CN106976063A - New A GV transfer robots - Google Patents
New A GV transfer robots Download PDFInfo
- Publication number
- CN106976063A CN106976063A CN201710316116.XA CN201710316116A CN106976063A CN 106976063 A CN106976063 A CN 106976063A CN 201710316116 A CN201710316116 A CN 201710316116A CN 106976063 A CN106976063 A CN 106976063A
- Authority
- CN
- China
- Prior art keywords
- new
- transfer robots
- slide
- modified gear
- slide rail
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000006073 displacement reaction Methods 0.000 claims description 26
- 238000009434 installation Methods 0.000 claims description 4
- 238000013507 mapping Methods 0.000 abstract description 2
- 230000032258 transport Effects 0.000 description 5
- 230000003139 buffering effect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000000872 buffer Substances 0.000 description 1
- 239000007853 buffer solution Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0021—All motors in base
Abstract
The invention discloses a kind of new A GV transfer robots, including AGV trolley bodies, the rear both sides of the AGV trolley bodies are separately installed with a bearing column, a vertical slide rail is installed on each bearing column, a slide unit is slidably fitted with each slide rail, each slide unit is connected with one group and slides drive device, modified gear is installed between two slide units, two parallel trailing arms are installed, the opposite inner side of two trailing arms is separately installed with one group and holds device on the modified gear；Modified gear can move up and down along slide rail, while driving trailing arm to move up and down, hold device motion so as to drive, by adjusting the anglec of rotation of modified gear, can adjust the angle for holding device, so as to be adapted to the clamp operation of the article of plurality of specifications and profile；It is applied widely with the multi-faceted mapping function of multi-angle.
Description
Technical field
The present invention relates to a kind of AGV dollies, more particularly to a kind of it be used to transporting inflammable and explosive article or fortune thing can not be pitched
Product and the new A GV material transportation dollies for thering is displacement to need.
Background technology
AGV is Automated Guided Vehicle abbreviation, implies that " automatical pilot transportation vehicle ", refers to be equipped with electricity
Homing guidance device is magnetically or optically waited, it can be travelled along defined guide path, with safeguard protection and various transfer work(
The transport vehicle of energy, AGV belongs to wheeled mobile robot (WMR-- Wheeled Mobile Robot) category.Traditional AGV is small
Car is bottom fork fortune formula, and shape requirement and pallet for article are configured with corresponding requirement, and pot type object or storage danger
Environmental requirement of the pressure vessel of dangerous product then to transport is of a relatively high, or can not jolt collision or keep absolute in transit
It is static, cause traditional AGV dollies to be difficult to apply in related field.
The content of the invention
The technical problems to be solved by the invention, which are to provide one kind, to be had deflection function and transports stable new A GV transfers
Robot.
In order to solve the above technical problems, the technical scheme is that：New A GV transfer robots, including AGV dolly sheets
Body, the rear both sides of the AGV trolley bodies are separately installed with a bearing column, and one is provided with each bearing column
A slide unit is slidably fitted with individual vertical slide rail, each slide rail, each slide unit is connected with one group and slided
It is provided between drive device, two slide units on modified gear, the modified gear and two parallel trailing arms is installed, two
The opposite inner side of the individual trailing arm is separately installed with one group and holds device.
As a kind of perferred technical scheme, the drive device that slides includes being arranged on sliding on the bearing column
Motor, the clutch end for sliding motor is connected with turn-screw, the slide unit and the driving wire
Thick stick is threadedly coupled.
As a kind of perferred technical scheme, the two ends of each slide rail are mounted on lead limit switch, the row
The signal output part of degree bit switch is connected with the control end for sliding motor.
As a kind of perferred technical scheme, the modified gear is fixedly connected with two slide units respectively including two ends
Shift base, be provided with displacement power set, the shift base in the shift base and rotary support be installed, institute
State and rotation displacement frame is rotatablely equipped with rotary support, the power output of the rotation displacement frame and the displacement power set
End drive connection, two trailing arms are arranged on the rotation displacement frame.
As a kind of perferred technical scheme, the displacement power set include displacement motor.
As a kind of perferred technical scheme, the device that holds includes the clamping seats on the trailing arm, described
Gripping sleeve is rotatablely equipped with clamping seats, the gripping sleeve internal thread is provided with clamp shaft, and the gripping sleeve is connected with folder
Tight motor, the free end of the clamp shaft, which is provided with clamping disk, the clamping disk, is provided with cushion pad.
By adopting the above-described technical solution, new A GV transfer robots, including AGV trolley bodies, the AGV dollies
The rear both sides of body are separately installed with a bearing column, and a vertical slide rail is provided with each bearing column,
A slide unit is slidably fitted with each slide rail, each slide unit is connected with one group and slides drive device, two
It is provided between the slide unit on modified gear, the modified gear and two parallel trailing arms is installed, two trailing arms
Opposite inner side is separately installed with one group and holds device；Modified gear can move up and down along slide rail, while driving above and below trailing arm
Motion, holds device motion so as to drive, by adjusting the anglec of rotation of modified gear, can adjust the angle for holding device,
So as to suitable plurality of specifications and the clamp operation of the article of profile；It is applied widely with the multi-faceted mapping function of multi-angle.
Brief description of the drawings
The following drawings is only intended to, in doing schematic illustration and explanation to the present invention, not delimit the scope of the invention.Wherein：
Fig. 1 is the top view of the embodiment of the present invention；
Fig. 2 is the front view of the embodiment of the present invention；
Fig. 3 is the structural representation of modified gear of the embodiment of the present invention.
In figure：11-AGV trolley bodies；12- bearing columns；21- slide rails；22- slide units；23- slides motor；24- is passed
Dynamic leading screw；31- shift bases；32- rotary supports；33- rotation displacement framves；34- conjugates motor；4- trailing arms；51- is clamped
Seat；52- gripping sleeves；53- clamp shafts；54- clamps motor；55- clamps disk；56- buffering spacers.
Embodiment
With reference to the accompanying drawings and examples, the present invention is expanded on further.In the following detailed description, only explanation is passed through
Mode describes some one exemplary embodiments of the present invention.Undoubtedly, one of ordinary skill in the art will recognize,
In the case of without departing from the spirit and scope of the present invention, described embodiment can be repaiied with a variety of modes
Just.Therefore, accompanying drawing and description are inherently illustrative, are not intended to limit the scope of the claims.
As depicted in figs. 1 and 2, new A GV transfer robots, including AGV trolley bodies 11, the AGV trolley bodies 11
Rear both sides be separately installed with a bearing column 12, a vertical slide rail is installed on each bearing column 12
21, a slide unit 22 each is slidably fitted with the slide rail 21, each slide unit 22 is connected with one group and slides driving
Device, it is described slide drive device and include being arranged on the bearing column 12 slide motor 23, it is described to slide driving
The clutch end of motor 23 is connected with turn-screw 24, and the slide unit 22 is threadedly coupled with the turn-screw 24, often
The two ends of the individual slide rail 21 are mounted on lead limit switch (not shown), the signal output of the lead limit switch
End is connected with the control end for sliding motor 23；Modified gear is installed between two slide units 22, such as Fig. 3 institutes
Show, the modified gear includes the shift base 31 that two ends are fixedly connected with two slide units 22 respectively, the shift base
It is provided with 31 in displacement power set, the shift base 31 and rotary support 32 is installed, on the rotary support 32
Rotation displacement frame 33 is rotatablely equipped with, the clutch end transmission of the rotation displacement frame 33 and the displacement power set connects
Connect, the displacement power set include displacement motor 34；Two parallel trailing arms are installed on the rotation displacement frame 33
4, the opposite inner side of two trailing arms 4 is separately installed with one group and holds device, and the device that holds includes being arranged on the support
Gripping sleeve 52 is rotatablely equipped with clamping seats 51 on arm 4, the clamping seats 51, the internal thread of gripping sleeve 52 is provided with clamping
Axle 53, the gripping sleeve 52 is connected with clamping motor 54, and the free end of the clamp shaft 53 is provided with clamping disk 55,
Buffering spacer 56 is installed on the clamping disk 55.
AGV dollies install bearing column 12 additional, install twice slide rail 21 additional on column both sides, and slide rail 21 wants installation specification, make
Electronic slide unit 22 flexibly can slide above it, the scope of slip can carry out appropriate adjustment according to the specification of product,
Lead limit switch is installed and ensures to slide safety in two ends.The power of slip comes from sliding for installation above bearing column and drives electricity
Machine 23, the driving electric slide unit 22 of turn-screw 24 steadily slides up and down whole system.Install pivoting support at modified gear additional, after
Side install dynamical system, it is ensured that postorder part can in vertical plane 360 ° rotate freely.Used in the both sides installation folder embracing unit of trailing arm 4
In clamping product, motor drives the clamp shaft 53 that may decide that gripping range, and two motors are acted simultaneously, will clamping disk 55 to
Interior steady propulsion.Clamp reload buffer pad 56 in disk 55, it is ensured that product in transit steady.
The present invention has following beneficial effects：
1st, the present invention overcomes prior art not enough there is provided a kind of combined type AGV that can be held and can be conjugated more is small
Car.
2nd, specifically, AGV dollies of the present invention, including traditional AGV trolley bodies 11, in order to suitable for many rule
Lattice product and can vertical direction move electronic slide unit 22, in order to adapt to Product transport place require displacing system, install additional
Buffer system holds device.
3rd, electric lifting mechanism is located at complete machine both sides, and quantity is two.The length of slide rail 21 on bearing column 12
For 1.5 meters, it is ensured that can be using maxi-mum height as less than 3 meters of product.Electronic slide unit 22 is flexible when requiring to run on slide rail 21,
Can not there are jam, abnormal sound phenomenon.The requirement of slide unit 22 operates steadily, it is impossible to have the generation creeped, walk phenomenon certainly.In stroke terminal
Two limit positionses install the safe operation that limit switch is used to protection equipment.
4th, because the modified gear that the specification of product is different or requires the difference of state during transport and adds is by a motor
Control, displacement angle is set at switch board or becomes bit rate, sets independent PLC control system can be steady in trolley travelling
Displacement.
5th, motor drive clamp shaft 53 is installed at two ends can hold device while moving inward to reach clamping production by both sides
The purpose of product.
6th, hold and cushion pad is installed inside device, it is ensured that the even running of equipment.
General principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (6)
1. new A GV transfer robots, including AGV trolley bodies, it is characterised in that：The rear both sides of the AGV trolley bodies
A bearing column is separately installed with, a vertical slide rail is installed on each bearing column, on each slide rail
A slide unit is slidably fitted with, each slide unit is connected with one group and slided pacifies between drive device, two slide units
Equipped with modified gear, two parallel trailing arms are installed on the modified gear, the opposite inner side of two trailing arms is pacified respectively
Device is held equipped with one group.
2. new A GV transfer robots as claimed in claim 1, it is characterised in that：The drive device that slides includes installation
Motor is slided on the bearing column, the clutch end for sliding motor is connected with driving wire
Thick stick, the slide unit is threadedly coupled with the turn-screw.
3. new A GV transfer robots as claimed in claim 2, it is characterised in that：The two ends of each slide rail are respectively mounted
There is lead limit switch, the signal output part of the lead limit switch is connected with the control end for sliding motor.
4. new A GV transfer robots as claimed in claim 1, it is characterised in that：The modified gear is distinguished including two ends
Displacement power set, the displacement bottom are installed in the shift base being fixedly connected with two slide units, the shift base
It is provided with seat on rotary support, the rotary support and is rotatablely equipped with rotation displacement frame, the rotation displacement frame and institute
The clutch end drive connection of displacement power set is stated, two trailing arms are arranged on the rotation displacement frame.
5. new A GV transfer robots as claimed in claim 4, it is characterised in that：The displacement power set include displacement
Motor.
6. new A GV transfer robots as claimed in claim 1, it is characterised in that：The device that holds includes being arranged on institute
State and gripping sleeve is rotatablely equipped with the clamping seats on trailing arm, the clamping seats, the gripping sleeve internal thread is provided with clamp shaft, institute
State gripping sleeve and be connected with clamping motor, the free end of the clamp shaft, which is provided with clamping disk, the clamping disk, pacifies
Equipped with cushion pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710316116.XA CN106976063A (en) | 2017-05-08 | 2017-05-08 | New A GV transfer robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710316116.XA CN106976063A (en) | 2017-05-08 | 2017-05-08 | New A GV transfer robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106976063A true CN106976063A (en) | 2017-07-25 |
Family
ID=59341792
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710316116.XA Pending CN106976063A (en) | 2017-05-08 | 2017-05-08 | New A GV transfer robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106976063A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107814151A (en) * | 2017-10-26 | 2018-03-20 | 中国农业大学 | A kind of leaf spring formula flexible multi-functional transport frock |
| CN108750666A (en) * | 2018-06-04 | 2018-11-06 | 上海华鸢机电有限公司 | A kind of bucket handling device, handling system and method for carrying |
| WO2020103808A1 (en) * | 2018-11-20 | 2020-05-28 | 上海交大智邦科技有限公司 | Automatic tool exchanging device using agv as carrying device |
| CN111217072A (en) * | 2020-03-09 | 2020-06-02 | 浙江工贸职业技术学院 | Storage handling equipment with clamping device |
| CN112276898A (en) * | 2020-10-19 | 2021-01-29 | 山东金号家纺集团有限公司 | A box delivery manipulator for digital warehouse |
| CN114918582A (en) * | 2022-05-27 | 2022-08-19 | 青岛海泰科机器人系统有限公司 | High-speed railway equipment box welding line |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202013103255U1 (en) * | 2013-07-19 | 2013-08-08 | Sunpex Technology Co., Ltd. | Electric transport cart for the transport of hospital beds |
| CN204054077U (en) * | 2014-07-30 | 2014-12-31 | 南京阿福汽车控制系统有限公司 | A kind of transfer robot |
| CN105437204A (en) * | 2015-12-17 | 2016-03-30 | 佛山市新鹏机器人技术有限公司 | Manipulator-loaded AGV trolley |
| CN105565211A (en) * | 2015-12-23 | 2016-05-11 | 南京航空航天大学 | Smart carrying trolley capable of automatically identifying cargos |
| WO2017035842A1 (en) * | 2015-09-06 | 2017-03-09 | 深圳市大疆创新科技有限公司 | Cradle head, remotely-controlled vehicle and remotely-controlled carrying system |
| CN206677942U (en) * | 2017-05-08 | 2017-11-28 | 海汇集团有限公司 | New A GV transfer robots |
-
2017
- 2017-05-08 CN CN201710316116.XA patent/CN106976063A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202013103255U1 (en) * | 2013-07-19 | 2013-08-08 | Sunpex Technology Co., Ltd. | Electric transport cart for the transport of hospital beds |
| CN204054077U (en) * | 2014-07-30 | 2014-12-31 | 南京阿福汽车控制系统有限公司 | A kind of transfer robot |
| WO2017035842A1 (en) * | 2015-09-06 | 2017-03-09 | 深圳市大疆创新科技有限公司 | Cradle head, remotely-controlled vehicle and remotely-controlled carrying system |
| CN105437204A (en) * | 2015-12-17 | 2016-03-30 | 佛山市新鹏机器人技术有限公司 | Manipulator-loaded AGV trolley |
| CN105565211A (en) * | 2015-12-23 | 2016-05-11 | 南京航空航天大学 | Smart carrying trolley capable of automatically identifying cargos |
| CN206677942U (en) * | 2017-05-08 | 2017-11-28 | 海汇集团有限公司 | New A GV transfer robots |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107814151A (en) * | 2017-10-26 | 2018-03-20 | 中国农业大学 | A kind of leaf spring formula flexible multi-functional transport frock |
| CN108750666A (en) * | 2018-06-04 | 2018-11-06 | 上海华鸢机电有限公司 | A kind of bucket handling device, handling system and method for carrying |
| WO2020103808A1 (en) * | 2018-11-20 | 2020-05-28 | 上海交大智邦科技有限公司 | Automatic tool exchanging device using agv as carrying device |
| CN111217072A (en) * | 2020-03-09 | 2020-06-02 | 浙江工贸职业技术学院 | Storage handling equipment with clamping device |
| CN112276898A (en) * | 2020-10-19 | 2021-01-29 | 山东金号家纺集团有限公司 | A box delivery manipulator for digital warehouse |
| CN114918582A (en) * | 2022-05-27 | 2022-08-19 | 青岛海泰科机器人系统有限公司 | High-speed railway equipment box welding line |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170725 |