown in figures 1-4 and comprises a chassis mechanism, wherein a lifting mechanism is arranged on the chassis mechanism, and a vehicle body mechanism matched with the chassis mechanism is arranged at the top end of the lifting mechanism; the chassis mechanism comprises a lower frame 1, and a lower frame bin is arranged on the lower frame 1; the vehicle body mechanism comprises an upper frame 5; the lifting mechanism comprises a connecting rod structure 7 arranged in the lower frame bin, and the top end of the connecting rod structure 7 is connected with the upper frame 5. The chassis mechanism also comprises a driving system, the driving system comprises more than two groups of driving wheel sets which are matched with each other, the driving wheel sets comprise driving motors 4, and the driving motors 4 are connected with driving wheels 2 through speed reducers 3 arranged on the bottom surfaces of the lower frames 1; the drive motor 4 is preferably a servomotor; the drive wheels 2 are preferably mecanum wheels.
The connecting rod structure 7 comprises a connecting rod rotating shaft 17 and a pair of connecting rod adjusters connected with the connecting rod rotating shaft 17, the connecting rod adjusters respectively comprise a pair of adjusting connecting rods 16 which are arranged on the connecting rod rotating shaft 17 in a crossing manner, one ends of the adjusting connecting rods 16 are connected with the lower frame cabin, and the other ends of the adjusting connecting rods are connected with the upper frame 5. The adjusting connecting rod 16 is connected with the corresponding adjusting connecting rod 16 at the other side through a connecting rod connecting plate 18; the connecting rod rotating shaft 17 is provided with an electric cylinder 6, the electric cylinder 6 is connected with the connecting rod rotating shaft 17 through a rotating shaft rotating part 19, and the movable end of the electric cylinder 6 is connected with a connecting rod connecting plate 18. One end of the rotating shaft rotating part 19 is connected with the connecting rod rotating shaft 17 through a rotating shaft cylinder, and the other end is connected with the electric cylinder 6 through a rotating connecting shaft. An upper vehicle body bin is arranged in the upper vehicle frame 5, and a vehicle body inlet is arranged on one side of the upper vehicle body bin.
The side surface of the periphery of the upper frame 5 is provided with an anti-collision switch 11, the upper frame 5 is provided with an upper frame laser sensor 10, and the upper frame laser sensor 10 is matched with a lower frame laser sensor 9 arranged on the lower frame 1; and the lower frame 1 is provided with an obstacle avoidance laser sensor 15 matched with the lower frame laser sensor 9 and the upper frame laser sensor 10. The upper frame laser sensor 10 and the lower frame laser sensor 9 are non-contact laser sensors. A charging brush plate 8 is arranged on the side surface of the lower frame 1; an elastic charging pile 14 is arranged on the side surface of one side, opposite to the vehicle body inlet, in the upper vehicle body bin. An emergency stop button 12 and a sound 13 matched with the emergency stop button 12 are arranged on the outer side surface of the upper frame 5.
This AGV transfer robot uses the lithium cell as the power supply, forms actuating system by fixing driving motor 4, speed reducer 3, the drive wheel 2 on chassis frame, preferably adopts four drive wheels 2 to form the chassis structure of "4 wheel drive", and this AGV transfer robot drives based on mecanum wheel drive principle, can make this AGV transfer robot realize the all direction movement function.
When carrying medical waste garbage bin from top to bottom, utilize lifting mechanism to carry out the lifting to medical waste garbage bin, the connecting rod structure 7 that sets up in frame storehouse carries out the lifting to last frame 5 about through frame 1 down, concrete step is, electric jar 6 starts, the expansion end of electric jar 6 promotes connecting rod connecting plate 18, because connecting rod connecting plate 18 is fixed on parallel adjusting link 16, thereby drive the motion of electric jar 6 other end, under the effect that the pivot rotated piece 19, electric jar 6 drives connecting rod pivot 17 motion, because the setting of pivot section of thick bamboo and rotation connecting axle, electric jar 6 can finely tune along with connecting rod pivot 17 motion, continuously promote connecting rod pivot 17, connecting rod pivot 17 rises, drive alternately arranged adjusting link 16 and promote last frame 5, thereby realize the purpose of the lifting of frame 5 on the drive.
This AGV transfer robot adopts automatic charging mode, when AGV needs to supply electric power, can report automatically and request to charge, and command AGV to drive to appointed to the district that charges through charging brush board 8 by control center and charge, AGV transfer robot breaks away from charging system automatically after the completion of charging, drives to the workspace or awaits the order the district and drops into normal operating, and the charging process realizes automation, intellectuality, need not special person and takes care of.
This AGV transfer robot's safety keeps away barrier function by establishing last frame 5 all around crashproof switch 11, upper carriage laser sensor 10, lower carriage laser sensor 9, keep away barrier laser sensor 15 and form, when the barrier gets into upper carriage laser sensor 10, lower carriage laser sensor 9, keeps away barrier laser sensor 15 within range, can realize corresponding function through the perception to the barrier in the perception scope, including slowing down, stop etc.. If the obstacle leaves the protection range of the AGV transfer robot within a certain time, the AGV transfer robot is automatically started to continue to execute the task; if the time range of the preset threshold value is exceeded, the safety protection of the AGV transfer robot is still in a triggering state, the system triggers the vehicle to stop for a long time to give an alarm, the task can be continuously executed only by manual confirmation, and the safe and stable operation of production operation is ensured.
This AGV transfer robot's navigation mode adopts the natural profile of laser navigation based on SLAM technique, navigates through frame laser sensor 10, frame laser sensor 9 down, and this navigation mode can realize the profile modeling, map editing and route planning to the environment, need not to reform transform on a large scale service environment, and independently the flexibility is high, satisfies the flexibility transport demand, utilizes this mode can realize AGV's autonomic location navigation, fixes a position accurate and reliable stable. This scram button 12 on AGV transfer robot makes things convenient for the workman to control when meetting urgent or proruption thing, controls AGV transfer robot and carries out the band-type brake at once and parks, ensures vehicle and personnel's safety. This AGV transfer robot can carry out voice play through stereo set 13 at the in-process of traveling, and the suggestion pedestrian notices. In last automobile body storehouse, be furnished with elasticity and fill electric pile 14, can be for staying the mechanism towards the electricity in last automobile body storehouse.
Example 2
The utility model provides a medical waste garbage bin loading and unloading AGV transfer robot, the difference with embodiment 1 lies in: the driving system comprises three groups of driving wheel sets arranged on the bottom surface of the lower frame 1.
Example 3
The utility model provides a medical waste garbage bin loading and unloading AGV transfer robot, the difference with embodiment 1 lies in: the driving system comprises four groups of driving wheel sets arranged on the bottom surface of the lower frame 1.
Example 4
The utility model provides a medical waste garbage bin loading and unloading AGV transfer robot, the difference with embodiment 1 lies in: the driving system comprises five groups of driving wheel groups arranged on the bottom surface of the lower frame 1.
Example 5
The utility model provides a medical waste garbage bin loading and unloading AGV transfer robot, the difference with embodiment 1 lies in: the driving system comprises six groups of driving wheel sets arranged on the bottom surface of the lower frame 1.
Example 6
The utility model provides a medical waste garbage bin loading and unloading AGV transfer robot, the difference with embodiment 1 lies in: the driving system comprises seven groups of driving wheel sets arranged on the bottom surface of the lower frame 1.
Example 7
The utility model provides a medical waste garbage bin loading and unloading AGV transfer robot, the difference with embodiment 1 lies in: the driving system comprises eight groups of driving wheel sets arranged on the bottom surface of the lower frame 1.
Example 8
The utility model provides a medical waste garbage bin loading and unloading AGV transfer robot, the difference with embodiment 1 lies in: the driving system comprises nine groups of driving wheel sets arranged on the bottom surface of the lower frame 1.
Example 9
The utility model provides a medical waste garbage bin loading and unloading AGV transfer robot, the difference with embodiment 1 lies in: the driving system comprises ten groups of driving wheel sets arranged on the bottom surface of the lower frame 1.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, but rather as the following description is intended to cover all modifications, equivalents and improvements falling within the spirit and scope of the present invention.
Claims (10)
1. An AGV (automatic guided vehicle) carrying robot for a medical waste garbage can loading and unloading vehicle is characterized by comprising a chassis mechanism, wherein a lifting mechanism is arranged on the chassis mechanism, and a vehicle body mechanism matched with the chassis mechanism is arranged at the top end of the lifting mechanism; the chassis mechanism comprises a lower frame, and a lower frame bin is arranged on the lower frame; the vehicle body mechanism comprises an upper frame; the lifting mechanism comprises a connecting rod structure arranged in the lower frame bin, and the top end of the connecting rod structure is connected with the upper frame.
2. The AGV transfer robot of a medical waste garbage can unloading vehicle of claim 1, wherein the chassis mechanism further comprises a driving system, the driving system comprises more than two sets of mutually matched driving wheel sets, each driving wheel set comprises a driving motor, and the driving motor is connected with a driving wheel through a speed reducer arranged on the bottom surface of the lower frame.
3. The AGV transferring robot for the medical waste garbage can loading and unloading vehicle according to claim 1 or 2, wherein the link structure includes a link shaft and a pair of link adjusters coupled to the link shaft, each link adjuster includes a pair of adjusting links crossing the link shaft, one end of each adjusting link is connected to the lower frame compartment, and the other end is connected to the upper frame.
4. The AGV transfer robot of a medical waste garbage can hopper as claimed in claim 3, wherein the adjusting link is connected to the corresponding adjusting link at the other side by a link connection plate; and an electric cylinder is arranged on the connecting rod rotating shaft, the electric cylinder is connected with the connecting rod rotating shaft through a rotating shaft rotating part, and the movable end of the electric cylinder is connected with the connecting rod connecting plate.
5. The AGV transferring robot of a medical waste garbage can loading and unloading vehicle of claim 4, wherein one end of the rotating shaft is connected with the connecting rod rotating shaft through a rotating shaft cylinder, and the other end is connected with the electric cylinder through a rotating connecting shaft.
6. The AGV transfer robot of claim 5, wherein an upper body compartment is provided in the upper frame, and a body entrance is provided at one side of the upper body compartment.
7. The AGV transferring robot of claim 6, wherein the peripheral sides of the upper frame are provided with anti-collision switches, the upper frame is provided with an upper frame laser sensor, and the upper frame laser sensor is matched with a lower frame laser sensor arranged on the lower frame; and the lower frame is provided with an obstacle avoidance laser sensor matched with the lower frame laser sensor and the upper frame laser sensor.
8. The AGV transfer robot of claim 7, wherein the upper frame laser sensor and the lower frame laser sensor are non-contact laser sensors.
9. The AGV transferring robot of a medical waste garbage can unloading vehicle of claim 8, wherein a charging brush plate is provided on a side of the lower frame; and an elastic charging pile is arranged on the side surface of one side, opposite to the vehicle body inlet, in the upper vehicle body bin.
10. The AGV transferring robot for the medical waste garbage can unloading vehicle of claim 9, wherein an emergency stop button and a stereo matched with the emergency stop button are arranged on the outer side surface of the upper frame.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122212965.5U CN215924299U (en) | 2021-09-14 | 2021-09-14 | AGV transfer robot for loading and unloading medical waste garbage can |
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| CN202122212965.5U CN215924299U (en) | 2021-09-14 | 2021-09-14 | AGV transfer robot for loading and unloading medical waste garbage can |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114455231A (en) * | 2022-03-28 | 2022-05-10 | 上海莱陆科技有限公司 | Medical waste transfer device, transfer garbage can and method |
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- 2021-09-14 CN CN202122212965.5U patent/CN215924299U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114455231A (en) * | 2022-03-28 | 2022-05-10 | 上海莱陆科技有限公司 | Medical waste transfer device, transfer garbage can and method |
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