A kind of transportation robot based on AGV systemTechnical field
The present invention relates to robotic technology field, specially a kind of transportation robot based on AGV system.
Background technique
Transportation robot is the industrial robot that can carry out automatic transportation operation, it is that modern age automation field goes outAn existing new and high technology has been related to mechanics, mechanics, electric appliance hydraulic-pneumatic technology, automatic control technology, sensor skillThe ambits such as art, singlechip technology and computer technology a, it has also become important set in modern mechanical manufacturing production systemAt part, its advantages are that various expected tasks can be completed by programming, have people and machine in self structure and performanceThe respective advantage of device, has especially embodied artificial intelligence and adaptability.
Transportation robot generally uses in various factories, needs to transport electrical equipment in nuclear power plant,Since nuclear power station internal environment is more complicated, transportation robot may collide to cause during transportation electricalEquipment is fallen, and the supporting plate on existing transportation robot is not yet equipped with fixed structure, once electrical equipment falls this meetingBiggish loss is caused, while also influencing being normally carried out for follow-up work.
Summary of the invention
In view of the deficiencies of the prior art, it the present invention provides a kind of transportation robot based on AGV system, solves and is transportingWhen defeated electrical equipment, not yet electrical equipment is fixed so as to cause the problem of falling is easy to happen.
In order to achieve the above object, the present invention is achieved by the following technical programs: a kind of transporter based on AGV systemDevice people, including bottom plate are fixedly connected with robot body at the top of the bottom plate, and the top of the bottom plate is fixed by supporting legBe connected with supporting plate, and the side of supporting plate and front are fixedly connected with the first elastic bandage by link block, the supporting plate it is anotherSide and the back side pass through link block and are fixedly connected with the second elastic bandage, and side of second elastic bandage far from supporting plate is logicalIt crosses link block and is fixedly connected with fixed frame, and the top and bottom at the fixed frame inner wall back side offer fixing groove, the fixationThe internal slide of slot is connected with sliding shoe, and the front of sliding shoe is connected with rectangular shaft, the fixing groove by link blockBuffer spring is fixedly connected between the side of inner wall and the side of sliding shoe.
Preferably, the rectangular shaft is connected with riser far from one end of sliding shoe, and the side of riser is fixedly connectedThere is rectangle frame, the side of the rectangle frame runs through fixed frame and extends to the side of fixed frame.
Preferably, the top and bottom of the rectangle frame are connected with fixture block, the opposite side of two fixture blocksAnd the inside for being located at rectangle frame is fixedly connected to mounting plate, two mounting plates are fixedly connected with folder between opposite sideTight spring.
Preferably, the two sides at the top of the supporting plate are fixedly connected to spring lever, and one end of spring lever is fixedly connected withBuffer board, the bottom of the buffer board and the top slide of supporting plate connect, and side of first elastic bandage far from supporting plate is solidSurely it is connected with link block compatible with rectangle frame.
Preferably, the side at the top of the bottom plate and be located at robot body front be fixedly connected with rectangular box, and squareThe inside of shape case is fixedly connected with central processing unit and driving mechanism respectively, the side of the robot body be fixedly connected with byKey.
Preferably, the input terminal of the central processing unit respectively with remote control signal receiving module, key and power moduleOutput end connection, the input terminal of the remote control signal receiving module is connect with the output end of remote signal sending module, described distantThe output end of the input terminal and remote control unit of controlling signal transmitting module connects, and the output end of the power module is single with remote control respectivelyMember is connected with the input terminal of key, and the output end of the central processing unit and the input terminal of driving mechanism connect.
Beneficial effect
The present invention provides a kind of transportation robots based on AGV system.Have it is following the utility model has the advantages that
(1), it is somebody's turn to do the transportation robot based on AGV system, is fixed by link block by the side in supporting plate with frontIt is connected with the first elastic bandage, passes through link block in the other side of supporting plate and the back side and is fixedly connected with the second elastic bandage,Side of second elastic bandage far from supporting plate is fixedly connected with fixed frame by link block, and the top at the fixed frame inner wall back side andBottom offers fixing groove, is connected with sliding shoe in the internal slide of fixing groove, and the front of sliding shoe is living by link blockIt is dynamic to be connected with rectangular shaft, it is fixedly connected with buffer spring between the side of fixing groove inner wall and the side of sliding shoe, in rectangleBar is connected with riser far from one end of sliding shoe, and the side of riser is fixedly connected with rectangle frame, in the side of rectangle frameThrough fixed frame and the side of fixed frame is extended to, is connected with fixture block in the top and bottom of rectangle frame, two in cardThe opposite side of block and the inside for being located at rectangle frame are fixedly connected to mounting plate, and two solid between the opposite side of mounting plateSurely it is connected with fastening spring, then being equipped with, it can be achieved that robot is in transport pair by spring lever, buffer board and link blockElectrical equipment on supporting plate carries out certain limit and fixes, and prevents the electrical equipment in transport from may fall to cause oneFixed loss, while also reducing security risk.
(2), it is somebody's turn to do the transportation robot based on AGV system, pass through the side at the top of bottom plate and is located at robot bodyFront is fixedly connected with rectangular box, and the inside of rectangular box is fixedly connected with central processing unit and driving mechanism respectively, in machineThe side of human body is fixedly connected with key, then by remote control signal receiving module, remote control unit, remote signal sending module,Being equipped with, it can be achieved that the method by remote control type transports equipment for power module and driving mechanism, is transported improvingAlso the life security of worker has been ensured while efficiency.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the top view of support board structure of the present invention；
Fig. 3 is the cross-sectional view of the fixed mount structure of the present invention；
Fig. 4 is the cross-sectional view of rectangular frame structure of the present invention；
Fig. 5 is the structural principle block diagram of present system.
In figure: 1 bottom plate, 2 robot bodies, 3 supporting plates, 4 first elastic bandages, 5 second elastic bandages, 6 fixed frames, 7 are consolidatedDetermine slot, 8 sliding shoes, 9 rectangular shafts, 10 buffer springs, 11 risers, 12 rectangle frames, 13 fixture blocks, 14 mounting plates, 15 fastening springs, 16Spring lever, 17 buffer boards, 18 link blocks, 19 rectangular boxes, 20 central processing units, 21 driving mechanisms, 22 keys, 23 remote signals connectReceive module, 24 power modules, 25 remote signal sending modules, 26 remote control unit.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, completeSite preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based onEmbodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every otherEmbodiment shall fall within the protection scope of the present invention.
Fig. 1-5 is please referred to, the present invention provides a kind of technical solution: a kind of transportation robot based on AGV system, including bottomPlate 1, the side at 1 top of bottom plate and the front for being located at robot body 2 are fixedly connected with rectangular box 19, and the inside of rectangular box 19It has been respectively fixedly connected with central processing unit 20 and driving mechanism 21, the model ARM9 of central processing unit 20, central processing unit 20Input terminal connect respectively with the output end of remote control signal receiving module 23, key 22 and power module 24, remote control signal receiverThe input terminal of module 23 is connect with the output end of remote signal sending module 25, the input terminal of remote signal sending module 25 with it is distantThe output end connection of unit 26 is controlled, the output end of power module 24 is connect with the input terminal of remote control unit 26 and key 22 respectively,It can be achieved to transport equipment by the method for remote control type, the life peace of worker also ensured while improving conevying efficiencyEntirely, the output end of central processing unit 20 is connect with the input terminal of driving mechanism 21, the side of robot body 2 be fixedly connected with byKey 22, the top of bottom plate 1 are fixedly connected with robot body 2, and the top of bottom plate 1 is fixedly connected with supporting plate 3 by supporting leg, andThe side and front of supporting plate 3 are fixedly connected with the first elastic bandage 4, the first elastic bandage 4 and the second elastic force by link blockThe setting of bandage 5 can carry out cluster to electrical equipment and fix, and prevent falling for electrical equipment, and the two sides at 3 top of supporting plate are solidSurely it is connected with spring lever 16, and one end of spring lever 16 is fixedly connected with buffer board 17, the side of buffer board 17 is provided with protectionPad, it is described slow its purpose is to protect electrical equipment not collide to damage with buffer board 17 in transportThe bottom of punching 17 is connect with the top slide of supporting plate 3, and the first elastic bandage 4 is fixedly connected with far from the side of supporting plate 3 and squareThe compatible link block 18 of shape frame 12, the other side and the back side of supporting plate 3 pass through link block and are fixedly connected with the second elastic bandage5, the second side of the elastic bandage 5 far from supporting plate 3 is fixedly connected with fixed frame 6 by link block, and the 6 inner wall back side of fixed frameTop and bottom offer fixing groove 7, and the internal slide of fixing groove 7 is connected with sliding shoe 8, and the front of sliding shoe 8 passes throughLink block is connected with rectangular shaft 9, and rectangular shaft 9 is connected with riser 11, and the one of riser 11 far from one end of sliding shoe 8Side is fixedly connected with rectangle frame 12, and the top and bottom of rectangle frame 12 are connected with fixture block 13, and two fixture blocks 13 are oppositeSide and the inside for being located at rectangle frame 12 are fixedly connected to mounting plate 14, fixed company between the opposite side of two mounting plates 14It is connected to fastening spring 15, the side of rectangle frame 12 runs through fixed frame 6 and extends to the side of fixed frame 6, and the one of 7 inner wall of fixing grooveBuffer spring 10 is fixedly connected between side and the side of sliding shoe 8.
In use, electrical equipment is placed on supporting plate 3 when to be transported to electrical equipment, by rectangle frame 12 to evenThe direction for connecing block 18 is moved, and the fixture block 13 on rectangle frame 12 is equipped with clamping by mounting plate 14 and fastening spring 15It is fixed in link block 18, then electrical equipment can be carried out centainly by spring lever 16 and being equipped with for buffer board 17Limit is fixed, and pre-sets transit route by key 22, then be remotely controlled to transportation robot by remote control unit 26, thenCentral processing unit 20, central processing unit are transmitted signals to by remote signal sending module 25 and remote control signal receiving module 2320, which control transportation robot by driving mechanism 21, is transported, and this completes entire work.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a realityBody or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operationIn any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended toNon-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including thoseElement, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipmentIntrinsic element.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be withA variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understandingAnd modification, the scope of the present invention is defined by the appended.