CN110962731A

CN110962731A - Rotatable AGV dolly of using of lifting of transferring to with laser direction function

Info

Publication number: CN110962731A
Application number: CN201911321924.0A
Authority: CN
Inventors: 何建忠; 赵延春
Original assignee: Shenzhen Okagv Robotics Corp Ltd
Current assignee: Shenzhen Okagv Robotics Corp Ltd
Priority date: 2019-12-20
Filing date: 2019-12-20
Publication date: 2020-04-07
Anticipated expiration: 2039-12-20
Also published as: CN110962731B

Abstract

The invention discloses a rotatable and direction-adjustable AGV trolley with a laser guiding function for lifting, and relates to the technical field of AGV trolleys, in particular to a trolley body, a buffer mechanism, a rotating plate, a sliding mechanism and a bearing mechanism. This AGV dolly is used in lifting of rotatable accent to with laser direction function, it is rotatory through step motor control pivot, the pivot drives commentaries on classics board rotation angle together, can be when not adjusting the whole advancing direction of this AGV dolly, can also turn to certain angle with article for this AGV dolly can be multi-directionally, deliver article on a large scale.

Description

Rotatable AGV dolly of using of lifting of transferring to with laser direction function

Technical Field

The invention relates to the technical field of AGV trolleys, in particular to a rotatable direction-adjustable AGV trolley with a laser guiding function for lifting.

Background

The AGV car is a relatively advanced intelligent car, is very convenient and fast to use and is very widely applied to production workshops.

AGV dolly degree of automation is high, can charge, and can realize charging automation, can improve the image of enterprise, and convenient to use reduces area.

The existing AGV trolley is limited in conveying angle when conveying goods, when the goods are conveyed to a certain direction, the whole advancing direction of the AGV trolley is required to be changed, then the original direction is adjusted, so that the AGV trolley is controlled to be more complicated, the AGV trolley is not easy to control, the accuracy is limited, and when the AGV trolley is lost, the defect of the AGV trolley in the moving aspect is also caused.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a lifting AGV with a laser guiding function and capable of rotating and adjusting direction, which solves the problems in the background technology.

In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a but rotary accent is to lift and is used AGV dolly with laser direction function, includes automobile body, buffer gear, commentaries on classics board, glide machanism and bearing mechanism, the wheel is installed to the bottom of automobile body, buffer gear is all installed at both ends around the automobile body, the mounting groove has been seted up to the preceding terminal surface top of automobile body, and the inslot of mounting groove installs the laser source, the upper surface of automobile body has seted up the spacing groove, and the top of automobile body installs the commentaries on classics board, through connection has the pivot between the one end of commentaries on classics board and the rear end of automobile body, and the other end bottom surface boss of commentaries on classics board inserts the cooperation in the spacing groove, the last fixed surface of commentaries on classics board has the slide, and the upper surface of slide has seted up the spout, the top slip mechanism slides and is equipped with glide machanis, and a supporting mechanism is slidably assembled above the supporting plate.

Optionally, the front end surface and the rear end surface of the vehicle body are provided with buffer grooves, and the buffer mechanisms are matched in the buffer grooves.

Optionally, buffer gear comprises shrouding, picture peg and buffer spring, the one end of picture peg is inserted in the buffer slot, and the other end fixedly connected with shrouding of picture peg, the picture peg inserts the one side of automobile body and evenly is fixed with buffer spring.

Optionally, the glide machanism is including sliding seat, cardboard, drive pivot and driver, the upper surface both sides of sliding seat all are provided with the assembly groove, and all install the cardboard in the inslot of assembly groove, the inside of cardboard all runs through with the inside of sliding seat top boss has the drive pivot, and the axle head of drive pivot is connected with the driver, the top of cardboard is fixed with the flat board.

Optionally, a sliding strip is fixed in the middle of the lower surface of the sliding seat and is matched in the sliding groove.

Optionally, the bottom hinged joint of hydraulic pressure crane is on dull and stereotyped upper surface, and the layer board passes through hydraulic pressure crane and constitutes elevation structure with the dull and stereotyped.

Optionally, the upper surface both sides of layer board all are fixed with the sand grip, and the lower surface four corners of layer board all bonds and has the rubber column.

Optionally, the bearing mechanism includes a bearing plate, a supporting vertical plate, a rotating block, a rotating shaft, a rotating motor, a sliding rod and a bracket plate, grooves are formed in two sides of the lower surface of the bearing plate and are matched with the raised lines respectively, the supporting vertical plate is welded to two sides of the upper surface of the bearing plate perpendicularly, the rotating block is arranged between the supporting vertical plates, the rotating shaft is connected between the center of two ends of the rotating block and the supporting vertical plate, the outer end of the rotating shaft is connected with the rotating motor, the sliding rod penetrates through two sides of the rotating block, and the bracket plate is fixedly connected to two ends of the sliding rod.

Optionally, jacks are uniformly formed in the upper surface of the bracket plate, a return spring and a rubber rod are respectively installed inside the jacks, the top end of the return spring is in contact with the bottom surface of the rubber rod, and an elastic structure is formed between the rubber rod and the jacks through the return spring.

The invention provides a rotatable direction-adjustable AGV (automatic guided vehicle) with a laser guiding function for lifting, which has the following beneficial effects:

1. this AGV dolly is used in lifting of rotatable accent to with laser direction function, it is rotatory through step motor control pivot, the pivot drives commentaries on classics board rotation angle together, can be when not adjusting the whole advancing direction of this AGV dolly, can also turn to certain angle with article for this AGV dolly can be multi-directionally, deliver article on a large scale, and the angle that the AGV dolly will when delivering article can be adjusted through the rotation control of step motor countershaft.

2. This rotatable turning to with laser guide function lifts and uses AGV dolly, realize the crashproof protection mesh to this AGV dolly through buffer gear, the picture peg can slide in the dashpot, be connected with buffer spring between the tank bottom of picture peg and dashpot simultaneously, utilize buffer spring's elasticity flexible, make the shrouding receive the striking back, picture peg that links to each other with it can inwards go deep into in the dashpot, and each buffer spring all contracts this moment, borrow this and can cushion outside striking, improve the action stability of automobile body.

3. This AGV dolly is used in lifting of rotatable accent to with laser direction function drives the pivot rotation through driver control to can drive the cardboard turned angle that links to each other on it, after the cardboard rotates certain angle, the whole angle of taking place immediately of hydraulic pressure crane, borrow this AGV dolly lifting angle when lifting article, and the seat that slides can carry out horizontal migration along the slide, thereby can adjust the position of lifting of this AGV dolly.

4. This AGV dolly is used in lifting of rotatable accent to with laser direction function, hydraulic pressure lift function through hydraulic pressure crane, accomplish the action of lifting of this AGV dolly to article to can deliver article to the height platform of discordance on, the rubber post plays the effect of buffering support pad to the layer board, make the layer board when descending minimum height, by rubber post buffering partial force, thereby avoid the layer board to descend suddenly on the lowest position after, because of the problem that the trend that continues to descend and block.

5. This AGV dolly is used in lifting of rotatable accent to with laser direction function, bearing article through bearing mechanism, bearing plate can carry out the position removal on the layer board, adjust the position on the relative hydraulic pressure crane top of bearing mechanism, make article can be stably held up, bearing mechanism is last, it is rotatory to drive the rotation axis through the swing motor, thereby control rotatory piece is rotatory, rotatory back at rotatory piece, can take the slide bar rotatory, the bracket plate of slide bar tip is used for lifting article, along with the rotation of rotatory piece and slide bar, make article incline to rotatory side, thereby realize unloading work to article.

6. This AGV dolly is used in lifting of rotatable accent to with laser direction function, reset spring and glue stick are all settled in the jack, and reset spring is under, glue the stick and last, under this structural action, glue the stick and obtain elasticity on the bracket board, can elastically stretch out and draw back, thereby can prop up article better, and glue the stick and adopt the rubber material, so glue the frictional force between stick and the article great, when the bracket board does not incline, article are difficult to the skew slip on the bracket board.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the rotating plate according to the present invention;

FIG. 3 is a schematic view of a buffering mechanism according to the present invention;

FIG. 4 is a schematic view of the overall structure of the sliding mechanism and the hydraulic lifting frame of the present invention;

FIG. 5 is a schematic structural view of a sliding mechanism according to the present invention;

FIG. 6 is a schematic view of a support mechanism according to the present invention;

fig. 7 is a partial structural view of the bracket plate of the present invention.

In the figure: 1. a vehicle body; 2. a wheel; 3. a buffer tank; 4. a buffer mechanism; 5. closing the plate; 6. inserting plates; 7. a buffer spring; 8. a placing groove; 9. a laser source; 10. a limiting groove; 11. rotating the plate; 12. a rotating shaft; 13. a slide base; 14. a chute; 15. a sliding mechanism; 16. a sliding seat; 17. a slide bar; 18. assembling a groove; 19. clamping a plate; 20. a driving shaft; 21. a driver; 22. a flat plate; 23. a hydraulic lifting frame; 24. a support plate; 25. a rubber column; 26. a convex strip; 27. a support mechanism; 28. a support plate; 29. a groove; 30. supporting a vertical plate; 31. rotating the block; 32. a rotating shaft; 33. a rotary motor; 34. a slide bar; 35. a bracket plate; 36. a jack; 37. a return spring; 38. and (5) glue sticks.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1 to 7, the present invention provides a technical solution: a rotary direction-adjustable AGV trolley for lifting with a laser guiding function comprises a trolley body 1, a buffer mechanism 4, a rotating plate 11, a sliding mechanism 15 and a bearing mechanism 27, wherein wheels 2 are installed at the bottom of the trolley body 1, the buffer mechanisms 4 are installed at the front end and the rear end of the trolley body 1, a placement groove 8 is formed in the upper portion of the front end face of the trolley body 1, a laser source 9 is installed in the placement groove 8, a limiting groove 10 is formed in the upper surface of the trolley body 1, the rotating plate 11 is installed above the trolley body 1, a rotating shaft 12 penetrates through and is connected between one end of the rotating plate 11 and the rear end of the trolley body 1, a boss at the bottom face of the other end of the rotating plate 11 is inserted and matched in the limiting groove 10, a sliding seat 13 is fixed on the upper surface of the rotating plate 11, a sliding groove 14 is formed in the upper surface of the sliding seat 13, the sliding mechanism 15 is slidably assembled above the sliding seat, a hydraulic lifting, a supporting mechanism 27 is arranged above the supporting plate 24 in a sliding mode;

a stepping motor is arranged in the vehicle body 1 and connected with a rotating shaft 12, the rotating shaft 12 can be controlled to rotate, the rotating shaft 12 drives a rotating plate 11 to rotate together, so that articles can be turned to a certain angle without adjusting the overall advancing direction of the AGV trolley, the AGV trolley can deliver the articles in multiple directions and in a large range, the angle required by the AGV trolley for delivering the articles can be adjusted by controlling the rotation of the rotating shaft 12 through the stepping motor, the rotating plate 11 rotates along a limiting groove 10, and therefore the rotating plate 11 and the vehicle body 1 are stably and reliably connected;

buffer grooves 3 are respectively arranged below the surfaces of the front end and the rear end of the car body 1, buffer mechanisms 4 are respectively matched in the buffer grooves 3, the buffer grooves 3 are used as connection and matching parts between the buffer mechanisms 4 and the car body 1 and are used for achieving the purpose of collision prevention and buffering of the buffer mechanisms 4 to the car body 1, each buffer mechanism 4 comprises a sealing plate 5, an inserting plate 6 and buffer springs 7, one end of each inserting plate 6 is inserted into the buffer groove 3, the other end of each inserting plate 6 is fixedly connected with the corresponding sealing plate 5, the buffer springs 7 are uniformly fixed on one surface, inserted into the car body 1, of each inserting plate 6, the inserting plates 6 are matched in the buffer grooves 3 and can slide in the buffer grooves 3, the buffer springs 7 are connected between the inserting plates 6 and the bottoms of the buffer grooves 3, the buffer springs 7 are elastically stretched and retracted by the buffer springs 7, the inserting plates 6 connected with the inserting plates 5 can be extended inwards into the buffer grooves 3, therefore, external impact can be buffered, and the action stability of the vehicle body 1 is improved;

the sliding mechanism 15 comprises a sliding seat 16, a clamping plate 19, a driving shaft 20 and a driver 21, wherein assembly grooves 18 are respectively arranged on two sides of the upper surface of the sliding seat 16, the clamping plate 19 is respectively arranged in the grooves of the assembly grooves 18, the driving shaft 20 penetrates through the inside of the clamping plate 19 and the inside of a boss above the sliding seat 16, the shaft end of the driving shaft 20 is connected with the driver 21, a flat plate 22 is fixed above the clamping plate 19, the driver 21 controls the driving shaft 20 to rotate in the sliding mechanism 15 so as to drive the clamping plate 19 connected with the driving shaft to rotate by a certain angle, the clamping plate 19 is used as a base structure of a hydraulic lifting frame 23, after the clamping plate 19 rotates by a certain angle, the whole hydraulic lifting frame 23 also rotates by an angle immediately so as to adjust the lifting angle of the AGV when lifting an object, a sliding strip 17 is fixed in the middle of the lower surface of the sliding seat 16, the sliding strip 17 is matched in the sliding groove 14, and the sliding seat, can move horizontally along the sliding base 13, so that the lifting position of the AGV trolley can be adjusted correspondingly;

the bottom end of the hydraulic lifting frame 23 is hinged to the upper surface of the flat plate 22, the supporting plate 24 and the flat plate 22 form a lifting structure through the hydraulic lifting frame 23, lifting actions of the AGV trolley on objects are completed through the hydraulic lifting function of the hydraulic lifting frame 23, the objects can be delivered to platforms with different heights, protruding strips 26 are fixed on two sides of the upper surface of the supporting plate 24, rubber columns 25 are bonded on four corners of the lower surface of the supporting plate 24, the rubber columns 25 are made of rubber materials and have good elasticity, each rubber column 25 plays a role of buffering and supporting the supporting pad on the supporting plate 24, and therefore when the supporting plate 24 descends to the lowest height, the component force of the supporting plate is buffered by the rubber columns 25, and the problem that the supporting plate 24 is clamped due to the fact that the supporting plate continues to descend to the lowest position suddenly is solved;

the supporting mechanism 27 comprises a supporting plate 28, supporting vertical plates 30, rotating blocks 31, rotating shafts 32, rotating motors 33, sliding rods 34 and bracket plates 35, grooves 29 are formed in two sides of the lower surface of the supporting plate 28, the grooves 29 are matched with the convex strips 26 respectively, the supporting vertical plates 30 are vertically welded to two sides of the upper surface of the supporting plate 28, the rotating blocks 31 are arranged between the supporting vertical plates 30, the rotating shafts 32 are connected between centers of two ends of the rotating blocks 31 and the supporting vertical plates 30, the outer ends of the rotating shafts 32 are connected with the rotating motors 33, the sliding rods 34 penetrate through the insides of two sides of the rotating blocks 31, and the bracket plates 35 are fixedly connected to two ends of the sliding rods 34;

the supporting mechanism 27 is used for supporting an article, the supporting plate 28 can move on the supporting plate 24 under the action of size matching between the groove 29 and the convex strip 26 so as to adjust the position of the supporting mechanism 27 relative to the top end of the hydraulic lifting frame 23, so that the article can be stably lifted, the rotating shaft 32 is driven to rotate by the rotating motor 33 on the supporting mechanism 27, so that the rotating block 31 is controlled to rotate, the sliding rod 34 can be driven to rotate after the rotating block 31 rotates, the bracket plate 35 at the end part of the sliding rod 34 is used for lifting the article, and the article is inclined to the rotating side along with the rotation of the rotating block 31 and the sliding rod 34, so that the article can be unloaded;

jack 36 has evenly been seted up to bracket plate 35's upper surface, and reset spring 37 and glue stick 38 are installed respectively to the inside of jack 36, reset spring 37's top and the bottom surface contact of gluing stick 38, and constitute elastic construction through reset spring 37 between glue stick 38 and the jack 36, reset spring 37 and glue stick 38 are all settled in jack 36, and reset spring 37 is under, glue stick 38 is last, under this structural action, glue stick 38 obtains elasticity on bracket plate 35, can elastically stretch out and draw back, thereby can support the article better, and glue stick 38 adopts the rubber material, so the frictional force between glue stick 38 and the article is great, when bracket plate 35 does not incline, the article is difficult to the skew slip on bracket plate 35.

In summary, the lifting position, the lifting angle and the delivery direction of the AGV with laser guidance function need to be adjusted first by combining with the practice, firstly, regarding the adjustment of the lifting position of the AGV, that is, using the sliding fit between the sliding strip 17 and the sliding chute 14, the sliding seat 16 is moved along the sliding seat 13, after the sliding seat 16 is moved to a proper position, the sliding seat 16 is fixed by using a screw or a bolt, secondly, regarding the adjustment of the lifting angle of the AGV, that is, the driver 21 is started, the driving shaft 20 is controlled to rotate, after the driving shaft 20 rotates, the clamping plate 19 connected with the driving shaft immediately rotates, the clamping plate 19 will drive the whole hydraulic lifting frame 23 to rotate together through the connection between the upper flat plate 22 and the hydraulic lifting frame 23, when the hydraulic lifting frame 23 extends after the bottom angle of the hydraulic lifting frame 23 changes, the supporting plate 24 on the AGV can be lifted along the angle direction, and finally, the adjustment of the delivery direction of the AGV cart is to start the stepping motor connected to the rotating shaft 12, so that the rotating shaft 12 rotates, the rotating shaft 12 can drive the rotating plate 11 to rotate together, the rotating plate 11 rotates along the limiting groove 10 by an angle, as shown in fig. 2, when the rotating plate 11 is rotated out of the upper surface of the cart body 1, the direction of the cart delivering articles is changed immediately, and the traveling direction of the cart does not need to be adjusted, so that the accuracy is higher, and the control is more convenient;

the laser source 9 of the AGV trolley head is used for emitting laser, and the whole AGV trolley is guided by the laser, so that the AGV trolley has a basic structure with a laser guiding function, in the running process of the AGV trolley, a barrier is inevitably collided, no matter the front or the back of the AGV trolley is collided, the impact force can be buffered and released, for example, when the front end of the AGV trolley is collided, the impact force can act on the closing plate 5, so that the inserting plate 6 can be pushed to move into the buffer groove 3, and in the moving process, the buffer spring 7 is continuously pressed, so that the buffer spring 7 contracts, and the impact force is buffered and released by virtue of the elastic expansion of the buffer spring 7;

the article is placed on the bracket plate 35, then the article is lifted upwards to the placing plane through the above-mentioned lifting action, when the article needs to be unloaded, the rotating motor 33 can be started, the rotating block 31 is driven to rotate through the rotation of the rotating shaft 32, and after the rotating block 31 rotates, the article placed on the rotating block immediately falls towards the inclined side.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. The utility model provides a rotatable turn to lift and use AGV dolly with laser direction function, includes automobile body (1), buffer gear (4), commentaries on classics board (11), glide machanism (15) and bearing mechanism (27), its characterized in that: the wheel (2) is installed at the bottom of the vehicle body (1), buffer mechanisms (4) are installed at the front end and the rear end of the vehicle body (1), a placement groove (8) is formed in the upper portion of the front end face of the vehicle body (1), a laser source (9) is installed in the groove of the placement groove (8), a limiting groove (10) is formed in the upper surface of the vehicle body (1), a rotating plate (11) is installed above the vehicle body (1), a rotating shaft (12) penetrates through and is connected between one end of the rotating plate (11) and the rear end of the vehicle body (1), a boss at the bottom of the other end of the rotating plate (11) is inserted and matched in the limiting groove (10), a sliding seat (13) is fixed on the upper surface of the rotating plate (11), a sliding groove (14) is formed in the upper surface of the sliding seat (13), a sliding mechanism (15) is slidably assembled above the sliding seat (13), and a hydraulic lifting frame (23), and a supporting plate (24) is hinged above the hydraulic lifting frame (23), and a bearing mechanism (27) is assembled above the supporting plate (24) in a sliding mode.

2. The AGV capable of rotating and adjusting the direction with the laser guiding function for lifting according to claim 1, wherein: the front end surface and the rear end surface of the vehicle body (1) are provided with buffer grooves (3), and the buffer mechanisms (4) are matched in the buffer grooves (3).

3. The AGV capable of rotating and adjusting the direction with the laser guiding function for lifting according to claim 2, wherein: buffer gear (4) comprise shrouding (5), picture peg (6) and buffer spring (7), the one end of picture peg (6) is inserted in buffer slot (3), and the other end fixedly connected with shrouding (5) of picture peg (6), the one side that picture peg (6) inserted automobile body (1) evenly is fixed with buffer spring (7).

4. The AGV capable of rotating and adjusting the direction with the laser guiding function for lifting according to claim 1, wherein: glide machanism (15) are including sliding seat (16), cardboard (19), drive axle (20) and driver (21), the upper surface both sides of sliding seat (16) all are provided with assembly groove (18), and all install cardboard (19) in the inslot of assembly groove (18), drive axle (20) have all been run through to the inside of cardboard (19) and the inside of sliding seat (16) top boss, and the axle head of drive axle (20) is connected with driver (21), the top of cardboard (19) is fixed with flat board (22).

5. The AGV with laser guiding function for lifting of claim 4, wherein the AGV comprises: a sliding strip (17) is fixed in the middle of the lower surface of the sliding seat (16), and the sliding strip (17) is matched in the sliding groove (14).

6. The AGV with laser guiding function for lifting of claim 4, wherein the AGV comprises: the bottom end of the hydraulic lifting frame (23) is hinged to the upper surface of the flat plate (22), and the supporting plate (24) and the flat plate (22) form a lifting structure through the hydraulic lifting frame (23).

7. The AGV with laser guiding function for lifting of claim 6, wherein: convex strips (26) are fixed on two sides of the upper surface of the supporting plate (24), and rubber columns (25) are bonded on four corners of the lower surface of the supporting plate (24).

8. The AGV with laser guiding function for lifting of claim 7, wherein: the supporting mechanism (27) comprises a supporting plate (28), a supporting vertical plate (30), a rotating block (31), a rotating shaft (32), a rotating motor (33), a sliding rod (34) and a bracket plate (35), wherein grooves (29) are formed in two sides of the lower surface of the supporting plate (28), the grooves (29) are uniformly distributed and matched with convex strips (26), the supporting vertical plate (30) is perpendicularly welded to two sides of the upper surface of the supporting plate (28), the rotating block (31) is arranged between the supporting vertical plates (30), the rotating shaft (32) is connected between the centers of two ends of the rotating block (31) and the supporting vertical plates (30), the outer end of the rotating shaft (32) is connected with the rotating motor (33), the sliding rod (34) penetrates through the inner portions of two sides of the rotating block (31), and the bracket plate (35) is fixedly connected to two ends of the sliding rod (34).

9. The AGV with laser guiding function for lifting of claim 8, wherein: jacks (36) are uniformly formed in the upper surface of the bracket plate (35), return springs (37) and rubber bars (38) are respectively mounted inside the jacks (36), the top ends of the return springs (37) are in contact with the bottom surfaces of the rubber bars (38), and elastic structures are formed between the rubber bars (38) and the jacks (36) through the return springs (37).