CN109649914B - Docking mechanism for AGV trolley carrying goods shelf - Google Patents
Docking mechanism for AGV trolley carrying goods shelf Download PDFInfo
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- CN109649914B CN109649914B CN201910114854.5A CN201910114854A CN109649914B CN 109649914 B CN109649914 B CN 109649914B CN 201910114854 A CN201910114854 A CN 201910114854A CN 109649914 B CN109649914 B CN 109649914B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 45
- 238000003032 molecular docking Methods 0.000 title claims abstract description 11
- 239000002184 metal Substances 0.000 claims description 13
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 239000000853 adhesive Substances 0.000 claims description 5
- 230000001070 adhesive effect Effects 0.000 claims description 5
- 229920001971 elastomer Polymers 0.000 claims description 5
- 229920003225 polyurethane elastomer Polymers 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 description 8
- 230000004888 barrier function Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Handcart (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to the technical field of docking mechanisms of AGV trolley carrying goods shelves, in particular to a docking mechanism for AGV trolley carrying goods shelves, which comprises an AGV trolley body, wherein a mounting plate is arranged at the right upper part of the AGV trolley body, a fixed column is vertically welded in the middle of the mounting plate, slide rails are arranged on the upper surface of the mounting plate towards four diagonal lines by taking the fixed column as a central point, moving plates are respectively connected in the slide rails in a sliding manner, and lifting mechanisms are respectively arranged at the upper parts of the moving plates through bolts, so that a lifting type or traction type carrying mode can be selected according to the distance between the goods shelves and the ground.
Description
Technical Field
The invention relates to the technical field of a docking mechanism of an AGV trolley carrying goods shelf, in particular to a docking mechanism for an AGV trolley carrying goods shelf.
Background
The AGV car is a transportation car equipped with an electromagnetic or optical automatic guiding device, capable of traveling along a predetermined guiding path, having safety protection and various transfer functions, and does not require a driver's transportation car in industrial application, and uses a rechargeable battery as its power source. The route and behavior of the vehicle can be controlled by a computer.
AGV dolly that adopts among the prior art is difficult to select the transport butt joint structure who adopts towed or lift according to goods shelves ground clearance and the area size in transport place, the position that lift transport butt joint structure among the prior art lifted is difficult to adjust simultaneously, thereby very easily make lift handling in-process stability relatively poor, and towed transport butt joint structure among the prior art also can carry out better butt joint with goods shelves fixedly, thereby also can lead to the transport effect unsatisfactory, in addition, the AGV dolly that adopts among the prior art is left and right sides and front side lack buffer structure, can not reduce the collision dynamics that outside barrier brought for the AGV dolly.
Disclosure of Invention
In order to make up for the above deficiencies, the invention provides a docking mechanism for an AGV trolley carrying rack, so as to solve the problems in the background art.
The technical scheme of the invention is as follows: the docking mechanism comprises an AGV trolley body, wherein a mounting plate is arranged at the right upper part of the AGV trolley body, a fixed column is vertically welded at the middle part of the mounting plate, slide rails are arranged on the upper surface of the mounting plate by taking the fixed column as a central point towards four diagonal lines, a moving plate is also slidably connected in the slide rails, lifting mechanisms are arranged on the upper part of the moving plate through bolts, displacement mechanisms are arranged on the upper part of the mounting plate by taking the fixed column as a central point through bolts, a traction mechanism is also arranged in the middle of the rear end face of the AGV trolley body, and buffer mechanisms are arranged on the left side, the right side and the front side of the AGV;
the displacement mechanism comprises a servo motor and a ball screw pair, the servo motor is of a type of 57J1876, is connected with an internal power supply of the AGV trolley body during use and is controlled by an internal control structure of the AGV trolley body, a specific control method is a technical means which is universal in the field, and is not repeated in the application any more, the ball screw pair is connected with the output end of the servo motor through a coupler, connecting rods are welded on the outer walls of ball nuts of the ball screw pair, the connecting rods are welded and fixed with the outer wall of the moving plate, and a fixing plate which is mounted with the tail end of the ball screw pair through a bearing is welded on the upper portion of the mounting plate;
the lifting mechanism comprises a hydraulic cylinder and a top plate, the hydraulic cylinder adopts a CLP thin self-locking hydraulic cylinder, the CLP thin self-locking hydraulic cylinder is named as a CLP thin self-locking hydraulic jack and is suitable for narrow spaces, the hydraulic cylinder can be controlled by switching on a power supply in the AGV trolley body when in use, the hydraulic cylinder is fixed on the upper surface of the movable plate through bolts, the top plate is fixedly installed with the movable end of the hydraulic cylinder through bolts, and the upper end surface of the top plate is adhered and covered with a polyurethane rubber pad through a strong adhesive;
the traction mechanism comprises an extension bar and two sleeves, the left side and the right side of the tail end of the extension bar are welded and fixed with the two sleeves, loop bars are movably inserted in the sleeves, elastic metal sheets are mounted at the tail ends of the loop bars through bolts, and the tail ends of the elastic metal sheets are connected with the front sides of the tail ends of the loop bars through bolts in a threaded mode.
Preferably, buffer gear all includes curb plate and crashproof board, the curb plate all installs the lateral wall at AGV dolly body through a plurality of bolt, the equidistance welding has the spring between curb plate and the crashproof board, crashproof board outer terminal surface still has rubber cushion pad through powerful adhesive bonding.
This setting makes buffer gear can install and dismantle the change, also can protect AGV dolly body.
Preferably, the outer wall of the sleeve is also connected with a locking bolt in a threaded manner, and the outer of the loop bar is provided with positioning holes matched with the locking bolts at equal intervals.
Preferably, the whole appearance of AGV dolly body and mounting panel is the square setting, the servo motor's that mounting panel and its upper portion level were placed height and specifically are 10 CM.
Preferably, threaded holes matched with the elastic metal sheets are formed in the front side of the loop bar at equal intervals.
Compared with the prior art, the beneficial effects of this application:
1. the lifting type or traction type carrying mode can be conveniently selected according to the distance between the goods shelf and the ground, when the lifting type butt-joint carrying mode is adopted, the position of the lifting mechanism can be adjusted by means of the displacement mechanism according to the area of the bottom end part of the goods shelf, specifically, the ball screw pair is driven to rotate by means of a servo motor in the displacement mechanism, so that a connecting rod can be driven to move by a ball nut on the ball screw pair, and then the lifting mechanism on the upper part of the moving plate is driven to move to a proper position by the connecting rod, so that the carrying of different goods shelves can be adapted, and the stability of the goods shelf in carrying can be increased; when a traction type butt joint carrying mode is adopted, the sleeving degree between the sleeve and the loop bar in the traction mechanism can be adjusted and fixed by means of the locking bolt in the traction mechanism according to the distance between the two support legs at the bottom of the goods shelf, so that the two support legs at the bottom of the goods shelf can be just fixed by the left and right elastic metal sheets, and the positions of the elastic metal sheets can be adjusted by means of threaded holes which are equidistantly arranged at the front end of the loop bar aiming at the fixation of the support legs with different thicknesses, so that the two support legs of the goods shelf can be better and more stably fixed;
2. be convenient for cushion the shock attenuation, indirect protection AGV dolly stability of operation in-process often meets the barrier easily in AGV dolly handling, can reduce the impulsive force intensity of outside barrier with the help of among the buffer gear spring and rubber cushion pad's combined action to indirect protection AGV dolly.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a top view of the overall structure of the present invention;
FIG. 2 is an enlarged view of a portion A of FIG. 1;
FIG. 3 is a front view of the draft gear configuration of the present invention;
FIG. 4 is a front view of the lifting mechanism of the present invention;
FIG. 5 is a schematic view of the connection between the mounting plate and the AGV body of the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
Referring to fig. 1-5, the docking mechanism for the AGV trolley carrying goods shelf comprises an AGV trolley body 1, wherein a mounting plate 2 is arranged on the right upper portion of the AGV trolley body 1, a fixed column 4 is vertically welded in the middle of the mounting plate 2, slide rails 5 are arranged on the upper surface of the mounting plate 2 towards four diagonal lines by taking the fixed column 4 as a central point, moving plates 6 are also slidably connected in the slide rails 5, lifting mechanisms 7 are arranged on the upper portions of the moving plates 6 through bolts, displacement mechanisms 8 are arranged on the upper portions of the mounting plate 2 by taking the fixed column 4 as a central point through bolts, a traction mechanism 9 is further arranged in the middle of the rear end face of the AGV trolley body 1, and buffer mechanisms 3 are arranged on the left side, the right side and; the displacement mechanism 8 comprises a servo motor 801 and a ball screw pair 802, the ball screw pair 802 is connected with the output end of the servo motor 801 through a coupler, the outer walls of ball nuts of the ball screw pair 802 are respectively welded with a connecting rod 803, the connecting rods 803 are fixedly welded with the outer wall of the moving plate 6, and the upper part of the mounting plate 2 is also welded with a fixing plate 804 which is mounted with the tail end of the ball screw pair 802 through a bearing; the lifting mechanism 7 comprises a hydraulic cylinder 701 and a top plate 702, the hydraulic cylinder 701 is fixed on the upper surface of the moving plate 6 through bolts, the top plate 702 is fixedly installed at the movable end of the hydraulic cylinder 701 through bolts, and polyurethane rubber pads 703 are adhered to the upper end surface of the top plate 702 through a strong adhesive; the traction mechanism 9 comprises an extension bar 901 and two sleeves 902, the left side and the right side of the tail end of the extension bar 901 are welded and fixed with the two sleeves 902, sleeve rods 903 are movably inserted in the sleeves 902, elastic metal sheets 904 are mounted at the tail ends of the sleeve rods 903 through bolts, and the tail ends of the elastic metal sheets 904 are in threaded connection with the front sides of the tail ends of the sleeve rods 903 through bolts.
When the lifting type butt joint conveying mode is adopted, the position of the lifting mechanism 7 can be adjusted by means of the displacement mechanism 8 according to the area of the bottom end of the shelf, specifically, the servo motor 801 in the displacement mechanism 8 drives the ball screw pair 802 to rotate, so that the ball nut on the ball screw pair 802 can drive the connecting rod 803 to move, and the connecting rod 803 can drive the lifting mechanism 7 on the upper portion of the movable plate 6 to move to a proper position, so that the lifting type butt joint conveying mode can adapt to the conveying of different shelves, and the stability of the shelf in conveying can be improved; when a traction type butt joint carrying mode is adopted, the sleeving degree between the sleeve 902 and the loop bar 903 in the sleeve can be adjusted and fixed by means of the locking bolt 905 in the traction mechanism 9 according to the distance between the two support legs at the bottom of the goods shelf, so that the two support legs at the bottom of the goods shelf can be just fixed by the left and right elastic metal sheets 904, and the positions of the elastic metal sheets 904 can be adjusted by means of the threaded holes 907 formed in the front ends of the loop bars 903 at equal intervals for fixing the support legs with different thicknesses, so that the two support legs of the goods shelf can be better and more stably fixed; often meet the barrier easily in AGV dolly handling process, can reduce the buffer strength of outside barrier with the help of the combined action of spring 303 and cushion rubber pad 304 in buffer gear 3 to indirect protection AGV dolly.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. The utility model provides a docking mechanism for AGV dolly floor truck, includes AGV dolly body, its characterized in that: the AGV trolley comprises an AGV trolley body, and is characterized in that a mounting plate is arranged at the right upper part of the AGV trolley body, a fixed column is vertically welded at the middle part of the mounting plate, slide rails are arranged on the upper surface of the mounting plate and face four diagonal lines by taking the fixed column as a central point, moving plates are also connected in the slide rails in a sliding manner, lifting mechanisms are arranged at the upper parts of the moving plates through bolts, displacement mechanisms are arranged at the upper parts of the mounting plate by taking the fixed column as the central point through bolts, a traction mechanism is further arranged in the middle of the rear end face of the AGV;
the displacement mechanism comprises a servo motor and a ball screw pair, the ball screw pair is connected with the output end of the servo motor through a coupler, the outer walls of ball nuts of the ball screw pair are welded with connecting rods, the connecting rods are welded and fixed with the outer wall of the movable plate, and the upper part of the mounting plate is also welded with a fixed plate which is mounted with the tail end of the ball screw pair through a bearing;
the lifting mechanism comprises a hydraulic cylinder and a top plate, the hydraulic cylinder is fixed on the upper surface of the movable plate through a bolt, the top plate is fixedly installed with the movable end of the hydraulic cylinder through a bolt, and a polyurethane rubber pad is adhered to the upper end surface of the top plate through a strong adhesive; the traction mechanism comprises an extension bar and two sleeves, the left side and the right side of the tail end of the extension bar are welded and fixed with the two sleeves, sleeve rods are movably inserted in the sleeves, the tail ends of the sleeve rods are respectively provided with an elastic metal sheet through bolts, the tail end of the elastic metal sheet is in threaded connection with the front side of the tail end of the sleeve rod through a bolt; the buffer mechanisms comprise side plates and anti-collision plates, the side plates are all arranged on the side wall of the AGV trolley body through a plurality of bolts, springs are welded between the side plates and the anti-collision plates at equal intervals, the outer end face of the anti-collision plate is also adhered with a cushion rubber pad through a strong adhesive; the outer wall of the sleeve is also screwed with a locking bolt, positioning holes matched with the locking bolts are formed in the outer side of the sleeve rod at equal intervals; the AGV trolley body and the mounting plate are both arranged in a square shape, the height sum of the mounting plate and the horizontally placed servo motor at the upper part thereof is 10 CM.
2. The docking mechanism for an AGV cart handling rack of claim 1 further comprising: threaded holes matched with the elastic metal sheets are formed in the front side of the loop bar at equal intervals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910114854.5A CN109649914B (en) | 2019-02-14 | 2019-02-14 | Docking mechanism for AGV trolley carrying goods shelf |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910114854.5A CN109649914B (en) | 2019-02-14 | 2019-02-14 | Docking mechanism for AGV trolley carrying goods shelf |
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| Publication Number | Publication Date |
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| CN109649914A CN109649914A (en) | 2019-04-19 |
| CN109649914B true CN109649914B (en) | 2020-10-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910114854.5A Active CN109649914B (en) | 2019-02-14 | 2019-02-14 | Docking mechanism for AGV trolley carrying goods shelf |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111137611B (en) * | 2019-12-27 | 2022-03-01 | 上海海神机器人科技有限公司 | Storage logistics self-locking type carrying mechanism based on goods shelf transfer |
| CN111605957B (en) * | 2020-05-26 | 2021-01-19 | 隆链智能科技（上海）有限公司 | Storage cargo transportation system and operation method thereof |
| CN112829854A (en) * | 2021-02-08 | 2021-05-25 | 深圳优艾智合机器人科技有限公司 | Traction robot and traction equipment |
| CN114589111B (en) * | 2022-01-04 | 2023-06-27 | 大唐互联科技(武汉)有限公司 | AGV trolley flexible material conveying system and material connection method |
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| CN206455343U (en) * | 2017-01-22 | 2017-09-01 | 中国十七冶集团有限公司 | A kind of multi-pipe-diameter seal ring auxiliary welding equipment |
| CN208233907U (en) * | 2018-03-28 | 2018-12-14 | 杭州迦智科技有限公司 | A kind of docking facilities |
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2019
- 2019-02-14 CN CN201910114854.5A patent/CN109649914B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204210517U (en) * | 2014-11-10 | 2015-03-18 | 新乡职业技术学院 | The collapsible transport trolley of a kind of Portable X type |
| CN105269202A (en) * | 2015-10-16 | 2016-01-27 | 天津金毅诺工贸有限公司 | Automobile back panel assembly clamp |
| CN205419684U (en) * | 2016-03-17 | 2016-08-03 | 山东钢铁股份有限公司 | Safe positioning lifting device |
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