CN206537863U

CN206537863U - Halved belt sorts AGV

Info

Publication number: CN206537863U
Application number: CN201720153786.XU
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: 2017-10-03
Anticipated expiration: 2027-02-21

Abstract

The utility model discloses halved belt sorting AGV, including moveable vehicle body, Quick Response Code identifier and halved belt sorter of the scanning area towards ground are provided with vehicle body, Quick Response Code identifier connects control device, halved belt sorter includes the support frame on the detachably connected vehicle body, rotatably arranged with two parallel transfer rollers on support frame, one is set to enclose belt and drive belt to rotate on drive mechanism that is that the connection of at least one transfer roller drives its rotation and being communicated with control device, two transfer rollers.The utility model judges the information of vehicle body position and state using Quick Response Code identifier, avoid the magnetic stripe for laying whole circle, comparatively cost has been saved, and two-dimensional code scanning is not influenceed by environment such as surrounding metals, the stability of guiding more, while using the Belt Conveying structure of unpowered roller, relative to the Belt Conveying structure of dynamic roller, the quality of Belt Conveying structure can be mitigated significantly, lightweight is realized, AGV operational efficiency is improved.

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.

AGV using magnetic stripe as navigation circuit needs to lay magnetic stripe track on the ground, and this navigation mode adds magnetic Bar lays cost, and is easily disturbed by loop surrounding metal material, and magnetic stripe is easily mechanically damaged, thus the reliability guided by Ectocine is larger.

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.

The structure of existing belt conveyor is also heavier, is unfavorable for the overall lightweight of equipment, so as to cause separate unit Sort the reduction of AGV operational efficiency.

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 and is provided with two dimension of the scanning area towards ground on AGV, including moveable vehicle body, the vehicle body Code identifier and halved belt sorter, the Quick Response Code identifier connect control device, and the control device connection is described to hand over Fork is with the drive mechanism in sorter, and the halved belt sorter also includes the support frame on the detachably connected vehicle body, Rotatably arranged with two parallel transfer rollers on support frame as described above, at least one transfer roller connection drives the drive of its rotation One is set to enclose belt and drive the belt to rotate on motivation structure, two transfer rollers.

It is preferred that, the vehicle body includes vehicle frame, be provided with the vehicle frame differential driving driving wheel and at least one The universal wheel of supporting role, the distance that the driving takes turns to the vehicle frame front end is more than the Quick Response Code identifier to the vehicle frame The distance of front end.

It is preferred that, upper cover plate and the support frame as described above bolt connection of the vehicle frame.

It is preferred that, at least one pair of in the mounting hole for installing transfer roller set on support frame as described above is waist-shaped hole, and institute The bearing of trend for stating waist-shaped hole is identical with the direction of the Belt Conveying article.

It is preferred that, direction and the halved belt of the Belt Conveying article sort the traveling under AGV straight travel states Direction is vertical.

It is preferred that, two transfer rollers are parallel with vehicle body symmetry axis, and they are respectively positioned on outside the vehicle body.

It is preferred that, the drive mechanism includes the motor being fixed on support frame as described above, the output shaft connection of the motor First sprocket wheel, first sprocket wheel connects the second sprocket wheel by chain, and second sprocket wheel connects the rotating shaft of the transfer roller.

It is preferred that, the drive mechanism also include with second sprocket wheel it is contour and higher than first sprocket wheel the 3rd chain Wheel and the 4th sprocket wheel in the region that first sprocket wheel, the second sprocket wheel and the 3rd sprocket wheel are enclosed, the 3rd sprocket wheel Engaged with the 4th sprocket wheel with the chain, and the 3rd sprocket wheel is located in the region that the chain is enclosed, the 4th sprocket wheel Outside the region that the chain is enclosed.

It is preferred that, at least one laser swashing higher than the belt upper surface launched is additionally provided with support frame as described above The laser pickoff for being used to receive laser that light device and one group of gap are set, the laser and laser pickoff are located at described Both sides of belt and not in the transmission direction of the belt, the laser pickoff connects the control device.

It is preferred that, the laser is 2 and gap is set, and the laser pickoff is 4 and is arranged side by side, Mei Gesuo The laser that 2 lasers are sent can be received by stating laser pickoff.

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

1. the utility model deft design, simple in construction, vehicle body position and state are judged using Quick Response Code identifier Information, it is to avoid the magnetic stripe of the whole circle of laying, has comparatively saved cost, and two-dimensional code scanning is not by environment such as surrounding metals Influence, the stability of guiding more, while using the Belt Conveying structure of unpowered roller, relative to the skin of dynamic roller Band structure for conveying, can mitigate the quality of Belt Conveying structure significantly, realize lightweight, so as to improve AGV operational efficiency.

2. because direct of travel when Belt Conveying direction is with AGV linear runnings is vertical, therefore when in a disposing material mouth When selection one carries out discharging, goods on belt can be transported to discharge port under conditions of not parking, so as to carry High sort efficiency, also enables halved belt to sort AGV and carries out two-way discharging, so as to improve flexibility and the facility of discharging Property, and when discharge port is arranged, as long as making the spacing of two disposing material mouths（Tunnel）Width be more than AGV width, it is empty Between require smaller.

3. because belt is extended to outside vehicle body, so when transmitting article to discharge port, AGV other parts can be prevented Collision is produced between discharge port, it is ensured that the safety and stability of operation, while also allowing for being coupled with other transport mechanisms.

4. by adjusting position of the transfer roller in waist-shaped hole, the elasticity and adjustment skin of belt can be adjusted as needed The length of band, so as to adjust the size of transport of web, applicability is stronger.

5. coordinating to identify whether feeding using laser and laser pickoff, the AGV self-startings after feeding can be realized, Sort efficiency is further improved, one group of laser pickoff receives the laser of two lasers, can not increase structure simultaneously In the case of, expand identification region.

Brief description of the drawings

Fig. 1 is side view of the present utility model；

Fig. 2 is rearview of the present utility model；

Fig. 3 is top view 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 drawing 3, and the vehicle frame 11 includes the rear wall for enclosing framework 17th, battery settling groove and electricity are provided with two parallel side walls 18, antethecas 19 and upper cover plate 110 of arc, the vehicle frame 11 Machine support frame（Not shown in figure）, the battery settling groove is positioned at the afterbody of the vehicle frame 11, and being mounted therein with is used to be whole The power supply that halved belt sorting AGV powers（Not shown in figure）, it is provided with two motors on the motor support frame, two motors Output shaft is coaxial and dorsad sets, and two motors are also connected with the control device set in the vehicle frame 11（Not shown in figure） And connect driving wheel 13 respectively and differential drives two driving wheels 13 to rotate, two driving wheels 13 it is coaxial and The axle is vertical with the vehicle body symmetry axis X；The universal wheel 14 of at least two supporting roles is also set up on the vehicle frame 11, is preferably Two, and they are vertical with the vehicle body symmetry axis X with the line of the tie point of vehicle frame 11.

As shown in Figure 1, Quick Response Code identifier 15, the sense of the Quick Response Code identifier 15 are additionally provided with the vehicle frame 11 Area is answered to be connected towards ground and with the control device, while the Quick Response Code identifier 15 arrives the distance of the front end of vehicle frame 11 Less than the distance that the driving wheel 13 arrives the front end of vehicle frame 11, so that in actually adjustment, it is ensured that promptness.

Also, the Quick Response Code identifier 15 can be only used for gathering two-dimension code image, be then transferred to control device and enter The driving position of body 1 and the analysis for ajusting state, can also voluntarily analyze the vehicle body 1 after two-dimension code image is collected The position at place and ajust after the information such as state, be then forwarded to the control device and be adjusted.

The halved belt sorter 2 is further removably installed on the vehicle frame 11, specifically, such as accompanying drawing 2, accompanying drawing Shown in 3, the halved belt sorter 2 includes support frame 23, and support frame as described above 23 passes through vehicle frame 11 described in some bolt connections The through hole 111 for installing following drive mechanisms 25 is provided with upper cover plate 110, the upper cover plate 110.

The two ends vertical with the vehicle body symmetry axis X are respectively arranged with a pair of mounting holes 24, two pairs on support frame as described above 23 Rotatable respectively in the mounting hole 24 to install a transfer roller 22, the bearing of trend and the vehicle body of two transfer rollers 22 are symmetrical Axle X bearing of trend is identical and they are respectively positioned on outside the vehicle body 1, sets one to enclose belt 21 and drive on two transfer rollers 22 The belt 21 is rotated, and the row under AGV straight travel states is sorted in the direction of the conveying of belt 21 article with the halved belt Enter direction vertical, and the two ends of the belt 21 are extended to outside the vehicle body 1.

In addition, in order to be conveniently adjusted the elasticity of following belts 21 or adjust the length of belt, such as the institute of accompanying drawing 2 Show, at least one pair of in two pairs of mounting holes 24 is waist-shaped hole, so as to by adjusting the transfer roller 22 in the waist-shaped hole In position realize above-mentioned purpose.

Simultaneously as two transfer rollers 22 are unpowered transfer roller, therefore at least one connection in them drives it certainly The drive mechanism 25 turned, from the point of view of structure lightened, preferably only one of which transfer roller 22 connects drive mechanism 25, described to drive During motivation structure 25 can be various feasible structures, the present embodiment, as shown in Figure 2, preferably described drive mechanism 25 includes solid The motor 251 on support frame as described above 23 is scheduled on, the motor 251 is located at the bottom of support frame as described above 23 and its main part is logical Cross the through hole on the upper cover plate 110 to be arranged in the vehicle frame 11, the output shaft of the motor 251 connects the first sprocket wheel 252, First sprocket wheel 252 connects the second sprocket wheel 254 by chain 253, and second sprocket wheel 254 connects turning for the transfer roller 22 Axle.

Further, the drive mechanism 25 also includes contour and higher than first sprocket wheel 252 with second sprocket wheel 254 The 3rd sprocket wheel 255 and in the region that first sprocket wheel 252, the second sprocket wheel 254 and the 3rd sprocket wheel 255 are enclosed Four sprocket wheels 256, the 3rd sprocket wheel 255 and the 4th sprocket wheel 256 are engaged with the chain 253, and the 3rd sprocket wheel 255 is located at In the region that the chain 253 is enclosed, the 4th sprocket wheel 256 is located at outside the region that the chain 253 is enclosed.

Further, as shown in Figure 3, at least one laser launched is additionally provided with support frame as described above 23 and is higher than institute The laser pickoff 27 for being used to receive laser that the laser 26 and one group of gap for stating the upper surface of belt 21 are set, the laser Device 26 and laser pickoff 27 are located at the both sides of the belt 21 and not on the conveying direction of the belt 21.

The laser 26 is preferably 2 and gap is set, the laser with plane-parallel that each laser 26 is sent The angle of coverage of coverage rate is not more than 90 °, while the height of the upper surface of belt 21 described in laser distance can be according to actually treating The type of sorting thing is configured, and the laser pickoff is 4 and is arranged side by side, and each laser pickoff 27 can connect Receive the laser that sends of 2 lasers 26 and be all connected with the control device, so as to realize dual guarantee.

During work, when not having article on halved belt sorting AGV, the laser that the laser 26 is launched is connect by the laser Receive device 27 to receive, halved belt, which sorts AGV and waited in feeding area, not to be started；

When thering is article to be placed on the belt 21 and at least one laser pickoff 27 can not be received laser, The control device controls two electric motor startings to drive two driving wheels 13 to rotate, and halved belt sorting AGV advances, the two dimension The captured in real-time ground two-dimensional code of code identifier 15, and send relevant information to control device, the control device is according to described Halved belt sorts AGV current location and ajusts state, so that the operating of motor is adjusted, and according to setting path, control intersects The discharge port specified is advanced to sorting AGV.

Reach after discharge port, the control device does not stop two motors and start the motor 351 starting, and passes through Sprocket wheel and chain drive driving transfer roller 22 are rolled, and the rolling of transfer roller 22 is further driven to belt 21 and rotated, and will be described Article on belt 21 is transported to discharge port, completes after discharging, and the control device controls halved belt to sort according to setting path AGV returns to feeding area.

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, it is characterised in that：Including moveable vehicle body（1）, the vehicle body（1）On be provided with scanning Quick Response Code identifier of the area towards ground（15）And halved belt sorter（2）, the Quick Response Code identifier（15）Connection control Device, the control device connects the halved belt sorter（2）In drive mechanism（25）, the halved belt sorter（2） Also include the detachably connected vehicle body（1）On support frame（23）, support frame as described above（23）On rotatably arranged with two Parallel transfer roller（22）, at least one described transfer roller（22）Connection drives the drive mechanism of its rotation（25）, described in two Transfer roller（22）It is upper to set one to enclose belt（21）And drive the belt（21）Rotate.

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 differential driving driving wheel（13）And the universal wheel of at least one supporting role（14）, it is described to drive Driving wheel（13）To the vehicle frame（11）The distance of front end is more than the Quick Response Code identifier（15）To the vehicle frame（11）Front end Distance.

3. halved belt according to claim 2 sorts AGV, it is characterised in that：The vehicle frame（11）Upper cover plate with it is described Support frame（23）Bolt connection.

4. halved belt according to claim 3 sorts AGV, it is characterised in that：Support frame as described above（23）Upper setting is used for Transfer roller is installed（22）Mounting hole（24）In at least one pair of be waist-shaped hole, and the bearing of trend of the waist-shaped hole and the belt （21）The direction for conveying article is identical.

5. halved belt according to claim 4 sorts AGV, it is characterised in that：The belt（21）Convey the direction of article The direct of travel sorted with the halved belt under AGV straight travel states is vertical.

6. halved belt according to claim 4 sorts AGV, it is characterised in that：Two transfer rollers（22）It is symmetrical with vehicle body Axle（X）It is parallel, and they are respectively positioned on the vehicle body（1）Outside.

7. halved belt according to claim 6 sorts AGV, it is characterised in that：The drive mechanism（25）Including being fixed on Support frame as described above（23）On motor（251）, the motor（251）Output shaft connect the first sprocket wheel（252）, first chain Wheel（252）Pass through chain（253）Connect the second sprocket wheel（254）, second sprocket wheel（254）Connect the transfer roller（22）Turn Axle.

8. halved belt according to claim 7 sorts AGV, it is characterised in that：The drive mechanism（25）Also include and institute State the second sprocket wheel（254）It is contour and higher than first sprocket wheel（252）The 3rd sprocket wheel（255）And positioned at first sprocket wheel （252）, the second sprocket wheel（254）And the 3rd sprocket wheel（255）The 4th sprocket wheel in the region enclosed（256）, the 3rd sprocket wheel （255）With the 4th sprocket wheel（256）With the chain（253）Engagement, and the 3rd sprocket wheel（255）Positioned at the chain（253） In the region enclosed, the 4th sprocket wheel（256）Positioned at the chain（253）Outside the region enclosed.

9. AGV is sorted according to any described halved belts of claim 1-8, it is characterised in that：Support frame as described above（23）On also set It is equipped with least one laser launched and is higher than the belt（21）The laser of upper surface（26）And one group of gap is set Laser pickoff for receiving laser（27）, the laser（26）And laser pickoff（27）Positioned at the belt（21）'s Both sides and not in the transmission direction of the belt, the laser pickoff（27）Connect the control device.

10. halved belt according to claim 9 sorts AGV, it is characterised in that：The laser（26）For 2 and gap Set, the laser pickoff（27）For 4 and it is arranged side by side, each laser pickoff（27）It can receive described in 2 Laser（26）The laser sent.