CN212737877U

CN212737877U - Self-unloading AGV

Info

Publication number: CN212737877U
Application number: CN202021466269.6U
Authority: CN
Inventors: 方鹏橙; 刘辉成
Original assignee: Chongqing Jiateng Robot Automation Co ltd
Current assignee: Chongqing Jiateng Robot Automation Co ltd
Priority date: 2020-07-22
Filing date: 2020-07-22
Publication date: 2021-03-19
Anticipated expiration: 2030-07-22

Abstract

The utility model belongs to the technical field of the AGV, a self-discharging formula AGV is provided, including the AGV main part, conveying mechanism is used for carrying the material on the AGV to the butt joint platform on or will dock the material on the platform and remove to the AGV, conveying unit including two relative settings, conveying unit includes the caterpillar, drive sprocket, driven sprocket, the driving chain, the conveyer belt, conveying motor and a plurality of material sensor, the caterpillar sets up the one side in the AGV main part, drive sprocket and driven sprocket set up the both ends at the caterpillar respectively, the driving chain sets up between drive sprocket and driven sprocket, the periphery at the driving chain is established to the conveyer belt cover, and with driving chain fixed connection, the power take off end of conveying motor is connected with drive sprocket's power input end, a plurality of material sensor set up along the length direction interval in proper order of AGV main part. The utility model provides a self-discharging formula AGV, the operation and the stopping of the accurate control conveying motor of being convenient for.

Description

Self-unloading AGV

Technical Field

The utility model relates to a AGV technical field, concretely relates to self-discharging formula AGV.

Background

Automated Guided Vehicle, abbreviated AGV, is commonly referred to as an AGV cart, also known as an Automated Guided Vehicle, and is widely used in the Automated transportation industry.

The utility model discloses a utility model patent that bulletin number is CN209973528U provides a multi-functional transport AGV dolly, including AGV automobile body system, AGV conveying system, peripheral guard plate, photoelectric switch group, meso position guard plate, meso position protection system, photoelectric switch location group and guide rail, though can put the material on the AGV on the butt joint platform through AGV conveying system, also can follow the butt joint platform and take away the material.

However, in such a multi-function AGV for transporting, when the material on the AGV is placed on the docking platform or the material on the docking platform is transported to the AGV, the operation and stop of the transport system cannot be accurately controlled.

SUMMERY OF THE UTILITY MODEL

To the defect among the prior art, the utility model aims at providing a self-discharging formula AGV to the operation and the stop of accurate control conveying mechanism.

In order to achieve the above object, the utility model provides a self-discharging formula AGV, including the AGV main part, still include: a conveying mechanism is arranged on the conveying mechanism,

the conveying mechanism is arranged at the top of the AGV main body, is used for conveying the materials on the AGV to the butt joint platform, comprises two conveying units which are oppositely arranged,

the conveying unit comprises a chain track, a driving chain wheel, a driven chain wheel, a transmission chain, a conveying belt, a conveying motor and a plurality of material sensors,

the caterpillar is provided at one side of the AGV body,

the driving chain wheel and the driven chain wheel are respectively arranged at two ends of the chain track,

the transmission chain is arranged between the driving chain wheel and the driven chain wheel and meshed with the driving chain wheel and the driven chain wheel, the upper side part of the transmission chain is positioned outside the chain track, the lower side part of the transmission chain is positioned in the chain track,

the conveying belt is sleeved on the periphery of the transmission chain and is fixedly connected with the transmission chain,

the power output end of the conveying motor is connected with the power input end of the driving chain wheel,

a plurality of material sensor follows the length direction of AGV main part sets up at interval in proper order.

Further, still include: the blocking mechanism is used for blocking the air flow,

the blocking mechanism is arranged on the front side of the AGV body and used for preventing the AGV from being placed in the process of scramming, and the materials on the AGV slide down from the AGV.

Furthermore, main gear mechanism includes a plurality of electric liquid push rods, and is a plurality of electric liquid push rod sets up side by side in proper order AGV's front side and with AGV body sliding connection.

Further, the blocking mechanism comprises a plurality of electric push rods, and the electric push rods are sequentially arranged in parallel on the front side of the AGV and are in sliding connection with the AGV body.

Further, the blocking mechanism comprises a mounting bracket, a plurality of blocking rods and a driving mechanism for driving the blocking rods,

the mounting bracket is fixedly arranged at the front side of the AGV,

the mounting bracket is provided with a plurality of through holes in parallel, a plurality of blocking rods are in one-to-one correspondence with the through holes and are connected with the mounting bracket in a sliding way through the through holes,

the driving mechanism is used for driving the blocking rod to do vertical reciprocating linear motion.

Further, the driving mechanism comprises a slide block, a follower, a rotating wheel and a blocking motor,

the sliding block is arranged below the blocking rod and is fixedly connected with the bottom of the blocking rod,

the sliding block is provided with a sliding groove, the follower is arranged in the sliding groove in a sliding way,

the rotating wheel is arranged on one side of the follower and is fixedly connected with the follower, the joint of the follower and the rotating wheel deviates from the rotating center of the rotating wheel,

and the power output end of the blocking motor is connected with the power input end of the rotating wheel.

Furthermore, both sides of the rotating wheel are respectively provided with a travel switch, and the rotating wheel is provided with an induction piece matched with the travel switches.

Further, still include guiding mechanism, guiding mechanism includes two guide ways, and two guide ways set up respectively conveying mechanism's both sides, just the guide way be located the one end of AGV rear side is sealed.

The utility model has the advantages that:

the utility model provides a from unloading formula AGV, through setting up conveying mechanism, thereby be convenient for AGV and butt joint platform's butt joint, this conveying mechanism includes the conveying unit that two symmetries set up, conveying unit includes the caterpillar track, drive sprocket, driven sprocket, the driving chain, the conveyer belt, conveying motor and a plurality of material sensor, carry through the driving chain, can with AGV material transport to butt joint platform on or with butt joint platform on material transport to AGV, through setting up a plurality of material sensor in the AGV main part, thereby be convenient for realize conveying mechanism's operation and stop.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

Fig. 1 is a perspective view of a self-unloading AGV according to an embodiment of the present invention;

FIG. 2 is an overhead view of the AGV of FIG. 1;

FIG. 3 is an enlarged view taken at A of FIG. 1;

FIG. 4 is an enlarged view at B shown in FIG. 1;

FIG. 5 is an internal mechanical view of the self-unloading AGV of FIG. 1;

FIG. 6 is an enlarged view at C shown in FIG. 5;

FIG. 7 is an enlarged view at D of FIG. 5;

FIG. 8 is an overhead view of the AGV of FIG. 5;

FIG. 9 is an enlarged view at E shown in FIG. 8;

FIG. 10 is a perspective view of a self-unloading AGV according to yet another embodiment of the present invention;

fig. 11 is a perspective view of a self-unloading AGV according to another embodiment of the present invention.

Reference numerals:

100-AGV body, 200-conveying mechanism, 201-shock absorption strip, 210-conveying unit, 211-chain track, 212-driving chain wheel, 213-driven chain wheel, 214-driving chain, 215-conveying belt, 216-conveying motor, 217-rotating shaft I, 218-driving chain wheel I, 219-driven chain wheel I, 220-driving chain I, 221-material sensor, 300-blocking mechanism, 310-electro-hydraulic push rod, 320-electric push rod, 331-mounting bracket, 332-blocking rod, 333-linear flange bearing, 340-driving mechanism, 341-sliding block, 342-follower, 343-rotating wheel, 344-blocking motor, 345-travel switch, 346-sensing piece, 400-guiding mechanism and 410-guiding groove.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.

It is to be noted that unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the present invention belongs.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience of description and simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting.

Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

As shown in fig. 1-11, the present invention provides a self-unloading AGV, which includes an AGV body 100.

Above-mentioned self-discharging formula AGV still includes: the conveying mechanism 200.

Conveying mechanism 200 is installed at the top of AGV main part 100, and it is used for carrying the material on the AGV to the butt joint platform on, is about to unload and send to the butt joint platform on the material on the AGV to the realization with the butt joint platform. Which includes two oppositely disposed conveyor units 210. Specifically, two transport units 210 are symmetrically installed at both sides of the AGV body 100, respectively.

The conveying unit 210 includes a chain track 211, a driving sprocket 212, a driven sprocket 213, a driving chain 214, a conveyor belt 215, and a conveyor motor 216 and a plurality of material sensors 221.

The caterpillar 211 is fixedly installed at one side of the AGV body 100. Preferably, the bottom of the chain track 211 is provided with a shock absorption bar 201, so that the chain track 211 can be supported to a certain extent and can absorb shock.

The driving sprocket 212 and the driven sprocket 213 are slidably mounted at both ends of the track 211, respectively.

The driving chain 214 is installed between the driving sprocket 212 and the driven sprocket 213 and engaged with the driving sprocket 212 and the driven sprocket 213, and an upper portion of the driving chain 214 is located outside the track 211 and a lower portion thereof is located inside the track 211. Specifically, the track 211 is a hollow structure, and the lower portion of the transmission chain 214 passes through the track 211. The chain track 211 thus provides good support for the load-bearing, i.e. upper, part of the drive chain 214 without interfering with the movement of the drive chain 214.

The conveyer belt 215 is sleeved on the periphery of the transmission chain 214 and is fixedly connected with the transmission chain 214. The conveyor belt 215 is thus moved by the movement of the drive chain 214, carrying the material on the conveyor belt 215.

The power output end of the conveying motor 216 is connected with the power input end of the driving sprocket 212.

Specifically, two driving sprockets 212 are connected through a rotating shaft 217, a driven sprocket I219 is fixedly installed in the middle of the driving shaft, a driving sprocket I218 is fixedly installed on a power output shaft of the conveying motor 216, and the driving sprocket I218 and the driven sprocket I219 are connected through a driving chain I220. This facilitates both the positioning of the conveyor motor 216 and the simultaneous driving of both conveyor units 210 with only one motor.

Preferably, the upper portion of the driving chain 214 is slightly higher than the top of the chain rail 211 so that the chain rail 211 can sufficiently support the driving chain 214.

A plurality of material sensors 221 are arranged along the length direction of the AGV body 100 at intervals in sequence, and the material sensors 221 are used for sensing materials placed on the AGV.

Thus, when the AGV transports the material to the destination, the transport motor 216 rotates, driving the transport mechanism 200 in a forward direction, and unloading the material from the AGV. At this time, the conveyor motor 216 stops after the material sensor 221 located at the front of the AGV body senses that the material has completely passed.

In the process of loading materials onto the AGV, the transport motor 216 drives the transport mechanism 200 to run in reverse, so that the material is driven to move onto the AGV, and at this time, when the material sensor 221 located at the rear side of the AGV main body 100 senses the material, the transport motor 216 stops.

This configuration helps control the operation and stop of the conveyor motor 216.

In one embodiment, further comprising: the blocking mechanism 300.

A blocking mechanism 300 is provided at the front side of the AGV main body 100, which is used to prevent the material placed on the AGV from slipping down from the AGV when the AGV is abruptly stopped.

Specifically, during transport, the blocking mechanism 300 extends upward and above the top of the conveyor belt 215. If the AGV suddenly stops suddenly in an emergency situation during the transportation process, the material placed on the AGV continues to move forwards under the action of inertia. At this point, the material is caught on the AGV by the catch mechanism 300.

After the material is transported to the destination, the blocking mechanism 300 is retracted so that the material can be smoothly discharged.

In one embodiment, the main gear mechanism includes a plurality of electro-hydraulic push rods 310, and the electro-hydraulic push rods 310 are sequentially arranged in parallel at the front side of the AGV and slidably connected with the AGV body.

During transport, the electro-hydraulic ram 310 extends upward and above the top of the conveyor belt 215. If the AGV suddenly stops suddenly in an emergency situation during the transportation process, the material placed on the AGV continues to move forwards under the action of inertia. At this time, under the action of the electro-hydraulic push rod 310, the material will be against the electro-hydraulic push rod 310 and be intercepted on the AGV.

After the material is transported to the destination, the electro-hydraulic push rod 310 is retracted, so that the material can be smoothly discharged.

The blocking mechanism 300 with the structure has a simple structure.

In one embodiment, the blocking mechanism 300 includes a plurality of electric push rods 320, and the plurality of electric push rods 320 are sequentially arranged in parallel at the front side of the AGV and slidably coupled to the AGV body.

During transport, the power ram 320 extends upward and above the top of the conveyor belt 215. If the AGV suddenly stops suddenly in an emergency situation during the transportation process, the material placed on the AGV continues to move forwards under the action of inertia. At this time, under the action of the power push rod 320, the material will be abutted against the power push rod 320 and will be intercepted on the AGV.

After the material is transported to the destination, the electric push rod 320 is retracted, so that the material can be smoothly discharged.

The blocking mechanism 300 with the structure has a simple structure.

In one embodiment, the blocking mechanism 300 includes a mounting bracket 331, a plurality of blocking rods 332, and a drive mechanism 340 for driving the blocking rods 332.

The mounting bracket 331 is fixedly mounted at the front side of the AGV.

The mounting bracket 331 is provided with a plurality of through holes in parallel. The blocking rods 332 correspond to the through holes one by one, and the blocking rods 332 are slidably connected to the mounting bracket 331 through the through holes. Specifically, the blocking rod 332 is slidably connected to the mounting bracket 331 through the linear flange bearing 333, so that friction force can be reduced, and the blocking rod 332 can be guided well.

The driving mechanism 340 is used for driving the blocking rod 332 to reciprocate up and down.

Thus, during transport, the drive mechanism 340 drives the blocking rod 332 upward and moves the top of the blocking rod 332 out of the top of the conveyor belt 215. If the AGV suddenly stops suddenly in an emergency situation during the transportation process, the material placed on the AGV continues to move forwards under the action of inertia. At this point, the material will interfere with the blocking lever 332 and be caught on the AGV due to the blocking lever 332.

After the material is conveyed to the destination, the driving mechanism 340 drives the blocking rod 332 to move downward so that the material can be smoothly discharged.

In one embodiment, the drive mechanism 340 includes a slider 341, a follower 342, a wheel 343, and a blocking motor 344.

The sliding block 341 is located below the blocking rod 332 and is fixedly connected with the bottom of the blocking rod 332.

The sliding block 341 is provided with a sliding slot, and the follower 342 is slidably mounted in the sliding slot.

The wheel 343 is located at one side of the follower 342 and is fixedly connected to the follower 342, and a connection point of the follower 342 and the wheel 343 is offset from a rotation center of the wheel 343. Therefore, the follower 342 can have an ascending and descending process along with the rotation of the rotating wheel 343, so that the movement of the follower 342 can be converted into the up-and-down reciprocating linear movement of the sliding block 341 under the action of the sliding chute, and the blocking rod 332 can be lifted and descended.

The power output of the blocking motor 344 is connected to the power input of the wheel 343.

Thus, in use, the blocking motor 344 drives the rotating wheel 343 to rotate, and the follower 342 rotates with the rotating wheel 343 to drive the sliding block 341 to perform reciprocating linear motion, and further drive the blocking rod 332 to perform reciprocating linear motion.

In one embodiment, a travel switch 345 is fixedly installed on each side of the wheel 343, and a sensing member 346 matched with the travel switch 345 is installed on the wheel 343.

Specifically, the stroke switch 345 is a pressure sensor, the sensing member 346 is cylindrical, and a recess for avoiding the pressure sensor is formed on one side of the sensing member, and a line connecting the recess and a rotation center of the sensing member is perpendicular to a line connecting the follower and the rotation center thereof, and when the recess is aligned with any one of the stroke switches, the motor 344 is blocked from rotating.

In use, during blocking, the follower 342 is first at its lowest point, while the recessed portion of the sensing member 346 is aligned with one of the two travel switches 345 and pressed against the other travel switch 345, thereby placing it in compression. The blocking motor 344 is then activated to drive the follower 342 to raise the blocking rod 332. In the process, the sensing member 346 and the two travel switches 345 are pressed against each other, and when the blocking motor 344 rotates 180 °, the blocking rod 332 rises to the highest point, the concave portion is aligned with the other travel switch 345, and the motor stops rotating.

Similarly, in the process of unblocking, the blocking motor 344 is started, and the follower 342 drives the blocking rod 332 to descend. When the rotation is performed again by 180 °, the blocking lever 332 is lowered to the lowest point, the recessed portion is aligned with one of the stroke switches 345, and the blocking motor 344 stops rotating to release the blocking.

This configuration helps control the operation and stop of the barrier motor 344.

In one embodiment, the guiding mechanism 400 is further included, the guiding mechanism 400 includes two guiding grooves 410, the two guiding grooves 410 are respectively located at two sides of the transporting mechanism 200 and fixedly connected with the AGV body, and one end of the guiding groove 410 located at the rear side of the AGV main body 100 is closed.

Normally, the AGV can use the goods shelves when carrying materials, so that the guide grooves 410 arranged on two sides of the conveying mechanism can not only avoid positions with bottom feet of the goods shelves, but also avoid the in-process that the goods shelves on the AGV are sent out of the AGV or the goods shelves on the butt joint platform are moved to the AGV, and the guide grooves 410 guide the bottom feet of the goods shelves under the action of the bottom feet to prevent the deviation of the bottom feet.

The working principle of the utility model is as follows:

in use, material is placed across the two conveyor belts 215 prior to transport, and then the blocking mechanism 300 is raised. The AGV is then activated to transport the material to the destination.

After the material is transported to the destination, the blocking mechanism 300 is lowered and the transport motor 216 is activated to move the conveyor belt 215 to unload the material from the AGV.

Of course, material loading may also be achieved by controlling the direction of rotation of the conveyor motor 216.

During the unloading of the material, the transport motor 216 stops when the material sensor 221, located on the front side of the AGV body 100, senses that the material has passed.

During loading of material, the conveyor motor 216 stops when the material sensor 221 located on the rear side of the AGV body 100 senses material.

In the specification of the present invention, a large number of specific details are explained. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the scope of the embodiments of the present invention, and are intended to be covered by the claims and the specification.

Claims

1. The utility model provides a self-discharging formula AGV, includes AGV main part, its characterized in that: further comprising: a conveying mechanism is arranged on the conveying mechanism,

the conveying mechanism is arranged at the top of the AGV main body, is used for conveying materials on the AGV to the butt joint platform or moving the materials on the butt joint platform to the AGV, comprises two conveying units which are oppositely arranged and cooperate to finish conveying work,

the caterpillar is provided at one side of the AGV body,

2. The AGV of claim 1, wherein: further comprising: the blocking mechanism is used for blocking the air flow,

3. The AGV of claim 2, wherein: stop gear includes a plurality of electric liquid push rods, and is a plurality of electric liquid push rod sets up side by side in proper order AGV's front side and with AGV body sliding connection.

4. The AGV of claim 2, wherein: stop mechanism includes a plurality of electric putter, and is a plurality of electric putter sets up side by side in proper order AGV's front side and with AGV body sliding connection.

5. The AGV of claim 2, wherein: the blocking mechanism comprises a mounting bracket, a plurality of blocking rods and a driving mechanism for driving the blocking rods,

the mounting bracket is fixedly arranged at the front side of the AGV,

6. The AGV of claim 5, wherein: the driving mechanism comprises a slide block, a follower, a rotating wheel and a blocking motor,

7. The AGV of claim 6, wherein: and two sides of the rotating wheel are respectively provided with a travel switch, and the rotating wheel is provided with an induction piece matched with the travel switches.

8. The AGV of any one of claims 1-7, wherein: still include guiding mechanism, guiding mechanism includes two guide ways, and two guide ways set up respectively conveying mechanism's both sides, just being located of guide way the one end of AGV rear side is sealed.