CN206012409U - A kind of AGV carriers with loading and unloading docking facilities - Google Patents

A kind of AGV carriers with loading and unloading docking facilities Download PDF

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Publication number
CN206012409U
CN206012409U CN201620936504.9U CN201620936504U CN206012409U CN 206012409 U CN206012409 U CN 206012409U CN 201620936504 U CN201620936504 U CN 201620936504U CN 206012409 U CN206012409 U CN 206012409U
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China
Prior art keywords
loading
docking
objective
translation
mounting bracket
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CN201620936504.9U
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Chinese (zh)
Inventor
黎扬福
卢敬铭
李杨添
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Guangdong Jaten Robot and Automation Co Ltd
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Guangdong Jaten Robot and Automation Co Ltd
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Priority to CN201620936504.9U priority Critical patent/CN206012409U/en
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Abstract

The utility model provides a kind of AGV carriers with loading and unloading docking facilities, including AGV car bodies and platform docking facilities, platform docking facilities are arranged on AGV car bodies, platform docking facilities include elevating mechanism, mounting bracket, loading mechanism peace telephone-moving structure, loading mechanism includes objective table and rotational structure, objective table is connected with rotational structure and can be mounted opposite holder pivots when exposed to external forces, translation mechanism is arranged in mounting bracket, mounting bracket is fixedly connected with elevating mechanism, and mounting bracket can be run with elevating mechanism and move up and down, loading mechanism is located on translation mechanism by guide frame, loading mechanism is moved left and right in the both sides of translation mechanism along guide frame, translation mechanism can make the objective table of loading mechanism protruding or reset.AGV carriers by docking interaction force and objective table between harbour and platform docking facilities under the guiding of guide frame and rotational structure, make both realize that gapless is docked when with harbour docking is docked.

Description

A kind of AGV carriers with loading and unloading docking facilities
Technical field
The utility model is related to AGV and carries field, especially a kind of docking facilities of loading and unloading.
Background technology
Automatical pilot transportation vehicle is (Automated Guided Vehicle, AGV), refers to and is equipped with electricity magnetically or optically Deng, homing guidance device, it can be travelled along the guide path of regulation, the transport with safeguard protection and various transfer functions Car.AGV is not required to driver, with chargeable battery as its power resources.Typically can pass through computer to control its course And behavior, or its course is set up using electromagnetic path, electromagnetic path is eaten on patch what floor, and automatic guided vehicle is then followed The message brought by electromagnetic path is moved and action.AGV has take action quick, high working efficiency, simple structure, controllability The advantage such as by force, security is good.Compared with the other equipment that commonly uses in material conveying, the zone of action of AGV need not be laid track, be propped up The fixing devices such as mounting, are not limited by place, road and space.Therefore, in automatic Material Handling System, most can fully body Its automaticity existing and flexibility, realize efficient, economic, flexible manless production.
At present, the role that AGV takes on inside most factory is typically only transport, i.e., it is automatically right to realize Connect, upper and lower material can only be carried out to AGV by artificial, in response to this problem, there are some manufacturers to transform AGV so as to can To realize automatic butt, such as Chinese patent ZL201410738818.3 with production line, which is provided one kind and can be given birth to automatic butt Producing line and the AGV carriers of different docking height are adapted to, but the lifting mating operation table top of the AGV carriers is solid Fixed, and the every docking point of AGV, which has certain angle with harbour is docked, and this will cause when docking pair Connect harbour and larger gap occurs in working face, and then the situation of feeding, discharge failure occur.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, there is provided a kind of flat with multivariant loading and unloading Platform docks AGV carriers.
In order to achieve the above object, the utility model is employed the following technical solutions:
A kind of AGV carriers with loading and unloading docking facilities, including AGV car bodies and platform docking facilities, the platform Docking facilities are arranged on the AGV car bodies, the platform docking facilities include elevating mechanism, mounting bracket, loading mechanism and Translation mechanism, the loading mechanism include that objective table and rotational structure, the objective table are connected with rotational structure and ought be subject to Holder pivots can be mounted opposite during external force, the translation mechanism is arranged in the mounting bracket, the mounting bracket with described Elevating mechanism is fixedly connected, and the mounting bracket can be run with the elevating mechanism and move up and down, the loading mechanism It is located on the translation mechanism by guide frame, loading mechanism is along the guide frame in both sides of the translation mechanism or so Mobile, the translation mechanism can make the objective table of the loading mechanism protruding or reset.
Compared with prior art, AGV carriers of the present utility model with dock harbour dock when, by dock code Interaction force and objective table between head and platform docking facilities makes objective table under the guiding of guide frame and rotational structure Translation and rotation, so as to be adapted to the docking harbour with different deflection angles, make to realize gapless docking between the two, it is ensured that Be not in the situation for loading and unloading failure during handling material.
Further, also include that butt guiding devices and docking guide pad, the butt guiding devices are arranged on docking harbour, The docking guide pad is arranged on the objective table and stretches out in the middle part of the one end in direction positioned at objective table, during docking, described right Connect guide pad to contact with each other with the butt guiding devices.
Further, the butt guiding devices include the first contact site being arranged in the middle part of docking harbour and are separately positioned on Second contact site of docking harbour both sides, first contact site is provided with docking groove, and during docking, the docking guide pad is plugged So that objective table skew in the docking groove.
Further, the loading mechanism also includes objective table mounting base, the objective table by the rotational structure with The objective table mounting base rotates connection, and the objective table mounting base is located on the translation mechanism by guide frame.
Further, the guide frame includes that line slide rail and linear slider, the line slide rail are disposed longitudinally on described On translation mechanism, the linear slider is arranged on the objective table mounting base, and the linear slider can be slided along the straight line Rail slides.
Preferably, the objective table both sides are provided with transport sprocket wheel, and the transport sprocket wheel is used for conveying and receiving material, described Be provided with guide edge edge on the outside of transport sprocket wheel, the guide edge along higher than the stage surface, prevent material handling when Wait sideslip, material is carried out spacing.
Further, the translation mechanism includes transmission device and the translation mounting base being arranged on the transmission device, The transmission device is horizontally installed in the mounting bracket, and the loading mechanism is arranged on the translation mounting base, institute State loading mechanism to overhang to mounting bracket with the operation of the transmission device or reset.
Wherein, the transmission device includes motor, the first drive lead screw, the first transmission nut, guide rod and is arranged on Positioning sliding block on the guide rod, the translation mounting base are arranged on first transmission nut and positioning sliding block, are passed through First drive lead screw and the transmission of the first transmission nut, make the translation mounting base slide along the guide rod.
Preferably, steering limiting rod is provided with the downside of the objective table, the translation mounting base is provided with stopper slot, described Steering limiting rod is located in the stopper slot, in order to limit the rotational angle of the objective table.
Further, the elevating mechanism include frame, servomotor, the second drive lead screw, the second transmission nut, slide rail and Guide runner, the servomotor, the second drive lead screw and slide rail are arranged in the frame, and the mounting bracket is " L " Shape, the guide runner and the second transmission nut are arranged on the outside of the vertical connection wall of the mounting bracket, by described second Drive lead screw and the transmission of the second transmission nut, make the mounting bracket slide along the slide rail.
Preferably, also include that at least two revolution clamping device, the revolution clamping device are oppositely disposed at described The outside of mounting bracket, and the revolution clamping device is located at the both sides of the translation mechanism, the revolution clamping device bag Installation bearing, clamping section and drive division is included, the installation bearing is provided with rotating shaft, and the clamping section is rotatably arranged in described In rotating shaft, the drive division makes the clamping section to one side oscillation of the translation mechanism by travelling gear.Clamped by revolution Device to reset after objective table ajust and clamp.
Description of the drawings
Fig. 1 is the front view of AGV carriers of the present utility model;
Fig. 2 is platform docking facilities stereogram of the present utility model;
Fig. 3 is the stereogram of another angle of platform docking facilities of the present utility model;
Fig. 4 is the structural representation of loading mechanism of the present utility model;
Fig. 5 is the polycrystalline substance schematic diagram of loading mechanism of the present utility model;
Fig. 6 is the structural representation of translation mechanism of the present utility model;
Fig. 7 is the structural representation of revolution clamping device of the present utility model;
Fig. 8 is the outwardly directed structural representation of loading mechanism of the present utility model;
Fig. 9 is view when AGV carriers of the present utility model are contacted for the first time with docking harbour;
Figure 10 is that AGV carriers of the present utility model complete the view after docking with harbour is docked.
Specific embodiment
The utility model is described in detail below in conjunction with accompanying drawing:
Referring to Fig. 1 to Figure 10, a kind of AGV carriers with loading and unloading docking facilities, including AGV car bodies 20 and platform pair Connection device 10, the platform docking facilities 10 are arranged on the AGV car bodies 20, and the platform docking facilities 10 are arranged to be included rising Descending mechanism 1, mounting bracket 2, loading mechanism 3 and translation mechanism 4, the loading mechanism 3 include objective table 31 and rotational structure 34, The objective table 31 is connected with the rotational structure 34 and can be rotated relative to the mounting bracket 2 when exposed to external forces, described Translation mechanism 4 is arranged in the mounting bracket 2, and the mounting bracket 2 is fixedly connected with the elevating mechanism 1, and described Mounting bracket 2 can be run with the elevating mechanism 1 and move up and down, and the loading mechanism 3 is located at described by guide frame 32 On translation mechanism 4, loading mechanism 3 is moved left and right in the both sides of the translation mechanism 4 along the guide frame 32, the translation machine Structure 4 can make the objective table 31 of the loading mechanism 3 protruding or reset.
Above-mentioned loading mechanism 3 also includes objective table mounting base 33, and the objective table 31 is by the rotational structure 34 33 turns are connected with the objective table mounting base, and the objective table mounting base 33 is located at the translation machine by guide frame 32 On structure 4.Guide frame 32 includes that line slide rail 321 and linear slider 322, the line slide rail 321 are disposed longitudinally on described flat On telephone-moving structure 4, objective table mounting base 33 is connected with the linear slider 322, and the linear slider 322 can be slided along the straight line Rail 321 slides.The rotational structure 34 includes that bearing block 341 and bearing (not shown), the bearing block 341 are arranged on the load On thing platform mounting base 33, the bearing is arranged on 31 bottom side of the objective table, and objective table mounting base 33 and objective table 31 are logical Cross bearing block 341 and bearing is rotatably assorted.
The feeding of objective table 31 is the transport sprocket wheel 35 by being arranged on both sides with material is received, and the transport sprocket wheel 35 is used In conveying and receiving material, it is the DC brushless motor 311 and power transmission shaft by being arranged on 31 bottom side of objective table to transport sprocket wheel 35 312 are driven.When transport, in order to prevent material sideslip, need to carry out material spacing, therefore in transport sprocket wheel 35 outside is provided with guide edge along 36, and the guide edge is higher than 31 surface of the objective table along 36.
Certainly, except increase guide edge carry out along 36 pairs of materials spacing outer, can with mounting bracket 2 around objective table 31 four sides each arrange revolution 5 pairs of materials for assembling of clamping device and are clamped, and prevent material from falling and occur surprisingly. The revolution clamping device 5 includes installing bearing 51, clamping section 52 and drive division 53, and the installation bearing 51 is provided with rotating shaft 511, the clamping section 52 is rotatably arranged in the rotating shaft 511, and the drive division 53 is made described by travelling gear 54 Clamping section 52 is to 4 one side oscillation of the translation mechanism.
In addition, in order that objective table 31 docking when easier with dock harbour 7 contact, stretch out in objective table 31 Be provided with the middle part of the one end in direction docking guide pad 313 and docking harbour 7 on be provided with for dock guide pad 313 coordinate right Guider 6 is connect, it is docking end face 314, the docking guide pad that objective table 31 is provided with a side end face of docking guide pad 313 313 is triangular in shape, and the butt guiding devices 6 include 4 guide bearings, and 4 guide bearings have 2 adjacent to be arranged on docking It is right that the middle part of harbour 7 forms the formation of the distance between the first contact site 61, described two guide bearings of the first contact site 61 Access slot 611, and the both sides that 2 other guide bearings are symmetrically disposed in docking harbour 7 form the second contact site 62.With right When connecing harbour 7 and being docked, the docking guide pad 313 can be contacted with the first contact site 61 first, so as to produce a reaction Power, makes objective table 31 offset along 321 1 Slideslip of line slide rail of guide frame 32, realizes primary position adjustment;AGV is carried Thing car continues close to docking harbour 7, and any side of docking end face 314 both sides of objective table 31 will contact the second contact site 62, so as to produce a reaction force again, rotate up to objective table 31 parallel with docking harbour 7, finally realize gapless Docking.
It should be noted that being slightly not when the installation site of the first contact site 61 and the second contact site 62 is arranged With, the periphery of 2 positioning bearings of the first contact site 61 is tangent with the interface 71 for docking harbour 7, and the 2 of the second contact site 62 The periphery of individual positioning bearing is intersected with the interface 71 of docking harbour 7, such docking for being disposed to prevent objective table 31 End face 314 is collided with the interface 71 for docking harbour 7 and causes to damage and damage is arranged on 31 upper position sensor of objective table.
The translation mechanism 4 includes transmission device 41 and the translation mounting base 42 being arranged on the transmission device 41, To being arranged in the mounting bracket 2, the objective table mounting base 33 is arranged on the translation peace to the transmission device horizontal stroke 41 On dress base plate 42, so that whole loading mechanism 3 must run with transmission device 41 and stretch out to the outside of mounting bracket 2 or multiple Position.Above-mentioned transmission device 41 includes motor 411, the first drive lead screw 412, the first transmission nut (figure is to illustrate), guide rod 413 are arranged on the first transmission spiral shell with the positioning sliding block 414 being arranged on the guide rod 413, the translation mounting base 42 On female and positioning sliding block 414, by the transmission of first drive lead screw 412 and the first transmission nut, install the translation Base plate 42 slides along the guide rod 413.
The elevating mechanism includes frame 11, servomotor 12, the second drive lead screw 13, the second transmission nut 14, slide rail 15 and guide runner 16, the servomotor 12, the second drive lead screw 13 and slide rail 15 are arranged in the frame 11, described Mounting bracket 2 is " L " shape, and the guide runner 16 and the second transmission nut 14 are arranged on the vertical connection of the mounting bracket 2 On the outside of wall, by the transmission of second drive lead screw 13 and the second transmission nut 14, the mounting bracket is made along the slide rail 15 slide.
Operation principle of the present utility model is as follows:
Referring to Fig. 9 and Figure 10, after AGV carriers receive the signal of docking harbour 7, which can be according to signal enabling platform The elevating mechanism 1 of docking facilities 10, makes objective table 31 rise to upwards and dock 7 sustained height of harbour;AGV carriers continue to Docking harbour 7 is close, when the interface 341 of objective table 31 is with docking harbour 7 and reaching a certain distance, in translation mechanism 4 Transmission device 41 starts, and the objective table 31 on translation mounting base 42 is stretched out on the outside of mounting bracket 2;AGV carriers Continue to docking harbour 7 close, when on objective table 31 docking guide pad 313 be arranged on dock on harbour 7 first When contact site 61 is contacted, objective table 31 obtains a reaction force by docking guide pad 313, makes objective table 31 along guide frame 32 321 1 Slideslip of line slide rail, realizes primary position adjustment;Now, AGV carriers continue to lean on to docking harbour 7 Closely, any side of 314 both sides of docking end face of objective table 31 will contact the second contact site 62, anti-so as to produce one again Active force, rotates up to objective table 31 parallel with docking harbour 7, and final objective table 31 completes to be seamlessly connected with harbour 7 is docked.
Compared with prior art, the utility model is by the rotational structure 34 on platform docking facilities 10 and guide frame 32 Interaction under, make objective table 31 with dock harbour dock when, can automatically be adapted to which and dock between harbour Angle, make to realize gapless docking between the two, ensure that handling material when be not in handling failure Situation.
The announcement and teaching of book according to the above description, the utility model those skilled in the art can also be to above-mentioned reality The mode of applying is changed and is changed.Therefore, the utility model is not limited to specific embodiment disclosed and described above, right Some modifications and changes of the present utility model should also be as falling in scope of the claims of the present utility model.Additionally, to the greatest extent Some specific terms used in pipe this specification, but these terms are merely for convenience of description, not to the utility model Constitute any restriction.

Claims (10)

1. a kind of AGV carriers with loading and unloading docking facilities, including AGV car bodies and platform docking facilities, the platform pair Connection device is arranged on the AGV car bodies, it is characterised in that:The platform docking facilities include elevating mechanism, mounting bracket, load Thing mechanism and translation mechanism, the loading mechanism include that objective table and rotational structure, the objective table are connected simultaneously with rotational structure And holder pivots can be mounted opposite when exposed to external forces, the translation mechanism is arranged in the mounting bracket, and described installation is propped up Frame is fixedly connected with the elevating mechanism, and the mounting bracket can be run with the elevating mechanism and move up and down, described Loading mechanism is located on the translation mechanism by guide frame, and loading mechanism is along the guide frame in the translation mechanism Both sides move left and right, and the translation mechanism can make the objective table of the loading mechanism protruding or reset.
2. a kind of AGV carriers with loading and unloading docking facilities according to claim 1, it is characterised in that:Also include Butt guiding devices and docking guide pad, the butt guiding devices are arranged on docking harbour, and the docking guide pad is arranged on Stretch out in the middle part of the one end in direction on the objective table and positioned at objective table, during docking, the docking guide pad is led with described docking Contact with each other to device.
3. a kind of AGV carriers with loading and unloading docking facilities according to claim 2, it is characterised in that:Described right Connecing guider includes the first contact site being arranged in the middle part of docking harbour and is separately positioned on the second of docking harbour both sides connecing Contact portion, first contact site are provided with docking groove, and during docking, the docking guide pad is plugged in the docking groove so that institute State objective table skew.
4. a kind of AGV carriers with loading and unloading docking facilities according to claim 1, it is characterised in that:The load Thing mechanism also includes that objective table mounting base, the objective table are rotated with the objective table mounting base by the rotational structure Connection, the objective table mounting base are located on the translation mechanism by guide frame.
5. a kind of AGV carriers with loading and unloading docking facilities according to claim 4, it is characterised in that:Described lead Include that line slide rail and linear slider, the line slide rail are disposed longitudinally on the translation mechanism to structure, the straight line is slided Block is arranged on the objective table mounting base, and the linear slider can be slided along the line slide rail.
6. a kind of AGV carriers with loading and unloading docking facilities according to claim 4, it is characterised in that:The load Thing platform both sides are provided with transport sprocket wheel, and the transport sprocket wheel is used for conveying and receiving material, is provided with and leads on the outside of the transport sprocket wheel To edge, the guide edge is along higher than the stage surface.
7. a kind of AGV carriers with loading and unloading docking facilities according to claim 1, it is characterised in that:Described flat Telephone-moving structure includes that transmission device and the translation mounting base being arranged on the transmission device, the transmission device are horizontally installed on In the mounting bracket, the loading mechanism is arranged on the translation mounting base, and the loading mechanism is filled with the transmission The operation put and overhang to mounting bracket or reset.
8. a kind of AGV carriers with loading and unloading docking facilities according to claim 7, it is characterised in that:The load Steering limiting rod is provided with the downside of thing platform, the translation mounting base is provided with stopper slot, the steering limiting rod is located at the limit In the groove of position, in order to limit the rotational angle of the objective table.
9. a kind of AGV carriers with loading and unloading docking facilities according to claim 1, it is characterised in that:The liter Descending mechanism includes frame, servomotor, the second drive lead screw, the second transmission nut, slide rail and guide runner, the servo electricity Machine, the second drive lead screw and slide rail are arranged in the frame, and the mounting bracket is " L " shape, the guide runner and the Two transmission nuts are arranged on the outside of the vertical connection wall of the mounting bracket, by second drive lead screw and the second transmission spiral shell Female transmission, makes the mounting bracket slide along the slide rail.
10. a kind of AGV carriers with loading and unloading docking facilities according to claim 1, it is characterised in that:Also include At least two revolution clamping device, the revolution clamping device are oppositely disposed at the outside of the mounting bracket, and institute State the both sides that revolution clamping device is located at the translation mechanism;The revolution clamping device includes installing bearing, clamping section and drive Dynamic portion, the installation bearing are provided with rotating shaft, and the clamping section is rotatably arranged in the rotating shaft, and the drive division passes through Travelling gear makes the clamping section to one side oscillation of the translation mechanism.
CN201620936504.9U 2016-08-25 2016-08-25 A kind of AGV carriers with loading and unloading docking facilities Active CN206012409U (en)

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Application Number Priority Date Filing Date Title
CN201620936504.9U CN206012409U (en) 2016-08-25 2016-08-25 A kind of AGV carriers with loading and unloading docking facilities

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Cited By (3)

* Cited by examiner, † Cited by third party
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
CN107815414A (en) * 2017-09-21 2018-03-20 浙江泰林生物技术股份有限公司 A kind of CO2gas incubator movement system
CN110654293A (en) * 2019-09-27 2020-01-07 安徽广德威正光电科技有限公司 Transfer equipment for PCB circuit panel based on 5G application

Cited By (4)

* Cited by examiner, † Cited by third party
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
CN107815414A (en) * 2017-09-21 2018-03-20 浙江泰林生物技术股份有限公司 A kind of CO2gas incubator movement system
CN107815414B (en) * 2017-09-21 2020-11-24 浙江泰林生物技术股份有限公司 Carbon dioxide incubator transfer system
CN110654293A (en) * 2019-09-27 2020-01-07 安徽广德威正光电科技有限公司 Transfer equipment for PCB circuit panel based on 5G application

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