CN113003482A

CN113003482A - AGV (automatic guided vehicle) matched with wire vehicle

Info

Publication number: CN113003482A
Application number: CN202110167412.4A
Authority: CN
Inventors: 柯德莉; 方欣琛; 于浩源; 潘荆栋; 方朱峰; 汪庭兵
Original assignee: Zhejiang Kegong Intelligent System Co ltd
Current assignee: Zhejiang Kegong Intelligent System Co ltd
Priority date: 2021-02-05
Filing date: 2021-02-05
Publication date: 2021-06-22
Anticipated expiration: 2041-02-05
Also published as: CN113003482B

Abstract

The invention relates to the field of AGV (automatic guided vehicle), and particularly discloses an AGV (automatic guided vehicle) matched with a wire trolley, which comprises a tractor and a fork frame body arranged on one side of the tractor, wherein a rotary lifting structure is arranged on the fork frame body, the rotary lifting structure comprises a clamping fork matched with a frame of the wire trolley and a driving structure for driving the clamping fork to turn over, and when the driving structure drives the clamping fork to turn over, one side of the frame erected by the clamping fork upwarps. Through rotatory lifting structure, can be convenient with the silk car roof play to fix silk car and AGV and paste closely together, the application of force is convenient, the state is stable.

Description

AGV (automatic guided vehicle) matched with wire vehicle

Technical Field

The invention relates to the field of AGV, in particular to an AGV matched with a wire car.

Background

AGVs are also called automated guided vehicles (amvs), and are mainly classified into three categories: traction, backpack, and latent. These three types of AGV are mainly according to the transportation object of difference, and do the selection of adaptability, when choosing towed AGV, the article of transporting is bigger and heavy usually, detains through setting up the drawing in AGV one end, realizes the lock joint with the material shelf, then to a direction pulling material shelf (material shelf bottom can set up the gyro wheel) to dilatory mode realizes transporting the material shelf to the position that needs.

However, the traction type AGV can only transport the material rack in one direction, and cannot return, so that the working efficiency is limited to a great extent. Based on this problem, a structure capable of being rigidly connected to the material rack is developed, see fig. 11 and 12, including the fork frame body 2 disposed at one side of the tractor 1, the fork frame body 2 has a locking claw 10 capable of being lifted in a height direction, and when in use, the fork frame body is inserted into a lower portion of the material rack, and then the locking claw catches a bottom of the material rack 91, and then one end of the material rack is lifted, and the other end of the material rack is forced to land by a roller 92 far away from the locking claw, thereby realizing that the material rack can move back and forth under the driving of the AGV.

The lifting of the buckling claws is controlled by a hydraulic system, however, the lifting of the material shelf which is matched with the traction type AGV is very important generally, and one end of the material shelf must be lifted when the material shelf is required to move, so that very high oil pressure is required for continuous work, and the requirement on the structural strength of a lifting mechanism matched with the buckling claws is very high; once the oil pressure is unstable, the material rack is easy to fall down, and the failure rate is very high.

Disclosure of Invention

The invention aims to provide an AGV matched with a wire car, which can enable the wire car to move in the front-back direction, and the matching structure of the AGV and a material shelf is ingenious.

In order to achieve the above object, the present invention is solved by the following technical solutions: the utility model provides a with silk car complex AGV, includes the tractor and sets up the crotch body in tractor one side, be provided with rotatory lifting structure on the fork support body, rotatory lifting structure include with the frame complex joint fork of silk car to and the drive structure of the upset of drive joint fork, when the drive structure orders about the joint fork and turns, the frame is upwarped by one side that the joint fork erect.

Preferably, the rotary lifting structure includes a rotary supporting portion and an oil cylinder driving the rotary supporting portion.

Preferably, the rotation supporting part comprises a base plate, two first connecting rods opposite in interval are hinged to the base plate, the other end of each first connecting rod is hinged to a second connecting rod, a pushing block is connected between the end portions of the second connecting rods in a rotating mode and driven by an oil cylinder, and the clamping fork is fixed between the end portions, far away from the base plate, of the two first connecting rods.

Preferably, the rotation support part further comprises a linear device, the linear device comprises a linear cylinder and a linear telescopic rod, the linear cylinder is fixed on the base plate, the end part of the linear telescopic rod is fixed on the push block, and the linear telescopic rod is coaxial with the piston mandril of the oil cylinder.

Preferably, the rotation support portion further includes a pulley provided at an end portion of the second link, which is far from the first link.

As prior, the rotation support portion includes the base plate, and it has two relative first connecting rods in interval to articulate on the base plate, and the other end of first connecting rod articulates there is the second connecting rod, rotates between the tip of second connecting rod to be connected with the ejector pad, the ejector pad is provided with smooth kicking block by hydro-cylinder drive between the tip that the base plate was kept away from to two first connecting rods, and the lower part of joint fork is provided with open spout, the spout of joint fork cup joints and makes the joint fork slide along its width direction on smooth kicking block, and still is provided with the limit structure who restricts joint fork roll-off smooth kicking block between smooth kicking block and the joint fork.

As preferentially, limit structure is including setting up the baffle in sliding block both sides, and the distance between two baffles is greater than the width that the joint was pitched, and just baffle, joint are pitched and are worn to be equipped with the locking lever, and the baffle is worn out respectively at the both ends of locking lever, and the cooperation has the nut.

Preferably, springs are respectively arranged between the baffle and the clamping fork, and the springs are sleeved on the lock rod.

Due to the adoption of the technical scheme, the invention has the remarkable technical effects that:

1. through the rotary lifting structure, after one end of the wire trolley is lifted, the force of the oil cylinder to the rotary supporting part is horizontal, the force of the frame to the rotary supporting part is almost vertical, and the component force on the horizontal direction is very small, so that when the wire trolley is lifted, the force provided by the oil cylinder is very small, namely the lifting state of the wire trolley is stable;

2. through set up self-adaptation's floating structure between joint fork and sliding top piece, can make the better cooperation of joint fork and the frame of silk car frame, reduce the phenomenon that the wrong top appears.

Drawings

Fig. 1 is a diagram illustrating a state where a wire car is not lifted by a rotary lifting structure of an AGV according to the first embodiment;

fig. 2 is a diagram illustrating a state in which the wire car is lifted by the rotary lifting structure of the AGV according to the first embodiment;

FIG. 3 is a schematic diagram of the interior structure of the fork carriage of the AGV according to the first embodiment;

fig. 4 and 5 are state change diagrams of the rotary lifting structure in the first embodiment;

FIG. 6 and FIG. 7 are axial views of the rotation support part in the first embodiment;

fig. 8 is a schematic view of the combination of the rotary lifting structure and the wire car in the first embodiment;

FIG. 9 is a schematic axial view of the rotary lifting structure according to the second embodiment;

FIG. 10 is a schematic view of the second embodiment of the present invention showing the separation between the latch fork and the rotary elevating structure;

FIG. 11 is a schematic view of a prior art AGV in cooperation with a wire car;

FIG. 12 is a prior art AGV axis schematic.

In the figure: 1. drawing a machine head; 2. a fork frame body; 3. clamping forks; 31. guiding flaring; 32. a chute; 33. a lock lever; 34. a spring; 35. a nut; 4. an oil cylinder; 41. a piston ejector rod; 5. a base plate; 61. a first link; 611. sliding the top block; 612. a baffle plate; 6121. perforating; 62. a second link; 621. a pulley; 7. a push block; 8. a linear cylinder; 81. a linear telescopic rod; 91. a frame; 92. a roller; 93. rolling the silk; 10. the buckling claw.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

Example one

An AGV cooperating with a wire car, first of all according to fig. 1-8, comprising a tractor head 1 and a fork carriage 2 arranged on one side of the tractor, the wire car comprising a frame 91, rollers 92 arranged on the lower part of the frame 91 and a wire reel 93 mounted on the frame 91, is generally very heavy. The fork frame body 2 is bilaterally symmetrically provided with a rotary lifting structure, the rotary lifting structure is used for lifting a frame 91 of the wire trolley upwards, one end of the wire trolley is lifted off, and the other end of the wire trolley is supported by a rear roller 92, so that the wire trolley is convenient to move forwards and backwards by an AGV.

The rotary lifting structure comprises a rotary supporting part and an oil cylinder 4, wherein the oil cylinder 4 is used for controlling the clamping fork 3 of the rotary supporting part to turn up or down. The rotating support part comprises a base plate 5, two first connecting rods 61 are hinged to the base plate 5, the end parts of the first connecting rods 61 are hinged to second connecting rods 62, two second connecting rods 62 are rotatably connected between the end parts of the first connecting rods 61, and the pushing blocks 7 are pushed by piston push rods 41 of the oil cylinders 4. In order to ensure the pushing stability of the pushing block 7, a straight line device coaxial with the piston rod 41 is arranged on the base plate 5, a straight line cylinder 8 of the straight line device is fixed on the base plate 5, a straight line telescopic rod 81 is fixed on the pushing block 7, and the straight line telescopic rod 81 is coaxial with the piston rod 41. The latch fork 3 is fixed at the end of the two first links 61, and is fixed at an upturned angle with the first links 61.

Thus, when the AGV and the wire car are engaged with each other, the AGV enters the state shown in fig. 1, the fork body 2 of the AGV is inserted into the bottom of the wire car, and the groove-shaped portion of the latch fork 3 is made to correspond to the two tube bodies at the bottom of the frame 91 of the wire car. Oil circuit control system control hydro-cylinder 4 action after that for rotatory lifting structure changes from the state of figure 4 to the state of figure 5, when realizing with the lifting of frame 91 one end, can also turn certain angle backward a little (joint fork 3 is faced back), makes the tip top of frame 91 lean on the rear portion of fork support body 2, forms the effect of hugging closely, promotes the steadiness of silk car on AGV. At this moment, one end of the wire trolley is lifted, the other end of the wire trolley supports the ground through the roller 92 at the rear part, the wire trolley is completely fixed and lifted by the AGV, and when the AGV moves along the magnetic tracks, the wire trolley can move in the front-rear direction. And through this rotatory lifting structure, the power that the hydro-cylinder 4 gave the rotation support portion is horizontal, and the power that the frame 91 gave the rotation support portion is nearly vertical, and component force on the level is very little to when the silk car was lifted, the power that the hydro-cylinder 4 provided is very little, also is the lifting state of silk car this moment stable.

Example two

An AGV fitted with a wire car, see fig. 9 and 10, differs from the first embodiment in the pivoting lifting structure, where the latch fork 3 is connected to the first link 61 in a sliding manner in the width direction. An arched sliding groove 32 is arranged at the lower part of the clamping fork 3, and the lower part of the sliding groove 32 is open. A sliding top block 611 is fixed between the two first connecting rods 61, the clamping fork 3 is sleeved on the sliding top block 611 to slide along the width direction, in order to limit the clamping fork 3 to slide out of the sliding top block 611, two sides of the sliding top block 611 are respectively provided with a baffle 612, the distance between the two baffles 612 is greater than the width of the clamping fork 3, a perforation 6121 is arranged on the baffle 612, the clamping fork 3 is matched with a lock rod 33, the lock rod 33 is connected with the clamping fork 3 in series after penetrating through the perforation 6121, and nuts 35 are retracted into two ends of the lock rod 33, so that the limiting of the clamping fork 3 on the sliding top block 611 is realized, and the sliding adjustment effect along the width direction can be realized. In order to realize the position stability of the clamping inserted on the sliding top block 611, a spring 34 is also arranged between the baffle 612 and the two sides of the clamping fork 3, and the spring 34 is sleeved on the lock rod 33 to play a role in fixing the spring 34. In addition, the mouth of the clevis 3 is provided with a flare that flares outward.

The rotary lifting structure can achieve the effect of clamping self-adjustment when being matched with the frame 91 of the wire cutting machine, due to the arrangement of the flaring, the frame edge on the lower side of the frame 91 can fall into the flaring position as much as possible, when the clamping fork 3 turns upwards and the frame edge is propped against the flaring position, the clamping fork 3 can be adjusted in a width direction self-adaptive position, the frame edge can fall into the slot position of the clamping fork 3 as much as possible, and the matching performance of the clamping fork 3 and the frame 91 is improved. The rest is the same as the first embodiment, and is not described herein.

Claims

1. The utility model provides a with silk car complex AGV, includes tractor and the crotch body (2) of setting in tractor one side, its characterized in that, be provided with rotatory lifting structure on fork support body (2), rotatory lifting structure includes with frame (91) complex joint fork (3) of silk car to and the drive structure of drive joint fork (3) upset, when drive structure orders about joint fork (3) and turns, frame (91) is upwarped by one side that joint fork (3) erect.

2. AGV cooperating with a wire car according to claim 1, characterised in that the rotary lifting structure comprises a rotary support and a cylinder (4) driving the rotary support.

3. AGV with wire trolley according to claim 1, characterized in that the rotation support comprises a base plate (5), on the base plate (5) two first connecting rods (61) are hinged, opposite at an interval, the other end of the first connecting rod (61) is hinged with a second connecting rod (62), a push block (7) is rotatably connected between the ends of the second connecting rod (62), the push block (7) is driven by a cylinder (4), and the clamping fork (3) is fixed between the ends of the two first connecting rods (61) far away from the base plate (5).

4. AGV with wire trolley according to claim 3, characterized in that the rotating support further comprises a linear guide, the linear guide comprises a linear cylinder (8) and a linear telescopic rod (81), the linear cylinder (8) is fixed on the base plate (5), the end of the linear telescopic rod (81) is fixed on the push block (7), and the linear telescopic rod (81) is coaxial with the piston rod (41) of the oil cylinder (4).

5. An AGV cooperating with a wire car according to claim 3, characterised in that the rotation support further comprises a pulley (621), which pulley (621) is arranged at the end of the second link (62) remote from the first link (61).

6. AGV according to claim 1, characterised in that said rotary support comprises a base plate (5), two first connecting rods (61) which are opposite at intervals are hinged on the base plate (5), the other end of each first connecting rod (61) is hinged with a second connecting rod (62), a push block (7) is rotatably connected between the end parts of the second connecting rods (62), the push block (7) is driven by an oil cylinder (4), a sliding top block (611) is arranged between the end parts of the two first connecting rods (61) far away from the base plate (5), an open sliding groove (32) is arranged at the lower part of the clamping fork (3), the sliding chute (32) of the clamping fork (3) is sleeved on the sliding top block (611) to enable the clamping fork (3) to slide along the width direction, and a limiting structure for limiting the clamping fork (3) to slide out of the sliding top block (611) is further arranged between the sliding top block (611) and the clamping fork (3).

7. An AGV with a wire car according to claim 6, wherein the limiting structure comprises baffle plates (612) arranged on two sides of the sliding top block (611), the distance between the two baffle plates (612) is larger than the width of the clamping fork (3), the baffle plates (612) and the clamping fork (3) are provided with lock rods (33) in a penetrating mode, two ends of each lock rod (33) penetrate through the baffle plates (612) respectively, and nuts (35) are matched with the lock rods.

8. AGV according to claim 7, characterised in that a spring (34) is provided between the flap (612) and the catch fork (3), and that the spring (34) is fitted over the locking bar (33).