CN208631366U - A kind of AGV trolley with shelf rotation function - Google Patents
A kind of AGV trolley with shelf rotation function Download PDFInfo
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- CN208631366U CN208631366U CN201820866051.6U CN201820866051U CN208631366U CN 208631366 U CN208631366 U CN 208631366U CN 201820866051 U CN201820866051 U CN 201820866051U CN 208631366 U CN208631366 U CN 208631366U
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- shelf
- agv trolley
- gear
- chassis
- car body
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Abstract
The utility model discloses a kind of AGV trolleies with shelf rotation function, comprising: car body ontology, shelf, rotating mechanism, rotary drive mechanism.Shelf are set in car body ontology, and rotating mechanism is connect with shelf.Wherein, rotating mechanism includes chassis, first gear and the first transmission belt, and chassis is set to the top of car body ontology, and first gear is rotatably connected with chassis；First gear is also affixed with shelf, and one end of the first transmission belt is engaged with first gear；AGV trolley further includes rotary drive mechanism, and rotary drive mechanism is connect with the other end of the first transmission belt, and the first transmission belt is used to drive first gear rotation under the driving of rotary drive mechanism and then shelf is driven to rotate relative to chassis.AGV trolley provided by the embodiment of the utility model with shelf rotation function is capable of the case where being suitable for cargo to be transported is longer and AGV trolley is advanced channel relatively narrower, greatly improves the convenience of AGV trolley transport cargo.
Description
Technical field
The utility model relates to logistics haulage equipment technical field more particularly to a kind of AGV with shelf rotation function
Trolley.
Background technique
Automatic guided vehicle (Automated Guided Vehicle, abbreviation AGV) is often referred to that there is electricity magnetically or optically to wait certainly
The transport vehicle of dynamic guiding device, can travel, and automatic clamping and placing cargo along defined path of navigation.
AGV trolley includes headstock, vehicle body, the side being connected between headstock and vehicle body and shelf, and it is small that shelf are set to AGV
In the space that headstock, vehicle body and the side of vehicle enclose.In general, the width of AGV trolley setting is adapted with the width in channel, board
The width of setting is adapted with the width of cargo, and cargo is from the side feed to the shelf of AGV trolley of AGV trolley.In order to save
Province place space, when channel is usually arranged longer and narrower, therefore, the operation that AGV trolley can not be turned in channel.Work as AGV
Trolley cargo to be transported is longer, when the cargo is from the side feed to the shelf of AGV trolley of AGV trolley, is easy to cause goods
Object part is exposed at the outside of AGV trolley, is easy to happen situations such as toppling over, colliding during transportation so as to cause cargo,
And then cargo is caused to damage, great inconvenience is caused to the process of transport cargo.
Utility model content
The utility model discloses a kind of AGV trolley with shelf rotation function, can be suitable for cargo to be transported compared with
The case where channel relatively narrower that long and AGV trolley is advanced, greatly improves the convenience of AGV trolley transport cargo.
In order to achieve the above object, the technical solution adopted in the utility model is as follows:
A kind of AGV trolley with shelf rotation function, comprising:
Car body ontology；
Shelf are set in the car body ontology；
Rotating mechanism is connect with the shelf；
Wherein, the rotating mechanism includes chassis, first gear and the first transmission belt, and the chassis is set to the car body
The top of ontology, the first gear are rotatably connected with the chassis；The first gear is also affixed with the shelf, described
It is engaged with the first gear one end of first transmission belt；
The AGV trolley further includes rotary drive mechanism, and the rotary drive mechanism is another with first transmission belt
End connection, first transmission belt under the driving of the rotary drive mechanism for driving the first gear to rotate, in turn
The shelf are driven to rotate relative to the chassis.
As an alternative embodiment, in the present invention, the rotating mechanism further includes first bearing and
Two bearings, the first bearing are fixedly arranged on the chassis towards in the one side of the shelf, and the second bearing is coaxially set in
The outside of the first bearing, the first gear coaxially fix the outside for being set in the second bearing；The first gear
Rotation drives the second bearing to rotate relative to the first bearing.
As an alternative embodiment, in the present invention, the first bearing is towards the end face of the shelf
For first end face, the second bearing is second end face towards the end face of the shelf, and the first end face is lower than described second
End face.
As an alternative embodiment, in the present invention, the rotational angle on the relatively described chassis of the shelf
It is 0~90 °.
As an alternative embodiment, in the present invention, the shelf include shelf framework and are set to institute
If stating the dry drum in shelf framework, each roller is all provided with rolling in the same direction, interval setting, and the AGV trolley further includes roller
Driving mechanism, the drum drive are electrically connected with the shaft of each roller, and the drum drive is for driving
The shaft of each roller rotates simultaneously, so that the shaft of each roller drives the roller rotation.
As an alternative embodiment, in the present invention, the shelf framework includes first be oppositely arranged
Shelf deckle board and the second shelf deckle board being oppositely arranged, and the first shelf deckle board encloses jointly with the second shelf deckle board
It closes and forms the first accommodating space, each roller is set in first accommodating space, and the rolling surface formation of each roller is set
Object plane.
As an alternative embodiment, in the present invention, the shelf are equipped with telescopic rod and flexible driving machine
Structure, the telescopic rod include pars contractilis and the internal fixed part with cavity, the pars contractilis is telescopic be accommodated in it is described
In the cavity of fixed part, the telescoping drive mechanism is for driving the pars contractilis along length direction relative to the fixation
Portion's stretching motion, so that the pars contractilis extend out to and docks with board.
As an alternative embodiment, in the present invention, the AGV trolley further include elevating mechanism and with institute
The lift drive mechanism that elevating mechanism is connected is stated, the elevating mechanism is set to the outside of the shelf, the elevating mechanism packet
Side plate and the screw lift affixed with the side plate are included, the side plate is connect with the chassis, the screw lift packet
The screw rod for including the short transverse extension along the car body ontology, is installed with screw on the car body ontology, the screw with it is described
Wire rod thread connection, the screw rod is under the driving of the lift drive mechanism, relative to the screw along the car body ontology
Short transverse lifting.
As an alternative embodiment, in the present invention, the AGV trolley further includes Buffer Unit, described
Buffer Unit includes connecting rod and elastic portion, and the both ends of the connecting rod extend through the chassis and are fixed in two sides
Plate, one end of the elastic portion are fixed in the connecting rod, and the other end of the elastic portion is connected to the inner wall on the chassis
On face.
As an alternative embodiment, in the present invention, the AGV trolley is additionally provided with RFID reader, institute
The bottom that RFID reader is set to the car body ontology is stated, for scanning the RFID on ground, judging whether the AGV trolley is located at
Specified region；The AGV trolley is additionally provided with reflector sensor, and the reflector sensor is set to the side of the car body ontology
Face, position is opposite with the reflective tube in travelling route, for positioning the current location of the AGV trolley；The AGV trolley is also set
There is magnetic navigation sensor, the magnetic navigation sensor is set to the car body ontology along the head and the tail both ends of direction of travel, for determining
The current location of the AGV trolley.
As an alternative embodiment, in the present invention, the AGV trolley is additionally provided with safe touch side, described
Safe touch side is set in a side of the car body ontology, for preventing the AGV trolley to be damaged because of mobile or collision；
The AGV trolley is additionally provided with obstacle sensor, and the obstacle sensor is set to the top of the safe touch side, for judging
Barrier situation in travelling route；The AGV trolley is additionally provided with opposite type sensor, and the opposite type sensor is set to the shelf
In diagonal position, for detecting in the shelf with the presence or absence of cargo.
Compared with prior art, the utility model has the following beneficial effects:
A kind of AGV trolley with shelf rotation function provided by the utility model is driven by rotary drive mechanism and is revolved
The first transmission belt and first gear of rotation mechanism, so that shelf be driven to rotate relative to chassis.The AGV trolley can be realized two-way
The case where picking and placing cargo, capableing of the channel relatively narrower of and AGV trolley longer suitable for cargo to be transported traveling, is greatly improved
The convenience of AGV trolley transport cargo.
Detailed description of the invention
In order to illustrate more clearly of the technical scheme in the embodiment of the utility model, will make below to required in embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are merely some embodiments of the present invention,
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Other attached drawings.
Fig. 1 is that a kind of AGV trolley with shelf rotation function disclosed in the utility model embodiment two (does not place goods
Object) structural schematic diagram；
Fig. 2 is the structural schematic diagram of car body ontology disclosed in the utility model embodiment two；
Fig. 3 is that (lifting is not shown in a kind of AGV trolley with shelf rotation function disclosed in the utility model embodiment two
Mechanism and car body ontology) structural decomposition diagram；
Fig. 4 is that (car body is not shown in a kind of AGV trolley with shelf rotation function disclosed in the utility model embodiment two
Ontology) structural schematic diagram；
Fig. 5 is the structural schematic diagram of lifting and driving component disclosed in the utility model embodiment two；
Fig. 6 is the structural schematic diagram of telescopic rod disclosed in the utility model embodiment two and guide plate；
Fig. 7 is that telescopic rod disclosed in the utility model embodiment two and guide plate are aligned (after extremely aligning before aligning)
Process schematic；
Fig. 8 is the structural schematic diagram of elevating mechanism disclosed in the utility model embodiment two and Buffer Unit；
Fig. 9 is that a kind of AGV trolley with shelf rotation function disclosed in the utility model embodiment three (does not place goods
Object) structural schematic diagram；
Figure 10 is the structural schematic diagram of car body ontology disclosed in the utility model embodiment three；
Figure 11 is that (vehicle is not shown in a kind of AGV trolley with shelf rotation function disclosed in the utility model embodiment three
Body ontology) structural decomposition diagram；
Figure 12 is the structural schematic diagram of shelf disclosed in the utility model embodiment three and rotating mechanism；
Figure 13 is the structural schematic diagram of telescopic rod disclosed in the utility model embodiment three and guide plate；
Figure 14 is that telescopic rod disclosed in the utility model embodiment three and guide plate are aligned (by extremely aligning before aligning
Process schematic afterwards)；
Figure 15 is that (goods is not shown in a kind of AGV trolley with shelf rotation function disclosed in the utility model embodiment three
Frame, rotating mechanism and car body ontology) structural schematic diagram；
Figure 16 is the structural schematic diagram of another kind elevating mechanism disclosed in the utility model embodiment five；
Figure 17 is the structural schematic diagram of backgauge component disclosed in the utility model embodiment seven.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
It clearly and completely describes, it is clear that described embodiment is only the utility model a part of the embodiment, rather than whole realities
Apply example.Based on the embodiments of the present invention, those of ordinary skill in the art institute without making creative work
The every other embodiment obtained, fall within the protection scope of the utility model.
In the present invention, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated primarily to better describe the utility model and embodiment
Device, element or component must have particular orientation, or be constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in the present invention can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected " shall be understood in a broad sense.For example, it may be solid
Fixed connection, is detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be directly connected, either
It indirectly connected through an intermediary, or is two connections internal between device, element or component.For this field
For those of ordinary skill, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In addition, term " first ", " second " etc. are mainly used for distinguishing different devices, element or component (specifically
Type and construction may it is identical may also be different), be not intended to show or implies meaning showing device, element or component
Relative importance and quantity.Unless otherwise indicated, the meaning of " multiple " is two or more.
Below with reference to attached drawing to a kind of AGV trolley with shelf rotation function provided by the embodiment of the utility model
It is described in detail.
Embodiment one
The present embodiment provides a kind of AGV trolleies with shelf rotation function, comprising:
Car body ontology；Shelf are set in car body ontology；Rotating mechanism is connect with shelf；
Wherein, rotating mechanism includes chassis, first gear and the first transmission belt, and chassis is set to the top of car body ontology,
First gear is rotatably connected with chassis；First gear is also affixed with shelf, and one end of the first transmission belt is engaged with first gear；
AGV trolley further includes rotary drive mechanism, and rotary drive mechanism is connect with the other end of the first transmission belt, and first passes
Dynamic band under the driving of rotary drive mechanism for driving first gear rotation and then shelf being driven to rotate relative to chassis.
Embodiment two
The present embodiment provides a kind of AGV trolleies with shelf rotation function, are used for according to specified travelling route in board
The automatic clamping and placing of cargo is realized between warehouse.In the present embodiment, the AGV trolley with shelf rotation function is substantially in rectangular
Body, the length direction of the AGV trolley is consistent with the direction of travel of the AGV trolley, and the width direction of the AGV trolley and the AGV
The direction that trolley picks and places cargo is consistent.As shown in Figures 1 to 4, the AGV trolley include car body ontology 1, shelf 2, rotating mechanism 7,
Elevating mechanism 3, electric cabinet 4 and power mechanism 5, and wherein power mechanism 5 is the power supply with charging/discharging function.
Specifically, the substantially concave-shaped structure of car body ontology 1 comprising pedestal 11, it is upward from 11 both ends of pedestal respectively
The mounting portion 12 extended to form, mounting portion 12 are particularly located on car body ontology 1 along the head and the tail both ends of the AGV trolley direction of travel
(i.e. left and right ends in Fig. 2).Pedestal 11 and mounting portion 12 collectively constitute the second accommodating space 10, shelf 2, rotating mechanism 7 and
Elevating mechanism 3 is all set in second accommodating space 10, and power mechanism 5 and electric cabinet 4 are then installed on mounting portion 12, power
Mechanism 5 and electric cabinet 4 are electrically connected, and provide electric power for electric cabinet 4, electric cabinet 4 is then for controlling AGV trolley work.
Wherein, since shelf 2 can rotate, so, have between shelf 2 and power mechanism 5, electric cabinet 4 and pedestal 11
Certain spacing is rotated with providing enough spaces for shelf 2.
Further, it please refers to Fig.1 to Fig.3, which further includes the rotary driving machine being electrically connected with electric cabinet 4
Structure 41, and electric cabinet 4 controls the work start and stop of the rotary drive mechanism 41.The rotary drive mechanism 41 is motor, for driving
Rotating mechanism 7 rotates shelf 2.
Specifically, which is set between pedestal 11 and shelf 2.The rotating mechanism 7 includes chassis 71, the first tooth
Wheel 72 and the first transmission belt 73, the chassis 71 are connect with elevating mechanism 3, and first gear 72 is rotatably connected with chassis 71, and
The first gear 72 is fixed in the bottom of shelf 2, and one end of first transmission belt 73 is engaged with first gear 72, the first transmission belt
73 other end is connect with rotary drive mechanism 41, which drives the under the driving of rotary drive mechanism 41
One gear 72 is rotated relative to chassis 71, rotates shelf 2 relative to chassis 71.
Wherein, which can be synchronous belt or chain；Shelf 2 with respect to chassis 71 rotational angle be 0~
90 °, shelf 2 need to be determined with respect to the rotational angle on chassis 71 according to current shelf 2 position mutual with board.Specifically,
The angle that rotary drive mechanism 41 can control shelf 2 to rotate relative to chassis 71, when shelf 2 turn to the one side of its width direction with
When board is opposite, rotary drive mechanism 41 controls shelf 2 and stops operating.
Further, rotary drive mechanism 41 is fixed in the outside on chassis 71 by motor rack, that is, rotary drive mechanism 41
In space between shelf 2 and electric cabinet 4, which can efficiently use the space of the AGV trolley, so that should
AGV trolley overall structure is more compact.Specifically, it is connected on the output shaft of rotary drive mechanism 41 transmission gear (not shown),
One end of first transmission belt 73 is engaged with first gear 72, and the other end of the first transmission belt 73 is engaged with transmission gear.Work as rotation
When driving mechanism 41 starts, the output shaft band nutating gear of rotary drive mechanism 41 is rotated, and the first transmission belt 73 is in driving cog
Under the transmission of wheel, first gear 72 is driven to rotate, so that first gear 72 drives shelf 2 to rotate.Preferably, transmission gear
It is generally aligned in the same plane with first gear 72, is conducive to the transmission between transmission gear, the first transmission belt 73 and first gear 72.
Using above-mentioned design, pass through the position of rotary drive mechanism 41, transmission gear, the first transmission belt 73 and first gear 72
Cooperation is set, so that rotating mechanism 7 occupies lesser equipment overall space, equipment overall structure is more compact.
Further, single gear or double gear can be used in transmission gear and first gear 72, and according to transmission
The type of gear and first gear 72, the first transmission belt 73 is corresponding to select single strand chain or double strand chain.Preferably, driving cog
Wheel and first gear 72 are all made of double gear, then the first transmission belt 73 uses double strand chain.
For the ease of first gear 72 relative to the rotation on chassis 71, there is the AGV trolley of shelf rotation function to further include for this
First bearing 74 and second bearing 75, first bearing 74 is fixedly arranged on chassis 71 towards in the one side of shelf 2, and second bearing 75 is same
Axle sleeve is located at the outside of first bearing 74, and first gear 72 coaxially fixes the outside for being set in second bearing 75, so that the
The rotation of one gear 72 drives second bearing 75 to rotate relative to first bearing 74.By being arranged between first gear 72 and chassis 71
Bearing reduces the friction that first gear 72 occurs relative to the rotation of chassis 71 using bearing, so that first gear 72 is with respect to chassis 71
It rotates more smooth.
In order to further be convenient for first gear 72 relative to the rotation on chassis 71, the end face of first bearing 74 towards shelf 2 is
First end face, second bearing 75 are second end face towards the end face of shelf 2, and first bearing 74 touches shelf 2 in order to prevent
Bottom, first end face are lower than second end face, i.e. the bottom of first end face and shelf 2 has spacing.
The rotary course of shelf 2 are as follows: when AGV trolley travelling to board region, transmission gear is in rotary drive mechanism 41
Driving under, the rotation of the first transmission belt 73 is driven, so that the first transmission belt 73 drives first gear 72 to rotate, due to the
One gear, 72 coaxial sleeve is set to the outside of second bearing 75, and first gear 72 and shelf 2 are affixed, so, first gear 72
Rotation is able to drive second bearing 75 and shelf 2 are rotated relative to chassis 71 simultaneously, and shelf 2 turn to its width direction at this time
One, facing towards board, is sent on shelf 2 convenient for cargo 20 longer and narrower on board from board.
In the present embodiment, the rotatable function of shelf can be adapted to the specification requirement of various cargos, especially suitable
It for more long and narrow cargo, transport such cargo can convenient for AGV trolley after being sent on shelf.For example, working as AGV
When trolley travelling to board region, the one of the length direction of AGV trolley is facing towards board, at this point, the one of the length direction of shelf 2
Face is also towards board.When the cargo to be transmitted to shelf 2 is longer and narrower on board, if directly by cargo 20 from the length of shelf 2
It spends in the one side in direction and is transmitted (direction A is transmitted i.e. from Fig. 3), then cause to be sent on shelf 2 in cargo 20
Afterwards, 20 part of cargo will expose to the outside of AGV trolley, and cargo 20 is easy to cause to be damaged during transportation, therefore, goods
Frame 2 need to be rotated to its width direction towards board, and cargo 20 is enabled to be sent to goods on one side from the width direction of shelf 2
It (is sent on shelf 2 from direction B in Fig. 3) on frame 2, so that longer and narrower cargo 20 can be adapted to shelf 2, so that
Cargo 20 is whole to be completely disposed in shelf 2, convenient for protect cargo 20 not collide during transportation and cause to damage or
It is fallen from shelf 2.
Further, Fig. 2 and Fig. 4 is please referred to, which further includes the elevator drive machine being electrically connected with electric cabinet 4
Structure 42, and electric cabinet 4 controls the work start and stop of the lift drive mechanism 42.The lift drive mechanism 42 is brake motor, is used for
It drives elevating mechanism 3 to go up and down relative to car body ontology 1, and then drives shelf 2 to go up and down by the lifting of elevating mechanism 3.
Specifically, elevating mechanism 3 includes side plate 32 and the screw lift 33 affixed with side plate 32, side plate 32 and chassis 71
Connection, screw lift 33 include the screw rod 331 extended along the short transverse of car body ontology 1, are installed with screw on car body ontology 1
13, screw 13 is threadedly coupled with screw rod 331, and screw rod 331 is under the driving of lift drive mechanism 42, relative to screw 13 along vehicle
The short transverse of body ontology 1 is gone up and down.Wherein, side plate 32 is connect with chassis 71, when elevating movement occurs for elevating mechanism 3, side plate
32 drive chassis 71 to go up and down, to drive the shelf 2 for being located at 71 top of chassis that elevating movement occurs.
Further, elevating mechanism 3 further includes that the support plate 31 of rectangle, the support plate 31 are fixedly arranged on side plate 32 and screw rod liter
The top of drop machine 33.Wherein, support plate 31 includes set on the support plate body 311 of surrounding and among support plate body 311
Backplate 312, support plate body 311 be used as stress main body, play the role of support construction, reinforce stress, backplate 312 be it is transparent
PC plate, can be used as the watch window of shelf 2,20 situation of cargo in shelf 2 not only can be observed but also can effectively prevent cargo
20 fall ash.Wherein, the quantity of side plate 32 can be two pieces, and both side plate 32 is connect with chassis 71 respectively, and is located at support plate 31
Opposite sides, specifically be located at 31 left and right sides short side of support plate edge (i.e. the left and right sides of support plate in Fig. 4), and
Side plate 32 is located in the second accommodating space 10.Gantry is enclosed after support plate 31 and two blocks of side plates 32 in the present embodiment are affixed
Frame, shelf 2 are set in the portal frame, are achieved in the rationalization of integrally-built densification, space utilization.Wherein, screw rod liter
The quantity of drop machine 33 can be four, and four screw lifts 33 are fixedly arranged on the quadrangle of support plate 31, and screw lift 33 respectively
Be respectively positioned on the outside of side plate 32, it is fixed to the position difference of reply screw lift 33 on the mounting portion 12 of car body ontology 1 there are four
Screw 13, the screw rod 331 of screw lift 33 are penetrated in mounting portion 12 and are threadedly coupled with corresponding screw 13.
Fig. 4 and Fig. 5 is please referred to, which further includes being located at 32 inside of side plate (to be located at left side side plate in Fig. 4
32 inside) and lifting and driving component 34 close to 32 top of the side plate, the outside of the side plate 32 is connected with lifting driving simultaneously
Mechanism 42, and the height of lift drive mechanism 42 is lower than the height and position of screw lift 33, passes through the lifting and driving component 34
Four screw lifts 33 can be driven while being gone up and down.
The lifting and driving component 34 includes: the tensioning of the second transmission gear 342, two of first transmission gear 341, two
The first drive rod of second shaft coupling (not shown) He Lianggen of first shaft coupling 344, two of gear 343, two 345.Wherein, first
Transmission gear 341 is coaxially fixed on lift drive mechanism 42, is rotated by the driving of lift drive mechanism 42；Two second biographies
Moving gear 342 is coaxially fixed in respectively in corresponding first shaft coupling 344, for driving corresponding first shaft coupling 344 to rotate；
First transmission gear 341 is located among two the second transmission gears 342 and height is lower than two the second transmission gears 342, makes three
A sprocket wheel forms the positional relationship of triangle, passes through closing between the first transmission gear 341 and two the second transmission gears 342
The transmission of the first chain 346, specifically the first chain 346 nibbles with 341, two 342 phases of the second transmission gear of the first transmission gear
It closes；For the tensioning dynamics for further controlling the first chain 346, in the first transmission gear 341 and any one second transmission gear 342
Between be respectively provided with Tension gear 343, to be tensioned the first chain 346；The both ends of first shaft coupling 344 are separately connected a screw rod liter
One end of drop machine 33 and the first drive rod 345, the both ends of second shaft coupling be separately connected the first drive rod 345 the other end and
Another screw lift 33, by 345 both ends of the first drive rod be separately connected shaft coupling, shaft coupling again with 33 phase of screw lift
Mode even realizes the effect of four screw lifts 33 while lifting.
The lifting process of elevating mechanism 3 are as follows: the first transmission gear 341 drives the under the driving of lift drive mechanism 42
The rotation of one chain 346, the first chain 346 drive two the second transmission gear 342 rotations simultaneously, furthermore two Tension gears 343
Tension is played also by rotation, any second transmission gear 342 and then drives coaxial affixed 344 turns of first shaft coupling
It is dynamic, first shaft coupling 344 and then the rotation for driving the first drive rod 345, second shaft coupling, and drive respectively with the first shaft coupling
The screw rod 331 in screw lift 33 that device 344 is connected with second shaft coupling is relative to 13 elevating movement of screw.Pass through as a result,
First transmission gear 341, the second transmission gear 342, shaft coupling, the mode being mutually driven between the first drive rod 345 realize four
The synchronization lifting of a screw lift 33, due to screw lift 33 and support plate 31, side plate 32 be it is affixed, drive entire
Elevating mechanism 3 is gone up and down relative to car body ontology 1.
Further, Fig. 3 and Fig. 4 is please referred to, shelf 2 are set on car body ontology 1, and shelf 2 include shelf framework 21 and set
If the dry drum 22 in shelf framework 21.Wherein, shelf framework 21 is by two piece of first shelf deckle board 211 and two piece of second goods
Frame deckle board 212 forms, on the two sides for the length direction that two piece of first shelf deckle board 211 is respectively positioned on shelf framework 21, two pieces the
On the two sides for the width direction that two shelf deckle boards 212 are respectively positioned on shelf framework 21.The shelf framework 21 is equipped with to be rolled in the same direction
And if spaced dry drum 22, the both ends of each roller 22 are respectively arranged between two piece of first shelf deckle board 211, four pieces of goods
Frame deckle board and each roller 22 are enclosed first accommodating space (not indicating), and the rolling surface of each roller 22 forms glove
Face (does not indicate), which can be used for accommodating cargo 20, which can be used for arrangement of goods 20.The AGV trolley
It further include the drum drive (not shown) being electrically connected with electric cabinet 4, and electric cabinet 4 controls the work of drum drive
Start and stop；Drum drive is brake motor, and drum drive is electrically connected with the shaft of each roller 22, for driving each rolling
The shaft of cylinder 22 rotates simultaneously, so that the shaft of each roller 22 drives roller 22 to rotate simultaneously.Drum drive is set to goods
The outside of frame framework 21, and it is lower than the height and position of roller 22.In addition, the present embodiment is the double-deck shelf 2, each layer of roller 22 is all
It is driven by individual drum drive；Drum drive is either-rotation motor, therefore the convertible rotation direction of roller 22, with suitable
The requirement for answering cargo 20 to pick and place in different directions.
Further, the top of the first shelf deckle board 211 is higher than the placement surface of shelf framework 21, is conducive to small in the AGV
During vehicle transports cargo 20, cargo 20 is effectively prevent to fall from shelf 2.Along the length direction of shelf framework 21, goods
The placement surface two sides of frame framework 21 are respectively equipped with cargo guide plate 23, cargo guide plate 23 close to the first shelf deckle board 211 one
End is clamped with the first shelf deckle board 211, is conducive to cargo 20 and is played guiding role when moving on placement surface.The cargo guide plate
23 be stripe board, and both ends are equipped with oblique angle, carries out picking or goods putting from shelf 2 convenient for cargo 20.
In the present embodiment, the course of work of shelf 2 are as follows:
The operation of shelf 2 to after board region, rotation with board accurate contraposition；Under the driving of drum drive, drive
Roller 22 rotates；Board is also rotated by specific driving mechanism, and cargo 20 passes between the shelf 2 and board of rotation
It send.
In the present embodiment, which is used for the transfer between warehouse, different platform and transports cargo, and board is goods
The supporting platform of object, the AGV trolley is by taking or placing goods onto board away from board by cargo with specific route
On, the automatic transporting of Lai Shixian cargo.Therefore, it can precisely be aligned between shelf and board in the AGV trolley, it can direct shadow
Ring whether transfer of the cargo between the AGV trolley and board can smoothly complete, if shelf are deviated with board contraposition,
May cause cargo can not be successfully transfer, even has the risk for falling damage.To prevent the above problem from occurring, the present embodiment is special
It is provided with slanting board guide plate on board, telescopic rod is specially provided on shelf, it is real by the cooperating of the two
Accurate contraposition between existing board and shelf.
Specifically, referring to Figure 2 together to Fig. 7, which further includes the telescopic rod 6 being located on 2 length direction of shelf
And the telescoping drive mechanism 43 connecting with telescopic rod 6, the telescoping drive mechanism 43 and electric cabinet 4 are electrically connected and pass through electricity
The control work start and stop of case 4 are controlled, which is brake motor.Wherein, the telescopic direction direction of telescopic rod 6 is set
There is the direction of board, which includes that pars contractilis 61 and the internal fixed part 62 with cavity, pars contractilis 61 are scalable
Be accommodated in the cavity of fixed part 62, pars contractilis 61 telescoping drive mechanism 43 driving lower edge be equipped with board direction (Fig. 6
In up and down direction) relative to 62 stretching motion of fixed part so that the telescopic rod 6 is docked with board.Wherein, (figure is not for board
Show) on be installed with the left guide plate 63 and right guide plate 64 that structure is identical, contrary, any board guide plate is oblique to be set
It sets, left guide plate 63 and the composition of right guide plate 64 guide groove that Open Side Down expands, the open upper end (receipts being open of guide groove
At mouthful) it is the accurate location that shelf 2 need to align with board.
Specifically, shelf 2 and board alignment method the following steps are included:
Pars contractilis 61 in telescopic rod 6 stretches out under the driving of telescoping drive mechanism 43 relative to fixed part 62, and stretches out
Direction is towards the direction of board；Elevating mechanism 3 driven under the driving of lift drive mechanism 42 shelf 2 and telescopic rod 6 relative to
Car body ontology 1 rise, until the pars contractilis 61 of telescopic rod 6 on board left guide plate 63 or right guide plate 64 be in contact (at this point,
To align preceding state, as shown in a in Fig. 7)；Elevating mechanism 3 continues to rise, and the board guide plate being in contact with pars contractilis 61 is logical
The inclined-plane for crossing itself guides pars contractilis 61 mobile to the open upper end of guide groove, and shelf 2 is made to be moved to the specified contraposition with board
Place's (at this point, for state after contraposition, as shown in b in Fig. 7).
In the present embodiment, after pars contractilis, which rises to, to be contacted with board guide plate, since board guide plate is inclined
Plane, therefore during pars contractilis continuation rises with elevating mechanism, angularly disposed will necessarily guide of board guide plate is stretched
Contracting portion is continued to move up along the inclined-plane of board guide plate, until at specified contraposition, i.e., at the open upper end of guide groove.When
After shelf and board precisely aligns, can by board with roller while rotate, realization cargo is between board and placement surface
Transmitting.
In addition, since telescopic rod is to carry out movement relative to any board guide plate under external force, and telescopic rod
Movement will drive the adjustment of displacement of shelf in the horizontal direction again, therefore the drive of this external force may result in shelf rapidly
Horizontal displacement occurs for ground, and can not more smoothly move horizontally.To solve this problem, optimize the adjustment of displacement mode of shelf,
So that shelf is adjusted horizontal displacement more stablely, improve stability in use and the service life of the entire AGV trolley, the present embodiment can be with
Equipped with Buffer Unit, for buffer between adjustment board and shelf to Bit Shift.
Specifically, Fig. 1 to Fig. 8 is please referred to, the identical Buffer Unit of two groups of structures, any group of buffering are equipped in chassis 71
Component includes fixed block 81, elastic portion 82, sliding shoe 83 and connecting rod 84.Wherein, the approximately fixed company of being sheathed on of fixed block 81
The middle part of extension bar 84, elastic portion 82 are the spring with amount of elastic deformation, 82 sets of elastic portion in connecting rod 84, and one end is affixed
It is fixed in sliding shoe 83 in fixed block 81, the other end, sliding shoe 83 is against on the inner wall on chassis 71, and sliding shoe 83 can be relative to even
Extension bar 84 slides.When shelf 2 are by external force, drive the compression of elastic portion 82 in one group of Buffer Unit, drives another group of buffering
Elastic portion 82 in component stretches.
By the setting of above-mentioned Buffer Unit, can reduce when shelf have the trend being subjected to displacement relative to chassis,
Avoid generation shelf that chassis is driven to be subjected to displacement with respect to connecting rod and lead to unexpected shock and the vibration between chassis and connecting rod
Situations such as, Buffer Unit provides cushion effect when horizontal direction relative motion occurs for shelf, makes water of the shelf relative to chassis
Translation is dynamic relatively steady but is unlikely to influence moving horizontally for shelf, makes the horizontal displacement adjustment mode of shelf on the whole more
Add and stablizes, conducive to the product stability for improving the AGV trolley.
In addition, the AGV trolley in the present embodiment further respectively has car body pulley 14 and differential driving on car body ontology 1
Device 15 (as shown in Figure 2), car body pulley 14 is for making car body ontology 1 advance, and differential drive device 15 is for realizing car body sheet
The turning of body 1.Wherein, differential drive device uses differential drive device in the prior art, such as Chinese patent
Differential drive device in CN201410112544.7, details are not described herein.
In addition, in the present embodiment, since rotary drive mechanism 41, lift drive mechanism is electrically connected in electric cabinet 4
42, drum drive and telescoping drive mechanism 43, therefore above-mentioned driving mechanism can be connected with corresponding cabling, for effectively traction and
These cablings are protected, therefore are equipped with drag chain along the short transverse of elevating mechanism 3, the cabling of above-mentioned driving mechanism is built in drag chain
In, and it is equipped with drag chain backplate in the two sides of drag chain, to guide and protect drag chain, drag chain backplate is installed in the outer wall of shelf framework 21
On.
Embodiment three
The present embodiment provides a kind of AGV trolleies with shelf rotation function, are used for according to specified travelling route in board
The automatic clamping and placing of cargo is realized between warehouse.In the present embodiment, which is substantially in cuboid, the length of the AGV trolley
Degree direction is consistent with the direction of travel of the AGV trolley, the direction of the width direction of the AGV trolley and AGV trolley pick-and-place cargo
Unanimously.As shown in Fig. 8 to Figure 11, which includes car body ontology 1, shelf 2, rotating mechanism 7, elevating mechanism 3, electric cabinet
4 and power mechanism 5, and wherein power mechanism 5 is the power supply with charging/discharging function.
Specifically, the substantially concave-shaped structure of car body ontology 1 comprising pedestal 11, it is upward from 11 both ends of pedestal respectively
The mounting portion 12 extended to form, mounting portion 12 are particularly located on car body ontology 1 along the head and the tail both ends of the AGV trolley direction of travel
(i.e. left and right ends in Figure 10).Pedestal 11 and mounting portion 12 collectively constitute the second accommodating space 10, shelf 2, rotating mechanism 7
And elevating mechanism 3 is all set in second accommodating space 10, power mechanism 5 and electric cabinet 4 are then installed on mounting portion 12, are moved
Force mechanisms 5 and electric cabinet 4 are electrically connected, and provide electric power for electric cabinet 4, electric cabinet 4 is then for controlling AGV trolley work.
Wherein, since shelf 2 can rotate, so, have between shelf 2 and power mechanism 5, electric cabinet 4 and pedestal 11
Certain spacing is rotated with providing enough spaces for shelf 2.
Further, 9 to Figure 12 are please referred to, which further includes the rotary drive mechanism being electrically connected with electric cabinet 4
41, and electric cabinet 4 controls the work start and stop of the rotary drive mechanism 41.The rotary drive mechanism 41 is motor, for driving rotation
Rotation mechanism 7 rotates shelf 2.
Specifically, which is set between pedestal 11 and shelf 2.The rotating mechanism 7 includes chassis 71, the first tooth
Wheel 72 and the first transmission belt 73, the chassis 71 are connect with elevating mechanism 3, and first gear 72 is rotatably connected with chassis 71, and
The first gear 72 is fixed in the bottom of shelf 2, and one end of first transmission belt 73 is engaged with first gear 72, the first transmission belt
73 other end is connect with rotary drive mechanism 41, which drives the under the driving of rotary drive mechanism 41
One gear 72 is rotated relative to chassis 71, rotates shelf 2 relative to chassis 71.
Wherein, which can be synchronous belt or chain；Shelf 2 with respect to chassis 71 rotational angle be 0~
90 °, shelf 2 need to be determined with respect to the rotational angle on chassis 71 according to current shelf 2 position mutual with board.Specifically,
The angle that rotary drive mechanism 41 can control shelf 2 to rotate relative to chassis 71, when shelf 2 turn to its width direction (i.e. Figure 11
In front-rear direction) it is opposite with board when, rotary drive mechanism 41 i.e. control shelf 2 stop operating.
Further, rotary drive mechanism 41 is fixed in the outside on chassis 71 by motor rack, that is, rotary drive mechanism 41
In space between shelf 2 and electric cabinet 4, which can efficiently use the space of the AGV trolley, so that should
AGV trolley overall structure is more compact.Specifically, it is connected on the output shaft of rotary drive mechanism 41 transmission gear (not shown),
One end of first transmission belt 73 is engaged with first gear 72, and the other end of the first transmission belt 73 is engaged with transmission gear.Work as rotation
When driving mechanism 41 starts, the output shaft band nutating gear of rotary drive mechanism 41 is rotated, and the first transmission belt 73 is in driving cog
Under the transmission of wheel, first gear 72 is driven to rotate, so that first gear 72 drives shelf 2 to rotate.Preferably, transmission gear
It is generally aligned in the same plane with first gear 72, is conducive to the transmission between transmission gear, the first transmission belt 73 and first gear 72.
Using above-mentioned design, pass through the position of rotary drive mechanism 41, transmission gear, the first transmission belt 73 and first gear 72
Cooperation is set, so that rotating mechanism 7 occupies lesser equipment overall space, equipment overall structure is more compact.
Further, single gear or double gear can be used in transmission gear and first gear 72, and according to transmission
The type of gear and first gear 72, the first transmission belt 73 is corresponding to select single strand chain or double strand chain.Preferably, driving cog
Wheel and first gear 72 are all made of double gear, then the first transmission belt 73 uses double strand chain.
For the ease of first gear 72 relative to the rotation on chassis 71, which further includes first bearing 74 and the second axis
Hold 75, first bearing 74 is fixedly arranged on chassis 71 towards in the one side of shelf 2, and second bearing 75 is coaxially set in first bearing 74
Outside, the coaxial fixed outside for being set in second bearing 75 of first gear 72, so that the rotation of first gear 72 drives the
Two bearings 75 are rotated relative to first bearing 74.By the way that bearing is arranged between first gear 72 and chassis 71, reduced using bearing
The friction that first gear 72 occurs relative to the rotation of chassis 71, so that first gear 72 is more smooth relative to the rotation of chassis 71.
In order to further be convenient for first gear 72 relative to the rotation on chassis 71, the end face of first bearing 74 towards shelf 2 is
First end face, second bearing 75 are second end face towards the end face of shelf 2, and first bearing 74 touches shelf 2 in order to prevent
Bottom, first end face are lower than second end face, i.e. the bottom of first end face and shelf 2 has spacing.
The rotary course of shelf 2 are as follows: when AGV trolley travelling to board region, transmission gear is in rotary drive mechanism 41
Driving under, the rotation of the first transmission belt 73 is driven, so that the first transmission belt 73 drives first gear 72 to rotate, due to the
One gear, 72 coaxial sleeve is set to the outside of second bearing 75, and first gear 72 and shelf 2 are affixed, so, first gear 72
Rotation is able to drive second bearing 75 and shelf 2 are rotated relative to chassis 71 simultaneously, and shelf 2 turn to its width direction at this time
One, facing towards board, is sent on shelf 2 convenient for cargo 20 longer and narrower on board from board.In the present embodiment, shelf can
The function of rotation can be adapted to the specification requirement of various cargos, be particularly suitable for more long and narrow cargo, make such goods
Object can transport after being sent on shelf convenient for AGV trolley.For example, when AGV trolley travelling to board region, AGV trolley
Length direction one facing towards board, at this point, the one side of the length direction of shelf 2 is also towards board.When to be transmitted on board
To shelf 2 cargo it is longer and narrower when, if directly cargo 20 is transmitted from the one side of the length direction of shelf 2 (i.e. from
Direction A is transmitted in Fig. 3), then cause after cargo 20 is sent on shelf 2,20 part of cargo will expose to AGV trolley
Outside, be easy to cause cargo 20 to be damaged during transportation, therefore, shelf 2 need to be rotated to its width direction towards machine
Platform enables cargo 20 to be sent on shelf 2 that (direction B is sent to goods i.e. from Fig. 3 on one side from the width direction of shelf 2
On frame 2) so that longer and narrower cargo 20 can be adapted to shelf 2, it is completely disposed in shelf 2 so that cargo 20 is whole, just
Lead to damage or fall from shelf 2 in protecting cargo 20 not collide during transportation.
Further, Figure 11 and Figure 12 is please referred to, shelf 2 are set on car body ontology 1, and shelf 2 include 21 He of shelf framework
If the dry drum 22 in shelf framework 21.Wherein, shelf framework 21 has two piece of first shelf deckle board 211 and two piece second
Shelf deckle board 212 forms, on the two sides for the length direction that two piece of first shelf deckle board 211 is respectively positioned on shelf framework 21, two pieces
On the two sides for the width direction that second shelf deckle board 212 is respectively positioned on shelf framework 21.The shelf framework 21 is equipped with rolling in the same direction
If dynamic and spaced dry drum 22, the both ends of each roller 22 are respectively arranged between two piece of first shelf deckle board 211, four
Block shelf deckle board and each roller 22 are enclosed first accommodating space (not indicating), and the rolling surface of each roller 22 is formed
Placement surface (does not indicate), which can be used for accommodating cargo 20, which can be used for arrangement of goods 20.The trolley
It further include the drum drive (not shown) being electrically connected with electric cabinet 4, and electric cabinet 4 controls the work of drum drive
Start and stop；Drum drive is brake motor, and drum drive is electrically connected with the shaft of each roller 22, for driving each rolling
The shaft of cylinder 22 rotates simultaneously, so that the shaft of each roller 22 drives roller 22 to rotate simultaneously.Drum drive is set to goods
The outside of frame framework 21, and it is lower than the height and position of roller 22.In addition, the present embodiment is the double-deck shelf 2, each layer of roller 22 is all
It is driven by individual drum drive；Drum drive is either-rotation motor, therefore the convertible rotation direction of roller 22, with suitable
The requirement for answering cargo 20 to pick and place in different directions.
Further, the top of the first shelf deckle board 211 is higher than the placement surface of shelf framework 21, is conducive at this with goods
During the AGV trolley of frame rotation function transports cargo 20, cargo 20 is effectively prevent to fall from shelf 2.Along shelf framework
On 21 length direction, the placement surface two sides of shelf framework 21 are respectively equipped with cargo guide plate 23, and cargo guide plate 23 is close to
One end of one shelf deckle board 211 and the first shelf deckle board 211 are clamped, and are conducive to cargo 20 and are played guiding when moving on placement surface
Effect.The cargo guide plate 23 is stripe board, and both ends are equipped with oblique angle, carries out picking or goods putting from shelf 2 convenient for cargo 20.
In the present embodiment, the course of work of shelf 2 are as follows:
The operation of shelf 2 to after board region, rotation with board accurate contraposition；Under the driving of drum drive, drive
Roller 22 rotates；Board is also rotated by specific driving mechanism, and cargo 20 passes between the shelf 2 and board of rotation
It send.
In the present embodiment, which is used for the transfer between warehouse, different platform and transports cargo, and board is goods
The supporting platform of object, the AGV trolley is by taking or placing goods onto board away from board by cargo with specific route
On, the automatic transporting of Lai Shixian cargo.Therefore, it can precisely be aligned between shelf and board in the AGV trolley, it can direct shadow
Ring whether transfer of the cargo between the AGV trolley and board can smoothly complete, if shelf are deviated with board contraposition,
May cause cargo can not be successfully transfer, even has the risk for falling damage.To prevent the above problem from occurring, the present embodiment is special
It is provided with slanting board guide plate on board, telescopic rod is specially provided on shelf, it is real by the cooperating of the two
Accurate contraposition between existing board and shelf.
Specifically, also referring to Figure 11 to Figure 14, which further includes being located at stretching on 2 length direction of shelf
Bar 6 and the telescoping drive mechanism 43 connecting with telescopic rod 6, the telescoping drive mechanism 43 are electrically connected and lead to electric cabinet 4
The control work start and stop of electric cabinet 4 are crossed, which is brake motor.Wherein, the telescopic direction court of telescopic rod 6
To the direction for being equipped with board, which includes pars contractilis 61 and the internal fixed part 62 with cavity, and pars contractilis 61 can
Flexible is accommodated in the cavity of fixed part 62, and pars contractilis 61 is equipped with the direction of board in the driving lower edge of telescoping drive mechanism 43
(up and down direction in Figure 12) is relative to 62 stretching motion of fixed part, so that the telescopic rod 6 is docked with board.Wherein, board
The left guide plate 63 and right guide plate 64 that structure is identical, contrary are installed in (not shown), any board guide plate is oblique
To setting, left guide plate 63 and the composition of right guide plate 64 guide groove that Open Side Down expands, the open upper end of guide groove (are opened
At the closing in of mouth) it is the accurate location that shelf 2 need to align with board.
Specifically, shelf 2 and board alignment method the following steps are included:
Pars contractilis 61 in telescopic rod 6 stretches out under the driving of telescoping drive mechanism 43 relative to fixed part 62, and stretches out
Direction is towards the direction of board；Elevating mechanism 3 driven under the driving of lift drive mechanism 42 shelf 2 and telescopic rod 6 relative to
Car body ontology 1 rise, until the pars contractilis 61 of telescopic rod 6 on board left guide plate 63 or right guide plate 64 be in contact (at this point,
To align preceding state, as shown in a in Figure 14)；Elevating mechanism 3 continues to rise, and the board guide plate being in contact with pars contractilis 61 is logical
The inclined-plane for crossing itself guides pars contractilis 61 mobile to the open upper end of guide groove, and shelf 2 is made to be moved to the specified contraposition with board
Place's (at this point, for state after contraposition, as shown in b in Figure 14).
In the present embodiment, after pars contractilis, which rises to, to be contacted with board guide plate, since board guide plate is inclined
Plane, therefore during pars contractilis continuation rises with elevating mechanism, angularly disposed will necessarily guide of board guide plate is stretched
Contracting portion is continued to move up along the inclined-plane of board guide plate, until at specified contraposition, i.e., at the open upper end of guide groove.When
After shelf and board precisely aligns, can by board with roller while rotate, realization cargo is between board and placement surface
Transmitting.
In addition, since telescopic rod is to carry out movement relative to any board guide plate under external force, and telescopic rod
Movement will drive the adjustment of displacement of shelf in the horizontal direction again, therefore the drive of this external force may result in shelf rapidly
Horizontal displacement occurs for ground, and can not more smoothly move horizontally.To solve this problem, optimize the adjustment of displacement mode of shelf,
So that shelf is adjusted horizontal displacement more stablely, improve stability in use and the service life of the entire AGV trolley, the present embodiment can be with
Equipped with Buffer Unit, for buffer between adjustment board and shelf to Bit Shift.
Specifically, Fig. 9 to Figure 15 is please referred to, the identical Buffer Unit of two groups of structures is equipped in chassis 71, any group slow
Rushing component includes fixed block 81, elastic portion 82 and sliding shoe 83 and connecting rod 84.Wherein, fixed block 81 is approximately fixed is sheathed on
The middle part of connecting rod 84, elastic portion 82 are the spring with amount of elastic deformation, 82 sets of elastic portion in connecting rod 84, and one end is solid
Be connected to fixed block 81, the other end is fixed in sliding shoe 83, sliding shoe 83 is against on the inner wall on chassis 71, and sliding shoe 83 can be relative to
Connecting rod 84 is slided.When shelf 2 are by external force, drive the compression of elastic portion 82 in one group of Buffer Unit, drives another group to delay
The elastic portion 82 rushed in component stretches.
By the setting of above-mentioned Buffer Unit, can reduce when shelf have the trend being subjected to displacement relative to chassis,
Avoid generation shelf that chassis is driven to be subjected to displacement with respect to connecting rod and lead to unexpected shock and the vibration between chassis and connecting rod
Situations such as, Buffer Unit provides cushion effect when horizontal direction relative motion occurs for shelf, makes water of the shelf relative to chassis
Translation is dynamic relatively steady but is unlikely to influence moving horizontally for shelf, makes the horizontal displacement adjustment mode of shelf on the whole more
Add and stablizes, conducive to the product stability for improving the AGV trolley.
In addition, the AGV trolley in the present embodiment further respectively has car body pulley 14 on car body ontology 1 and differential drives
Dynamic device 15 (as shown in Figure 10), car body pulley 14 is for making car body ontology 1 advance, and differential drive device 15 is for realizing car body
The turning of ontology 1.Wherein, differential drive device uses differential drive device in the prior art, such as Chinese patent
Differential drive device in CN201410112544.7, details are not described herein.
In addition, in the present embodiment, since rotary drive mechanism 41, lift drive mechanism is electrically connected in electric cabinet 4
42, drum drive and telescoping drive mechanism 43, therefore above-mentioned driving mechanism can be connected with corresponding cabling, for effectively traction and
These cablings are protected, therefore are equipped with drag chain along the short transverse of elevating mechanism 3, the cabling of above-mentioned driving mechanism is built in drag chain
In, and it is equipped with drag chain backplate in the two sides of drag chain, to guide and protect drag chain, drag chain backplate is installed in the outer wall of shelf framework 21
On.
Example IV
The present embodiment provides a kind of AGV trolley, the difference of the present embodiment and embodiment two is only that the rotating mechanism not
Including chassis, first gear, the first transmission belt, first bearing and second bearing.Specifically, the rotating mechanism packet in the present embodiment
Include the top plate affixed with shelf, rotary drive mechanism is fixedly arranged on support plate in the one side of shelf, rotary drive mechanism it is defeated
Shaft is affixed with top plate, and when rotary drive mechanism starting, the output shaft of rotary drive mechanism drives top panel turns, to drive
Shelf rotation.
Embodiment five
The present embodiment provides a kind of AGV trolley with shelf rotation function, the difference of the present embodiment and embodiment two is only
Being elevating mechanism not includes screw lift and lifting and driving component, and rotary drive mechanism is hydraulic drive mechanism.Specifically
Ground, as shown in figure 16, the elevating mechanism 3 in the present embodiment include the support plate 31 of rectangle, are installed in 31 lower section of support plate respectively
Two blocks of side plates 32 and four jacking portions 35.Wherein, support plate 31 includes set on the support plate body 311 of surrounding and set on support
Backplate 312 among plate main body 311, support plate body 311 are used as stress main body, play the role of support construction, reinforce stress,
Backplate 312 is transparent PC plate, can be used as the watch window of shelf 2, the description of the goods in shelf not only can be observed but also can be effective
Prevent cargo from falling ash.Wherein, side plate 32 is located at the opposite sides of support plate 31, is specifically located at support plate 31 or so two
The edge (i.e. the left and right sides of support plate in Figure 16) of side short side, rotary drive mechanism 42 are located therein the outer of side plate 32
Side.Portal frame is enclosed after support plate 31 and two blocks of side plates 32 in the present embodiment are affixed jointly, shelf 2 are set to the portal frame
It is interior, it is achieved in the rationalization of integrally-built densification, space utilization.Wherein, four jacking portions 35 are respectively arranged on side plate 32
Quadrangle, and jacking portion 35 is located at the outside of side plate 32, is equipped with telescopic (not shown), jacking portion 35 in the mounting portion of car body ontology
Telescopically it is accommodated in telescopic.Hydraulic drive mechanism connect with jacking portion and jacking portion is driven to go up and down relative to telescopic,
To realize elevating movement of the elevating mechanism 3 relative to car body ontology.
Embodiment six
The present embodiment provides a kind of AGV trolleies with shelf rotation function, only exist with the difference of embodiment two
It is different in the structure for transmitting cargo on shelf, cargo is not transmitted in a manner of roller in the present embodiment, but in a manner of belt
Transmission.Specifically, the transmission that the structure of cargo is made of belt, driving wheel and driven wheel is transmitted in the present embodiment on shelf
Band, driving wheel are connect with the shaft being located on shelf, and under the driving of third driving mechanism, shaft drives driving wheel rotation, main
Driving wheel drives belt and driven wheel rotation, is achieved in the pick-and-place function of cargo on belt.
Embodiment seven
The present embodiment provides a kind of AGV trolleies with shelf rotation function, with embodiment two the difference is that:
Figure 17 is please referred to, is additionally provided with backgauge component on the first shelf deckle board of the AGV trolley with shelf rotation function of the present embodiment
9 comprising: striker plate 91 on the inside of the first shelf deckle board and the backgauge transmission component 92 being connect with striker plate 91, and
It is additionally provided with nylon filler strip 93 between striker plate 91 and shelf framework, striker plate 91 and shelf can be effectively reduced by nylon filler strip 93
Friction, reduces abrasion between the two, extends the service life of product caused by framework relative motion.
The AGV trolley further includes the backgauge driving mechanism 44 being electrically connected with electric cabinet 4 and is kept off by the control of electric cabinet 4
Expect the work start and stop of driving mechanism 44, which is decelerating motor；Backgauge driving mechanism 44 is also driven with backgauge
Component 92 connects, for driving striker plate 91 to go up and down relative to shelf framework.
The specific structure of backgauge transmission component 92 includes: mounting base 921, directive wheel 922, yielding coupling 923, rotation axis
924, steel wire 925 and tension part 926, backgauge driving mechanism 44 and directive wheel 922 are independently mounted in mounting base 921,
And mounting base 921 is fixed on the lower section of striker plate 91,923 both ends of yielding coupling are separately connected backgauge driving mechanism 44 and rotation
One end of axis 924, the other end of rotation axis 924 connect directive wheel 922, and one end of steel wire 925 is connected to tension part 926
On one end, the other end of steel wire 925 be connected on directive wheel 922, the other end of tension part 926 is fixed on striker plate 91.
Tension part 926 in the present embodiment is tension spring.
In the present embodiment, the course of work of backgauge component 9 are as follows:
The AGV trolley travelling to designated position stops, preparing transmission cargo；Yielding coupling 923 is in backgauge driving mechanism
44 be rotated by and drive rotation axis 924 rotate, rotation axis 924 drive again directive wheel 922 by steel wire 925 tighten wind；
Tightening of the steel wire 925 on directive wheel pulls striker plate 91 to drop to and closes with shelf frame weight, and tension part 926 is at this time
Tensional state, blocking of the cargo without striker plate 91；Cargo is transmitted by roller between shelf and board；After the completion of transmission, guiding
Wheel discharges steel wire 925 under the driving of backgauge driving mechanism 44；Steel wire 925 pulls backgauge under the action of tension part 926
Plate 91 is back to original position, blocks the cargo on placement surface, guarantees that it will not fall；The AGV trolley starts to advance.
Embodiment eight
The present embodiment provides a kind of AGV trolleies with shelf rotation function, with embodiment two the difference is that:
The AGV trolley with shelf rotation function of the present embodiment also passes through setting multiple sensors, using between multiple sensors
Collective effect realizes the AGV trolley in the accurate parking positioning in specified region, designated position.
Specifically, in the present embodiment, which further includes central processing unit, RFID reader, magnetic navigation sensor
With reflector sensor.
Wherein, RFID reader is set to the bottom of car body ontology, for acquiring the RFID information in specified region, judgement
Whether the AGV trolley with shelf rotation function reaches specified region；Magnetic navigation sensor is set to the head and the tail both ends of car body ontology,
For acquiring the magnetic strip information in specified region, the AGV trolley present position is judged；Reflector sensor is set to car body ontology
Side, the light beam reflected for acquiring reflective tube in specified region judges the AGV trolley present position.Pass through above-mentioned RFID
Reader, magnetic navigation sensor and reflector sensor carry out information collection, again after central processor comprehensive is handled, final essence
Really judge whether the AGV trolley accurately reaches designated position.
In addition, the AGV trolley with shelf rotation function of the present embodiment further include safe touch side, obstacle sensor and
Opposite type sensor.Wherein, safe touch side be set to car body ontology two ends side on, for prevent the edge of the AGV trolley because
Mobile or collision is damaged；Obstacle sensor is set to the top of safe touch side, for judging the barrier in travelling route
Situation；Opposite type sensor is set to the diagonal position in shelf, for detecting in shelf with the presence or absence of cargo.
Embodiment nine
The present embodiment provides a kind of AGV trolley with shelf rotation function, the difference of the present embodiment and embodiment two is only
It is, the shelf in the present embodiment are multi-layered storage rack, include three layers of roller specifically in shelf.In fact, in the utility model
In, four layers, five layers or more shelf can also be set, and the quantity of specific shelf can be true according to the demand of practical warehouse logistics
It is fixed.
Claims (10)
1. a kind of AGV trolley with shelf rotation function, which is characterized in that the AGV trolley includes:
Car body ontology；
Shelf are set in the car body ontology；
Rotating mechanism is connect with the shelf；
Wherein, the rotating mechanism includes chassis, first gear and the first transmission belt, and the chassis is set to the car body ontology
Top, the first gear is rotatably connected with the chassis；The first gear is also affixed with the shelf, and described first
It is engaged with the first gear one end of transmission belt；
The AGV trolley further includes rotary drive mechanism, and the other end of the rotary drive mechanism and first transmission belt connects
It connects, first transmission belt under the driving of the rotary drive mechanism for driving the first gear rotation and then driving
The shelf are rotated relative to the chassis.
2. AGV trolley according to claim 1, which is characterized in that the rotating mechanism further includes first bearing and second
Bearing, the first bearing are fixedly arranged on the chassis towards in the one side of the shelf, and the second bearing is coaxially set in institute
The outside of first bearing is stated, the first gear coaxially fixes the outside for being set in the second bearing；The first gear turns
It is dynamic that the second bearing is driven to rotate relative to the first bearing.
3. AGV trolley according to claim 2, which is characterized in that the end face of the first bearing towards the shelf is
First end face, the second bearing are second end face towards the end face of the shelf, and the first end face is lower than the second end
Face.
4. AGV trolley according to claim 1-3, which is characterized in that the relatively described chassis of the shelf turns
Dynamic angle is 0~90 °.
5. AGV trolley according to claim 1, which is characterized in that the shelf include shelf framework and are set to described
If the dry drum in shelf framework, each roller is all provided with rolling in the same direction, interval setting, and the AGV trolley further includes that roller drives
Motivation structure, the drum drive are electrically connected with the shaft of each roller, and the drum drive is each for driving
The shaft of the roller rotates simultaneously, so that the shaft of each roller drives the roller rotation.
6. AGV trolley according to claim 5, which is characterized in that the shelf framework includes the first goods being oppositely arranged
Frame deckle board and the second shelf deckle board being oppositely arranged, and the first shelf deckle board encloses jointly with the second shelf deckle board
The first accommodating space is formed, each roller is set in first accommodating space, and the rolling surface of each roller forms glove
Face.
7. AGV trolley according to claim 1, which is characterized in that the shelf are equipped with telescopic rod and telescoping drive mechanism,
The telescopic rod includes pars contractilis and the internal fixed part with cavity, and the pars contractilis is telescopic to be accommodated in the fixation
In the cavity in portion, the telescoping drive mechanism is for driving the pars contractilis to stretch along length direction relative to the fixed part
Contracting movement, so that the pars contractilis extend out to and docks with board.
8. AGV trolley according to claim 1, which is characterized in that the AGV trolley further include elevating mechanism and with it is described
The lift drive mechanism that elevating mechanism is connected, the elevating mechanism are set to the outside of the shelf, and the elevating mechanism includes
Side plate and the screw lift affixed with the side plate, the side plate are connect with the chassis, and the screw lift includes
Along the screw rod of the short transverse extension of the car body ontology, screw, the screw and the silk are installed on the car body ontology
Bar is threadedly coupled, and the screw rod is under the driving of the lift drive mechanism, relative to the screw along the car body ontology
Short transverse lifting.
9. AGV trolley according to claim 8, which is characterized in that the AGV trolley further includes Buffer Unit, described slow
Rushing component includes connecting rod and elastic portion, and the both ends of the connecting rod extend through the chassis and are fixed in two sides
Plate, one end of the elastic portion are fixed in the connecting rod, and the other end of the elastic portion is connected to the inner wall on the chassis
On face.
10. AGV trolley according to claim 1, which is characterized in that the AGV trolley is additionally provided with RFID reader, described
RFID reader is set to the bottom of the car body ontology, for scanning the RFID on ground, judging whether the AGV trolley is located at finger
Determine region；The AGV trolley is additionally provided with reflector sensor, and the reflector sensor is set to the side of the car body ontology,
Position is opposite with the reflective tube in travelling route, for positioning the current location of the AGV trolley；The AGV trolley is additionally provided with
Magnetic navigation sensor, the magnetic navigation sensor are set to the car body ontology along the head and the tail both ends of direction of travel, for determining
State the current location of AGV trolley.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110294249A (en) * | 2019-06-26 | 2019-10-01 | 焦雨洁 | A kind of products storage circulation system |
| CN111392360A (en) * | 2020-04-02 | 2020-07-10 | 东莞科耀机电设备有限公司 | Intelligent production system for drilling PCB (printed circuit board) and control method thereof |
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2018
- 2018-06-05 CN CN201820866051.6U patent/CN208631366U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110294249A (en) * | 2019-06-26 | 2019-10-01 | 焦雨洁 | A kind of products storage circulation system |
| CN110294249B (en) * | 2019-06-26 | 2022-02-25 | 焦雨洁 | Warehouse logistics system |
| CN111392360A (en) * | 2020-04-02 | 2020-07-10 | 东莞科耀机电设备有限公司 | Intelligent production system for drilling PCB (printed circuit board) and control method thereof |
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