CN206527059U

CN206527059U - Halved belt sorts AGV

Info

Publication number: CN206527059U
Application number: CN201720153769.6U
Authority: CN
Inventors: 蔡熙; 车松勋
Original assignee: Suzhou Jinfeng Iot Technology Co Ltd
Current assignee: Suzhou Jinfeng Iot Technology Co Ltd
Priority date: 2017-02-21
Filing date: 2017-02-21
Publication date: 2017-09-29
Anticipated expiration: 2027-02-21

Abstract

The utility model discloses halved belt sorting AGV, including moveable vehicle body and halved belt sorter, the halved belt sorter is detachably connected on the vehicle body, the direct of travel that Belt Conveying direction in the halved belt sorter is sorted with the halved belt under AGV straight travel states is vertical, and the two ends of the belt are extended to outside the vehicle body.The utility model deft design, it is simple in construction, because direct of travel when Belt Conveying direction is with AGV linear runnings is vertical, therefore when selecting one to carry out discharging in a disposing material mouth, goods on belt can be transported to discharge port under conditions of not parking, so as to improve sort efficiency, and because belt is extended to outside vehicle body, so when transmitting article to discharge port, it can prevent from producing collision between vehicle body and AGV other parts and discharge port, it is ensured that the safety and stability of operation.

Description

Halved belt sorts AGV

Technical field

The utility model is related to a kind of AGV, especially a kind of halved belt sorting AGV.

Background technology

Automatic guided vehicle (Automated Guided Vehicle, abbreviation AGV), refers to and is equipped with electric magnetically or optically wait automatically Guiding device, can be travelled, the transport vehicle with safeguard protection and various transfer functions along defined guide path, and industry should The carrier of driver is not required in, using chargeable battery as its power resources.Computer is typically can pass through to control its row Enter route and behavior, or it is set up using electromagnetic path (electromagnetic path-following system) Course, electromagnetic path is sticked on floor, the message that automatic guided vehicle then follows electromagnetic path to be brought move with Action.

Industry is sorted, it is necessary to by goods sorting to one in a disposing material mouth in logistics, and such as Application No.： 201310404275.7, subject name is：AGV, can it discloses one kind from the Chinese patent application for discharging transport vehicle of walking Automatic charging and the AGV of belt discharging, but be due to straight-line travelling direction phase of the direction with the AGV of Belt Conveying material Together, it is necessary to make the output end of belt be docked with discharge port and AGV is stopped ability discharging of advancing, therefore, when many during its discharging During the selectable discharging of individual discharge port side by side, the reduction of AGV operational efficiency may result in.

Further, since AGV length of wagon is more than width, therefore it bigger steering space be accomplished by during discharging just can guarantee that Normal discharging, the application environment for AGV proposes higher requirement.

Also, above-mentioned belt discharging structure can only realize one direction discharging, it is impossible to carry out two-way discharging.

Utility model content

The purpose of this utility model is exactly that there is provided a kind of halved belt point in order to solve the above-mentioned problems in the prior art Pick AGV.

The purpose of this utility model is achieved through the following technical solutions：

Halved belt sorts AGV, including moveable vehicle body and halved belt sorter, and the halved belt sorter is detachable Ground is connected on the vehicle body, and the article conveying direction on the halved belt sorter sorts AGV linear rows with the halved belt The direct of travel sailed under state is vertical, and the two ends of the belt in the halved belt sorter are extended to outside the vehicle body.

It is preferred that, described halved belt sorts AGV, wherein：The vehicle body includes vehicle frame, is provided with the vehicle frame double The driving wheel of motor differential driving and the universal wheel of at least two supporting roles, the bi-motor are all connected with setting in the vehicle frame The control device put, the control device is also connected with the magnetic stripe sensor set on the vehicle frame, the magnetic stripe sensor to institute The distance for stating vehicle frame front end is less than the distance for driving and taking turns to the vehicle frame front end.

It is preferred that, described halved belt sorts AGV, wherein：It is additionally provided with the vehicle frame and control device connection RFID sensor, the distance of the RFID sensor to the vehicle frame front end is less than the driving and takes turns to the vehicle frame front end Distance.

It is preferred that, described halved belt sorts AGV, wherein：The distance of the magnetic stripe sensor to the vehicle frame front end is small In the distance of the RFID sensor to the vehicle frame front end.

It is preferred that, described halved belt sorts AGV, wherein：The halved belt sorter includes support frame, the support The two ends vertical with vehicle body symmetry axis are respectively arranged with a pair of mounting grooves, mounting groove described in a pair and are rotatably mounted with frame One is set to enclose at least one in the belt and two transfer rollers on the transfer roller parallel with the vehicle body symmetry axis, two transfer rollers For dynamic roller, the dynamic roller connects the control device.

It is preferred that, described halved belt sorts AGV, wherein：Four necks, the support are provided with support frame as described above Frame is erected on the vehicle frame by four necks, and both are spirally connected.

It is preferred that, described halved belt sorts AGV, wherein：The bearing of trend of two pairs of mounting groove is vertical, and one pair of which Bearing of trend it is identical with the article conveying direction on the halved belt sorter.

It is preferred that, described halved belt sorts AGV, wherein：Feeding self-starting device is additionally provided with support frame as described above, The feeding self-starting device includes at least one laser for launching higher than the laser of the belt upper surface and one group The laser pickoff for receiving laser that gap is set, the laser and laser pickoff are located at the both sides of belt and not existed In the transmission direction of the belt, the laser pickoff connects control device.

It is preferred that, described halved belt sorts AGV, wherein：The angle of coverage for the laser that the laser is sent is not more than 90°。

It is preferred that, described halved belt sorts AGV, wherein：The laser is set for individual and gap, and the laser connects Receive device to be individual and be arranged side by side, the spacing of two lasers is more than the spacing of two neighboring laser pickoff, each described Laser pickoff can receive the laser that a laser is sent.

The advantage of technical solutions of the utility model is mainly reflected in：

The utility model deft design, simple in construction, direct of travel during due to Belt Conveying direction and AGV linear runnings Vertically, can be under conditions of not parking by the goods on belt therefore when selecting one to carry out discharging in a disposing material mouth Thing is transported to discharge port, so as to improve sort efficiency, and because belt is extended to outside vehicle body, so to discharging oral instructions When sending article, it can prevent from producing collision between AGV other parts and discharge port, it is ensured that the safety and stability of operation, Also allow for being coupled with other transport mechanisms simultaneously.

Structure in the utility model, also enables halved belt to sort AGV and carries out two-way discharging, so as to improve discharging Flexibility and convenience, and when discharge port is arranged, as long as making the spacing of two disposing material mouths（Tunnel）Width be more than AGV Width, space requirement is smaller.

By adjusting position of the transfer roller in a pair of mounting grooves with plane-parallel, belt can be adjusted as needed Elasticity and the length for adjusting belt, so as to adjust the size of transport of web, applicability is stronger.

Coordinate to identify whether feeding using laser and laser pickoff, the AGV self-startings after feeding can be realized, entered One step improves sort efficiency.

Brief description of the drawings

Fig. 1 is structural representation of the present utility model；

Fig. 2 is the top view that the utility model conceals belt；

Fig. 3 is rearview of the present utility model.

Embodiment

The purpose of this utility model, advantage and feature, will be schemed by the non-limitative illustration of preferred embodiment below Show and explain.These embodiments are only the prominent examples using technical solutions of the utility model, all to take equivalent substitution or wait Technical scheme formed by effect conversion, all fall within the utility model it is claimed within the scope of.

The utility model discloses halved belt sorting AGV, as shown in Figure 1, including moveable vehicle body 1 and halved belt Sorter 2, the vehicle body 1 includes vehicle frame 11, as shown in accompanying drawing 1- accompanying drawings 2, and the vehicle frame 11 includes the rear wall for enclosing framework 17th, battery settling groove 110 and motor support are provided with the antetheca 19 of two parallel side walls 18 and arc, the vehicle frame 11 Frame, the battery settling groove 110 is located at the afterbody of the vehicle frame 11, is mounted therein with for being supplied for whole halved belt sorting AGV The power supply of electricity（Not shown in figure）, two motors 12 are provided with the motor support frame, and the output shaft of two motors 12 is coaxial And dorsad set, two motors 12 are also connected with the control device set in the vehicle frame 11 and connect a driving respectively Wheel 13 and differential drives two driving wheels 13 to rotate, two driving wheels 13 are coaxial and the axle and the vehicle body symmetry axis X is vertical；Also set up the universal wheel 14 of at least two supporting roles on the vehicle frame 11, preferably two, and they and vehicle frame 11 The line of tie point is parallel with the vehicle body symmetry axis X.

As shown in accompanying drawing 1- accompanying drawings 2, sensor mount is additionally provided with the vehicle frame 11, the sensor mount is consolidated It is scheduled on the motor support frame, it at least includes the first installing plate and the second installing plate, first installing plate and the second peace Fill plate it is L-shaped, and be provided with first installing plate on magnetic stripe sensor 15, second installing plate be provided with RFID sensing Device 16, the magnetic stripe sensor 15 and RFID sensor 16 are divided equally by the vehicle body symmetry axis X, the He of magnetic stripe sensor 15 The induction zone of RFID sensor 16 is towards ground and is connected with the control device, while they arrive the front end of vehicle frame 11 Distance be less than the driving wheel 13 arrive the front end of vehicle frame 11 distance, also, the magnetic stripe sensor 15 arrive the vehicle frame The distance of 11 front ends is less than the distance that the RFID sensor 16 arrives the front end of vehicle frame 11.

The halved belt sorter 2 is further removably installed on the vehicle frame 11, specifically, as shown in Figure 3, The halved belt sorter 2 includes the neck 231 that four rectangular distributions are provided with support frame 23, support frame as described above 23, institute The bearing of trend for stating neck 231 is vertical with horizontal plane 10, and support frame as described above 23 is erected at the car by four necks 231 On two parallel side walls 18 of frame 11, and support frame as described above 23 is screwed together with two side walls 18.

As shown in Figure 3, two ends vertical with the vehicle body symmetry axis X on support frame as described above 23 are respectively arranged with a pair of peaces Tankage 24, the bearing of trend of two pairs of mounting grooves 24 is mutually perpendicular to, i.e., bearing of trend and the horizontal plane 10 of a pair of mounting grooves 24 Vertically, the bearing of trend of another pair mounting groove 24 is identical with the direction that sorter 2 conveys article, and two pairs of mounting grooves 24 are high In the neck 231, and their notch is respectively positioned on outside the vehicle frame 11.

Rotatably arranged with having a transfer roller 22 parallel with the vehicle body symmetry axis X, two in mounting groove 24 described in each pair It is dynamic roller that at least part roll body of root transfer roller 22, which is located at least one in the outside of side wall 18, two transfer rollers 22,（Itself Roller including driving structure）, the dynamic roller connects and is provided with a circle skin on the control device, two transfer rollers 22 Band 21, drives the belt 21 to rotate by the dynamic roller, so that, the conveying direction of the belt 21（Article on belt The direction of motion）The direct of travel sorted with the halved belt under AGV straight travel states is vertical, and the two ends of the belt 21 （Turning point of the i.e. described belt 21 at two transfer rollers 22）Extend to outside the vehicle body 1.

As shown in Figure 2, it is additionally provided with support frame as described above 23 between two transfer rollers 22 in the load-bearing of belt 21 When support the supporting plate 27 of belt 21, some through holes are offered on the upper surface of the supporting plate 27, so as to realize lightweight.

Further, as shown in accompanying drawing 1- accompanying drawings 3, feeding self-starting device is additionally provided with support frame as described above 23, it is described Feeding self-starting device includes at least one laser for launching higher than the laser 25 of the upper surface of belt 21 and one group The laser pickoff 26 for receiving laser that gap is set, the laser 25 and laser pickoff 26 are located at the belt 21 Both sides and not on the conveying direction of the belt 21, the laser is preferably that 2 and gap are set, each laser 25 The angle of coverage with plane-parallel laser coverage rate that is sending is not more than 90 °, and belt upper surface described in laser distance Height can be configured according to actual sorting requirement, and the laser pickoff is 4 and is arranged side by side, and each laser connects Laser that 2 lasers 25 send can be received and be all connected with the control device by receiving device 26.

During work, when not having article on halved belt sorting AGV, the laser of the laser transmitting is by the laser pick-off Device is received, and halved belt, which sorts AGV and waited in feeding area, not to be started, when having article to be placed on the belt 21 and make at least one When individual laser pickoff can not receive laser, the control device controls two motors 12 to start two driving wheels of driving 1 rotates, and halved belt sorting AGV advances, the magnetic stripe sensor 15 and the real-time reception magnetic stripe signal of RFID sensor 16 and RFID Label signal simultaneously sends control device to, and the control device is according to the magnetic stripe sensor 15 and the letter of RFID sensor 16 Number, determine halved belt sorting AGV whether offset track and its current location, so as to adjust the operating of motor, and according to setting Fixed line, control halved belt sorting AGV advances to the discharge port specified, and reaches after discharge port, the control device does not stop two The individual motor simultaneously starts the dynamic roller strap and moves belt 21 article thereon is transported into discharge port, completes after discharging, institute State control device controls halved belt sorting AGV to return to feeding area according to setting path.

The utility model still has numerous embodiments, all technologies formed by all use equivalents or equivalent transformation Scheme, all falls within protection domain of the present utility model.

Claims

1. halved belt sorts AGV, including moveable vehicle body（1）And halved belt sorter（2）, it is characterised in that：It is described to intersect Band sorter（2）It is detachably connected to the vehicle body（1）On, the halved belt sorter（2）On article conveying direction with Direct of travel under the halved belt sorting AGV straight travel states is vertical, and the halved belt sorter（2）In belt （21）Two ends extend to the vehicle body（1）Outside.

2. halved belt according to claim 1 sorts AGV, it is characterised in that：The vehicle body（1）Including vehicle frame（11）, institute State vehicle frame（11）On be provided with bi-motor（12）The driving wheel of differential driving（13）And at least two supporting role universal wheel （14）, two motors（12）It is all connected with the vehicle frame（11）The control device of interior setting, the control device is also connected with institute State vehicle frame（11）The magnetic stripe sensor of upper setting（15）, the magnetic stripe sensor（15）To the vehicle frame（11）The distance of front end is small In the driving wheel（13）To the vehicle frame（11）The distance of front end.

3. halved belt according to claim 2 sorts AGV, it is characterised in that：The vehicle frame（11）On be additionally provided with and institute State the RFID sensor of control device connection（16）, the RFID sensor（16）To the vehicle frame（11）The distance of front end is less than The driving wheel（13）To the vehicle frame（11）The distance of front end.

4. halved belt according to claim 3 sorts AGV, it is characterised in that：The magnetic stripe sensor（15）To the car Frame（11）The distance of front end is less than the RFID sensor（16）To the vehicle frame（11）The distance of front end.

5. AGV is sorted according to any described halved belts of claim 2-4, it is characterised in that：The halved belt sorter（2） Including support frame（23）, support frame as described above（23）Upper and vehicle body symmetry axis（X）Vertical two ends are respectively arranged with a pair of mounting grooves （24）, mounting groove described in a pair（24）In be rotatably mounted with and the vehicle body symmetry axis（X）Parallel transfer roller（22）, two The transfer roller（22）It is upper that a circle belt is set（21）And two transfer rollers（22）In at least one be dynamic roller, it is described to have Power roller connects the control device.

6. halved belt according to claim 5 sorts AGV, it is characterised in that：Support frame as described above（23）On be provided with four Neck（231）, support frame as described above（23）Pass through four necks（231）It is erected at the vehicle frame（11）On, and both are spirally connected.

7. halved belt according to claim 5 sorts AGV, it is characterised in that：Two pairs of mounting groove（24）Bearing of trend hang down Directly, and one pair of which mounting groove（24）Bearing of trend and the halved belt sorter（2）On article conveying direction it is identical.

8. halved belt according to claim 5 sorts AGV, it is characterised in that：Feeding is additionally provided with support frame as described above 23 Self-starting device, the feeding self-starting device includes at least one laser launched and is higher than the belt（21）Upper surface Laser（25）And the laser pickoff for being used to receive laser that one group of gap is set（26）, the laser（25）And laser Receiver（26）Positioned at belt（21）Both sides and not in the transmission direction of the belt, the laser pickoff（26）Connection Control device.

9. halved belt according to claim 8 sorts AGV, it is characterised in that：The laser（25）The laser sent Angle of coverage is not more than 90 °.

10. halved belt according to claim 8 sorts AGV, it is characterised in that：The laser is 2 and gap is set, The laser pickoff is 4 and is arranged side by side, each laser pickoff（26）2 lasers can be received（25） The laser sent.