CN208103038U - Mobile shelf AGV mechanism - Google Patents
Mobile shelf AGV mechanism Download PDFInfo
- Publication number
- CN208103038U CN208103038U CN201820460673.9U CN201820460673U CN208103038U CN 208103038 U CN208103038 U CN 208103038U CN 201820460673 U CN201820460673 U CN 201820460673U CN 208103038 U CN208103038 U CN 208103038U
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- China
- Prior art keywords
- car body
- agv
- shelf
- screw rod
- fixed
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Abstract
The utility model discloses a kind of movable type shelf AGV mechanisms, including AGV car body, it is characterised in that：It further include car body shelf, lifting base, delivery plate, the rotatory and extending device for driving elevating mechanism of the lifting base with respect to car body shelf lifting action and for driving the opposite delivery plate progress Telescopic rotating movement of lifting base, car body shelf are fixed on AGV car body.Shelf are fixed on moving body, the interim storage unit as sorting cargo.The delivery sheet of the utility model movable type shelf AGV mechanism can it is up and down, be moved forward and backward and rotated, using has the design of multivariant structure, guarantees the accurate operation getting in stocks, unload, helps to realize automatic goods loading and unloads goods operation.
Description
Technical field
The utility model relates to a kind of movable type shelf AGV mechanisms.
Background technique
AGV-is the abbreviation of self-navigation transport vehicle (Automated guided vehicle), can also be write as
Automatic guided vehicle refers to equipped with magnetical or optical equal homing guidances device, can be along defined guiding road
Diameter traveling, the travelling bogie with safeguard protection and various transfer functions.Usually by electromagnetism, tape and las er-guidance.AGV is normal
Referred to as mobile robot or industrial robot, but it does not have it is humanoid, and be more like a trolley, the shape of AGV can
It is designed and is customized according to site requirement, the parts such as manipulator, roller, large platform can be added on basic vehicle body, extended
The function of its own.Its major function show as can under computer monitoring, by path planning and job requirements, make trolley compared with
Accurately to walk and being accommodated to designated place, a series of operation functions such as transfers, carrying are completed.
Main AGV is submarine AGV at this stage, still needs people to get in stocks to a certain extent, unloading operation.For reality
How the full-automatic operation of existing intelligent storage designs a kind of automatic goods loading and unloads goods mobile shelf AGV, become the utility model
Required technical problems to be solved.
Utility model content
The purpose of the utility model is to overcome the above deficiencies in the existing technologies, and provide one kind and help to realize
The mobile shelf AGV mechanism that automatic goods loading is unloaded goods.
The technical scheme in the invention for solving the above technical problem is：
A kind of movable type shelf AGV mechanism, including AGV car body, it is characterised in that：Further include car body shelf, lifting base,
Delivery plate, for drive lifting base with respect to car body shelf lifting action elevating mechanism and for driving lifting base opposite
Delivery plate carries out the rotatory and extending device of Telescopic rotating movement, and car body shelf are fixed on AGV car body.Shelf are fixed to movement
Interim storage unit on car body, as sorting cargo.The delivery sheet of the utility model movable type shelf AGV mechanism can be upper and lower
Activity is moved forward and backward and is rotated, and using has the design of multivariant structure, guarantees the accurate operation got in stocks, unloaded,
Automatic goods loading is helped to realize to unload goods operation.
Preferably, four wheels of AGV car body are all made of Mecanum wheel.AGV car body uses 4 Mecanum crop rotations
For the movement and support of car body, movement moves more flexible compared to tradition AGV.
Preferably, the rotatory and extending device includes rotary unit and second order stroke adjustment unit.
Preferably, the elevating mechanism includes slide rail, sliding shoe, lifting driving motor, lifter rack, lifting tooth
Wheel, car body shelf are fixed with slide rail and lifter rack, go up and down driving motor and sliding shoe is fixed on lifting base, sliding shoe
It is slidably mounted on slide rail, the fixed lifting gear of motor shaft of the lifting driving motor, lifting gear engages lifting tooth
Item.
Preferably, the rotary unit includes swivel plate, rotating electric machine, rotation driving gear, rotary drive gear, rotation
Rotating motor is fixed on lifting base, and swivel plate is rotatably installed on lifting base, and the motor shaft of rotating electric machine is fixed on rotation
On driving gear, the fixed rotary drive gear of swivel plate rotates driving gear and rotary drive gear engagement, and delivery plate passes through two
Rank stroke adjustment unit is slidably mounted on swivel plate.
Preferably, the second order stroke adjustment unit include the first screw rod, the second screw rod, the first nut, the second nut,
Stroke motor and middle slip seat, the first screw rod, the second screw rod are rotatably installed on middle slip seat, the first screw rod, second
Screw rod is engaged with the first screw rod, the second screw rod respectively, and middle slip seat is slidably mounted on swivel plate, and delivery plate is slidably mounted on
On middle slip seat, swivel plate is rotatably installed on lifting base by rotary unit, and the first nut, the second nut are fixed respectively
Swivel plate and delivery plate, the first screw rod of stroke motor driven, the second screw rod.Under the rotation of stroke motor, the first screw rod, the second screw rod
It rotates simultaneously, so that the first nut, the second nut reverse linear move, so that delivery plate can quickly relative rotation plate be slided
It is dynamic, and improve the stroke of delivery plate.
Preferably, be fixed on the car body shelf set gradually from top to bottom set goods plate.
Preferably, being fixed with the vision positioning module for positioning kinds of goods on swivel plate.
The utility model compared with prior art, has the following advantages that and effect：The utility model movable type shelf AGV machine
The delivery sheet of structure can it is up and down, be moved forward and backward and rotated, using has the design of multivariant structure, in guarantee
Goods, unloading accurate operation, help to realize automatic goods loading and unload goods operation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model embodiment movable type shelf AGV mechanism.
Fig. 2 is the mounting structure schematic diagram of the utility model embodiment pedestal.
Fig. 3 is the mounting structure schematic diagram of the utility model embodiment swivel plate.
Fig. 4 is the mounting structure schematic diagram of the utility model embodiment second order stroke adjustment unit.
Fig. 5 is another visual angle mounting structure schematic diagram of the utility model embodiment second order stroke adjustment unit.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing and by embodiment, and following embodiment is pair
The explanation of the utility model and the utility model is not limited to following embodiment.
Referring to Fig. 1-Fig. 5, the present embodiment movable type shelf AGV mechanism, including AGV car body 1, vision positioning module 9, car body
Shelf 2, lifting base 3, delivery plate 4, for drive lifting base 3 with respect to 2 lifting action of car body shelf elevating mechanism and
For driving lifting base 3 with respect to the rotatory and extending device of the progress Telescopic rotating movement of delivery plate 4, car body shelf 2 are fixed on AGV
On car body 1.Four wheels of AGV car body 1 are all made of Mecanum wheel.It is fixed with from top to bottom successively on the car body shelf 2
What is be arranged sets goods plate 5.The elevating mechanism include slide rail 61, sliding shoe 62, lifting driving motor 63, lifter rack 64,
Lifting gear 65, car body shelf 2 are fixed with slide rail 61 and lifter rack 64, go up and down driving motor 63 and sliding shoe 62 is fixed
In lifting base 3, sliding shoe 62 is slidably mounted on slide rail 61, the fixed lifting of motor shaft of the lifting driving motor 63
Gear 65, lifting gear 65 engage lifter rack 64.The rotatory and extending device includes rotary unit and second order stroke adjustment list
Member.The rotary unit includes swivel plate 71, rotating electric machine 72, rotation driving gear 73, rotary drive gear 74, rotating electric machine
72 are fixed on lifting base 3, and swivel plate 71 is rotatably installed on lifting base 3, and the motor shaft of rotating electric machine 72 is fixed on rotation
Turning on driving gear 73, the fixed rotary drive gear 74 of swivel plate 71, rotates driving gear 73 and rotary drive gear 74 engages,
The second order stroke adjustment unit include the first screw rod 81, the second screw rod 82, the first nut, the second nut, stroke motor 83 with
And middle slip seat 84, the first screw rod 81, the second screw rod 82 are rotatably installed on middle slip seat 84, the first screw rod 81, second
Screw rod 82 is engaged with the first screw rod 81, the second screw rod 82 respectively, and middle slip seat 84 is slidably mounted on swivel plate 71, delivery plate
4 are slidably mounted on middle slip seat 84, and the first nut, the second nut fix swivel plate 71 and delivery plate 4, stroke motor respectively
83 respectively drive the first screw rod 81, the second screw rod 82 by two feed belts 85.Under stroke motor 83 rotates, the first screw rod
81, the second screw rod 82 rotates simultaneously, so that the movement of the first nut, the second nut reverse linear (can pass through the first screw rod 81, the
Two screw rods 82 turn to opposite or hand of spiral and realize on the contrary) so that delivery plate 4 can quickly relative rotation plate 71 slide,
And improve the stroke of delivery plate 4.
Vision positioning module 9 is fixed on swivel plate 71, and vision positioning module 9 mainly obtains target goods using monocular vision
The pose of object, so that for the getting in stocks of cargo, unloading lays the foundation.It can be by being provided with 40x40 two dimensional code, on the one hand on cargo
The pose of cargo can be obtained, the specifying information of the cargo on the other hand can be obtained.AGV can be positioned according to ground two dimensional code
Before reaching target shelf, the pose of cargo is obtained by vision module, and cargo is realized by control lifting rotation telescoping mechanism
It gets in stocks, unload.
Above content is only illustrate to examples for clearly illustrating the present invention described in this specification.The utility model
Person of ordinary skill in the field can make various modifications or additions to the described embodiments or using class
As mode substitute, content without departing from the utility model specification or surmount model defined in the claims
It encloses, all should belong to the protection range of the utility model.
Claims (8)
1. a kind of movable type shelf AGV mechanism, including AGV car body, it is characterised in that：Further include car body shelf, lifting base, send
Goods plate, for driving lifting base with respect to the elevating mechanism of car body shelf lifting action and for driving lifting base is opposite to give
Goods plate carries out the rotatory and extending device of Telescopic rotating movement, and car body shelf are fixed on AGV car body.
2. movable type shelf AGV mechanism according to claim 1, it is characterised in that：Four wheels of AGV car body are all made of
Mecanum wheel.
3. movable type shelf AGV mechanism according to claim 1, it is characterised in that：The rotatory and extending device includes rotation
Turn unit and second order stroke adjustment unit.
4. movable type shelf AGV mechanism according to claim 1, it is characterised in that：The elevating mechanism includes that sliding is led
Rail, sliding shoe, lifting driving motor, lifter rack, lifting gear, car body shelf are fixed with slide rail and lifter rack, rise
Drop driving motor and sliding shoe are fixed on lifting base, and sliding shoe is slidably mounted on slide rail, the lifting driving motor
The fixed lifting gear of motor shaft, lifting gear engages lifter rack.
5. movable type shelf AGV mechanism according to claim 3, it is characterised in that：The rotary unit include swivel plate,
Rotating electric machine, rotation driving gear, rotary drive gear, rotating electric machine are fixed on lifting base, and swivel plate is rotatably installed in
On lifting base, the motor shaft of rotating electric machine is fixed on rotation driving gear, the fixed rotary drive gear of swivel plate, rotation master
Moving gear and rotary drive gear engagement, delivery plate are slidably mounted on swivel plate by second order stroke adjustment unit.
6. movable type shelf AGV mechanism according to claim 3, it is characterised in that：The second order stroke adjustment unit packet
Include the first screw rod, the second screw rod, the first nut, the second nut, stroke motor and middle slip seat, the first screw rod, the second spiral shell
Bar is rotatably installed on middle slip seat, and the first screw rod, the second screw rod are engaged with the first screw rod, the second screw rod respectively, and centre is sliding
Dynamic seat is slidably mounted on swivel plate, and delivery plate is slidably mounted on middle slip seat, and swivel plate is rotated by rotary unit pacifies
On lifting base, the first nut, the second nut fix swivel plate and delivery plate respectively, the first screw rod of stroke motor driven,
Second screw rod.
7. movable type shelf AGV mechanism according to claim 1, it is characterised in that：Be fixed on the car body shelf from
What is set gradually under sets goods plate.
8. movable type shelf AGV mechanism according to claim 1, it is characterised in that：It is fixed on swivel plate for positioning
The vision positioning module of kinds of goods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820460673.9U CN208103038U (en) | 2018-03-30 | 2018-03-30 | Mobile shelf AGV mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820460673.9U CN208103038U (en) | 2018-03-30 | 2018-03-30 | Mobile shelf AGV mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208103038U true CN208103038U (en) | 2018-11-16 |
Family
ID=64120501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820460673.9U Expired - Fee Related CN208103038U (en) | 2018-03-30 | 2018-03-30 | Mobile shelf AGV mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208103038U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533839A (en) * | 2018-12-18 | 2019-03-29 | 筑梦高科建筑有限公司 | A kind of automatic loading and unloading device carrying building |
| CN109968322A (en) * | 2019-04-24 | 2019-07-05 | 苏州云骐智能科技有限公司 | A kind of automatic carrier robot of data server and its application system control method |
| CN110980074A (en) * | 2019-11-14 | 2020-04-10 | 安徽驿星智能物流装备制造有限公司 | Low-power consumption self-commutation lift dolly |
| CN112061659A (en) * | 2020-09-28 | 2020-12-11 | 安徽佳洁面业股份有限公司 | A delivery equipment for warehouse in flour mill |
| CN112471571A (en) * | 2020-11-19 | 2021-03-12 | 重庆工程职业技术学院 | Tobacco goods shelves of function are toasted in area |
| CN112722743A (en) * | 2021-02-19 | 2021-04-30 | 雷新林 | Carrier and operation method thereof |
| CN114084564A (en) * | 2021-12-01 | 2022-02-25 | 合肥市小鹏信息科技有限公司 | High-precision narrow roadway natural navigation AGV |
| CN114955340A (en) * | 2022-06-01 | 2022-08-30 | 烟台东方瑞创达电子科技有限公司 | Intelligent warehousing system |
-
2018
- 2018-03-30 CN CN201820460673.9U patent/CN208103038U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533839A (en) * | 2018-12-18 | 2019-03-29 | 筑梦高科建筑有限公司 | A kind of automatic loading and unloading device carrying building |
| CN109968322A (en) * | 2019-04-24 | 2019-07-05 | 苏州云骐智能科技有限公司 | A kind of automatic carrier robot of data server and its application system control method |
| CN109968322B (en) * | 2019-04-24 | 2021-05-28 | 苏州云骐智能科技有限公司 | Automatic data server conveying robot and application system control method thereof |
| CN110980074A (en) * | 2019-11-14 | 2020-04-10 | 安徽驿星智能物流装备制造有限公司 | Low-power consumption self-commutation lift dolly |
| CN112061659A (en) * | 2020-09-28 | 2020-12-11 | 安徽佳洁面业股份有限公司 | A delivery equipment for warehouse in flour mill |
| CN112471571A (en) * | 2020-11-19 | 2021-03-12 | 重庆工程职业技术学院 | Tobacco goods shelves of function are toasted in area |
| CN112722743A (en) * | 2021-02-19 | 2021-04-30 | 雷新林 | Carrier and operation method thereof |
| CN114084564A (en) * | 2021-12-01 | 2022-02-25 | 合肥市小鹏信息科技有限公司 | High-precision narrow roadway natural navigation AGV |
| CN114084564B (en) * | 2021-12-01 | 2024-02-27 | 合肥市极点智库智能装备有限公司 | High-precision narrow roadway natural navigation AGV |
| CN114955340A (en) * | 2022-06-01 | 2022-08-30 | 烟台东方瑞创达电子科技有限公司 | Intelligent warehousing system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181116 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |