CN115520668A - Vehicular pile up neatly machine people based on AGV - Google Patents
Vehicular pile up neatly machine people based on AGV Download PDFInfo
- Publication number
- CN115520668A CN115520668A CN202211367984.8A CN202211367984A CN115520668A CN 115520668 A CN115520668 A CN 115520668A CN 202211367984 A CN202211367984 A CN 202211367984A CN 115520668 A CN115520668 A CN 115520668A
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- agv
- supporting plate
- push rod
- rod motor
- bearing plate
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- 230000000670 limiting effect Effects 0.000 claims description 25
- 230000007246 mechanism Effects 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 4
- 239000000696 magnetic material Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 claims description 2
- 239000002699 waste material Substances 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 229910000831 Steel Inorganic materials 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
-
- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The invention relates to a vehicle-mounted stacking robot based on an AGV. The stacking robot comprises an mechanical arm, wherein a bearing plate is arranged at the bottom end of the mechanical arm, an AGV trolley is arranged at the bottom end of the bearing plate, a placing table is arranged at the top of the bearing plate, a first push rod motor is arranged on the bearing plate, a push plate is arranged on the first push rod motor, the first push rod motor is used for driving the push plate to move, an elastic part is arranged on the push plate, and a supporting plate is connected onto the elastic part; according to the invention, the mechanical arm is driven to move by the movable AGV trolley, so that remote product stacking can be completed, and the products are firstly stacked on the placing table temporarily and then pushed to the stacking position once, so that the times and time of back-and-forth movement can be reduced, the remote allocation and transportation stacking operation is completed, the time waste is reduced as far as possible, and the stacking efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of palletizing robots, and particularly relates to a vehicle-mounted palletizing robot based on an AGV.
Background
Along with the development of science and technology, more and more producers choose to carry out the pile up neatly operation to the product with the robot, and the robot has advantages such as fast, the precision is high, and this has directly replaced a large amount of manual work, has saved the cost of labor for the producer, has also improved the efficiency of pile up neatly simultaneously.
However, current pile up neatly machine people is fixed design usually, and its base can't remove for the pile up neatly machine people can't accomplish product removal and the pile up neatly of longer distance, and this to a certain extent forms the dog leg to the pile up neatly operation.
Disclosure of Invention
The present invention is directed to solving the above-mentioned problems of the background art and providing an AGV-based vehicle-mounted palletizing robot.
The invention realizes the purpose through the following technical scheme:
the utility model provides a vehicular pile up neatly machine people based on AGV, includes the arm, the bottom of arm is equipped with the bearing plate, the bottom of bearing plate is equipped with the AGV dolly, the top of bearing plate is equipped with places the platform, be equipped with a push rod motor on the bearing plate, be equipped with the push pedal on the push rod motor, a push rod motor is used for driving the push pedal and removes, be equipped with the elastic component in the push pedal, be connected with the layer board on the elastic component, the elastic component is used for driving the layer board and removes, the layer board is used for placing the product, be equipped with the controller on the bearing component, the controller is used for controlling pile up neatly machine people work.
Preferably, the top of the placing table is provided with more than two roller shafts, and the roller shafts are used for the transverse movement of the supporting plate.
Preferably, place and be equipped with No. two push rod motors between platform and the bearing plate, no. two push rod motors are used for driving and place the platform and go up and down.
Preferably, the placing table is provided with two limiting mechanisms, and the limiting mechanisms are used for limiting the supporting plate;
the limiting mechanism comprises a baffle, an electromagnet is arranged on the baffle, a through hole is formed in the baffle, a moving piece is arranged at the through hole and is made of an iron material, the moving piece is used for limiting the supporting plate, a rubber band is arranged on the baffle and is used for driving the moving piece to move, a rectangular block is arranged on the supporting plate, a clamping block is movably connected onto the rectangular block and is used for clamping an elastic piece, a reset spring is arranged on the clamping block and is used for resetting the clamping block, the clamping block is made of a magnetic material, a counter weight is arranged on the elastic rope and is used for increasing the pulling effect on the supporting plate;
the supporting plate is provided with two limiting holes, and the limiting holes limit the supporting plate when the moving member enters.
Preferably, the weight member is a stainless steel ball.
Preferably, a return spring and a steel wire rope are arranged between the elastic part and the supporting plate, and the return spring and the steel wire rope are arranged at the end part of the elastic part.
Preferably, the elastic member is a bungee cord.
The invention has the beneficial effects that:
1) According to the invention, the mechanical arm is driven to move by the movable AGV trolley, so that remote product stacking can be finished, and the products are firstly temporarily stacked on the placing table and then pushed to the stacking position once again in the stacking process, so that the times and time for moving back and forth can be reduced, the time waste can be reduced as far as possible while the remote adjusting and transporting stacking operation is finished, and the stacking efficiency is further improved;
2) According to the invention, the supporting plate can be pulled out from the bottom of the product instantly by applying instant pulling force to the supporting plate, so that the uniformity of the product is not influenced, and the product is uniform.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an enlarged schematic view at A in FIG. 1;
FIG. 3 is a schematic view of a partial structure of the present invention;
FIG. 4 is a schematic view showing the positional relationship between the carrier and the roller shaft according to the present invention;
FIG. 5 is a schematic view showing the positional relationship between the elastic member and the support plate in the present invention;
FIG. 6 is an enlarged schematic view at B in FIG. 5;
FIG. 7 is a schematic diagram of the relative position between the moving member and the latch according to the present invention.
In the figure: 1. a mechanical arm; 2. a bearing plate; 3. an AGV trolley; 4. a placing table; 5. a first push rod motor; 6. pushing the plate; 7. an elastic member; 8. a support plate; 9. a roll shaft; 10. a second push rod motor; 11. a baffle plate; 12. an electromagnet; 13. a moving member; 14. a rubber band; 15. a rectangular block; 16. a clamping block; 17. a return spring; 18. a counterweight; 19. a limiting hole; 20. a return spring; 21. a steel cord.
Detailed Description
The present application will now be described in further detail with reference to the drawings, it should be noted that the following detailed description is given for illustrative purposes only and is not to be construed as limiting the scope of the present application, as those skilled in the art will be able to make numerous insubstantial modifications and adaptations to the present application based on the above disclosure.
Example 1
As shown in fig. 1-7, a vehicular pile up neatly machine people based on AGV, including arm 1, the bottom of arm 1 is equipped with bearing plate 2, the bottom of bearing plate 2 is equipped with AGV dolly 3, the top of bearing plate 2 is equipped with places platform 4, be equipped with push rod motor 5 on the bearing plate 2, be equipped with push pedal 6 on the push rod motor 5, push rod motor 5 is used for driving push pedal 6 and removes, be equipped with elastic component 7 on the push pedal 6, be connected with layer board 8 on the elastic component 7, elastic component 7 is used for driving layer board 8 and removes, layer board 8 is used for placing the product, be equipped with the controller on the bearing component, the controller is used for controlling pile up neatly machine people work.
In the above embodiment, when stacking remote products, the AGV cart 3 drives the mechanical arm 1 to move. When the automatic stacking machine moves to the starting position of a product, the mechanical arm 1 lifts the product, the product is temporarily stacked on the supporting plate 8 of the placing table 4, and the stacking is stopped after the product is stacked to a certain height. AGV dolly 3 takes the pile up neatly to have the platform 4 of placing of product to remove to pile up neatly department, and No. one push rod motor 5 starts after adjusting the direction of push pedal 6, and No. one push rod motor 5 drives push pedal 6 and removes for push pedal 6 drives and places the good product of pile up neatly on platform 4 and place platform 4 upper transverse displacement, and finally removes to the pile up neatly position. After the stacking is finished, the AGV trolley 3 continuously moves to the initial position of the product and reciprocates circularly. Due to certain friction between the supporting plate 8 and the products, the products at the bottom may be inclined in the process that the supporting plate 8 is pulled outwards, so that the stacking regularity of the products is influenced. By providing the elastic member 7, the supporting plate 8 is still positioned at the bottom of the product when the pushing plate 6 returns, and the elastic member 7 is gradually elongated in the moving process of the pushing plate 6, so that the pulling force applied to the supporting plate 8 is gradually increased. When the pulling force of the elastic part 7 on the supporting plate 8 is greater than the static friction force between the supporting plate 8 and the product and the stacking platform, the supporting plate 8 is suddenly pulled outwards, the position change degree of the product is small in the quick moving process of the supporting plate 8, the product is still at the initial position at the moment, and the stacking uniformity of the product cannot be damaged. According to the invention, the mechanical arm 1 is driven to move by the movable AGV trolley 3, so that remote product stacking can be finished, products are firstly stacked on the placing table 4 temporarily in the stacking process and then pushed to the stacking position once, and the number of times and time of back-and-forth movement can be reduced, so that the time waste is reduced as far as possible while the remote allocation and transportation stacking operation is finished, and the stacking efficiency is improved.
As a further aspect of the present invention, the placing table 4 is provided with more than two rollers 9 on the top, and the rollers 9 are used for the transverse movement of the supporting plate 8.
In the above embodiment, through being provided with layer board 8 and roller 9, drive layer board 8 and remove when placing the product lateral shifting on the platform 4, layer board 8 makes roller 9 produce the rotation when moving on roller 9 to make the sliding friction of product become rolling friction, and then the effectual resistance that receives that reduces the product removal in-process. The push plate 6 drives the supporting plate 8 to move towards the direction far away from the product in the process of the return stroke, so that the supporting plate 8 is drawn out from the bottom of the product, and the supporting plate 8 can complete the next stacking operation.
As a further scheme of the present invention, a second push rod motor 10 is disposed between the placing table 4 and the bearing plate 2, and the second push rod motor 10 is configured to drive the placing table 4 to lift.
In the above embodiment, the position of the placing table 4 is adjusted by the second push rod motor 10, so that the stacking height of the product is adjusted, and the stacking table can be applied to different stacking positions.
As a further scheme of the invention, two limiting mechanisms are arranged on the placing table 4 and are used for limiting the supporting plate 8;
the limiting mechanism comprises a baffle 11, an electromagnet 12 is arranged on the baffle 11, a through hole is formed in the baffle 11, a moving piece 13 is arranged at the through hole, the moving piece 13 is made of a ferrous material, the moving piece 13 is used for limiting the supporting plate 8, a rubber band 14 is arranged on the baffle 11, the rubber band 14 is used for driving the moving piece 13 to move, a rectangular block 15 is arranged on the supporting plate 8, a clamping block 16 is movably connected onto the rectangular block 15, the clamping block 16 is used for clamping the elastic piece 7, a reset spring 17 is arranged on the clamping block 16, the reset spring 17 is used for resetting the clamping block 16, the clamping block 16 is made of a magnetic material, a counterweight 18 is arranged on the elastic rope, and the counterweight 18 is used for increasing the pulling effect on the supporting plate 8;
two limiting holes 19 are formed in the supporting plate 8, and the limiting holes 19 limit the supporting plate 8 when the moving piece 13 enters.
As a further aspect of the present invention, the weight member 18 is a stainless steel ball.
In the above embodiment, the elastic rope does not drive the pallet 8 to move explosively, and cannot provide a large acceleration to the pallet 8. By arranging the moving piece 13, the moving piece is pressed by a product after the supporting plate 8 reaches the stacking position, at the moment, the electromagnet 12 stops working, the moving piece 13 enters the limiting hole 19 of the supporting plate 8 which is opposite to the moving piece under the action of the rubber band 14, and at the moment, the distance between the moving piece 13 and the fixture block 16 is shortened. When the moving member 13 enters the range of the suction force of the latch 16, the latch 16 is sucked toward the moving member 13, so that the latch 16 latches the elastic member 7, and at this time, the weight member 18 on the elastic member 7 cannot pass through the latch 16, so that the weight member 18 cannot move. After the push rod returns to the initial position, the elastic part 7 is subjected to a great pulling force, at the moment, the electromagnet 12 is started, the moving part 13 is subjected to a suction force, the moving part 13 returns to the initial position and stretches the rubber band 14, and meanwhile, the fixture block 16 returns to the initial position under the action of the return spring 17, so that the limiting effect of the fixture block 16 on the counterweight 18 disappears. The weight member 18 can move rapidly towards the push plate 6 after freely moving, and the elastic member 7 is tensioned after moving a certain distance, so that the supporting plate 8 is subjected to large acceleration under the condition of huge kinetic energy of the counterweight block, and the supporting plate 8 can be pulled out quickly from the lower part of a stacked product.
As a further aspect of the present invention, a return spring 20 and a wire rope 21 are disposed between the elastic member 7 and the supporting plate 8, and both the return spring 20 and the wire rope 21 are disposed at an end of the elastic member 7.
As a further aspect of the present invention, the elastic member 7 is an elastic cord.
In the above embodiment, by providing the wire rope 21, the wire rope 21 starts to be pulled after the counterweight block is started, so that the wire rope 21 is gradually straightened. Make layer board 8 receive the pulling force in the twinkling of an eye after wire rope 21 is straightened, further improvement is to the effect of pulling of layer board 8 to make layer board 8 can be quick to be taken out. The return spring 20 is arranged to enable the steel wire rope 21 to be in a bending state under the action of no stress, so that the smooth implementation of the invention is ensured.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (7)
1. The utility model provides a vehicular pile up neatly machine people based on AGV, includes arm (1), its characterized in that: the bottom of arm (1) is equipped with bearing plate (2), the bottom of bearing plate (2) is equipped with AGV dolly (3), the top of bearing plate (2) is equipped with places platform (4), be equipped with push rod motor (5) on bearing plate (2), be equipped with push pedal (6) on push rod motor (5), push rod motor (5) are used for driving push pedal (6) and remove, be equipped with elastic component (7) on push pedal (6), be connected with layer board (8) on elastic component (7), elastic component (7) are used for driving layer board (8) and remove, layer board (8) are used for placing the product, be equipped with the controller on the bearing component, the controller is used for controlling pile up neatly machine people work.
2. An AGV-based vehicle-mounted palletizing robot as claimed in claim 1, characterised in that: the top of the placing table (4) is provided with more than two roll shafts (9), and the roll shafts (9) are used for the transverse movement of the supporting plate (8).
3. An AGV-based vehicle-mounted palletizing robot as claimed in claim 1, characterised in that: a second push rod motor (10) is arranged between the placing table (4) and the bearing plate (2), and the second push rod motor (10) is used for driving the placing table (4) to lift.
4. An AGV-based vehicle-mounted palletizing robot as claimed in claim 1, characterised in that: the placing table (4) is provided with two limiting mechanisms, and the limiting mechanisms are used for limiting the supporting plate (8);
the limiting mechanism comprises a baffle (11), an electromagnet (12) is arranged on the baffle (11), a through hole is formed in the baffle (11), a moving piece (13) is arranged at the through hole, the moving piece (13) is made of ferrous materials, the moving piece (13) is used for limiting the supporting plate (8), a rubber band (14) is arranged on the baffle (11), the rubber band (14) is used for driving the moving piece (13) to move, a rectangular block (15) is arranged on the supporting plate (8), a clamping block (16) is movably connected onto the rectangular block (15), the clamping block (16) is used for clamping the elastic piece (7), a reset spring (17) is arranged on the clamping block (16), the reset spring (17) is used for resetting the clamping block (16), the clamping block (16) is made of magnetic materials, a balance weight (18) is arranged on the elastic rope, and the balance weight (18) is used for increasing the pulling effect on the supporting plate (8);
the supporting plate (8) is provided with two limiting holes (19), and the limiting holes (19) limit the supporting plate (8) when the moving piece (13) enters.
5. An AGV based vehicle-mounted palletizing robot as claimed in claim 4, wherein: the weight member (18) is a stainless steel ball.
6. An AGV based vehicle-mounted palletizing robot as claimed in claim 4, wherein: be equipped with return spring (20) and wire rope (21) between elastic component (7) and layer board (8), the tip in elastic component (7) is all established in return spring (20) and wire rope (21).
7. An AGV based truck-mounted palletizing robot as in claim 5 wherein: the elastic piece (7) is an elastic rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211367984.8A CN115520668B (en) | 2022-11-03 | 2022-11-03 | Vehicle-mounted palletizing robot based on AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211367984.8A CN115520668B (en) | 2022-11-03 | 2022-11-03 | Vehicle-mounted palletizing robot based on AGV |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115520668A true CN115520668A (en) | 2022-12-27 |
| CN115520668B CN115520668B (en) | 2024-04-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211367984.8A Active CN115520668B (en) | 2022-11-03 | 2022-11-03 | Vehicle-mounted palletizing robot based on AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115520668B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105883424A (en) * | 2016-05-03 | 2016-08-24 | 上海交通大学 | AGV device capable of achieving automatic stacking |
| WO2018028030A1 (en) * | 2016-08-10 | 2018-02-15 | 杨晖伟 | Automatic bin-packing method and automatic bin-packing manipulator |
| CN214711729U (en) * | 2020-12-02 | 2021-11-16 | 马鞍山科安仓储货架有限公司 | Drawer type heavy load goods shelf |
| CN214732617U (en) * | 2021-04-25 | 2021-11-16 | 安徽省烟草公司淮南市公司 | On-vehicle letter sorting dispenser of intelligence |
| CN113771023A (en) * | 2021-09-18 | 2021-12-10 | 陕西科技大学 | Movable pile up neatly machine people |
| CN216037372U (en) * | 2021-11-17 | 2022-03-15 | 江苏佳创纳米科技有限公司 | A pile up neatly equipment of stacking fast for waterproofing membrane |
| WO2022089634A1 (en) * | 2020-11-02 | 2022-05-05 | 深圳市海柔创新科技有限公司 | Unloading method, control device, unloading device, and warehousing system |
| CN216710455U (en) * | 2022-02-23 | 2022-06-10 | 常州卓毅焊接设备有限公司 | Intelligent transfer robot for intelligent warehouse |
| CN217675415U (en) * | 2022-05-05 | 2022-10-28 | 湖南古德星科技有限公司 | Finished product manipulator pile up neatly device |
-
2022
- 2022-11-03 CN CN202211367984.8A patent/CN115520668B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105883424A (en) * | 2016-05-03 | 2016-08-24 | 上海交通大学 | AGV device capable of achieving automatic stacking |
| WO2018028030A1 (en) * | 2016-08-10 | 2018-02-15 | 杨晖伟 | Automatic bin-packing method and automatic bin-packing manipulator |
| WO2022089634A1 (en) * | 2020-11-02 | 2022-05-05 | 深圳市海柔创新科技有限公司 | Unloading method, control device, unloading device, and warehousing system |
| CN214711729U (en) * | 2020-12-02 | 2021-11-16 | 马鞍山科安仓储货架有限公司 | Drawer type heavy load goods shelf |
| CN214732617U (en) * | 2021-04-25 | 2021-11-16 | 安徽省烟草公司淮南市公司 | On-vehicle letter sorting dispenser of intelligence |
| CN113771023A (en) * | 2021-09-18 | 2021-12-10 | 陕西科技大学 | Movable pile up neatly machine people |
| CN216037372U (en) * | 2021-11-17 | 2022-03-15 | 江苏佳创纳米科技有限公司 | A pile up neatly equipment of stacking fast for waterproofing membrane |
| CN216710455U (en) * | 2022-02-23 | 2022-06-10 | 常州卓毅焊接设备有限公司 | Intelligent transfer robot for intelligent warehouse |
| CN217675415U (en) * | 2022-05-05 | 2022-10-28 | 湖南古德星科技有限公司 | Finished product manipulator pile up neatly device |
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| CN115520668B (en) | 2024-04-19 |
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