CN213326568U

CN213326568U - AGV robot

Info

Publication number: CN213326568U
Application number: CN202021981831.9U
Authority: CN
Inventors: 王鹏飞
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2020-09-11
Filing date: 2020-09-11
Publication date: 2021-06-01
Anticipated expiration: 2030-09-11

Abstract

The utility model belongs to the technical field of fork truck, a AGV robot is disclosed. The AGV robot comprises a portal frame, a lifting tray and a laser sensor. The lift tray can reciprocate along the portal, but the lift tray includes the fork of horizontal flexible, sets up in the bearing piece and the limit switch of the upper and lower surface of lift tray, and the bearing piece protrusion lift tray's upper and lower surface, and be configured to can be for the motion of lift tray when the pressurized in order to trigger limit switch. The limit switch is configured to control the lifting tray to stop lifting when triggered. The laser sensor is arranged at the front end of the fork and is configured to control the fork to stop when the distance between the laser sensor and the object to be measured is smaller than a set value. The protection component of the mechanical type that constitutes by pressure-bearing piece and limit switch and the protection component of the electronic type that constitutes by laser sensor have realized AGV robot's multi-direction, many positions's safety protection jointly, the utility model discloses an AGV robot's reliability is high.

Description

AGV robot

Technical Field

The utility model relates to a fork truck technical field especially relates to a AGV robot.

Background

In order to protect fork truck and goods among the current fork truck equipment, all add the electronic type protective assembly who is equipped with laser or sound wave, it mainly includes laser sensor and ultrasonic ranging appearance etc. and the use of numerous electronic components has improved fork truck's intellectuality and automation.

However, electronic components such as laser sensors or ultrasonic distance meters have dead zones and misjudgments in the use process, and the reliability is low. Moreover, when the forklift is powered off or electronic components are out of order, the electronic protection component cannot effectively protect the forklift from collision. The single electronic protection component also does not meet the trend of multi-margin safety design of the AGV robot.

Therefore, there is a need for an AGV robot to solve the above problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an AGV robot to the electronic type protection component's that solves current AGV robot reliability is poor, improves AGV robot's security.

To achieve the purpose, the technical proposal adopted by the utility model is that:

an AGV robot comprising:

a gantry;

the lifting tray can move up and down along the portal frame and comprises a fork capable of horizontally extending and retracting, a bearing piece and a limit switch, wherein the bearing piece and the limit switch are arranged on the upper surface and the lower surface of the lifting tray, and the bearing piece protrudes out of the upper surface and the lower surface of the lifting tray and is configured to move relative to the lifting tray to trigger the limit switch when being pressed; the limit switch is configured to control the lifting tray to stop lifting when triggered;

the laser sensor is arranged at the front end of the fork and is configured to control the fork to stop when the distance between the laser sensor and the object to be measured is smaller than a set value.

Preferably, the lifting tray further comprises a spring, the pressure-bearing part comprises an upper pressure plate protruding on the upper surface of the lifting tray, one end of the spring is abutted to or fixedly connected with the upper pressure plate, and the other end of the spring is abutted to or fixedly connected with the upper surface of the lifting tray.

Preferably, the lifting tray further comprises a guide post extending along the movement direction of the upper press plate, and one end of the guide post is fixedly connected to the upper surface of the lifting tray; the upper pressure plate is provided with a through hole for the guide post to pass through.

Preferably, the lifting tray further comprises a leaf spring, the pressure-bearing piece further comprises a lower pressing plate protruding on the lower surface of the lifting tray, and the leaf spring is respectively fixedly connected with the lower pressing plate and the lower surface of the lifting tray.

Preferably, the number of the limit switches is multiple, and the limit switches are uniformly distributed on the upper surface and the lower surface of the lifting tray.

Preferably, the lifting tray further comprises a lifting device and a housing connected to the lifting device, the lifting device is slidably arranged on the gantry up and down, and the fork is mounted in the housing.

Preferably, the shell is provided with an opening at one side of the fork in the telescopic direction, and the fork can be gradually unfolded and penetrates out of the opening.

Preferably, the forks include at least one first fork slidably disposed on an inner wall of the housing and at least one second fork slidably disposed on the first fork.

Preferably, the fork further comprises a belt wheel assembly, the belt wheel assembly is mounted on the first fork, and the output end of the belt wheel assembly is connected with the second fork and can drive the second fork to slide on the first fork in a reciprocating mode along the telescopic direction of the fork.

Preferably, the first fork is further provided with a sliding groove extending along the telescopic direction of the fork, and the second fork is provided with a sliding piece matched with the sliding groove.

The utility model has the advantages that: the bearing part and the limit switch are installed on the lifting tray, and the limit switch is triggered through mechanical collision of the bearing part, so that collision protection of the lifting tray in the vertical direction is realized. The laser sensor is installed at the front end of the fork capable of horizontally stretching, when the fork is gradually unfolded, the distance between the laser sensor and a measured object is smaller than a set value, the laser sensor controls the fork to stop moving, and anti-collision protection in the horizontal direction of the fork is achieved. The mechanical protection component formed by the bearing part and the limit switch is arranged on the lifting tray, and the electronic protection component formed by the laser sensor is arranged at the front end of the pallet fork, so that the multi-direction and multi-part safety protection of the AGV robot is realized, the layout of the protection component is reasonable, and the reliability of the AGV robot is high.

Drawings

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

fig. 2 is a perspective view of a lifting tray provided in an embodiment of the present invention;

fig. 3 is an end view of a housing and a portion of a shield assembly provided by an embodiment of the present invention;

FIG. 4 is an enlarged view of a portion of FIG. 3 at A;

fig. 5 is a perspective view of a housing and a portion of a protective assembly according to an embodiment of the present invention;

fig. 6 is an end view of an upper platen according to an embodiment of the present invention;

fig. 7 is a perspective view of a housing and a tray provided in an embodiment of the present invention;

fig. 8 is an exploded view of a tray and a portion of a protective assembly according to an embodiment of the present invention;

fig. 9 is a schematic structural view of a part of a fork according to an embodiment of the present invention;

fig. 10 is a perspective view of a first pallet fork provided by an embodiment of the present invention;

fig. 11 is a partial enlarged view at B in fig. 10.

The component names and designations in the drawings are as follows:

10. lifting tray, 20, chassis; 30. a gantry; 40. a cache box;

1. a lifting device; 11. a housing; 111. an upper pressure plate; 1111. a through hole; 112. a lower pressing plate; 113. a spring; 114. a guide post; 1141. a limiting part; 115. a leaf spring; 12. a pallet fork; 121. a first fork; 122. a second fork; 123. a pulley; 124. a conveyor belt; 125. a chute; 126. a slider; 13. a tray; 2. a limit switch; 3. a laser sensor.

Detailed Description

In order to make the technical problem solved by the present invention, the technical solution adopted by the present invention and the technical effect achieved by the present invention clearer, the technical solution of the present invention will be further explained by combining the drawings and by means of the specific implementation manner. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the elements related to the present invention are shown in the drawings.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; 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 in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.

As shown in fig. 1 to 5, the present embodiment discloses an AGV robot. The AGV robot includes a gantry 30, a lifting tray 10 and a laser sensor 3. The lifting tray 10 can move up and down along the door frame 30, and the lifting tray 10 includes a fork 12 which can horizontally stretch and contract, pressure-bearing members provided on upper and lower surfaces of the lifting tray 10, and a limit switch 2, the pressure-bearing members protruding the upper and lower surfaces of the lifting tray 10 and being configured to be movable relative to the lifting tray 10 to trigger the limit switch 2 when being pressed. The limit switch 2 is configured to control the lifting tray 10 to stop lifting when triggered. The laser sensor 3 is attached to the front end of the fork 12, and controls the fork 12 to stop when the distance between the laser sensor and the object to be measured is smaller than a set value.

In this embodiment, the pressure-bearing member and the limit switch 2 are installed on the lifting tray 10, and the limit switch 2 is triggered by mechanical collision of the pressure-bearing member, so that collision protection of the lifting tray 10 in the vertical direction is realized. The laser sensor 3 is installed at the front end of the fork 12 which can horizontally stretch out and draw back, when the fork 12 is gradually unfolded and the distance between the laser sensor 3 and a measured object is smaller than a set value, the laser sensor 3 controls the fork 12 to stop moving, and anti-collision protection of the fork 12 in the horizontal direction is achieved. The mechanical protection component formed by the bearing part and the limit switch 2 is arranged on the lifting tray 10, and the electronic protection component formed by the laser sensor 3 is arranged at the front end of the fork 12, so that the multi-direction and multi-part safety protection of the AGV robot is realized, the layout of the protection component is reasonable, and the reliability of the AGV robot is high.

Specifically, the lifting tray 10 further includes a lifting device 1 and a housing 11 connected to the lifting device 1, the lifting device 1 is slidably disposed on the mast 30 up and down, and the forks 12 are mounted in the housing 11. The lifting device 1 is arranged on the inner side of the portal frame 30 in a vertically sliding manner, so that the height of the lifting tray 10 is adjusted, and the fork 12 can conveniently take goods on shelves with different heights. The bottom of the lifting device 1 is connected with a horizontally arranged tray 13, and the top of the tray 13 is connected with and supports the shell 11. It will be appreciated that the lifting pallet 10 also includes a control device electrically connected to the laser sensor 3, the laser sensor 3 controlling the forks 12 to stop moving via the control device. Since the laser sensor 3 and the control device are conventional technical means in the art, detailed descriptions of the specific structure and the operation principle thereof are omitted.

The set value between the laser sensor 3 and the object to be measured is determined according to the application environment of the fork 12. Here, specific numerical values of the set values are not particularly limited.

As shown in fig. 3, 4 and 6, the lifting tray 10 further includes a spring 113, the pressure-bearing member includes an upper pressing plate 111 protruding from the upper surface of the lifting tray 10, one end of the spring 113 abuts against or is fixedly connected to the upper pressing plate 111, and the other end of the spring 113 abuts against or is fixedly connected to the upper surface of the lifting tray 10. The spring 113 can support the upper pressure plate 111 that is not pressed, so that a gap exists between the upper pressure plate 111 and the limit switch 2, and at the same time, the upper pressure plate 111 can be reset after the external force is removed. Of course, the spring 113 may also be replaced by an elastic rubber.

Preferably, the lifting tray 10 further includes a guide post 114 extending in the moving direction of the upper press plate 111, and one end of the guide post 114 is fixedly coupled to the upper surface of the lifting tray 10. The upper platen 111 is provided with a through hole 1111 through which the guide post 114 passes.

In the present embodiment, the guide post 114 passes through the through hole 1111 of the upper platen 111 and is fixed to the upper surface of the housing 11 of the lifting tray 10. The upper pressing plate 111 is slidably sleeved on the guide post 114 up and down, so that the upper pressing plate 111 is prevented from being dislocated with the shell 11 of the lifting tray 10. It is further preferable that the spring 113 is sleeved on the guiding post 114 to prevent the spring 113 from bending during the process of being compressed or restored.

Preferably, the end of the guide post 114 extending out of the upper pressure plate 111 is provided with a limiting portion 1141, which limits the movement range of the upper pressure plate 111 in the extending direction of the guide post 114.

As shown in fig. 7 and 8, the lifting tray 10 further includes a leaf spring 115, the pressure-bearing member further includes a lower pressing plate 112 protruding from the lower surface of the lifting tray 10, and the leaf spring 115 is fixedly connected to the lower pressing plate 112 and the lower surface of the lifting tray 10, respectively. In this embodiment, the top of the tray 13 is rotatably mounted with the housing 11. The limit switch 2 and the leaf spring 115 are mounted on the bottom of the tray 13. The lower pressing plate 112 is movably mounted to the bottom of the tray 13 by a leaf spring 115. When the lower pressure plate 112 is not pressed, the leaf spring 115 is in a stretched state by the gravity of the lower pressure plate 112 itself, and a gap exists between the lower pressure plate 112 and the limit switch 2. Since the height of the leaf spring 115 in the vertical direction is small, the occupied space is less, the occupied space of the lower pressing plate 112 and the tray 13 is reduced, and the installation structure is more compact.

Preferably, the number of the limit switches 2 is plural, and the plural limit switches 2 are uniformly distributed on the upper and lower surfaces of the lifting tray 10. Any one of the limit switches 2 is triggered to control the lifting tray 10 to stop lifting movement, so that the safety margin of the protection assembly is improved, and the safety and the reliability of the lifting tray 10 are improved.

As shown in fig. 5 and 9, the housing 11 has an opening on one side of the fork 12 in the telescopic direction, and the fork 12 can be expanded step by step and passed through the opening.

In the present embodiment, the top of the housing 11 and one side in the telescopic direction of the forks 12 each have an opening. The opening at the top of the housing 11 facilitates the installation and replacement of the forks 12 while reducing the weight of the housing 11. Since the top of the housing 11 has an opening, the installation of the leaf spring 115 is not facilitated. Thus, the spring 113, the upper press plate 111, and the limit switches 2 together constitute a shielding assembly for the upper portion of the housing 11. The leaf spring 115, the lower pressing plate 112 and the plurality of limit switches 2 together constitute a shield assembly of the lower portion of the housing 11.

Preferably, the forks 12 comprise at least one first fork 121 and at least one second fork 122, the first fork 121 being slidably disposed on the inner wall of the housing 11, the second fork 122 being slidably disposed on the first fork 121.

In the present embodiment, the forks 12 are multi-stage telescopic forks and are capable of being expanded and contracted stage by stage. For ease of understanding, the following description will be given taking as an example a two-stage telescopic fork 12.

As shown in fig. 10 and 11, the forks 12 further include a pulley assembly, the first fork 121 is mounted with the pulley assembly, and the output end of the pulley assembly is connected with the second fork 122 and can drive the second fork 122 to slide on the first fork 121 in a reciprocating manner along the telescopic direction of the fork 12.

In this embodiment, the pulley assembly includes two pulleys 123 and a conveyor belt 124. Two pulleys 123 are rotatably mounted to both ends of the first fork 121, respectively, and the conveyor belt 124 is wound around the two pulleys 123. A portion of the conveyor belt 124 is fixedly connected to the second fork 122, and the pulley 123 rotates forward or backward to rotate the conveyor belt 124, so that the conveyor belt 124 drives the second fork 122 to slide on the first fork 121 in a reciprocating manner, thereby realizing gradual expansion or contraction of the fork 12.

Preferably, the first fork 121 is further mounted with a slide groove 125 extending in the telescopic direction of the fork 12, and the second fork 122 is provided with a slider 126 adapted to the slide groove 125. The slide channel 125 and the slider 126 cooperate to enable the second fork 122 to maintain stability of movement on the first fork 121.

As further shown in fig. 10 and 11, the sliding member 126 and the sliding groove 125 are oppositely disposed at two sides of the first fork 121 and extend to two ends of the first fork 121 to extend the extended length of the fork 12 and improve the goods taking range. A pulley assembly and a chute 125 are also mounted on the side wall of the housing 11, and the first fork 121 is fixedly connected to the conveyor belt 124 in the pulley assembly in the housing 11. The slider 126 of the first fork 121 can slide along the slide groove 125 of the housing 11 under the driving of the conveyor belt 124.

As shown in fig. 1, the AGV robot in this embodiment further includes a chassis 20 and a buffer bin 40. The mast 30 is fixedly mounted to the chassis 20, and the chassis 20 can move forward, backward, or turn along a set path. Both sides of the door frame 30 are recessed inwards to form sliding grooves, and both ends of the lifting device 1 are arranged in the sliding grooves of the door frame 30 in a sliding mode. The forks 12 are installed in the housing 11 of the lifting device 1 and are synchronously lifted in the vertical direction along with the lifting device 1. The number of the cache boxes 40 is plural, and the plurality of cache boxes 40 are installed at the rear side of the gantry 30. The fork 12 places the goods to be stored in the buffer box 40 and then intensively transports the goods to the designated place, so that the operation efficiency of the AGV robot is improved.

In this embodiment, the mechanical protection component is mounted on the housing 11, and the electronic protection component is mounted at the front end of the fork 12, so that the multi-direction and multi-part safety protection of the AGV robot is realized, the layout of the protection component is reasonable, and the reliability of the AGV robot is high.

The above embodiments have been described only the basic principles and features of the present invention, and the present invention is not limited by the above embodiments, and is not departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. An AGV robot, comprising:

a gantry (30);

the lifting tray (10) can move up and down along the gantry (30), the lifting tray (10) comprises a fork (12) capable of horizontally stretching and retracting, pressure-bearing pieces and limit switches (2) which are arranged on the upper surface and the lower surface of the lifting tray (10), the pressure-bearing pieces protrude out of the upper surface and the lower surface of the lifting tray (10), and the pressure-bearing pieces are configured to move relative to the lifting tray (10) to trigger the limit switches (2) when being pressed; the limit switch (2) is configured to control the lifting tray (10) to stop lifting when triggered;

and the laser sensor (3) is arranged at the front end of the fork (12), and is configured to control the fork (12) to stop when the distance between the laser sensor (3) and the object to be measured is smaller than a set value.

2. AGV robot according to claim 1, characterised in that the lifting tray (10) further comprises a spring (113), that the pressure bearing member comprises an upper pressure plate (111) protruding from the upper surface of the lifting tray (10), that one end of the spring (113) abuts or is fixedly connected to the upper pressure plate (111), and that the other end of the spring (113) abuts or is fixedly connected to the upper surface of the lifting tray (10).

3. AGV robot according to claim 2, characterised in that the lifting tray (10) further comprises a guiding post (114) extending in the direction of movement of the upper platen (111), one end of the guiding post (114) being fixedly connected to the upper surface of the lifting tray (10); the upper pressure plate (111) is provided with a through hole (1111) for the guide post (114) to pass through.

4. AGV robot according to claim 1, characterised in that the lifting tray (10) further comprises a leaf spring (115), that the pressure bearing member further comprises a lower pressure plate (112) protruding from the lower surface of the lifting tray (10), and that the leaf spring (115) is fixedly connected to the lower pressure plate (112) and to the lower surface of the lifting tray (10), respectively.

5. AGV robot according to claim 1, characterized in that the number of limit switches (2) is several, and that several limit switches (2) are evenly distributed on the upper and lower surfaces of the lifting tray (10).

6. AGV robot according to claim 1, characterised in that the lifting tray (10) further comprises a lifting device (1) and a housing (11) connected to the lifting device (1), the lifting device (1) being slidably arranged up and down on the door frame (30), the forks (12) being mounted in the housing (11).

7. AGV robot according to claim 6, characterised in that the housing (11) has an opening on one side in the telescopic direction of the forks (12), the forks (12) being able to be deployed step by step and out through the opening.

8. AGV robot according to claim 7, characterized in that the forks (12) comprise at least one first fork (121) and at least one second fork (122), the first fork (121) being slidingly arranged on the inner wall of the housing (11), the second fork (122) being slidingly arranged on the first fork (121).

9. AGV robot according to claim 8, characterised in that the forks (12) further comprise a pulley assembly, to which the first fork (121) is mounted, the output end of which is connected to the second fork (122) and is able to drive the second fork (122) to slide reciprocally on the first fork (121) in the telescopic direction of the forks (12).

10. AGV robot according to claim 8, characterised in that the first fork (121) is further mounted with a chute (125) extending in the telescopic direction of the forks (12), and that the second fork (122) is provided with a slide (126) adapted to the chute (125).