CN116239056A - An AGV that can climb obliquely and can automatically deliver and pick up goods - Google Patents

Abstract

The invention relates to an AGV that can climb obliquely and can automatically deliver and pick up goods. The climbing module is composed of four symmetrically arranged synchronous belt modules, and the four synchronous belt modules perform synchronous deflection movement through a servo drive mechanism; The bottom of the climbing module is connected to the conveying module through the profile frame. The conveying module is composed of a synchronous belt mechanism and a guiding structure to form a double-stroke mechanism. The upper part of the machine is connected with a scissor lift mechanism, and the micro-moving lifting height adjustment is realized through the scissor lift mechanism. The present invention can realize a kind of oblique upward and downward climbing movement through the climbing mechanism, realize the climbing movement by using the reciprocating and turning track, which has higher efficiency compared with the general shuttle car, and only needs to be installed on the storage cabinet on the same side A storage shuttle car greatly reduces the cost of use, improves the efficiency of storage, and reduces costs.

Description

An AGV that can climb obliquely and can automatically deliver and pick up goods

technical field

The invention relates to an automatic delivery and retrieval AGV, in particular to an oblique climbing automatic delivery and retrieval AGV.

Background technique

The shuttle car on the market is a flat and compact design, which is designed to move the shuttle car to the lower end of the goods, carry the goods on the fork plate of the shuttle car, and pass through the front and back of the fork plate This type of structure has almost become a standard form.

The shuttle car can mainly realize the linear movement in the horizontal direction, but cannot realize the lifting movement up and down, and the lifting movement needs to be realized by the lifting mechanism.

The object of the present invention is a shuttle car capable of climbing up and down. At the same time, the shuttle car also needs to meet its most basic requirements, which is the function of transporting goods. return.

The oblique climbing scheme is used to replace the up and down movement of the shuttle car. The oblique climbing is realized by the climbing mechanism of the shuttle car, and the friction force is used as the main climbing force, similar to the belt conveyor module. The belt is used for conveying, and the main force that allows it to convey during the conveying process is friction.

When the conveying mechanism conveys the goods to the corresponding storage compartment, it uses the corresponding double-stroke conveying mechanism to convey. When transported to the location, the goods will be lowered to touch the corresponding frame, and the goods can be retained in the interior of the storage compartment through such an operation.

Patent Publication No. CN216071600U discloses a vertical telescopic arm suitable for climbing AGVs, including a base frame, four symmetrically arranged vertical telescopic arms are installed on both sides of the basic frame, and the vertical telescopic arms are connected with drive The rack and pinion drive shaft system for telescoping the telescopic arm is installed on the base frame, and the two opposite vertical telescopic arms are connected by a universal joint coupling. The utility model has a simple structure, and the vertical height of the telescopic arm can be reduced to the greatest extent through the vertical placement of the specific structural plate. high stability.

Patent Publication No. CN216105859U discloses a special guide rail and a climbing wheel set suitable for climbing an AGV, including a special guide rail and a climbing wheel set; the special guide rail is welded by a back plate and a V-shaped rack, and the V The V-shaped ridge of the rack is distributed with straight teeth; the climbing wheel set includes a climbing wheel main body and a V-shaped side guide plate, and the V-shaped side guide plate is fixed on the climbing wheel, and on the climbing wheel It has teeth meshed with the V-shaped rack, the guide slope of the V-shaped side guide plate is consistent with the V-shaped angle of the V-shaped rack, and the climbing wheel is close to the V-shaped rack. The utility model has high reliability. The two sides of the V-shaped side guide plate and the V-shaped rack are in contact with each other to realize reliable and accurate positioning. Using meshing transmission, there will be no problem of slipping and loss of rotation. The utility model has high cost performance, simple structure and common materials. It realizes high-strength and high-stability guidance and transmission, which can replace the guidance of rollers and the transmission of racks, and is easy and quick to install.

These two utility models are climbing AGVs in the vertical direction. This type of movement will generate a large torque on the meshing point and affect the transmission. Secondly, due to the single direction of motion, the efficiency is reduced and the cost is increased.

Contents of the invention

Based on the above-mentioned background technology, the present invention proposes "an AGV that can automatically deliver and retrieve goods that can climb obliquely", which can perform oblique movement on the plumb plane, with a wide range of movement and force on both sides, which increases the movement of stability.

In order to achieve the above object, the technical solution of the present invention is: an AGV that can climb obliquely and can automatically deliver goods, including a climbing module and a conveying module. The climbing module is composed of four symmetrically arranged The synchronous belt module is composed of four synchronous belt modules, which perform synchronous deflection movement through a servo drive mechanism. When the synchronous belt module of the synchronous belt module climbs on the corresponding track through friction; the climbing module passes through the profile frame Connect the conveying module, the conveying module is composed of a synchronous belt mechanism and a guide structure to form a double-stroke mechanism, and the distance of the storage box on the guide structure is double the distance of the synchronous belt mechanism; the upper part of the conveying module is connected to a scissor Lifting mechanism, through the scissor lifting mechanism to realize the adjustment of the height of the micro movement.

Further, the four synchronous belt mechanisms in the four synchronous belt modules are installed under the support panel through the parallelogram mechanism, the servo motor is connected to the parallelogram mechanism through the drive rod, and the synchronous deflection movement between the synchronous belt mechanisms is through the parallelogram mechanism.

Further, the deflection angle of the synchronous deflection movement of the parallelogram mechanism is ±45°.

Further, the synchronous belt mechanism includes a servo motor, a diaphragm coupling, an active synchronous wheel, a synchronous belt, a driven synchronous wheel, and a support frame, and the two ends of the support frame are respectively equipped with an active synchronous wheel and a driven synchronous wheel. The synchronous wheel and the driven synchronous wheel are connected through a synchronous belt, and the servo motor is connected to the active synchronous wheel through a diaphragm coupling.

Further, a tensioning device is provided between the support frame and the driven synchronous wheel, and the tensioning device uses two screws to push the driven wheel away from the driving wheel through threads.

Further, a wear strip is provided between the synchronous belt and the support frame.

Further, the wear-resistant strip is made of high-molecular polyethylene material, which plays the role of guiding and supporting the synchronous belt.

Further, the synchronous belt double-stroke mechanism includes a synchronous belt pressure plate, a driven synchronous wheel, a linear bearing, an active synchronous wheel, a servo motor, a synchronous shaft, an active transmission synchronous wheel, a driven synchronous wheel, a guide shaft, two synchronous The belt pressure plates are respectively connected to the outer guide shafts through linear bearings, and the guide shafts are fixed on the bottom plate through connecting brackets. The two ends of each timing belt pressure plate are respectively equipped with a driving synchronous wheel and a driven synchronous wheel. The two active synchronous wheels are coaxially connected to a synchronous shaft, and the synchronous shaft is connected to the active transmission synchronous wheel and the servo motor through the driven synchronous wheel and the transmission synchronous belt. The synchronous wheel, the driven synchronous wheel and the transmission synchronous belt transmit the torque and speed to the synchronous shaft, and the driving wheels at both ends are synchronized through the synchronous shaft, and the driven synchronous wheel is driven by the active synchronous wheel to move the synchronous belt back and forth. The synchronous belt is connected to the scissor lift mechanism.

Further, there is an anti-collision block of Unglue between the guide shaft and the connecting bracket.

Further, the scissor mechanism includes a storage platform, a push rod motor, a connecting rod, and a grooved sheet metal plate. The bottom of the two storage platforms is respectively connected to the bottom plate through a lifting linkage mechanism, and each lifting linkage mechanism is composed of two hinged The connecting rod is composed of a grooved sheet metal plate and a grooved plate at one end of the storage platform. The lower end of one of the two hinged connecting rods is hinged with the bottom plate, and the upper end is connected with the grooved plate at the lower end of the storage platform through the upper pin. The upper end of the other connecting rod is hinged with the storage platform, the lower end is connected with the groove in the groove-shaped sheet metal plate on the bottom plate through the lower pin shaft, and the lower end pin shafts of the two lifting linkage mechanisms are connected through the connecting plate. Together, and the connecting plate and the push rod motor, the push rod motor pulls the connecting rod to move in the groove, and the interaction of the connecting rod makes it lift and lower the storage platform.

The beneficial effects of the present invention are:

According to the innovative design method in "Modern Mechanical Design Method", the present invention adopts "lateral thinking" in the reversing search method. When the AGV on the market moves in a horizontal plane, the AGV moving along the vertical plane is taken as the design goal, so as to design an AGV that moves in the vertical plane obliquely in the direction of climbing movement.

Compared with the prior art, the AGV of the present invention, which can climb obliquely and can automatically deliver and retrieve goods, can realize the climbing movement across levels without the action of lifting machinery, and can realize a kind of oblique climbing through the climbing mechanism The climbing movement up and down uses the reciprocating trajectory to realize the climbing movement. Compared with the general shuttle car, it has higher efficiency. Only one storage shuttle car needs to be installed on the storage cabinet on the same side, which greatly reduces the usage time. The cost improves the efficiency of storage, and fewer AGVs reduce the control and maintenance costs of the storage system.

Description of drawings

Figure 1 is a schematic diagram of the climbing AGV structure;

Fig. 2 is a three-dimensional schematic diagram of a climbing module mechanism;

Fig. 3 is a schematic structural diagram of a synchronous belt mechanism;

Figure 4 is a force analysis diagram of the shuttle car;

Fig. 5 is a schematic structural diagram of the delivery module;

Fig. 6 is a synchronous belt double-stroke mechanism schematic diagram;

Fig. 7 is a three-dimensional schematic diagram of a part of a synchronous belt double-stroke mechanism;

Fig. 8 is a structural schematic diagram of a scissor mechanism;

In the figure: 10-climbing module, 20-conveying module, 1-servo motor A, 2-diaphragm coupling, 3-active synchronous wheel, 4-synchronous belt, 5-wear strip, 6-tensioning block, 7-driven synchronous wheel, 8-parallelogram mechanism, 11-synchronous belt pressure plate, 12-driven synchronous wheel, 13-linear bearing, 14-active synchronous wheel, 15-servo motor B, 16-synchronous shaft, 17- transmission synchronous wheel, 18- guide shaft, 19- Youli glue anti-collision block, 21- storage platform, 22- push rod motor, 23- connecting rod, 24- groove plate, 25- synchronous belt double stroke mechanism , 26-scissor lifting mechanism.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

As shown in FIG. 1 , an AGV that can climb obliquely and can automatically deliver and retrieve goods according to the present invention is composed of two parts: a climbing module 10 and a conveying module 20 .

The climbing module 10 is realized by four symmetrically arranged synchronous belt modules. When the synchronous belt module of the synchronous belt module is on the corresponding track, it will be moved by friction force. The four synchronous belt modules also have the function of synchronous steering. A motor is used to control its deflection movement.

The lower conveying module 20 is located in the profile frame made of aluminum alloy. The conveying function is through the double-stroke mechanism based on the synchronous belt mechanism, and the moving distance of the storage box is double the distance of the synchronous belt through the guide. .

The upper part of the conveying module 20 is connected with a scissor lift mechanism, and this scissor lift mechanism can realize the adjustment of inching lift height, which is a mechanism for releasing the storage box.

The operating mode is as follows:

The two parts of the charge-release model work together as follows:

The present invention is a storage shuttle that can climb by itself, and the main control mode is based on the Internet of Things. When the upper computer gives the coordinates of the position to be picked up. The shuttle car will climb to the designated location for delivery and retrieval. Due to structural limitations, the climbing motion of the shuttle car is oblique climbing up and down and left and right translational motion.

The specific actions are as follows:

(1) Receive the corresponding position command from the host computer;

(2) Pick up the goods from the specified loading location;

(3) Move to the position of the corresponding storage compartment through the climbing module;

(4) The scissor mechanism of the conveying mechanism rises to lift the storage box;

(5) The operation of the double-stroke mechanism of the conveying mechanism transports the goods to the interior of the corresponding compartment'

(6) The scissor mechanism is lowered, and the storage box is dropped to the interior of the storage compartment;

(7) The double stroke mechanism is retracted;

(8) Climb to the specified loading position for the next operation.

1. Climbing module

As shown in FIG. 2 , the climbing module 10 is realized by means of synchronous belt mechanisms arranged symmetrically around the periphery. The synchronous belt mechanism is installed on the support panel through the parallelogram mechanism 8, the servo motor is connected to the quadrilateral mechanism through the drive rod, and the synchronous deflection movement is performed between the synchronous belt mechanisms through the parallelogram mechanism. According to the design requirements, the deflection angle is ±45°, so the servo motor The rotation angle is 90°.

First, the structure and climbing principle of the synchronous belt mechanism are described. As shown in Figure 3, the synchronous belt mechanism includes servo motor A1, diaphragm coupling 2, active synchronous wheel 3, synchronous belt 4, wear-resistant strip 5, tensioning device 6, driven synchronous wheel 7, and support frame 8 . The two ends of the support frame 8 are respectively equipped with the active synchronous wheel 3 and the driven synchronous wheel 7, the active synchronous wheel 3 and the driven synchronous wheel 7 are connected through the synchronous belt 4, and the servo motor A1 is connected to the active synchronous wheel through the diaphragm coupling 2. A tensioning device 6 is provided between the synchronous wheel 3 , the support frame 8 and the driven synchronous wheel 7 , and a wear strip 5 is provided between the synchronous belt 4 and the support frame 8 .

The synchronous belt mechanism relies on two sets of synchronous pulleys to rotate under the drive of the servo motor, and the synchronous belt transmits the rotation of the driving wheel to the driven wheel. Since the synchronous belt transmission belongs to the flexible transmission with indefinite center distance, the driven wheel of the synchronous belt mechanism is tensioned.

The tensioning device 6 adopts two screws to push out the driven wheel to the direction away from the driving wheel by thread. Timing belts run on wear strips. The wear-resistant strip 5 adopts high molecular polyethylene, which is a synthetic plastic material with excellent wear resistance, and plays a good role in guiding and supporting the synchronous belt.

The synchronous belt mechanism arranged symmetrically around needs to swing synchronously, and the scheme of synchronous control of four servo motors A1 can be adopted, but the price of the servo motor A1 is relatively expensive, so using a mechanism to realize synchronous swing is also a relatively cost-effective way.

There are three climbing directions, horizontal climbing and two oblique climbing. The circular cylindrical surface is used as the track, and the compartment points to the storage are evenly arranged. The specific layout is shown in Figure 4.

2. Delivery module

Conveyor module 20 is made up of two parts, as shown in Figure 5, is realized by synchronous belt double-stroke mechanism 25, scissor lift mechanism 26 respectively, and synchronous belt double-stroke mechanism 25 is a typical conveying mechanism According to the design idea, the rotation of the transmission parts can achieve twice the overall displacement, which is a relatively efficient movement mode.

However, the scissor mechanism 26 is a mechanism that can amplify the displacement. Through the displacement of the input end, the overall height is raised to be greater than the displacement of the input end through the connecting rod installed in the scissor structure.

As shown in Figures 6 and 7, the synchronous belt double-stroke mechanism 25 includes a synchronous belt pressure plate 11, a driven synchronous wheel 12, a linear bearing 13, an active synchronous wheel 14, a servo motor B15, a synchronous shaft 16, and a driven synchronous wheel 17 , Guide shaft 18, Youli glue anti-collision block 19. The two timing belt pressure plates 11 are respectively connected to the guide shaft 18 on the outside through the linear bearing 13, the guide shaft 18 is fixed on the base plate through the connecting bracket, and the anti-collision block 19 is provided between the guide shaft 18 and the connecting bracket. The two ends of each synchronous belt pressing plate 11 are respectively equipped with a driving synchronous wheel 14 and a driven synchronous wheel 12, which are connected by a synchronous belt between the driving synchronous wheel 14 and the driven synchronous wheel 12. Two active synchronous wheels 14 are coaxially connected to a synchronous shaft 16, and the synchronous shaft 16 is connected to the active synchronous wheel and the servo motor B15 through the driven synchronous wheel 17 and the synchronous belt. The torque is output by the servo motor B15, the torque and speed are transmitted to the synchronous shaft through the synchronous wheel, the driving wheels at both ends are synchronized through the synchronous shaft, the driven wheel is driven by the driving wheel to pull the synchronous belt back and forth, and the synchronous belt at the upper end is connected On the scissor lift mechanism.

As shown in FIG. 8 , the scissor mechanism 26 includes a storage platform 21 , a push rod motor 22 , a connecting rod 23 , and a grooved plate 24 . Two storage platforms 21 are respectively connected to the bottom plate by a lifting linkage mechanism. Each lifting linkage mechanism is composed of two hinged connecting rods 23 and a grooved plate 24. In the two hinged connecting rods, the lower end of a connecting rod 23 is connected to the bottom plate. The bottom plate is hingedly connected, and the upper end is connected with the groove in the grooved plate at the lower end of the storage platform 21 through the upper pin shaft, and the other connecting rod 23 upper end is hinged with the storage platform 21, and the lower end is connected with the grooved plate 24 on the bottom plate through the lower pin shaft. Groove connection. The lower pin shafts of the two lifting linkage mechanisms are connected together by a connecting plate, and the connecting plate is connected to the push rod motor 22 . The connecting rod 23 is pulled by the push rod motor 22 to move in the groove, and the interaction of the connecting rod 23 makes it lift the storage platform 21 . Conversely, when the push rod motor 22 stretched out, the scissor mechanism would descend due to the effect of the connecting rod.

Claims (10)

1. An AGV that can send goods automatically that can slant climbing, its characterized in that: the climbing device comprises a climbing module and a conveying module, wherein the climbing module consists of four synchronous belt modules which are symmetrically arranged at two sides, the four synchronous belt modules synchronously deflect through a servo driving mechanism, and when the synchronous belt of the synchronous belt modules carries out climbing movement on corresponding tracks through friction force; the lower part of the climbing module is connected with the conveying module through a profile frame, the conveying module forms a double travel mechanism through a synchronous belt mechanism and a guide structure, and the distance of the movement of a storage box on the conveying module is double that of the synchronous belt mechanism through the guide structure; the upper part of the conveying module is connected with a scissor type lifting mechanism, and the adjustment of the lifting height of the micro-motion is realized through the scissor type lifting mechanism.

2. The automatically deliverable AGV that can climb in an oblique direction according to claim 1 wherein: four hold-in range mechanisms in four symmetrical arrangement hold-in range modules pass through parallelogram mechanism and install below the support panel, and servo motor passes through the actuating lever and connects parallelogram mechanism, synchronous deflection motion through parallelogram mechanism between the hold-in range mechanisms.

3. The automatically deliverable AGV that can climb in an oblique direction according to claim 2 wherein: the deflection angle of the synchronous deflection movement of the parallelogram mechanism is +/-45 degrees.

4. The automatically deliverable AGV that can climb in an oblique direction according to claim 2 wherein: the synchronous belt mechanism comprises a servo motor, a diaphragm type coupling, a driving synchronous wheel, a synchronous belt, a driven synchronous wheel and a supporting frame, wherein the driving synchronous wheel and the driven synchronous wheel are respectively arranged at two ends of the supporting frame, the driving synchronous wheel and the driven synchronous wheel are connected through the synchronous belt, and the servo motor is connected with the driving synchronous wheel through the diaphragm type coupling.

5. The automatically deliverable AGV capable of climbing according to claim 4 wherein: and a tensioning device is arranged between the support frame and the driven synchronous wheel, and the tensioning device ejects the driven wheel to a direction far away from the driving wheel through threads by adopting two screws.

6. The automatically deliverable AGV capable of climbing according to claim 4 wherein: and a wear-resisting strip is arranged between the synchronous belt and the supporting frame.

7. The automatically deliverable AGV that can climb in an oblique direction according to claim 6 wherein: the wear-resistant strip is made of high-molecular polyethylene material, and plays a role in guiding and supporting the synchronous belt.

8. The automatically deliverable AGV that can climb in an oblique direction according to claim 1 wherein: the synchronous belt double-stroke mechanism comprises synchronous belt pressing plates, driven synchronous wheels, linear bearings, driving synchronous wheels, servo motors, synchronous rotating shafts, driving transmission synchronous wheels, driven transmission synchronous wheels and guide shafts, wherein the two synchronous belt pressing plates are respectively connected with the outer guide shafts through the linear bearings, the guide shafts are fixed on a bottom plate through connecting supports, the driving synchronous wheels and the driven synchronous wheels are respectively arranged at two ends of each synchronous belt pressing plate, the driving synchronous wheels and the driven synchronous wheels are connected through synchronous belts, the two driving synchronous wheels are coaxially connected with one synchronous rotating shaft, the synchronous rotating shafts are connected with the driving transmission synchronous wheels and the servo motors through the driven transmission synchronous wheels and the transmission synchronous belts, torque and rotating speed are output through the servo motors and are conveyed to the synchronous shafts through the driving wheels, the driven transmission synchronous wheels and the transmission synchronous belts, the driven synchronous wheels are driven to move the synchronous belts back and forth through the driving synchronous wheels, and the synchronous belts at the upper ends of the synchronous belts are connected to the scissor lifting mechanisms.

9. The automatically deliverable AGV that can climb in an oblique direction according to claim 8 wherein: and a high-strength rubber anti-collision block is arranged between the guide shaft and the connecting bracket.

10. The automatically deliverable AGV that can climb in an oblique direction according to claim 8 wherein: the shear mechanism comprises a storage platform, a push rod motor, connecting rods and groove-shaped sheet metal plates, wherein the bottoms of the two storage platforms are respectively connected with a bottom plate through a lifting connecting rod mechanism, each lifting connecting rod mechanism consists of two hinged connecting rods, the groove-shaped sheet metal plates and a groove-shaped plate arranged at one end of the storage platform, the lower end of one of the two hinged connecting rods is hinged with the bottom plate, the upper end of the other one of the two hinged connecting rods is connected with a groove in the groove-shaped plate at the lower end of the storage platform through an upper pin shaft, the lower end of the other one of the two connecting rods is hinged with the storage platform, the lower ends of the other one of the two connecting rods are connected with the groove in the groove-shaped sheet metal plates on the bottom plate through a lower pin shaft, the connecting plates are connected with the push rod motor, the connecting rods are pulled by the push rod motor to move in the groove, and the storage platform is lifted and lowered under the interaction of the connecting rods.

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