Design of a novel AGV with automatic pick-and-place system based on scissor lifting platform

In order to meet the needs of transporting turnover box filled with medicines from the shelves of high-mix low-capacity medicine warehouses to the stations of various departments in hospitals, a novel AGV with automatic pick-and-place system based on scissor lifting platform was proposed. The mechanical structure consists of AGV chassis, scissor lifting mechanism, rotary platform, extension mechanism and vacuum sucker actuator. Each parts of the device were analyzed and designed. The strength of the scissors mechanism is analyzed by Finite-element analysis, and the structure is optimized. The AGV adopts multi-modal control mode, realizes the control and autonomous operation of the whole vehicle based on Robot Operating System. The AGV combines magnetic stripe navigation and RFID site label to realize autonomous driving and it is equipped with ultrasonic sensors and LiDAR as safety system. Finally, the whole system is built, and functional tests are carried out on each module. The experimental results show that the entire system meets the design requirements and complete specific work tasks.