CN204624556U - Extraordinary AGV - Google Patents
Extraordinary AGV Download PDFInfo
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- CN204624556U CN204624556U CN201520312929.8U CN201520312929U CN204624556U CN 204624556 U CN204624556 U CN 204624556U CN 201520312929 U CN201520312929 U CN 201520312929U CN 204624556 U CN204624556 U CN 204624556U
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Abstract
The utility model belongs to AGV transportation device field, is specially a kind of extraordinary AGV.Extraordinary AGV comprises car body, bont, ejecting device and yoke assembly, described car body is for driving ejecting device according to the path movement preset, described ejecting device is used for laterally releasing bont for release yoke assembly, described bont is used for lift fork arm component, and described yoke assembly is used for carried and transported article.The extraordinary AGV of the utility model can from side loading and unloading.
Description
Technical field
The utility model relates to AGV transported material technical field, particularly relates to a kind of extraordinary AGV.
Background technology
Pallet deposits the major way that dispensing is fabrication shop warehouse, large-scale logistics centre, large warehoused center are put and provided and delivered.In order to the mode coordinating pallet to deposit dispensing, traditional method adopts motorized forklift, hand fork lifter or other a dead lift instrument to realize its requirement.Along with the high speed development in the fields such as industry, communications and transportation, electronics, the efficiency requirements of people to material transportation is more and more higher, and human cost also constantly raises, and oneself becomes alternative first-selected handbarrow to AGV (the extraordinary AGV of homing guidance).
Current AGV it only can the distance transport of complete material, have requirement (especially to low upgrading of original manufacturing line) to provide and deliver occasion in space, cannot as fork truck or manually complete loading and unloading.Current carrying fork truck has width requirement to driving passage, make the increase that takes up room of its fork truck, to such an extent as to part corner cannot complete loading and unloading, needs manually to have gone.
Utility model content
The technical problems to be solved in the utility model be to provide a kind of can from the extraordinary AGV of side loading and unloading.
For solving the problem, the utility model provides a kind of extraordinary AGV, described extraordinary AGV comprises car body, bont, ejecting device and yoke assembly, described car body for carry ejecting device and according to preset path movement, described ejecting device is used for side and releases bont for release yoke assembly, described bont is used for lift fork arm component, and described yoke assembly is used for carried and transported article.
Further, described ejecting device comprises pedestal, guidance set, release actuator, coupling assembling and transmission component, described pedestal is for carrying transmission component and guidance set, described guidance set plays directional tagging to coupling assembling, described coupling assembling is used for being connected with described bont, and described release actuator to be connected with described coupling assembling by transmission component and to move for promoting coupling assembling.
Further, described guidance set comprises two pilot bars or two guide grooves, and described two pilot bars or two guide grooves are all fixed on described pedestal, and described coupling assembling slides and is located in described two pilot bars or two guide grooves.
Further, described coupling assembling comprises at least one pipe link and two Connection Blocks, and described two Connection Blocks are fixed on the two ends of at least one pipe link described, and at least one pipe link described is connected with described bont.
Further, described release actuator is motor, described transmission component comprises two linkage gears, first transmission gear, second transmission gear, rotating shaft and two tooth bars, described two linkage gears are fixed on the two ends of described rotating shaft, described first transmission gear is fixed in described rotating shaft, described second transmission gear is fixed on the output shaft of described release actuator, described first transmission gear and described second transmission gear engaged transmission, described rotating shaft is fixed on described two Connection Blocks, described two tooth bars are fixed on described pedestal, described first transmission gear and described tooth bar engaged transmission.
Further, described release actuator is at least one motor, described transmission component at least one screw rod, at least one chain and at least two sprocket wheels, and each screw rod and one of them sprocket wheel are fixed, each motor and one of them sprocket wheel are fixed, and are connected between two sprocket wheels by chain.
Further, described transmission component is at least one piston rod.
Further, described bont comprises pedestal, lift actuator, attaching parts and four castors, described pedestal is used for being connected with described yoke assembly, described attaching parts is used for being connected with described ejecting device, described lift actuator is used for providing power that its yoke assembly is elevated, and described four castors are fixed on described pedestal.
Further, described bont also comprises Doubling mechanism, described lift actuator is connected with yoke assembly by Doubling mechanism, described Doubling mechanism comprises at least one sprocket wheel, the chain be located on sprocket wheel, anchor shaft and adapter plate, described sprocket wheel and lift actuator are all fixed on described anchor shaft, one end of described chain is fixed on described adapter plate, and the other end of described chain is fixed on described yoke assembly, and described adapter plate is fixed on pedestal.
Further, described pedestal comprises base plate and two supporting plates, and described two supporting plates are fixed on described base plate, and described lift actuator is fixed on described base plate, and described yoke assembly comprises two yokes, and described two yokes are fixed on described lift actuator.
Further, described pedestal comprises base plate, two chutes, reinforced plate and two supporting plates, one end of described two chutes and one end of two supporting plates are all fixed on described base plate, described reinforced plate is fixed on the other end of described two chutes, described yoke assembly comprises two yokes, at least one connecting panel, two pieces of sliding panels and at least two establish the slide assemblies of sliding panel, described two yokes are fixed on the two ends of at least one connecting panel described, described two pieces of sliding panels are fixed on described two yokes, described at least two slide assemblies are separately fixed on two pieces of sliding panels, described slide assemblies slides and is located in described two chutes.
Further, described attaching parts comprises two connecting panels, and two connecting panels are all fixed on described pedestal.
The extraordinary AGV of the utility model is provided with ejecting device and bont, and ejecting device drives yoke assembly to stretch into the bottom of required pallet; When described yoke assembly arrives target location, described ejecting device quits work, described bont work, thus holds up pallet, then by car body, pallet is transported to predeterminated position; To bont after predeterminated position pallet to be promoted or after dropping to specified altitude assignment, bont quits work, described ejecting device work, when ejecting device arrives assigned address, ejecting device quits work, and bont correspondingly declines, and pallet is positioned over target location.
Accompanying drawing explanation
Fig. 1 is the structural representation of the better embodiment of the extraordinary AGV of the utility model.
Fig. 2 is the structural representation of ejecting device.
Fig. 3 is the structural representation of bont.
Fig. 4 is the front view of bont.
Fig. 5 is the cutaway view of A-A in Fig. 4.
Fig. 6 is the structural representation of another better embodiment of driving device.
Fig. 7 is the structural representation of another better embodiment of driving device.
Fig. 8 is the structural representation of another better embodiment of the extraordinary AGV of the utility model.
Fig. 9 is the cutaway view of B-B in Fig. 8.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail.
Embodiment 1
As shown in Figure 1, the better embodiment of the extraordinary AGV of the utility model comprises car body 1, bont 3, ejecting device 2 and yoke assembly 4, described ejecting device 2 is fixed on car body 1, and described bont 3 is connected with described ejecting device 2, and described yoke assembly 4 is connected with described bont 3.
Described car body 1 comprises traction module 12 and chassis 11, and described traction module 12 is fixed on chassis 11, and described ejecting device 2 is fixed on described chassis 11, and traction module 12 drives chassis 11 to move.
Incorporated by reference to Fig. 2 reference, described ejecting device 2 comprises pedestal, guidance set, release actuator 29, coupling assembling and transmission component.Described pedestal is for carrying transmission component and guidance set, namely described transmission component and guidance set are all fixed on described pedestal, coupling assembling is connected with described transmission component, described transmission component is connected with described release actuator 29, described release actuator 29 promotes coupling assembling transverse shifting by transmission component, and described coupling assembling is connected with described bont.Described pedestal is fixed on described chassis 11.Wherein, releasing actuator 29 is motor.
Specifically, described pedestal comprises two pieces of substrates 21, and described substrate 21 symmetry is located on the chassis 11 of described car body 1, and in other embodiments, pedestal can also be the one piece of substrate kept flat.Described guidance set comprises two pilot bars 23, and the two ends of described two pilot bars 23 are fixed on described two pieces of substrates 21 respectively by guide holder.Described coupling assembling comprises two pipe links 25 and two Connection Blocks 24, two ends and described two Connection Blocks 24 of described two pipe links 25 are fixed, and two pipe links 25 are fixed with described bont 3, described two Connection Blocks 24 slide respectively and are located on described pilot bar 23, and described release actuator 29 is fixed therein on a Connection Block 24.Described transmission component comprises two linkage gears 262, first transmission gear 263, second transmission gear 264, rotating shaft 261 and two tooth bars 22, described two tooth bars 22 are separately fixed on described two pieces of substrates 21, described two linkage gears 262 are fixed on the two ends of described rotating shaft 261, described first transmission gear 263 is fixed in described rotating shaft 261, described second transmission gear 264 is fixed on the output shaft of described release actuator 29, described first transmission gear 263 and described second transmission gear 264 engaged transmission, described rotating shaft 261 is fixed on described two Connection Blocks 24 by bearing, described first transmission gear 263 and described tooth bar 22 engaged transmission.Should be understood that, in other embodiments, described guidance set can also be two guide grooves, and Connection Block 24 is slide block form.
Releasing actuator 29 drives the first transmission gear 263 rotate thus drive the second pinion rotation, second pinion rotation drives rotating shaft 261 to rotate, thus drive two linkage gears 262 to rotate, be located on pilot bar 23 because its rotating shaft 261 is fixed on Connection Block 24 slip simultaneously on Connection Block 24, therefore release when actuator 29 rotates and drive pipe link 25 sway; Because bont is connected with pipe link 25, yoke assembly 4 is connected with bont 3 simultaneously, and therefore yoke assembly 4 can rotate and sway along with release actuator 29.
As Fig. 1, shown in Fig. 3 and Fig. 4, described bont 3 comprises pedestal 31, lift actuator 32, attaching parts, Doubling mechanism and four castors, described attaching parts is fixed on described pedestal 31, described lift actuator 32 is fixed on described pedestal, described lift actuator 32 is connected with described yoke assembly 4 by Doubling mechanism, two pipe links 25 in described attaching parts and described ejecting device 2 are fixed, described yoke assembly 4 slides simultaneously and is located on described pedestal 31, described pedestal 31 is for playing the effect supporting and lead to yoke assembly 4, described four castors are fixed on described pedestal 31.Wherein, lift actuator 32 adopts hydraulic actuating cylinder, and in other embodiments, lift actuator 32 can also be cylinder or electric cylinder etc.Should be understood that, bont 3 can not also comprise Doubling mechanism (as shown in Figure 6), and lift actuator 32 is directly connected with described yoke assembly 4.
Specifically, described pedestal 31 comprises base plate 311, two chutes 312, reinforced plate 314 and two supporting plates 313, described two supporting plates 313 are fixed on described base plate 311, described two chutes 312 and described two supporting plates 313 are all fixed on described base plate 311, and two chutes 312 and base plate 311 projection on a vertical plane perpendicular, two supporting plates 313 are mutually vertical with base plate 311 projection in the horizontal plane, described reinforced plate 314 is fixed on described two chutes 312 and one end be positioned at away from base plate 311, described yoke assembly 4 slides and is located in described two chutes 312, described lift actuator 32 is fixed on described base plate 311.Described attaching parts comprises two connecting panels 33, the upper end of every a plate 33 is fixed by described joint pin 331 and described chute 312, the lower end of every a plate 33 is fixed on described base plate 311, described connecting panel 33 is provided with bar hole and circular hole, and two pipe links 25 in described coupling assembling are located in bar hole.Described four castors comprise two fixed pulleys 34 and two cardan wheels 35, described two fixed pulleys 34 are fixed on the two ends of described base plate 311 through circular hole, described two cardan wheels 35 are fixed on described supporting plate 313, and described two cardan wheels 35 are positioned at supporting plate 313 other end fixing with base plate 311.
Described Doubling mechanism comprises two sprocket wheels 361, the chain 362 be located on sprocket wheel 361, anchor shaft 363 and adapter plate 364, described sprocket wheel 361 and lift actuator 32 are all fixed on described anchor shaft 363, one end of described chain 362 is fixed on described adapter plate 364, the other end of described chain 362 is fixed on described yoke assembly, and described adapter plate 364 is fixed on base plate 311.
Lift actuator 32 works and drives anchor shaft 363 to be elevated, one end of chain 362 is fixed on pedestal 31, one end of chain 362 maintains static, the other end being elevated the effect chain 362 promoted because of anchor shaft 363 can give birth to lifting thereupon, and namely yoke assembly 4 can be elevated along with the lifting of lift actuator 32.
Incorporated by reference to Fig. 5 reference, described yoke assembly 4 comprises two yokes, 41, two connecting panels, 42, two pieces of sliding panels 43 and four slide assemblies, described two yokes 41 are fixed on the two ends of described two connecting panels 42, described two pieces of sliding panels 43 to be fixed on described two yokes 41 and to fix with described two connecting panels 42, described four slide assemblies are separately fixed on two pieces of sliding panels 43, and described slide assemblies slides and is located in the chute 312 of described pedestal 31.Each slide assemblies comprises the first pulley 44 and the second pulley 45, described first pulley 44 is all connected with described sliding panel 43 by axle with the second pulley 45, the axial line of described first pulley 44 and the axis projection in the horizontal plane of described second pulley 45 perpendicular.In other embodiments, connecting panel 33 can also be more than one or three and three, sets according to the actual requirements; Slide assemblies also two or more; And each slide assemblies can also be slide block.
Release actuator 29 to drive pipe link 25 to move to make its yoke 41 stretch into the bottom needing pallet; When described yoke 41 arrives target location, described release actuator 29 quits work, and described lift actuator 32 works, and yoke 41 is raised to preset height thus holds up pallet, completing material loading with this.Then by car body 1, pallet is transported to predeterminated position.Work to lift actuator 32 after predeterminated position, after pallet is risen to specified altitude assignment, scalable drivers quits work, described release actuator 29 works, by pallet transverse shifting, when pallet arrives assigned address, release actuator 29 to quit work, lift actuator 32 work makes its yoke 41 correspondingly decline, pallet is positioned over target location, after shipping goods is placed into target location, releases actuator 29 and work yoke 41 regained, then by bont 3, yoke 41 is dropped to assigned address, complete discharging with this.Yoke assembly 4 is positioned in the middle part of car body 1, stretches out from the side of car body 1, can save space, avoids the deficiency of existing fork truck, and avoid existing AGV cannot the situation of loading and unloading simultaneously.
Embodiment 2
As shown in Figure 7, from enforcement 1 difference, the present embodiment is that the transmission component of ejecting device is different, remainder is all identical.
Described release actuator 29 is two motors, and described two motors are separately fixed on two substrates 21.Described transmission component comprises two screw rods, 271, two chains 272 and four sprocket wheels 273, one end and one of them sprocket wheel 273 of each screw rod 271 are fixed, the other end of each screw rod 271 to intert on Connection Block 24 and fixes with substrate 21, output shaft and one of them sprocket wheel 273 of described motor are fixed, two sprocket wheels 273 are connected by chain 272, and two motors are separately fixed on described substrate 21.Certainly, also save sprocket wheel 273 and chain 272, the output shaft releasing actuator 29 is directly fixedly connected with screw rod 271.In other embodiments, sprocket wheel 273 and chain 272 can also change gear into and carry out transmission.
Embodiment 3
The present embodiment and implement 1 difference and be the transmission component of ejecting device 2 and to release actuator 29 different, remainder is all identical.
Described transmission component is two piston rods, described two piston rods and described two Connection Blocks 24 are fixed, releasing actuator 29 is the cylinder body of two hydraulic actuating cylinders or the cylinder body of two cylinders, the cylinder body of the cylinder body of two hydraulic actuating cylinders or two cylinders is then separately fixed on two pieces of substrates 21, and namely transmission component and release actuator 29 are combined to form two hydraulic actuating cylinders or two cylinders.
Embodiment 4
As shown in Figure 8 and Figure 9, from enforcement 1 difference, the present embodiment is that bont is different with yoke assembly, remainder is all identical.
Described bont 3 comprises pedestal 31, lift actuator 32, attaching parts and four castors, described pedestal 31 is for being connected with described yoke assembly 4, described attaching parts is used for being connected with described ejecting device 2, described lift actuator 32 is connected with yoke assembly 4 makes its yoke assembly 4 be elevated, and described four castors are fixed on described pedestal 31.Relative to embodiment 1, described attaching parts and four castors are identical with embodiment 1, and described pedestal 31 and lift actuator 32 are different from embodiment 1, and lack Doubling mechanism.Wherein, described lift actuator 32 is four scissors, and in other embodiments, described lift actuator 32 can also be four hydraulic actuating cylinders or cylinder.
Described pedestal 31 comprises base plate 311 and two supporting plates 313, and described two supporting plates 313 are fixed on described base plate 311, and described lift actuator 32 is fixed on described base plate 311, and described yoke assembly 4 is fixed with described lift actuator 32.Described yoke assembly 4 comprises two yokes 41.Every two scissors are fixed on one block of supporting plate 313, and each yoke 41 and two scissors are fixed.Realize yoke lifting by scissors fork elevating, thus improve or reduce the height of pallet.
These are only embodiment of the present utility model; not thereby the scope of the claims of the present utility model is limited; every equivalent structure utilizing the utility model specification sheets and accompanying drawing content to do; directly or indirectly be used in the technical field that other are relevant, all in like manner within scope of patent protection of the present utility model.
Claims (12)
1. an extraordinary AGV, it is characterized in that: described extraordinary AGV comprises car body, bont, ejecting device and yoke assembly, described car body for carry ejecting device and according to preset path movement, described ejecting device is used for side and releases bont for release yoke assembly, described bont is used for lift fork arm component, and described yoke assembly is used for carried and transported article.
2. extraordinary AGV as claimed in claim 1, it is characterized in that: described ejecting device comprises pedestal, guidance set, release actuator, coupling assembling and transmission component, described pedestal is for carrying transmission component and guidance set, described guidance set plays directional tagging to coupling assembling, described coupling assembling is used for being connected with described bont, and described release actuator to be connected with described coupling assembling by transmission component and to move for promoting coupling assembling.
3. extraordinary AGV as claimed in claim 2, it is characterized in that: described guidance set comprises two pilot bars or two guide grooves, described two pilot bars or two guide grooves are all fixed on described pedestal, and described coupling assembling slides and is located in described two pilot bars or two guide grooves.
4. extraordinary AGV as claimed in claim 2, it is characterized in that: described coupling assembling comprises at least one pipe link and two Connection Blocks, described two Connection Blocks are fixed on the two ends of at least one pipe link described, and at least one pipe link described is connected with described bont.
5. extraordinary AGV as claimed in claim 2, it is characterized in that: described release actuator is motor, described transmission component comprises two linkage gears, first transmission gear, second transmission gear, rotating shaft and two tooth bars, described two linkage gears are fixed on the two ends of described rotating shaft, described first transmission gear is fixed in described rotating shaft, described second transmission gear is fixed on the output shaft of described release actuator, described first transmission gear and described second transmission gear engaged transmission, described rotating shaft is fixed on described two Connection Blocks, described two tooth bars are fixed on described pedestal, described first transmission gear and described tooth bar engaged transmission.
6. extraordinary AGV as claimed in claim 2, it is characterized in that: described release actuator is at least one motor, described transmission component at least one screw rod, at least one chain and at least two sprocket wheels, each screw rod and one of them sprocket wheel are fixed, each motor and one of them sprocket wheel are fixed, and are connected between two sprocket wheels by chain.
7. extraordinary AGV as claimed in claim 2, is characterized in that: described transmission component is at least one piston rod.
8. extraordinary AGV as claimed in claim 1, it is characterized in that: described bont comprises pedestal, lift actuator, attaching parts and four castors, described pedestal is used for being connected with described yoke assembly, described attaching parts is used for being connected with described ejecting device, described lift actuator is used for providing power that its yoke assembly is elevated, and described four castors are fixed on described pedestal.
9. extraordinary AGV as claimed in claim 8, it is characterized in that: described bont also comprises Doubling mechanism, described lift actuator is connected with yoke assembly by Doubling mechanism, described Doubling mechanism comprises at least one sprocket wheel, the chain be located on sprocket wheel, anchor shaft and adapter plate, described sprocket wheel and lift actuator are all fixed on described anchor shaft, one end of described chain is fixed on described adapter plate, the other end of described chain is fixed on described yoke assembly, and described adapter plate is fixed on pedestal.
10. extraordinary AGV as claimed in claim 8, it is characterized in that: described pedestal comprises base plate and two supporting plates, described two supporting plates are fixed on described base plate, described lift actuator is fixed on described base plate, described yoke assembly comprises two yokes, and described two yokes are fixed on described lift actuator.
11. extraordinary AGV as claimed in claim 8 or 9, it is characterized in that: described pedestal comprises base plate, two chutes, reinforced plate and two supporting plates, one end of described two chutes and one end of two supporting plates are all fixed on described base plate, described reinforced plate is fixed on the other end of described two chutes, described yoke assembly comprises two yokes, at least one connecting panel, two pieces of sliding panels and at least two establish the slide assemblies of sliding panel, described two yokes are fixed on the two ends of at least one connecting panel described, described two pieces of sliding panels are fixed on described two yokes, described at least two slide assemblies are separately fixed on two pieces of sliding panels, described slide assemblies slides and is located in described two chutes.
12. extraordinary AGV as claimed in claim 8, is characterized in that: described attaching parts comprises two connecting panels, and two connecting panels are all fixed on described pedestal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520312929.8U CN204624556U (en) | 2015-05-14 | 2015-05-14 | Extraordinary AGV |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520312929.8U CN204624556U (en) | 2015-05-14 | 2015-05-14 | Extraordinary AGV |
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| CN204624556U true CN204624556U (en) | 2015-09-09 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106183945A (en) * | 2016-08-25 | 2016-12-07 | 广东嘉腾机器人自动化有限公司 | A kind of AGV carrier with loading and unloading docking facilities |
| CN106240431A (en) * | 2016-08-25 | 2016-12-21 | 广东嘉腾机器人自动化有限公司 | A kind of loading and unloading docking facilities |
| CN106276095A (en) * | 2015-05-14 | 2017-01-04 | 重庆嘉腾机器人自动化有限公司 | Extraordinary AGV |
| CN107264371A (en) * | 2017-08-13 | 2017-10-20 | 张荟芬 | A kind of automatic loading and unloading logistics transportation flat car |
| CN111320107A (en) * | 2018-12-14 | 2020-06-23 | 中国科学院深圳先进技术研究院 | Automatic loading, unloading and transporting integrated carrying device, system and method |
| CN113103949A (en) * | 2021-05-16 | 2021-07-13 | 张保华 | Goods shifts transport vechicle based on tray is placed |
| EP3957597A1 (en) * | 2020-08-21 | 2022-02-23 | Tata Consultancy Services Limited | Automated unit load lifter mountable on an autonomous mobile robot for carrying a unit load |
-
2015
- 2015-05-14 CN CN201520312929.8U patent/CN204624556U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106276095A (en) * | 2015-05-14 | 2017-01-04 | 重庆嘉腾机器人自动化有限公司 | Extraordinary AGV |
| CN106183945A (en) * | 2016-08-25 | 2016-12-07 | 广东嘉腾机器人自动化有限公司 | A kind of AGV carrier with loading and unloading docking facilities |
| CN106240431A (en) * | 2016-08-25 | 2016-12-21 | 广东嘉腾机器人自动化有限公司 | A kind of loading and unloading docking facilities |
| CN106240431B (en) * | 2016-08-25 | 2019-03-05 | 广东嘉腾机器人自动化有限公司 | A kind of loading and unloading docking facilities |
| CN107264371A (en) * | 2017-08-13 | 2017-10-20 | 张荟芬 | A kind of automatic loading and unloading logistics transportation flat car |
| CN107264371B (en) * | 2017-08-13 | 2020-06-02 | 广东高捷航运物流有限公司 | Automatic loading and unloading logistics transportation flat car |
| CN111320107A (en) * | 2018-12-14 | 2020-06-23 | 中国科学院深圳先进技术研究院 | Automatic loading, unloading and transporting integrated carrying device, system and method |
| EP3957597A1 (en) * | 2020-08-21 | 2022-02-23 | Tata Consultancy Services Limited | Automated unit load lifter mountable on an autonomous mobile robot for carrying a unit load |
| CN113103949A (en) * | 2021-05-16 | 2021-07-13 | 张保华 | Goods shifts transport vechicle based on tray is placed |
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