CN112607668A - AGV car transfer device - Google Patents
AGV car transfer device Download PDFInfo
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- CN112607668A CN112607668A CN202011629252.2A CN202011629252A CN112607668A CN 112607668 A CN112607668 A CN 112607668A CN 202011629252 A CN202011629252 A CN 202011629252A CN 112607668 A CN112607668 A CN 112607668A
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- 239000010813 municipal solid waste Substances 0.000 claims abstract description 49
- 239000002386 air freshener Substances 0.000 claims description 23
- 238000005303 weighing Methods 0.000 claims description 21
- 239000007921 spray Substances 0.000 claims description 18
- 239000000523 sample Substances 0.000 claims description 10
- 230000001681 protective effect Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 3
- 239000002390 adhesive tape Substances 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 claims description 2
- 238000005381 potential energy Methods 0.000 claims description 2
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 claims 1
- 238000000034 method Methods 0.000 description 4
- 238000005507 spraying Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000000645 desinfectant Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
- A61L2/18—Liquid substances or solutions comprising solids or dissolved gases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/08—Masts; Guides; Chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/18—Load gripping or retaining means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- Epidemiology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Combustion & Propulsion (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an AGV transferring device which comprises an AGV shell, a guide rail frame and a lifting fork frame, wherein a battery, a driving motor and an intelligent controller are installed in the AGV shell, the guide rail frame is a vertical square frame, the guide rail frame is installed at the front part of the AGV shell, the lower end of the guide rail frame is close to the ground, guide rails are arranged on a left vertical frame body and a right vertical frame body of the guide rail frame, a middle frame is arranged in the middle of the guide rail frame, the left end and the right end of the middle frame are fixedly connected with the left vertical frame body and the right vertical frame body of the guide rail frame respectively, the lower end of a cylinder body of a lifting cylinder is fixed at the lower part of the guide rail frame, the upper end of the cylinder body is fixed on the middle frame, a telescopic rod of the lifting cylinder extends upwards, a laser radar, the driving. The garbage can transfer device is simple in overall structure and multifunctional, and can well achieve the function of transferring the garbage can.
Description
Technical Field
The invention relates to the technical field of AGV trolleys, in particular to an AGV trolley transfer device.
Background
Automated Guided Vehicle, abbreviated AGV, is also commonly referred to as an AGV. The intelligent transport vehicle is provided with an electromagnetic or optical automatic navigation device.
The intelligent forklift AGV is based on a laser trackless navigation technology, fixed infrastructure transformation is not needed on site, and early investment and deployment period are reduced; the method has the functions of environment map construction, path marking, safety obstacle avoidance and the like. Independent navigation and real-time accurate positioning are realized by means of the multi-sensor technology. Can realize that the automation of garbage bin is pitched and is got and transport, the wide application is dumped link in transporting of rubbish such as rubbish factory, rubbish transfer station, and the helping hand realizes intellectuality, unmanned to rubbish station clearance system.
At present, the AGV car structure is complicated, uses inconveniently, needs further to improve.
Disclosure of Invention
The invention aims to solve the problems in the background art and provides an AGV transfer device.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
an AGV car transfer device, wherein: the AGV comprises an AGV shell, a guide rail frame and a lifting fork frame, wherein a battery, a driving motor and an intelligent controller are installed in the AGV shell, the guide rail frame is a vertical square frame, the guide rail frame is installed at the front part of the AGV shell, the lower end of the guide rail frame is close to the ground, guide rails are arranged on a left vertical frame body and a right vertical frame body of the guide rail frame, a middle frame is arranged at the middle part of the guide rail frame, the left end and the right end of the middle frame are respectively fixedly connected with the left vertical frame body and the right vertical frame body of the guide rail frame, the lower end of a lifting cylinder is fixed at the lower part of the guide rail frame, the upper end of the lifting cylinder is fixed on the middle frame body, a telescopic rod of the lifting cylinder extends upwards, the upper end of the telescopic rod is fixedly connected with a movable pulley, the lifting, the other end of the fork arm extends to the front of the AGV and is used for being inserted into the bottom of a garbage can, sliding blocks are arranged on the left side and the right side of the transverse fixing frame, the sliding blocks are clamped into the guide rails and can slide up and down in the guide rails, at least one in-place buffer structure is arranged on the front side of the transverse fixing frame, one end of a hoisting chain is fixedly connected with the middle frame, the other end of the hoisting chain winds up around the movable pulley and then is fixedly connected with the transverse fixing frame, when a telescopic rod of the lifting cylinder extends out or retracts, the movable pulley can move up and down, so that the hoisting chain drives the lifting fork frame to lift, a bottom arm frame is arranged at the front end of the lower part of the AGV shell and is positioned right below the fork arm, rollers are arranged at the bottom of the AGV shell and the bottom of the bottom arm frame, a driving motor is connected with the rollers and is used for driving the rollers to roll, a laser, laser radar, driving motor and lift cylinder obtain the electric energy from the battery, and intelligent control ware is used for receiving laser radar's signal and control driving motor and lift cylinder operation.
In order to optimize the technical scheme, the specific measures adopted further comprise:
the in-place buffer structure comprises a first articulated shaft, an articulated block, a second articulated shaft, a sliding block, a sliding shaft and a traction spring, wherein a transverse chute is arranged on the front side surface of a transverse fixing frame, strip-shaped holes are formed in the upper side wall and the lower side wall of the chute, the strip-shaped holes vertically penetrate through the chute, the strip-shaped holes move left and right, the articulated block and the sliding block move left and right, the first articulated shaft is fixedly arranged in the chute, one end of the articulated block is in articulated fit with the first articulated shaft, the other end of the articulated block is in articulated fit with one end of the sliding block through the second articulated shaft, the other end of the sliding block is in articulated connection with the sliding shaft, the sliding shaft is positioned in the chute, two ends of the sliding shaft penetrate through the corresponding chutes, one end of the sliding shaft is connected with one end of the traction spring, the other end of the, at this time, the joint of the hinge block and the sliding block is positioned at the foremost end of the transverse fixing frame.
Foretell yoke includes yoke underframe frame, weighing module, yoke upper plate and buffer layer, yoke underframe frame includes preceding horizontal part and the vertical portion in back, the rear end of preceding horizontal part and the lower extreme fixed connection of the vertical portion in back, the vertical upwards extension of the vertical portion in back, preceding horizontal part level extends forward, weighing module fixes the upper surface of horizontal part in the front, the buffer layer is fixed on weighing module, the yoke upper plate is fixed on the buffer layer, preceding of yoke upper plate, left side and right side form the upper plate safe edge downwards, the upper plate safe edge shelters from buffer layer and weighing module, weighing module passes through the wire and is connected with intelligent control ware, and can send the weight of weighing to intelligent control ware.
The left end and the right end of the transverse fixing frame extend forwards to form the garbage can holding arms, the garbage can holding arms are made of elastic structures, and when the fork arms are inserted into the bottom of the garbage can, the two garbage can holding arms are held on two sides of the middle of the garbage can in a closed mode.
The upper part of the guide rail frame is provided with an in-place sensor, the in-place sensor is connected with an intelligent controller, and the in-place sensor can be touched when the lifting fork frame is abnormally jacked.
The top of the guide rail frame is provided with a wireless signal transceiver, the wireless signal transceiver is connected with the intelligent controller, and the wireless signal transceiver is used for signal communication between the intelligent controller and the remote terminal.
Install air freshener in foretell AGV car shell and spray the jar, the valve and the intelligent control ware that air freshener sprayed the jar are connected, and the intelligent control ware can control the valve that air freshener sprayed the jar and open, makes air freshener spray the jar and sprays air freshener, and AGV car shell has seted up the air vent in air freshener sprays jar and sprays the department.
The lower surface of the front horizontal part is provided with a lower pad which is used for preventing the fork arm from being in hard contact with the bottom arm support.
The lower part edge of foretell AGV car shell installs crashproof adhesive tape.
Ultrasonic probes are arranged on the side face and the back face of the AGV shell and connected with the intelligent controller, and the ultrasonic probes are used for detecting obstacles on the side face and the back face of the AGV.
The invention has the following advantages:
1. the lifting fork frame can be conveniently lifted by arranging the middle frame, the lifting chain, the lifting cylinder and the movable pulley structure, and the whole structure is simple and practical.
2. The in-place buffering structure is arranged at the front end of the transverse bracket, so that the problem that the garbage can is excessively extruded can be effectively solved. Buffer structure targets in place mainly by first articulated shaft, articulated piece, the second articulated shaft, the sliding block, sliding shaft and tractive spring are constituteed, under the normal condition, articulated piece and sliding block junction protrusion outside the spout, at this moment, articulated piece and sliding block junction are located the foremost of horizontal mount, when the AGV dolly antedisplacement, the yoke lasts and inserts the garbage bin below, when arranging the garbage bin in on the yoke, a garbage bin side is before contacting the horizontal support, can contact articulated piece and sliding block junction earlier, buffer structure and garbage bin elastic contact target in place, avoided the direct top of horizontal support on the garbage bin, lead to the garbage bin to break.
3. According to the invention, the lifting fork frame of the AGV trolley is improved, the original strip-shaped fork arm is converted into a combined structure consisting of a fork arm bottom frame, a weighing module, a fork arm upper plate and a buffer layer, when the AGV trolley forks the garbage can through the lifting fork frame, the fork arm upper plate can transmit the weight of the garbage can to the weighing module, and after the garbage can is weighed by the weighing module, a signal is sent to the intelligent controller, so that the intelligent controller can know the weight of the garbage.
4. The air freshener spraying tank is arranged in the AGV car cleaning device, the air freshener spraying tank can spray the outside of the AGV car, and meanwhile disinfectant can be mixed into the air freshener spraying tank to kill the outside of the AGV car.
5. The lower cushion is used for preventing the fork arm from being in hard contact with the bottom arm support, the lower edge of the AGV shell is provided with the anti-collision rubber strip, the AGV shell is prevented from colliding with a wall, and the like, so that the AGV structure is effectively protected, and the service life of the AGV is prolonged.
Drawings
FIG. 1 is a first schematic structural diagram of the present invention;
FIG. 2 is an enlarged view of the portion A of FIG. 1;
FIG. 3 is a second schematic structural view of the present invention;
FIG. 4 is an enlarged view of the yoke structure of FIG. 3;
FIG. 5 is a view of the internal structure of the yoke;
FIG. 6 is a third schematic structural view of the present invention;
fig. 7 is a fourth schematic structural view of the present invention.
The label names in the figure: the AGV comprises an AGV shell 1, a bottom arm frame 11, a roller 12, a laser radar 13, a vent hole 14, an anti-collision rubber strip 15, an ultrasonic probe 16, a guide rail frame 2, a guide rail 21, a middle frame 22, a lifting cylinder 23, a telescopic rod 23a, a movable pulley 24, a lifting chain 25, an in-place sensor 26, a wireless signal transceiver 27, a lifting fork frame 3, a transverse fixing frame 31, a sliding block 31a, a strip-shaped hole 31b, a sliding groove 31c, a vertical fixing frame 32, an in-place buffer structure 33, a first hinge shaft 33a, a hinge block 33b, a second hinge shaft 33c, a sliding block 33d, a sliding shaft 33e, a traction spring 33f, a fork arm 4, a fork arm bottom frame 41, a front horizontal part 41a, a rear vertical part 41b, a weighing module 42, a fork arm upper plate 43, an upper plate protective edge 43a, a buffer layer 44, a.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
An AGV car transfer device of this embodiment, wherein: the AGV comprises an AGV shell 1, a guide rail frame 2 and a lifting fork frame 3, wherein a battery, a driving motor and an intelligent controller are installed in the AGV shell 1, the guide rail frame 2 is a vertical square frame, the guide rail frame 2 is installed at the front part of the AGV shell 1, the lower end of the guide rail frame 2 is close to the ground, guide rails 21 are arranged on a left vertical frame body and a right vertical frame body of the guide rail frame 2, a middle frame 22 is arranged at the middle part of the guide rail frame 2, the left end and the right end of the middle frame 22 are respectively fixedly connected with the left vertical frame body and the right vertical frame body of the guide rail frame 2, the lower end of a cylinder body of a lifting cylinder 23 is fixed at the lower part of the guide rail frame 2, the upper end of the lifting cylinder 23 is fixed on the middle frame 22, a telescopic rod 23a of the lifting cylinder 23 extends upwards, a movable pulley 24 is, the lower end of a vertical fixing frame 32 is connected with one end of a fork arm 4, the fork arm 4 is transversely arranged, the other end of the fork arm 4 extends to the front of an AGV and is used for being inserted at the bottom of a garbage can, sliders 31a are arranged on the left side and the right side of a transverse fixing frame 31, the sliders 31a are clamped into guide rails 21 and can slide up and down in the guide rails 21, at least one in-place buffer structure 33 is arranged on the front side of the transverse fixing frame 31, one end of a heavy chain 25 is fixedly connected with a middle frame 22, the other end of the heavy chain passes upwards around a movable pulley 24 and then is fixedly connected with the transverse fixing frame 31 downwards, when a telescopic rod 23a of a lifting cylinder 23 extends out or retracts, the movable pulley 24 can move up and down, so that a lifting chain 25 drives a lifting fork frame 3 to lift, a bottom arm support 11 is arranged at the front end of the lower part of an AGV car shell 1, the bottom arm support, driving motor is connected with gyro wheel 12 for driving gyro wheel 12 rolls, and laser radar 13 is installed to the front end of guide rail frame 2, and laser radar 13, driving motor and lift cylinder 23 all are connected with battery and intelligent control ware, and laser radar 13, driving motor and lift cylinder 23 obtain the electric energy from the battery, and the intelligent control ware is used for receiving laser radar 13's signal and controls driving motor and lift cylinder 23 function.
In the embodiment, the in-place buffer structure 33 includes a first hinge shaft 33a, a hinge block 33b, a second hinge shaft 33c, a sliding block 33d, a sliding shaft 33e and a pulling spring 33f, a transverse sliding slot 31c is disposed on the front side of the transverse fixing frame 31, strip-shaped holes 31b are disposed on the upper and lower side walls of the sliding slot 31c, the strip-shaped holes 31b vertically penetrate through the sliding slot 31c, the strip-shaped holes 31b run left and right, the hinge block 33b and the sliding block 33d run left and right, the first hinge shaft 33a is fixedly mounted in the sliding slot 31c, one end of the hinge block 33b is in hinged fit with the first hinge shaft 33a, the other end is in hinged fit with one end of the sliding block 33d through the second hinge shaft 33c, the other end of the sliding block 33d is in hinged connection with the sliding shaft 33e, the sliding shaft 33e is disposed in the sliding slot 31c, and the two ends of the, the other end of the pulling spring 33f is fixed on the transverse fixing frame 31, the pulling spring 33f has the potential energy of pulling the sliding shaft 33e, the sliding block 33d is pulled towards the hinge block 33b, the joint of the hinge block 33b and the sliding block 33d protrudes out of the sliding groove 31c, and at the moment, the joint of the hinge block 33b and the sliding block 33d is located at the foremost end of the transverse fixing frame 31.
In an embodiment, the yoke 4 includes a yoke bottom frame 41, a weighing module 42, a yoke upper plate 43 and a buffer layer 44, the yoke bottom frame 41 includes a front horizontal portion 41a and a rear vertical portion 41b, a rear end of the front horizontal portion 41a is fixedly connected to a lower end of the rear vertical portion 41b, the rear vertical portion 41b extends vertically upward, the front horizontal portion 41a extends horizontally forward, the weighing module 42 is fixed to an upper surface of the front horizontal portion 41a, the buffer layer 44 is fixed to the weighing module 42, the yoke upper plate 43 is fixed to the buffer layer 44, front, left and right sides of the yoke upper plate 43 form an upper plate protective edge 43a downward, the buffer layer 44 and the weighing module 42 are shielded by the upper plate protective edge 43a, the weighing module 42 is connected to the intelligent controller through a wire, and can transmit the weighed weight to the intelligent controller.
In the embodiment, the left end and the right end of the transverse fixing frame 31 extend forwards to form the trash can holding arms 5, the trash can holding arms 5 are made of elastic structures, and when the fork arms 4 are inserted into the bottoms of the trash cans, the two trash can holding arms 5 are held on two sides of the middle of the trash cans.
In the embodiment, the upper part of the guide rail frame 2 is provided with the in-place sensor 26, the in-place sensor 26 is connected with the intelligent controller, and the in-place sensor 26 can be touched when the lifting fork frame 3 is abnormally jacked.
In the embodiment, a wireless signal transceiver 27 is installed on the top of the guide rail frame 2, the wireless signal transceiver 27 is connected with the intelligent controller, and the wireless signal transceiver 27 is used for signal communication between the intelligent controller and a remote terminal.
In the embodiment, install air freshener in AGV car shell 1 and spray the jar, the valve and the intelligent control ware that the air freshener sprayed the jar are connected, and the intelligent control ware can control the valve that the air freshener sprayed the jar and open, makes the air freshener spray the jar and spray the air freshener, and AGV car shell 1 has seted up air vent 14 in the air freshener sprays jar and sprays the department.
In the embodiment, the lower surface of the front horizontal portion 41a is mounted with a lower pad 45, and the lower pad 45 is used for preventing the yoke 4 from being hard contacted with the bottom arm support 11.
In the embodiment, the lower edge of the AGV car housing 1 is provided with a crash strip 15.
In the embodiment, the side and the back of the AGV shell 1 are provided with ultrasonic probes 16, the ultrasonic probes 16 are connected with the intelligent controller, and the ultrasonic probes 16 are used for detecting obstacles on the side and the back of the AGV.
The intelligent controller selects the PLC.
The technical indexes of the AGV vehicle are as follows:
external dimension (mm): 1250 (L) 960 (W) 1825 (H)
Dead weight (KG): 250KG
Maximum load (KG): 1000KG
Maximum speed: 0.8m/s
Radius of gyration: 1040mm
Width of the walking channel: 1125mm
Width of the revolving channel: 1600mm
Battery capacity: 48V/100A
Duration (h): 8h
Battery life (next): more than or equal to 1500 times
A charging mode: and (4) manually operating.
The using method comprises the following steps:
the battery of AGV car, driving motor, intelligent control ware, air freshener sprays jar and a large amount of wire connecting wires and all installs in AGV car shell 1, intelligent control ware is used for controlling driving motor, lift cylinder 23, air freshener sprays a jar function, get into the transfer area after filling up the garbage bin of rubbish, intelligent control ware passes through radio signal transceiver 27 receiving instruction, remove to predetermined place fork the garbage bin, in the removal process, laser radar 13 is used for navigating, guide AGV car advancing, intelligent control ware passes through radio signal transceiver 27 and receives the position information of oneself in the transfer area, ultrasonic probe 16 is used for detecting AGV car side and hou mian barrier. The AGV car moves around the garbage bin, stretches into the garbage bin below bottom cantilever crane 11 and yoke 4 together, then lift cylinder 23 upwards operates, and movable pulley 24 shifts up, and one end that lifting chain 25 and horizontal mount 31 are connected moves up, takes whole lift crotch 3 to move up along guide rail 21 to fork the garbage bin, then at the garbage bin in-process that rises, weighing module weighs the garbage bin, and will call the weight information transmission that gets to intelligent control ware. Then, the intelligent controller controls the AGV to steer and drive to the underground garbage station, after the AGV arrives at the preset position of the underground garbage station, the lifting cylinder 23 operates downwards, the movable pulley 24 moves downwards, one end of the lifting chain 25, which is connected with the transverse fixing frame 31, moves downwards to drive the whole lifting fork frame 3 to move downwards along the guide rail 21, so that the garbage can is put down, the AGV retreats, and the bottom arm support 11 and the fork arm 4 are withdrawn from the lower part of the garbage can together. And (4) completing the transfer.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (10)
1. The utility model provides a AGV car transfer device which characterized by: including AGV car shell (1), guide rail frame (2) and lift crotch (3), AGV car shell (1) in install battery, driving motor and intelligent control ware, guide rail frame (2) be vertical square frame, guide rail frame (2) install in AGV car shell (1) front portion, guide rail frame (2) lower extreme is close ground, is provided with guide rail (21) on two vertical frameworks about guide rail frame (2), the middle part of guide rail frame (2) be provided with middle part frame (22), the left and right sides both ends of middle part frame (22) respectively with two vertical framework fixed connection about guide rail frame (2), the cylinder body lower extreme of a lift cylinder (23) is fixed in the lower part of guide rail frame (2), the upper end is fixed on middle part frame (22), telescopic link (23a) of lift cylinder (23) upwards stretch out, upper end fixed connection movable pulley (24) of telescopic link (23a), lift crotch (3) including horizontal mount (31), vertical mount (32) and yoke (4), the upper end of vertical mount (32) fix on horizontal mount (31), the lower extreme of vertical mount (32) is connected with the one end of yoke (4), yoke (4) transversely set up, the other end of yoke (4) stretches to AGV car the place ahead for insert the bottom of garbage bin, the left and right sides of horizontal mount (31) be provided with slider (31a), slider (31a) card go into in guide rail (21) to can slide from top to bottom in guide rail (21), the front side of horizontal mount (31) be provided with at least one buffer structure (33) that targets in place, the one end and middle part frame (22) fixed connection of heavy chain strip (25) together, the other end upwards walks around movable pulley (24) after, again downwards with transverse fixing frame (31) fixed connection, telescopic link (23a) of lift cylinder (23) stretch out or when withdrawing, can make movable pulley (24) reciprocate to make lifting chain (25) drive lift crotch (3) and go up and down, the lower part front end of AGV car shell (1) be provided with bottom cantilever crane (11), bottom cantilever crane (11) be located yoke (4) under, the bottom of AGV car shell (1) and the bottom of bottom cantilever crane (11) install gyro wheel (12), driving motor is connected with gyro wheel (12) for driving gyro wheel (12) roll, the front end of guide rail frame (2) install laser radar (13), driving motor and lift cylinder (23) all be connected with battery and intelligent control ware, the laser radar (13), the driving motor and the lifting cylinder (23) obtain electric energy from the battery, and the intelligent controller is used for receiving signals of the laser radar (13) and controlling the driving motor and the lifting cylinder (23) to operate.
2. The AGV transport apparatus of claim 1, further comprising: the in-place buffer structure (33) comprises a first hinge shaft (33a), a hinge block (33b), a second hinge shaft (33c), a sliding block (33d), a sliding shaft (33e) and a traction spring (33f), a transverse sliding chute (31c) is arranged on the front side surface of the transverse fixing frame (31), strip-shaped holes (31b) are formed in the upper side wall and the lower side wall of the sliding chute (31c), the strip-shaped holes (31b) vertically penetrate through the sliding chute (31c), the strip-shaped holes (31b) move left and right, the hinge block (33b) and the sliding block (33d) move left and right, the first hinge shaft (33a) is fixedly installed in the sliding chute (31c), one end of the hinge block (33b) is in hinged fit with the first hinge shaft (33a), the other end of the hinge block (33b) is in hinged fit with one end of the sliding block (33d) through the second hinge shaft (33c), and the other end of the sliding block (33d, the sliding shaft (33e) is positioned in the sliding groove (31c), two ends of the sliding shaft (33e) penetrate through the corresponding sliding grooves (31c), one end of the sliding shaft (33e) is connected with one end of a pulling spring (33f), the other end of the pulling spring (33f) is fixed on the transverse fixing frame (31), the pulling spring (33f) has potential energy for pulling the sliding shaft (33e), the sliding block (33d) is pulled to the hinge block (33b), the joint of the hinge block (33b) and the sliding block (33d) protrudes out of the sliding groove (31c), and at the moment, the joint of the hinge block (33b) and the sliding block (33d) is positioned at the foremost end of the transverse fixing frame (31).
3. The AGV transport apparatus of claim 2, further comprising: the fork arm (4) comprises a fork arm bottom frame (41), a weighing module (42), a fork arm upper plate (43) and a buffer layer (44), the fork arm bottom frame (41) comprises a front horizontal part (41a) and a rear vertical part (41b), the rear end of the front horizontal part (41a) is fixedly connected with the lower end of the rear vertical part (41b), the rear vertical part (41b) vertically extends upwards, the front horizontal part (41a) horizontally extends forwards, the weighing module (42) is fixed on the upper surface of the front horizontal part (41a), the buffer layer (44) is fixed on the weighing module (42), the fork arm upper plate (43) is fixed on the buffer layer (44), the front, left and right sides of the fork arm upper plate (43) downwards form upper plate protective edges (43a), the upper plate protective edges (43a) shield the buffer layer (44) and the weighing module (42), and the weighing module (42) is connected with an intelligent controller through a lead wire, and can send the weighed weight to the intelligent controller.
4. The AGV transport apparatus of claim 3, further comprising: the garbage can clamping arm is characterized in that the left end and the right end of the transverse fixing frame (31) extend forwards to form a garbage can clamping arm (5), the garbage can clamping arm (5) is made of an elastic structure, and when the fork arm (4) is inserted into the bottom of the garbage can, the two garbage can clamping arms (5) are clamped on two sides of the middle of the garbage can.
5. The AGV transfer device of claim 4, wherein: the upper part of the guide rail frame (2) is provided with an in-place sensor (26), the in-place sensor (26) is connected with an intelligent controller, and the lifting fork frame (3) can touch the in-place sensor (26) when abnormally rushing to jack.
6. The AGV transfer device of claim 5, wherein: the guide rail frame (2) top install wireless signal transceiver (27), wireless signal transceiver (27) be connected with intelligent control ware, wireless signal transceiver (27) are used for intelligent control ware and remote terminal signal communication.
7. The AGV transport apparatus of claim 6, further comprising: AGV car shell (1) in install air freshener and spray the jar, the valve that air freshener sprayed the jar is connected with intelligent control ware, intelligent control ware can control the valve that air freshener sprayed the jar and open, make air freshener spray the jar and spray air freshener, AGV car shell (1) spray the jar at air freshener and spray the department and seted up air vent (14).
8. The AGV transport apparatus of claim 7, further comprising: the lower surface of the front horizontal part (41a) is provided with a lower pad (45), and the lower pad (45) is used for preventing the fork arm (4) from being in hard contact with the bottom arm support (11).
9. The AGV transport apparatus of claim 8, further comprising: the lower part edge of AGV car shell (1) install crashproof adhesive tape (15).
10. The AGV transport apparatus of claim 9, further comprising: the side and the back of AGV car shell (1) all install ultrasonic probe (16), ultrasonic probe (16) be connected with intelligent control ware, ultrasonic probe (16) are used for detecting AGV car side and the barrier behind.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011629252.2A CN112607668A (en) | 2020-12-31 | 2020-12-31 | AGV car transfer device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011629252.2A CN112607668A (en) | 2020-12-31 | 2020-12-31 | AGV car transfer device |
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| CN112607668A true CN112607668A (en) | 2021-04-06 |
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| CN202011629252.2A Pending CN112607668A (en) | 2020-12-31 | 2020-12-31 | AGV car transfer device |
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