CN204161996U - A kind of charging and discharging mechanism - Google Patents

Abstract

The utility model belongs to the field of AGV transportation configuration equipment, specifically a loading and unloading mechanism, including a moving lifting mechanism, a guiding mechanism and a roller conveying mechanism; the guiding mechanism includes a base, a guiding track, a guiding frame, a connecting rod and a driving motor; The drive motor drives the guide frame to slide; the mobile lifting mechanism includes a vehicle frame, a scissor group, a cylinder and a top plate; the mobile lifting mechanism is connected with the guide frame through a connecting rod; the roller conveying mechanism includes a roller group, which drives the roller group to rotate conveyor motor. When feeding, the driving motor drives the guide frame to move, thereby driving the moving lifting mechanism to move the pallet to one end of the roller conveying mechanism, and the roller conveying structure operates; the AGV receives the pallet at the other end of the roller conveying mechanism. When unloading, after the AGV transports the pallet to the designated position, the mobile lifting mechanism receives the pallet, and transports the pallet to one end of the roller conveying mechanism, and the roller conveying mechanism operates to transport the pallet to the other end.

Description

A loading and unloading mechanism

technical field

The utility model belongs to the field of AGV transport configuration equipment, in particular to a loading and unloading mechanism.

Background technique

Pallet storage and distribution is the main way of material placement and distribution in the fields of industry, military, transportation, electronics, etc. In order to cooperate with the way of pallet storage and distribution, people often use motorized forklifts and manual forklifts to complete general pallet transportation. With the rapid development of industry, military, transportation, electronics and other fields. People's requirements for the efficiency of material transportation are getting higher and higher, and labor costs are also rising. AGV has gradually become a handling tool to replace traditional forklifts.

The general AGV can only complete the distance movement of the material, so it needs an automatic docking loading and unloading mechanism to realize its maximum use value.

At present, AGV handling often encounters situations where the height of the material being transported is too high. When the center of gravity of the material carried by the AGV is too high, it often leads to unstable operation of the AGV during handling and the adverse effects of reducing the handling speed. When handling materials with high quality, large volume and high value, it is more appropriate for the height of the pallet to be less than 100mm from the ground. However, the height requirement of the existing automatic loading and unloading docking mechanism for pallets is generally more than 300 mm. It can be seen that the height of the existing automatic loading and unloading docking mechanism is too high, which reduces the efficiency of AVG handling and handling to a certain extent. reliability.

Utility model content

The purpose of the utility model is to solve the deficiencies of the prior art and provide a loading and unloading mechanism with a sufficiently low height that can effectively improve the handling efficiency and reliability of the AVG.

In order to achieve the above purpose, the utility model provides a loading and unloading mechanism: comprising a moving lifting mechanism and a guiding mechanism, the guiding mechanism is connected with the moving lifting mechanism;

The guide mechanism includes a base, a guide rail, a guide frame and a driving motor, the guide rail is arranged on the inside of the base, the guide frame is connected with the guide rail, and the drive motor drives the guide frame move along the guide track;

The mobile lifting mechanism includes a vehicle frame, a top plate, scissors and a cylinder. The top ends of the scissors are connected to the top plate. The top ends of the scissors are respectively an upper fixed end and an upper movable end. The top plate is fixedly connected, and the upper movable end is slidingly connected with the top plate; the bottom end of the scissors is connected with the vehicle frame, and the bottom ends of the scissors are respectively a lower fixed end and a lower movable end, and the lower fixed end It is fixedly connected with the vehicle frame, and the lower movable end is slidably connected with the vehicle frame; the cylinder drives the scissors, thereby driving the top plate to lift.

The utility model drives the guide frame to move by a driving motor, thereby driving the moving lifting mechanism to extend into the bottom of the goods to be transported; when the moving lifting mechanism reaches the target position, the driving motor stops rotating, and the cylinder Work, drive the scissors, so as to drive the top plate to lift and lift the transported items; after lifting the transported items to the specified height, the cylinder stops working, the scissors stop rising, the drive motor starts, and drives the guide frame Move to drive the moving lifting mechanism. When the moving lifting mechanism reaches the designated position, the driving motor stops rotating, the cylinder works, the scissors descend accordingly, and the transported items are placed at the target position.

Compared with the prior art, the utility model uses scissors as the lifting structure, so that the lifting range of the mobile lifting mechanism is large. When the scissors are fully retracted, the overall height of the mobile lifting mechanism is less than 135mm, so that the mechanism can be transported and placed at a height of less than 100mm pallets. The combination of the scissors and the cylinder converts the horizontal power output by the cylinder into a vertical lifting force, which not only realizes the function of lifting items, but also saves labor. Using the cylinder as the power source for the scissors to lift is also beneficial to saving the space occupied by the power source and reducing the volume of the mobile lifting mechanism.

Further, a first transmission mechanism is provided between the drive motor and the guide frame, and the first transmission mechanism includes a first drive gear disposed on the output shaft of the drive motor, a first transmission gear disposed on the base Shaft, the connecting part arranged at the front and rear ends of both sides of the guide frame; the two ends of the first transmission shaft are respectively provided with a first transmission gear, and one end of the first transmission shaft is also provided with a first driven gear, The first driven gear is connected to the first driving gear through a driving chain belt; the front ends of the guide rails are respectively provided with second transmission gears that cooperate with the first transmission gears, and the first transmission gears are connected to the corresponding A first endless chain belt is arranged between the second transmission gears, the first endless chain belt is provided with a notch, and the ends of the notch are respectively fixedly connected with the connecting parts of the front and rear ends of the corresponding side of the guide frame.

When the drive motor starts, the first drive gear on the output shaft of the drive motor rotates accordingly; the first drive gear drives the first driven gear to rotate through the drive chain belt, thereby driving the first drive shaft to rotate , the first transmission gear arranged at both ends of the first transmission shaft rotates accordingly; the first transmission gear drives the second transmission gear to rotate through the first endless chain belt; the first transmission gear and the second transmission gear When the second transmission gear rotates, the first endless chain belt rotates around the first transmission gear and the second transmission gear, and at the same time pulls the guide frame to move.

Further, a roller conveying mechanism is also included, the roller conveying mechanism includes a roller and a conveying motor driving the roller to rotate, and the roller is laid on the upper side of the base. The roller is selected as the conveying mechanism, so that the conveying mechanism has the advantages of strong load capacity, simple structure, high reliability, and convenient use and maintenance.

Further, the roller conveying mechanism also includes a second transmission mechanism arranged between the conveying motor and the roller; the second transmission mechanism includes a first roller transmission gear and a second roller transmission gear arranged on the roller shaft of the roller. Two drum transmission gears; the first drum transmission gear of any drum is connected with the first drum transmission gear of the front adjacent drum through the drum endless chain belt, and the second drum transmission gear is connected with the rear adjacent drum through the drum endless chain belt. The second drum transmission gear is connected.

When the conveying motor is started, the conveying motor drives the rollers connected to it to rotate, and the rollers are connected by the roller chain belt between the adjacent rollers to realize linkage. When the item to be transported is placed on the roller conveying mechanism, the roller rotates to transport the item to a designated position.

Further, it also includes a leveling track arranged on the ground, the bottom of the guide frame is provided with a longitudinal track groove, and the leveling track is adapted to the longitudinal track groove.

When the guide frame moves to the position corresponding to the leveling track, the longitudinal track groove is clamped on the outside of the leveling track, and the longitudinal track groove and the leveling track are adopted to make the moving direction of the guide frame more stable.

Further, the leveling track includes a leveling track assembly, a leveling track connector and a connecting nut; an anchor bolt is provided in the middle of the leveling track assembly, and a leveling nut is provided on both sides of the leveling track assembly. cavity, the cavity of the leveling nut is provided with a leveling nut; the bottom of the cavity of the leveling nut is provided with a leveling gasket, and the side is provided with a cavity of a lock nut; the cavity of the lock nut is provided with Lock nuts; the two ends of the leveling track assembly are provided with connecting grooves, and the connecting grooves are provided with connecting screw holes, and the leveling track connectors are installed in the connecting grooves of adjacent leveling track assemblies. Both ends of the leveling rail connector are provided with connector screw holes matching the connecting screw holes; the connecting nuts pass through the connector screw holes and the connecting screw holes in sequence.

The leveling track assembly is fixed on the ground through the anchor bolt, and the leveling track assembly can be adjusted to the level by adjusting the leveling nuts on both sides of the leveling track assembly. After adjusting the leveling nut to the required height, lock Tighten the locking nut to fix the position of the frequency-adjusting nut; the leveling track components are fixedly connected by using a structure in which the leveling track connector and the connecting nut cooperate. The leveling track adopts a combined structure of a leveling track assembly and a leveling track connector, so that the overall length of the leveling track can be adjusted and the cost can be reduced.

Further, the bottom of the guide frame is provided with a longitudinal track groove matching the leveling track; a number of transverse spring installation holes are arranged on both sides of the longitudinal track groove, and springs are arranged in the spring installation holes, and the longitudinal The inner side of the track groove is provided with a track clamping bar, and the inner side of the track clamping bar is fixedly connected with the spring.

When the leveling track enters the longitudinal track groove, the track clip bar clamps the leveling track under the action of the spring, so that the leveling track and the longitudinal track groove are more closely matched to ensure that the guide frame remains straight sports.

Further, there are 8 scissors, and 2 scissors arranged side by side constitute a scissor group, forming 4 scissor groups, there are 2 cylinders, and one cylinder is configured for every two scissor groups; One end of the cylinder is provided with a cylinder piston rod, and the end of the cylinder piston rod is provided with an external connection portion of the cylinder piston rod, and the external connection portion of the cylinder piston rod is fixedly connected to the lower movable end of the corresponding scissors; the other end of the cylinder is provided with There is an external connection part of the cylinder, and the external connection part of the cylinder is fixedly connected to the lower movable end of the corresponding scissors.

A scissor module consists of two scissors, and each two scissors are equipped with a cylinder, which makes the lifting capacity of the mobile lifting mechanism stronger and more stable when lifting objects. The setting of the external connection part of the cylinder and the external connection part of the cylinder piston rod makes the lower movable end receive more stable force when the cylinder and the cylinder piston rod push the lower movable end of the scissors.

Further, the vehicle frame is provided with a lower guide groove adapted to the lower movable end, and the top plate is provided with an upper guide groove adapted to the upper movable end; the lower movable end of the scissors is The upper movable end of the scissors moves in the upper guide groove and moves in the lower guide groove.

The setting of the upper guide groove and the lower guide groove makes the sliding direction of the upper movable end and the lower movable end restricted when the scissors are raised and lowered, so that the rolling of the upper movable end and the lower movable end is more stable.

Further, a movable pulley of the guide frame is provided on the side of the guide frame, and the movable pulley of the guide frame moves in the guide track.

Description of drawings

Figure 1 is a complete top view of the loading and unloading mechanism;

Fig. 2 is a three-dimensional view 1 of the loading and unloading mechanism;

Fig. 3 is a three-dimensional view 2 of the loading and unloading mechanism;

Figure 4 is an enlarged view of area A;

Figure 5 is an enlarged view of area B;

Figure 6 is a perspective view of the bottom of the vehicle frame;

Figure 7 is a disassembled top view of part of the structure of the loading and unloading mechanism;

Figure 8 is an enlarged view of area C;

Fig. 9 is a sectional view of the mobile lifting mechanism;

Figure 10 is a perspective view of the leveling track;

Figure 11 is an enlarged view of area D.

Detailed ways

The specific embodiment of the utility model is described below in conjunction with accompanying drawing:

Referring to Fig. 1, Fig. 2, Fig. 6 and Fig. 7, a loading and unloading mechanism includes a mobile lifting mechanism 1, a guide mechanism and a roller conveying mechanism 4; the guide mechanism includes a symmetrically arranged base 201, guide rails 202, guide Frame 203, connecting rod 204, drive motor 205 and first transmission mechanism; Described guide rail 202 is arranged on the inner side of corresponding base 201, and described guide frame 203 two sides are installed in described guide rail 202, and described guide rail Two sides of the guide frame 203 are provided with movable pulleys 203A respectively, and the movable pulleys 203A of the guide frame can slide in the corresponding guide rails 202 to facilitate the movement of the guide frame 203 . The drive motor 205 drives the guide frame 203 to slide, and the drive motor 205 is externally connected with a drive motor controller (not shown in the figure of the drive motor controller), which controls the forward rotation, reverse rotation and rotation of the drive motor 205. stop. An active channel 206 is provided between the bases 201; an RFID station card is laid at the exit end of the active channel 206 to provide target address information for the AGV. The AGV only needs to carry out point-to-point transportation, which greatly enhances the efficiency of material transportation. The outside of the base 201 is also provided with an AGV wireless pager 6, which calls the corresponding AGV to receive the goods (not shown in the station card figure) when the goods need to be transported.

Referring to FIG. 9 , the mobile lifting mechanism 1 includes a vehicle frame 101 , scissors 102 , a top plate 104 and a cylinder 103 ; the top plate 104 is laid on the upper side of the scissors group.

There are 8 scissors 102, and 2 scissors 102 arranged side by side inside and outside constitute a scissor group, which is symmetrically arranged into 4 scissor groups, and there are 2 cylinders 103, and every two scissor groups on the same side A cylinder 103 is arranged between them; the top ends of the scissors 102 are respectively the upper fixed end 102C and the upper movable end 102D, and the bottom ends are respectively the lower fixed end 102A and the lower movable end 102B; the lower fixed end 102A is connected to the vehicle The frame 101 is fixedly connected, the lower movable end 102B is slidably connected to the frame 101 ; the upper fixed end 102C is fixedly connected to the top plate 104 , and the upper movable end 102D is slidably connected to the top plate 104 .

The cylinder 103 is externally connected with an intake pipe (the intake pipe is not shown in the figure). One end of the cylinder 103 is provided with a cylinder piston rod 105, and the end of the cylinder piston rod 105 is provided with a cylinder piston rod external connection portion 105A, and the cylinder piston rod external connection portion 105A is fixedly connected to the lower movable end 102B of the corresponding scissors; The other end of the cylinder is provided with a cylinder external connection portion 103A, and the cylinder external connection portion 103A is fixedly connected to the lower movable end 102B of the corresponding scissors.

When the mobile lifting mechanism 1 is lifted, the cylinder 103 works through the intake pipe, the cylinder piston rod 105 stretches out, and the other end of the cylinder piston rod 105 and the cylinder pushes the lower movable end 102B of the corresponding scissors 102, so that The scissors 102 are raised, and when the scissors 102 are raised, the top board 104 is supported to be raised. When the mobile lifting mechanism 1 descends, the cylinder 103 works, the cylinder piston rod 105 shrinks, and the lower movable ends of the two scissors 102 of the scissors group slide towards the middle of the cylinder 103 accordingly, and the scissors 102 descends, driving the top plate 104 to descend.

The scissors group is used as the lifting structure, so that the lifting range of the mobile lifting mechanism 1 is large. When the scissors 102 are fully retracted, the overall height of the mobile lifting mechanism 1 is less than 135mm, so that the mechanism can transport pallets with a height of less than 100mm. The cooperating structure of the scissors 102 and the cylinder 103 converts the lateral power output by the cylinder 103 into a vertical lifting force, which not only realizes the function of lifting objects, but also saves labor. Using the horizontally placed cylinder 103 as the power source for the scissors 102 to rise is also beneficial to save the space occupied by the power source and make the volume of the mobile lifting mechanism 1 smaller.

Referring to Fig. 9, the vehicle frame 101 is provided with a lower guide groove 101A adapted to the lower movable end 102B, and the top plate 104 is provided with an upper guide groove 104A adapted to the upper movable end 102D; The lower movable end 102B of the scissors 102 can be slidably installed in the lower guide groove 101A, and the upper movable end 102D of the scissors 102 can be slidably installed in the upper guide groove 104A; the upper guide groove 104A and The setting of the lower guide groove 101A makes the sliding direction of the upper movable end 102D and the lower movable end 102B restricted when the scissors 102 rise and fall, so that the sliding of the upper movable end 102D and the lower movable end 102B is more stable. The bottom of the vehicle frame 101 is provided with a directional wheel 101B, which is convenient for the moving and lifting mechanism 102 to move forward and backward. The setting of the external connection part 103A of the cylinder and the external connection part 105A of the cylinder piston rod makes the force on the lower movable end 102B of the scissors 102 more stable when the cylinder 103 and the cylinder piston rod 105 push the lower movable end 102B. A travel switch is provided in the movement trajectory of the external connection part 103A of the cylinder and the external connection part 105A of the piston rod of the cylinder, and the travel switch is connected with the cylinder 103 to control the range of motion of the cylinder 103 (the travel switch is not shown in the figure). The intake pipe of the cylinder 103 is externally connected with a muffler to reduce the noise generated when the cylinder 103 is inhaled and exhausted (the muffler is not shown in the figure).

Referring to Fig. 1, the mobile lifting mechanism 1 is connected with the guide frame 103 through the connecting rod 204; inner movement. The end of described mobile lifting mechanism 1 is also provided with road condition recognition sensor (not shown in the figure of described road condition recognition sensor); Described road condition recognition sensor is connected with drive motor controller, provides road condition information for drive motor controller, and described The drive motor controller controls the start and stop of the drive motor 205 according to the actual road condition information. The end of the guide track 202 is also provided with a guide wheel 202A, which provides a guide function for moving the lifting mechanism 1 into the inside of the guide track 202 .

Referring to Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, a first transmission mechanism is provided between the drive motor 205 and the guide frame 203, and the first transmission mechanism includes a The first driving gear 205B, the first transmission shaft 301 arranged between the bases 201, and the connecting parts 203B arranged at the front and rear ends of the guide frame 203 on both sides; the two ends of the first transmission shaft 301 are respectively provided with The first transmission gear 302, one end of the first transmission shaft 301 is also provided with a first driven gear 301A, and the first driven gear 301A is connected with the first drive gear 205B through a drive chain belt (the drive chain belt not shown in the figure); the front ends of the guide rails 202 are respectively provided with the second transmission gear 303 that cooperates with the first transmission gear 302, and the first transmission gear 302 and the corresponding second transmission gear 303 are provided with There is a first endless chain belt (not shown in the figure of the first endless chain belt), the first endless chain belt is provided with a gap, and the ends of the gap are respectively connected to the front and rear ends of the corresponding side of the guide frame. The part 203B is fixedly connected, so that the first endless chain belt can pull the guide frame 203 in both directions.

When the driving motor 205 starts, the first driving gear 205B on the output shaft 205A of the driving motor rotates accordingly; the first driving gear 205B drives the first driven gear 301A to rotate through the driving chain belt, thereby driving the The first transmission shaft 301 rotates, and the first transmission gear 302 arranged at both ends of the first transmission shaft 301 rotates accordingly; the first transmission gear 302 drives the second transmission gear 303 through the first endless chain belt Rotation; when the first transmission gear 302 and the second transmission gear 303 rotate, the first endless chain belt rotates around the first transmission gear 302 and the second transmission gear 303, while pulling the guide frame 203 to move.

Referring to FIG. 1 , FIG. 7 and FIG. 8 , the roller conveying mechanism 4 includes a roller set and a conveying motor 401 that drives the corresponding roller set to rotate; The roller conveying mechanism 4 further includes a second transmission mechanism that transmits the kinetic energy of the conveying motor 401 to the corresponding roller 402 . Described second transmission mechanism comprises the first roller transmission gear 403A and the second roller transmission gear 403B that are arranged on the cylinder shaft 403 of cylinder 402; The first roller transmission gear 403A of the adjacent roller 402 is connected, and the second roller transmission gear 403B is connected with the second roller transmission gear 403B of the adjacent roller 402 on the rear side through the roller endless chain belt (not shown in the figure of the roller endless chain belt) ). The above-mentioned connection method between the rollers 402 enables the rollers 402 of the same roller group to realize linkage, and this connection method to realize linkage has a simple mechanism and low failure probability. The end of the drum shaft 403 of a drum 402 in the drum group is also provided with a second driven gear 403C, and the output shaft of the conveying motor 401 is provided with a second driving gear 401A, and the second driven gear 403C is connected to the second driving gear. The gear 401A is connected by a conveyor chain belt (the conveyor chain belt is not shown in the figure).

When the conveying motor 401 starts, the second driving gear 401A on the output shaft of the conveying motor rotates accordingly, and the second driving gear 401A drives the second driven gear 403C to rotate through the conveying chain belt, thereby driving The drum 402 where the second driven gear 403C is located rotates. Since the drums of the same drum group are linked together, when the drum 402 where the second driven gear 403C is located rotates, the drums 402 of the same drum group are driven to make corresponding movements. rotation. The roller group is selected as the conveying mechanism, so that the conveying mechanism has the advantages of strong load capacity, simple structure, high reliability and convenient maintenance.

The conveying motor 401 is also externally connected with a conveying motor controller to control forward rotation, reverse rotation and stop of the conveying motor 401 (the conveying motor controller is not shown in the figure). Positioning sensors are provided at both ends of the roller group, and the positioning sensors are connected to the conveying motor controller to provide the position information of the articles for the conveying motor controller. The rotation of the positioning sensor (not shown in the figure). The roller conveying mechanism 4 laid on the base 201 on the same side can be composed of one group of rollers or multiple groups of rollers, and each group of rollers is equipped with a conveying motor 401, a second transmission structure and a positioning sensor.

Referring to Fig. 1, Fig. 6, Fig. 10 and Fig. 11, the loading and unloading mechanism also includes an adjustment track 207 arranged on the ground, and the leveling track 207 includes a leveling track assembly 211, a leveling track connector 212 and a connecting nut 213: An anchor bolt 211A is provided in the middle of the leveling track assembly 211, a leveling nut cavity 211B is provided on both sides of the leveling track assembly 211, and a leveling nut 211C is provided in the leveling nut cavity; The bottom of the leveling nut cavity 211B is provided with a leveling gasket (the leveling gasket is not shown in the figure), and the side is provided with a lock nut cavity 211E, and a lock nut cavity 211E is provided inside the lock nut cavity 211E. Nut 211F; the ends of both sides of the leveling track assembly 211 are provided with connecting grooves 211G, and connecting screw holes are provided in the connecting grooves 211G (not shown in the drawings for the connecting screw holes), and the leveling track connectors 212 is installed in the connecting groove 211G of the adjacent leveling rail assembly 211, and the two ends of the leveling rail connector 212 are provided with connector screw holes that match the connecting screw holes (the connector screw holes are not shown in the figure). ); the connecting nut 213 passes through the screw hole of the connector and the connecting screw hole in turn. The leveling track assembly 211 is fixed on the ground through the anchor bolt 211A, the leveling track assembly 211 can be adjusted to the level by adjusting the leveling nuts 211C on both sides of the leveling track assembly 211, and the leveling track assembly 211 can be adjusted to the level by adjusting the leveling nut 211C to After the required height, lock the lock nut 211F to fix the position of the frequency adjustment nut 211C; the leveling track components 211 are fixedly connected by the structure of the leveling track connector 212 and the connecting nut 213 . The leveling track 208 adopts a combination structure of a leveling track assembly 211 and a leveling track connector 212 , so that the overall length of the leveling track 208 can be adjusted.

Referring to Fig. 1, Fig. 6, Fig. 10 and Fig. 11, the bottom of the guide frame 203 is provided with a longitudinal rail groove 207 matching the leveling rail 208; both sides of the longitudinal rail groove 207 are provided with a number of transverse spring mounting holes 209, the spring mounting hole 209 is provided with a spring (not shown in the spring figure), the inner side of the longitudinal track groove 207 is provided with a track clamping bar 210, and the inner side of the track clamping bar 210 is fixedly connected with the spring, When the leveling track 208 enters the longitudinal track groove 207 , the track clip bar 210 clamps the leveling track 208 under the action of the spring. The matching structure of the longitudinal track groove 207 and the leveling track 208 makes the moving direction of the guide frame 203 more stable, and the movement of the guide frame 203 is affected by adjusting the height of the leveling track 208 due to uneven ground.

Referring to Fig. 1, the loading and unloading mechanism also includes a power supply mechanism for the lifting mechanism, and the power supply mechanism for the lifting mechanism includes an external power supply, a cable, a cable channel 501 arranged between the bases of the guide rails, a cable protection chain 502, and a set and The cable groove inside the connecting rod; the middle part of the cable channel 501 is provided with a cable outlet, one end of the cable protection chain 502 is connected to the cable outlet, and the other end is fixedly connected to the upper surface of the guide frame 203; one end of the cable is connected to the external power supply connected; the other end passes through the cable channel 501, the cable outlet, the cable protection chain 502 and the cable groove in turn, and is connected with the cylinder (the cable outlet, the external power supply and the cable are not shown in the figure). The power supply mechanism of the lifting mechanism can not only provide power for the operation of the cylinder 103, but also protect the cables from damage during the movement of the movable hoist 1.

The utility model includes the following two operation modes

1. Automatic operation mode:

The AGV wireless pager 6 sends a call signal, and the AGV runs to the corresponding RFID site card, and the end of the base 201 at one end of the site card is provided with a photoelectric sensor (not shown in the photoelectric sensor figure), and the photoelectric sensor Connected to the drive motor controller. The photoelectric sensor sends the detected signal to the drive motor controller, triggers the drive motor to start, pushes out the mobile lifting mechanism, and then completes the corresponding loading or unloading process.

When loading materials, the road condition recognition sensor at the end of the mobile lifting mechanism 1 detects whether there is an obstacle on the front side, and the road condition recognition sensor transmits a signal to the drive motor controller, and if there is an obstacle, the drive motor 205 stops rotating; If there is no obstacle, the driving motor 205 rotates normally, through the first transmission mechanism, the guide frame 203 is driven to move, and the guide frame 203 promotes the operation of the mobile lifting mechanism 1, so that the movable lifting mechanism 1 mechanism enters the bottom of the pallet , after the mobile lifting mechanism 1 stretches into the designated position, the driving motor stops at 205, and then the cylinder 103 works, the piston rod of the cylinder stretches out at 105, and the external connection part 105A of the piston rod of the cylinder and the external connection part 103A of the cylinder push the corresponding shear The lower movable end 102B of the fork 102, the scissors 102 rises, and after the pallet is lifted to a height higher than the roller conveying mechanism 4, the scissors 102 stops rising; the driving motor 205 starts again, and the first transmission mechanism Drive the guide frame 203 to move, the guide frame 203 pulls and moves the lifting mechanism 1, the bottom of the pallet enters the range of the roller conveying mechanism 4, when the bottom of the pallet is completely placed on the roller conveying mechanism 4, the cylinder 103 works, and the cylinder piston The rod 105 retracts, the lower movable end 102A of the scissors 102 slides accordingly, the scissors 102 descends, and the pallet is placed on the roller group; the positioning sensor detects the placement position of the pallet, and transmits the position information of the pallet to Conveying motor 4 controller, the conveying motor controller controls the conveying motor 401 to operate accordingly, drives the roller group to rotate through the second transmission mechanism, and transports the pallet to the other end of the base 201, and the AGV receives the goods at this end .

When unloading, the AGV transports the pallet to one end of the roller conveying mechanism 4, and places it on the roller group. The positioning sensor detects the placement position of the pallet, and transmits the position information of the pallet to the controller of the conveying motor 4, and the conveying motor The controller controls the conveying motor 401 to perform a corresponding operation, drives the roller group to rotate through the second transmission mechanism, and transports the pallet to the other end of the base 201; The guide frame 203 moves, and the guide frame 203 promotes the operation of the mobile lifting mechanism 1, so that the mobile lifting mechanism 1 enters the bottom of the pallet. After the mobile lifting mechanism 1 reaches the designated position, the driving motor 205 stops running, and then the cylinder 103 Work, the cylinder piston rod 105 stretches out, the cylinder piston rod external connection part 105A and the cylinder external connection part 103A push the lower movable end 102B of the corresponding scissors 102, the scissors 102 rises, and the pallet is lifted to break away from the After the roller conveying mechanism 4 is described, the scissors 102 stop rising; the drive motor 205 starts again, and the guide frame 203 is driven by the first transmission module to move, and the guide frame 203 pulls the mobile lifting mechanism 1 to transport the pallet to the designated position; When moving to the specified position, the drive motor 205 stops running, the cylinder 103 works, the cylinder piston rod 105 retracts, the movable end 102B of the scissors 102 slides accordingly, the scissors 102 descends, and the pallet is placed on the specified place, and the process is completed. cutting.

2. Manual operation mode:

The driving motor controller is externally connected with an extension button and a retraction button, the cylinder 103 is externally connected with a lifting button and a down button, and the external transportation motor controller is connected with a scroll button, press and hold the extending button to move the lifting mechanism 1 Push out and run to the lower side of the pallet to be transported; press the lift button, the cylinder 103 will inhale, the piston rod 105 of the cylinder will stretch out, and the external connection part 105A of the piston rod of the cylinder and the external connection part 103A of the cylinder will push the corresponding scissors 102 In the lower activity 102B, the scissors 102 are raised, and the top plate 104 lifts the pallet; after reaching the specified height, press the retract button for a long time, the drive motor 205 is started, and the mobile lifting mechanism 1 is pulled back; when the transported stack When the board is completely within the range of the roller conveying mechanism 4, press and hold the down button; when the moving lifting mechanism 1 is separated from the pallet, press and hold the scroll button, the conveying motor starts, and the roller is driven by the second transmission mechanism to rotate, and the pallet is transported on the roller line To the designated position, the AGV picks up the goods at this position (the extended button, the retracted button, the lifting button, the lowering button and the rolling button are not shown in the figure).

According to the disclosure and teaching of the above specification, those skilled in the art to which the present utility model belongs can also change and modify the above embodiment. Therefore, the utility model is not limited to the specific implementation manners disclosed and described above, and some modifications and changes to the utility model should also fall within the scope of protection of the claims of the utility model. In addition, although some specific terms and orientation words are used in this specification, these terms and orientation words are only for convenience of description, and do not constitute any limitation to the present utility model.

Claims (10)

1. A loading and unloading mechanism, characterized in that: it includes a mobile lifting mechanism and a guiding mechanism, and the guiding mechanism is connected with the moving lifting mechanism; The guide mechanism includes a base, a guide rail, a guide frame and a driving motor, the guide rail is arranged on the inside of the base, the guide frame is connected with the guide rail, and the drive motor drives the guide frame move along the guide track; The mobile lifting mechanism includes a vehicle frame, a top plate, scissors and a cylinder. The top ends of the scissors are connected to the top plate. The top ends of the scissors are respectively an upper fixed end and an upper movable end. The top plate is fixedly connected, and the upper movable end is slidingly connected with the top plate; the bottom end of the scissors is connected with the vehicle frame, and the bottom ends of the scissors are respectively a lower fixed end and a lower movable end, and the lower fixed end It is fixedly connected with the vehicle frame, and the lower movable end is slidably connected with the vehicle frame; the cylinder drives the scissors, thereby driving the top plate to lift. 2. A loading and unloading mechanism according to claim 1, characterized in that: a first transmission mechanism is provided between the drive motor and the guide frame, and the first transmission mechanism includes a The first driving gear, the first transmission shaft arranged on the base, and the connecting parts arranged at the front and rear ends of both sides of the guide frame; the two ends of the first transmission shaft are respectively provided with first transmission gears, so One end of the first transmission shaft is also provided with a first driven gear, and the first driven gear is connected with the first driving gear through a driving chain belt; Cooperating second transmission gear, a first endless chain belt is provided between the first transmission gear and the corresponding second transmission gear, the first endless chain belt is provided with a gap, and the ends of the gap are respectively connected with the guide frame The connecting parts corresponding to the front and rear ends of one side are fixedly connected. 3. A loading and unloading mechanism according to claim 1, characterized in that: it also includes a roller conveying mechanism, the roller conveying mechanism includes a roller and a conveying motor that drives the roller to rotate, and the roller is laid on the base of the base upper side. 4. A loading and unloading mechanism according to claim 3, characterized in that: the roller conveying mechanism further comprises a second transmission mechanism arranged between the conveying motor and the roller; the second transmission mechanism It includes the first roller transmission gear and the second roller transmission gear arranged on the roller shaft of the roller; the first roller transmission gear of any roller is connected with the first roller transmission gear of the front adjacent roller through the roller endless chain belt, and the second roller The two cylinder transmission gears are connected with the second cylinder transmission gears of the adjacent cylinders on the rear side through the cylinder endless chain belt. 5. A loading and unloading mechanism according to claim 1, characterized in that: it also includes a leveling track arranged on the ground, the bottom of the guide frame is provided with a longitudinal track groove, and the leveling track and the longitudinal Compatible with track grooves. 6. A loading and unloading mechanism according to claim 5, characterized in that: the leveling track includes a leveling track assembly, a leveling track connector and a connecting nut; the middle part of the leveling track assembly is provided with an anchor bolt , both sides of the leveling track assembly are provided with a leveling nut cavity, and a leveling nut is provided in the leveling nut cavity; the bottom of the leveling nut cavity is provided with a leveling gasket, and the side part There is a lock nut cavity; the lock nut cavity is provided with a lock nut; the two ends of the leveling track assembly are provided with connecting grooves, and the connecting grooves are provided with connecting screw holes. The leveling track connector Installed in the connecting groove of the adjacent leveling track assembly, the two ends of the leveling track connector are provided with connecting screw holes that match the connecting screw holes; the connecting nuts pass through the connecting screw holes and the connecting screw holes in turn. Connect the screw holes. 7. A loading and unloading mechanism according to claim 5, characterized in that: the bottom of the guide frame is provided with a longitudinal rail groove matching the leveling rail; the two sides of the longitudinal rail groove are provided with a number of transverse springs A mounting hole, a spring is provided in the spring mounting hole, a track clamping bar is provided inside the longitudinal track groove, and the inner side of the track clamping bar is fixedly connected with the spring. 8. A loading and unloading mechanism according to any one of claims 1-7, characterized in that: there are 8 scissors, and 2 scissors arranged side by side form a scissor group, forming 4 scissors There are two cylinders, and one cylinder is configured for every two scissor groups; one end of the cylinder is provided with a cylinder piston rod, and the end of the cylinder piston rod is provided with an external connection part of the cylinder piston rod, and the cylinder piston The external connection part of the rod is fixedly connected to the lower movable end of the corresponding scissors; the other end of the cylinder is provided with a cylinder external connection part, and the external connection part of the cylinder is fixedly connected to the lower movable end of the corresponding scissors. 9. A loading and unloading mechanism according to claim 8, characterized in that: the vehicle frame is provided with a lower guide groove matching the lower movable end, and the top plate is provided with a guide groove corresponding to the upper movable end. Adapted upper guide groove; the lower movable end of the scissors moves in the lower guide groove, and the upper movable end of the scissors moves in the upper guide groove. 10. A loading and unloading mechanism according to any one of claims 1-7, characterized in that: the side of the guide frame is provided with a movable pulley of the guide frame, and the movable pulley of the guide frame is inside the guide track move.