CN209008734U - A kind of shelf being mutually butted and AGV trolley and docking mechanism for the two docking - Google Patents
A kind of shelf being mutually butted and AGV trolley and docking mechanism for the two docking Download PDFInfo
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- CN209008734U CN209008734U CN201820746516.4U CN201820746516U CN209008734U CN 209008734 U CN209008734 U CN 209008734U CN 201820746516 U CN201820746516 U CN 201820746516U CN 209008734 U CN209008734 U CN 209008734U
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Abstract
The utility model relates to material transportation field, a kind of shelf being mutually butted and AGV trolley and the docking mechanism for the two docking are disclosed.Docking mechanism provided by the utility model is suitable for docking in AGV trolley and shelf, including hitch structure, traction jacking part, lifting structures and lifting jacking part；Hitch structure is used for traction transport of the AGV trolley to shelf, and lifting structures carry the lifting of shelf for AGV trolley；Hitch structure includes traction piece and the Coupling with traction piece cooperation, and traction piece can be relatively moved and be socketed with Coupling；Traction jacking part is connect with traction piece or Coupling；Lifting structures include interfacing part, and lifting jacking part and interfacing part can relatively move and jack up interfacing part；Traction jacking part is selectively connect with lifting jacking part；Traction jacking part or lifting jacking part are connect with AGV trolley.Docking mechanism provided by the utility model can allow AGV trolley towed can carry and lift backpack carrying by the way that hitch structure and lifting structures to be combined together.
Description
Technical field
The present invention relates to material transportation technical fields, more particularly to a kind of shelf being mutually butted and AGV trolley and use
In the docking mechanism of the two docking.
Background technique
Currently, the mode of mobile robot AGV transported material mainly has backpack, towed, submersible, lifting backpack
Corresponding means of transportation is used Deng, different environment.Wherein, towed carrying refers to that shelf leg does not leave ground, and shelf are with AGV
Movement and move；Lifting backpack, which carries, refers to that shelf leg leaves ground, and shelf are moved with the movement of AGV.Such as it stores in a warehouse
Industry is limited to the factors such as shelf, place, and mobile robot transported material is mostly using lifting backpack；Automatic factory is in order to full
Foot is flexible and changeable, and means of transportation is mainly using submersible.In the prior art, the mode of transport of the AGV trolley provided is mostly
It is only applicable in the occasion of single mode of transport, such as a kind of 07 month 2017 storage center of Chinese patent 107450533A disclosed in No. 06
Intelligence carries AGV trolley, including basic machine and control box, and basic machine includes upper body and lower body, this kind of AGV trolley is only
It is able to achieve towed carrying, other mode of transport are then not suitable for；For another example Chinese patent disclosed on December 31st, 2015
A kind of heavily loaded lifting type AGV trolley of 105467998A, including universal caster wheel, universal caster wheel are mounted on bottom of frame support vehicle frame；
Elevator is mounted in vehicle frame, and workbench is mounted on elevator, this kind of AGV trolley is only able to achieve lifting backpack and carries,
Other mode of transport are then not suitable for.
Since robotic conveyance mode is different, if an enterprise uses under different scenes, need to buy not of the same race
The AGV of class is to meet requirement, and AGV can not be replaced between several modes, greatly wastes existing resource.
Summary of the invention
For overcome the deficiencies in the prior art, one of the objects of the present invention is to provide a kind of docking mechanism, the docking machines
The carrying that structure is suitable for AGV trolley can allow AGV trolley that can draw by the way that hitch structure and lifting structures to be combined together
Formula is carried, and can lift backpack carrying.
The second object of the present invention is to provide a kind of AGV trolley, which includes docking mechanism, docking structure packet
Hitch structure and lifting structures are included, by the way that hitch structure and lifting structures to be combined together, AGV trolley can be allowed towed
It carries, and backpack carrying can be lifted.
The third object of the present invention is to provide a kind of shelf docked with AGV trolley, which includes docking mechanism, right
Binding structure includes hitch structure and lifting structures, by the way that hitch structure and lifting structures are combined together, can allow AGV trolley both
The towed carrying of energy, and backpack carrying can be lifted.
An object of the present invention adopts the following technical scheme that realization: a kind of docking machine for AGV trolley Transport cargo rack
Structure is suitable for docking in AGV trolley and shelf, including hitch structure, traction jacking part, lifting structures, lifting jacking part and top
Rise mechanism；The lifting body is set on AGV trolley, for jacking the traction jacking part or lifting jacking part；It is described
Hitch structure is used for traction transport of the AGV trolley to shelf, and the lifting structures carry the lifting of shelf for AGV trolley；
The hitch structure includes traction piece and the Coupling with traction piece cooperation, the traction piece and the socket
Part is arranged in pairs between the traction jacking part and shelf, and the traction piece can be relatively moved and be socketed with the Coupling；
The lifting jacking part can be mobile relative to the lifting structures and jacks up the lifting structures；
The traction jacking part is selectively connected with lifting jacking part.
Further, the traction piece is trussed shore, and the Coupling is traction sleeve；The traction jacking part is traction
Raising plate；The lifting jacking part is lifting raising plate, and the docking structure is docking crossbeam.
Further, the traction piece is trussed shore, and the Coupling is traction sleeve, and the traction jacking part is traction
Raising plate；The lifting jacking part includes lifting raising plate and docking crossbeam with what the lifting raising plate was fixedly connected.
Further, the traction raising plate is connect with lifting body, and the horizontal depth of beam of docking is greater than or equal to institute
State the height of trussed shore.
Further, the lifting raising plate is connect with lifting body, and the horizontal depth of beam of docking is less than or equal to institute
State the height of trussed shore.
The second object of the present invention adopts the following technical scheme that realization: a kind of AGV trolley docked with shelf, the AGV
Trolley includes traction jacking part, lifting jacking part and lifting body；The lifting body is set on AGV trolley, and is led with described
Draw jacking part or lifting jacking part connection；It is provided with traction piece on the traction jacking part, it can be with the Coupling on shelf
It relatively moves and is socketed to draw shelf；Or the traction jacking part is equipped with Coupling, it can be with the traction piece phase on shelf
It to movement and is socketed to draw shelf, the lifting jacking part can be mobile relative to the shelf and jacks up the shelf；It is described to lead
Draw jacking part to be selectively connected with lifting jacking part.
The third object of the present invention adopts the following technical scheme that realization: a kind of shelf docked with AGV trolley, the shelf
Bottom is provided with traction piece, can relatively move and be socketed or the bottom shelf is provided with socket with the Coupling on AGV
Part can be relatively moved and be socketed with the traction piece on AGV, and the bottom shelf is additionally provided with lifting mechanism, for by the AGV
It jacks up.
Compared with prior art, the beneficial effects of the present invention are:
1. a kind of docking mechanism carried suitable for AGV trolley, which passes through setting hitch structure and lifting knot
Structure makes AGV trolley while having lifting backpack transporting capacity and towed transporting capacity；Needing to lift backpack carrying
Occasion, AGV trolley jack up lifting structures, realize that lifting backpack carries；In the occasion for needing towed carrying, the small roof of AGV
Hitch structure is played, realizes towed carrying；The docking mechanism makes AGV trolley while having lifting backpack transporting capacity and traction
Formula transporting capacity, and not influencing between each other, it is single to solve AGV trolley traffic program, can not general popularization the problems such as, enrich
The application of AGV trolley.
2. a kind of AGV trolley, which has lifting backpack transporting capacity and towed transporting capacity simultaneously；?
Need to lift the occasion of backpack carrying, AGV trolley jacks up lifting raising plate, realizes that lifting backpack carries；It is needing to draw
The occasion that formula is carried, AGV trolley jack up traction raising plate, realize towed carrying；The docking mechanism makes AGV trolley while having
Backpack transporting capacity and towed transporting capacity are lifted, and is not influenced between each other, solves AGV trolley traffic program list
One, can not general popularization the problems such as, enrich the application of AGV trolley.
3. a kind of shelf docked with AGV trolley, which makes AGV trolley by setting hitch structure and lifting structures
There is lifting backpack transporting capacity and towed transporting capacity simultaneously；In the occasion for needing to lift backpack carrying, AGV trolley
Lifting raising plate is jacked up, realizes that lifting backpack carries；In the occasion for needing towed carrying, AGV trolley jacks up traction jacking
Plate realizes towed carrying；The docking mechanism makes AGV trolley while having lifting backpack transporting capacity and towed carrying
Ability, and not influencing between each other, it is single to solve AGV trolley traffic program, can not general popularization the problems such as, enrich AGV
The application of trolley.
Invention is further described in detail with reference to the accompanying drawings and detailed description.
Detailed description of the invention
Fig. 1 is the front view of the towed carrying of the present invention；
Fig. 2 is the top view of the towed carrying of the present invention；
Fig. 3 is the Section A-A figure of the towed carrying of the present invention；
Fig. 4 is the C-C sectional view of the towed carrying of the present invention；
Fig. 5 is the front view that present invention lifting backpack carries；
Fig. 6 is the Section A-A figure that present invention lifting backpack carries；
Fig. 7 is trussed shore of the present invention and dock crossbeam relative altitude schematic diagram；
Fig. 8 is docking mechanism bottom view of the present invention；
Fig. 9 is trussed shore of the present invention and dock crossbeam relative mounting location schematic diagram.
In figure: 1, traction jacking part；2, lifting jacking part；3, Coupling；4, lifting body；5, raising plate connector；6,
AGV trolley；7, shelf；8, traction piece；9, interfacing part.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the present invention, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
A kind of docking mechanism for AGV trolley Transport cargo rack not only may be implemented traction transport but also may be implemented to lift to remove
Fortune.The docking structure includes hitch structure, traction jacking part 1, lifting structures and lifting jacking part 2；Lifting body 4 is set to AGV
On trolley 6, for jacking traction jacking part 1 or lifting jacking part 2；Hitch structure removes the traction of shelf 7 for AGV trolley 6
Fortune, lifting structures carry the lifting of shelf 7 for AGV trolley 6；
Hitch structure includes traction piece 8 and the Coupling 3 with the cooperation of traction piece 8, and traction piece 8 and Coupling 3 opposite can move
It moves and is socketed, traction piece 8 and Coupling 3 are arranged in pairs between traction jacking part 1 and shelf 7；Traction jacking part 1 and traction piece
8 or Coupling 3 connect；Lifting structures include interfacing part 9, and lifting jacking part 2 and interfacing part 9 can relatively move and jack up interfacing part
9；Traction jacking part 1 is selectively connect with lifting jacking part 2；The top of traction jacking part 1 or lifting jacking part 2 and AGV trolley 6
Mechanism 4 is risen to connect.Traction piece 8 is trussed shore, and Coupling 3 is traction sleeve, and traction jacking part 1 is traction raising plate；Lifting top
Rising part 2 is lifting raising plate, and interfacing part 9 is docking crossbeam.Or lifting jacking part 2 includes lifting raising plate and jacks with lifting
The docking crossbeam that plate is fixedly connected, i.e. docking crossbeam are connect with lifting raising plate, when lifting is carried, directly by docking crossbeam
Shelf 7 are lifted.
When traction raising plate is connect with the lifting body 4 of AGV trolley 6, docks horizontal depth of beam and be greater than or equal to traction
The height of column.When lifting raising plate is connect with the lifting body 4 of AGV trolley 6, docks horizontal depth of beam and be less than or equal to traction
The height of column 8.
AGV trolley 6 has lifting raising plate and traction raising plate, and lifting raising plate is surrounded on the periphery of traction raising plate.
Lifting carries or when traction transport, and raising plate connector 5 will lift raising plate and traction raising plate is fixed together, and only needs one
The traction transport of AGV trolley 6 can be realized in a lifting body 4 or lifting is carried, and two kinds of migration modes of AGV are merged at one
It is realized in AGV.Raising plate connector 5 can be extensible member, and when needing to connect, extensible member jacks part 1 from traction
Junction extends to the junction with lifting jacking part 2, and traction jacking part 1 and lifting jacking part 2 are linked together.Now make detailed
Carefully it is described as follows.
Embodiment 1
As Figure 1-Figure 4,7 bottom of shelf has trussed shore, has traction sleeve on the traction raising plate of AGV trolley 6,
Lifting body 4 is connect with traction raising plate, and in traction, the traction raising plate of AGV trolley 6 rises, and trussed shore is inserted into traction casing
Docking is completed in cylinder.
As shown in Fig. 5-Fig. 6, when traction transport, lifting raising plate and traction raising plate are not fixed, and the rise of lifting body 4 is led
Draw raising plate, lifts the slack work of raising plate.When carrying is born in lifting, raising plate connector 5 will lift raising plate and traction
Raising plate is fixed together, and lifting body 4 rises traction raising plate, and traction raising plate drives lifting raising plate to rise, 7 bottom of shelf
Portion has crossbeam, and in lifting, lifting raising plate erects crossbeam, and shelf 7 is made to leave lifting of the ground realization to shelf 7.
Embodiment 2
Other structures are same as Example 1, but lifting body 4 is connect with lifting towing plate.When lifting is carried, lifting jacking
Plate and traction raising plate 1 are not fixed, and lifting body 4 rises lifting raising plate, and traction raising plate is failure to actuate.When traction transport, top
Lift slab connector 5 will lift raising plate and traction raising plate is fixed together, and lifting body 4 rises lifting raising plate and rises, with
It drives traction raising plate to rise, completes docking in trussed shore insertion traction sleeve, realize traction.As shown in fig. 7, implementing herein
In example, trussed shore and crossbeam are installed on shelf 7, and the height of trussed shore, which is more than or equal to, docks horizontal depth of beam, that is, are led
Draw that column end is more closer from the ground than the end for docking crossbeam or being equidistant from the ground.
It should be noted that in the above two embodiments, docking crossbeam may be mounted at 7 bottom of shelf, can also pacify
On lifting raising plate；Trussed shore is mounted on 7 bottom of shelf, and traction sleeve is mounted on traction raising plate, and traction sleeve passes through
It wears traction raising plate and shows and be mounted on traction raising plate in traction raising plate upper surface or trussed shore, protrude from traction
Raising plate upper surface, traction sleeve are mounted on 7 bottom of shelf.
The horizontal relative mounting location for docking crossbeam and trussed shore can also be there are two types of mode.First is that trussed shore is mounted on outside
Periphery is enclosed, docking crossbeam is mounted on centre, as shown in Figure 8.Second is that trussed shore is mounted on centre, docking crossbeam is mounted on outer ring week
Side, as shown in Figure 9.
Lifting body 4 be with upward power, can make the jacking towing plate being attached thereto or lifting towing plate rise or
Person's decline.In some embodiments, the lifting body has level-one adjustment height, and the height fixation that can be jacked can not
Become, suitable for docking horizontal depth of beam and being greater than or equal to traction when traction raising plate is connect with the lifting body 4 of AGV trolley 6
The height of column.In other implementations, lifting body has level-one adjustment height and second level adjustment height, and traction can be made to jack
Plate or lifting raising plate jack in level-one adjustment height, traction raising plate and are in two with the plane after raising plate connects is lifted
Grade adjustment height, the requirement different to top lifting height when being applicable in traction transport or lifting carrying.
The present invention also provides a kind of AGV trolleies and a kind of shelf docked with AGV trolley.
A kind of AGV trolley, AGV trolley include docking mechanism, and docking mechanism includes hitch structure, traction jacking part 1, lifting
Structure, lifting jacking part 2 and lifting body 4；Lifting body 4 is set on AGV trolley, for jacking traction jacking part 1 or lifting
Jack part 2；Hitch structure includes traction piece 8 and the Coupling 9 with the cooperation of traction piece 8, and traction piece 8 and Coupling 9 opposite can move
It moves and is socketed, traction piece 8 or the setting of Coupling 9 are on traction jacking part 1；Lifting jacking part 2 can be mobile simultaneously relative to lifting structures
Jack up lifting structures；Traction jacking part 1 is selectively connected with lifting jacking part 2.
A kind of shelf docked with AGV trolley, shelf include docking mechanism, and docking mechanism is suitable for shelf and AGV are small
Vehicle docking；Docking mechanism includes hitch structure, traction jacking part 1, lifting structures, lifting jacking part 2 and lifting body 4；Jacking
Mechanism 4 is set on AGV trolley, for jacking traction jacking part 1 or lifting jacking part 2；Hitch structure include traction piece 8 and with lead
Draw the Coupling 9 of the cooperation of part 8, traction piece 8 and Coupling 9 are arranged in pairs between traction jacking part 1 and shelf, traction piece 8 with
Coupling 3 can be relatively moved and is socketed；Lifting jacking part 2 can be mobile relative to lifting structures and jacks up lifting structures；Traction jacking
Part 1 is selectively connected with lifting jacking part 2.
The above embodiment is only the preferred embodiment of the present invention, and the scope of protection of the present invention is not limited thereto,
The variation and replacement for any unsubstantiality that those skilled in the art is done on the basis of the present invention belong to institute of the present invention
Claimed range.
Claims (12)
1. a kind of docking mechanism docked for AGV trolley and shelf, is suitable for docking in AGV trolley and shelf, feature exists
In, including hitch structure, traction jacking part, lifting structures, lifting jacking part and lifting body；The lifting body is set to AGV
On trolley, and it is connect with traction jacking part or lifting jacking part；The hitch structure is for AGV trolley to shelf
Traction transport, the lifting structures carry the lifting of shelf for AGV trolley；
The hitch structure includes traction piece and the Coupling with traction piece cooperation, the traction piece and the Coupling at
Setting is jacked between part and shelf in the traction, the traction piece can be relatively moved and be socketed with the Coupling；
The lifting jacking part can be mobile relative to the lifting structures and jacks up the lifting structures；
The traction jacking part is selectively connected with lifting jacking part.
2. the docking mechanism docked as described in claim 1 for AGV trolley and shelf, which is characterized in that the traction piece
For trussed shore, the Coupling is traction sleeve；The traction jacking part is traction raising plate；The lifting jacking part is lifting
Raising plate, the lifting structures are docking crossbeam.
3. the docking mechanism docked as described in claim 1 for AGV trolley and shelf, which is characterized in that the traction piece
For trussed shore, the Coupling is traction sleeve, and the traction jacking part is traction raising plate；The lifting jacking part includes lifting
It rises raising plate and docks crossbeam with what the lifting raising plate was fixedly connected.
4. the docking mechanism docked as claimed in claim 2 or claim 3 for AGV trolley and shelf, which is characterized in that the traction
Raising plate is connect with lifting body, and the horizontal depth of beam of docking is greater than or equal to the height of the trussed shore.
5. the docking mechanism docked as claimed in claim 2 or claim 3 for AGV trolley and shelf, which is characterized in that the lifting
Raising plate is connect with lifting body, and the horizontal depth of beam of docking is less than or equal to the height of the trussed shore.
6. a kind of AGV trolley docked with shelf, which is characterized in that the AGV trolley includes traction jacking part, lifting jacking part
And lifting body；The lifting body is set on AGV trolley, and is connect with traction jacking part or lifting jacking part；
It is provided with traction piece on the traction jacking part, can relatively move and be socketed to draw shelf with the Coupling on shelf；Or
The traction jacking part is equipped with Coupling, can relatively move and be socketed with the traction piece on shelf to draw shelf, the act
Liter jacking part can be mobile relative to the shelf and jacks up the shelf；The traction jacking part is selectively jacked with the lifting
Part is connected.
7. AGV trolley as claimed in claim 6, which is characterized in that the traction piece is trussed shore, and the Coupling is traction
Sleeve；The traction jacking part is traction raising plate；The lifting jacking part is lifting raising plate, and the shelf include that docking is horizontal
Beam, the lifting raising plate the relatively described docking cross beam movement and can jack up the docking crossbeam.
8. AGV trolley as claimed in claim 6, which is characterized in that the traction piece is trussed shore, and the Coupling is traction
Sleeve, the traction jacking part are traction raising plate；The lifting jacking part includes lifting raising plate and jacks with the lifting
The docking crossbeam that plate is fixedly connected.
9. AGV trolley as claimed in claim 7 or 8, which is characterized in that the traction raising plate is connect with lifting body, institute
It states and docks the height that horizontal depth of beam is greater than or equal to the trussed shore.
10. AGV trolley as claimed in claim 7 or 8, which is characterized in that the lifting raising plate is connect with lifting body, institute
It states and docks the height that horizontal depth of beam is less than or equal to the trussed shore.
11. a kind of shelf docked with AGV trolley, which is characterized in that the bottom shelf is provided with traction piece, can on AGV
Coupling relatively move and be socketed or the bottom shelf is provided with Coupling, can be relatively moved with the traction piece on AGV
And be socketed, the bottom shelf is additionally provided with lifting mechanism, for being jacked up by the AGV.
12. the shelf docked as claimed in claim 11 with AGV trolley, which is characterized in that the lifting mechanism is that docking is horizontal
Beam, the horizontal depth of beam of docking are less than or equal to the height of the traction piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820746516.4U CN209008734U (en) | 2018-05-18 | 2018-05-18 | A kind of shelf being mutually butted and AGV trolley and docking mechanism for the two docking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820746516.4U CN209008734U (en) | 2018-05-18 | 2018-05-18 | A kind of shelf being mutually butted and AGV trolley and docking mechanism for the two docking |
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| Publication Number | Publication Date |
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| CN209008734U true CN209008734U (en) | 2019-06-21 |
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| CN201820746516.4U Active CN209008734U (en) | 2018-05-18 | 2018-05-18 | A kind of shelf being mutually butted and AGV trolley and docking mechanism for the two docking |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108482521A (en) * | 2018-05-18 | 2018-09-04 | 杭州南江机器人股份有限公司 | A kind of docking mechanism for AGV trolley Transport cargo racks |
| CN111994540A (en) * | 2020-09-15 | 2020-11-27 | 苏州牧星智能科技有限公司 | Latent traction connection system and method based on AGV |
| CN114314427A (en) * | 2021-11-25 | 2022-04-12 | 北京特种机械研究所 | AGV jacking, butting and locking system |
| WO2023125011A1 (en) * | 2021-12-31 | 2023-07-06 | 中兴通讯股份有限公司 | Butt-joint traction device based on jacking-type automated guided vehicle, and automated guided vehicle system |
-
2018
- 2018-05-18 CN CN201820746516.4U patent/CN209008734U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108482521A (en) * | 2018-05-18 | 2018-09-04 | 杭州南江机器人股份有限公司 | A kind of docking mechanism for AGV trolley Transport cargo racks |
| CN111994540A (en) * | 2020-09-15 | 2020-11-27 | 苏州牧星智能科技有限公司 | Latent traction connection system and method based on AGV |
| CN114314427A (en) * | 2021-11-25 | 2022-04-12 | 北京特种机械研究所 | AGV jacking, butting and locking system |
| WO2023125011A1 (en) * | 2021-12-31 | 2023-07-06 | 中兴通讯股份有限公司 | Butt-joint traction device based on jacking-type automated guided vehicle, and automated guided vehicle system |
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Effective date of registration: 20220325 Address after: Room 101-110, 1st floor, building 8, Jinsheng Industrial Park, 611 Dongguan Road, Binjiang District, Hangzhou, Zhejiang 310000 Patentee after: HANGZHOU IPLUS TECH CO.,LTD. Address before: 310000 three, 3, 66, 68, 70, Dongxin Avenue, Binjiang District, Hangzhou, Zhejiang. Patentee before: HANGZHOU NANJIANG ROBOTICS Co.,Ltd. |
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