CN215205144U

CN215205144U - Latent traction type cart AGV system

Info

Publication number: CN215205144U
Application number: CN202121231988.4U
Authority: CN
Inventors: 韩震宇; 董铂龙; 沈小龙; 孙可森
Original assignee: Chongqing Yufeite Technology Co ltd
Current assignee: Chongqing Yufeite Technology Co ltd
Priority date: 2021-06-03
Filing date: 2021-06-03
Publication date: 2021-12-17
Anticipated expiration: 2031-06-03

Abstract

The utility model discloses a latent traction type cart AGV system, which comprises an AGV trolley and an AGV interactive cart; the top of the AGV trolley is provided with an identification unit, a jacking mechanism and a jacking motor; four traction structures are arranged on the jacking mechanism; an identification area is arranged in the middle of the bottom of the AGV interaction cart, and four traction holes for the traction structure to pass through are formed in the periphery of the AGV interaction cart; after the recognition unit of the AGV cart recognizes and positions the AGV interaction cart, the jacking mechanism rises, and the four traction structures are inserted into the four traction holes to complete the butt joint of the AGV cart and the AGV interaction cart; after the traction structure passes through the traction hole, the rubber ejector block sleeve is spread, and the AGV trolley can drive the AGV to move through four traction structures. The utility model discloses system bearing capacity is strong, and tractive power is strong, and it is little to remove the radius, and the reliability is high, requires lowly to the location, and has certain shock attenuation effect, is fit for the heavy load, the automatic commodity circulation scene of many storages, like silkworm mill etc..

Description

Latent traction type cart AGV system

Technical Field

The utility model belongs to the technical field of the robot, especially, relate to a towed shallow AGV system of hiding.

Background

With the continuous development of science and technology, the robot technology is widely applied in various fields. The goods handling is taken as an important link in production, manufacturing and logistics, and along with the appearance of the AGV trolley, the automation degree of the AGV trolley is higher and higher. An AGV is a transfer robot that is equipped with an electromagnetic or photoelectric automatic guide device, can automatically travel along a predetermined guide path, and has a programming and mode selection device, safety protection, and various transfer functions.

With the continuous development of economy in China, silkworm breeding is used as important economic crop breeding, and has great economic benefits. With the continuous progress of science and technology in China, the traditional agricultural cultivation is continuously developed towards automation and no humanization, and industrial equipment and plants for automatically adding mulberry and removing sand to the silkworm are developed.

However, in the existing silkworm breeding factory, the transport link of the cart is still carried by manpower, the automation degree is low, and completely unmanned silkworm cart storage and carrying cannot be realized. The silkworm tray has the advantages of high labor cost, low working consistency, incapability of meeting the working beat requirement of equipment and the like, and is easy to cause danger during manual carrying due to large number and weight of the silkworm trays.

The AGV transport is applied because of the above-mentioned problems in the manual transport, but the conventional AGV transport methods are a latent backpack type and a front end traction type. Adopt the mode of formula of bearing back of hiding, its shortcoming lies in that the weight of goods is all born by AGV, consequently needs AGV to have great bearing capacity and power, and the in-process of marcing, and the load is emptyd easily, therefore this kind of AGV is used to light-duty commodity circulation transport scene more. And the mode that the front end was pull, its shortcoming lie in, the AGV handling in-process, turning radius is great, needs great motion space, consequently this kind of AGV is used for spacious factory building freight transport more than. In conclusion, both the latent backpack type and the front-end traction type are not suitable for the application scene of heavy weight, more storage and small space of the silkworm tray.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a towed shallow AGV system of hiding, this system bearing capacity is strong, and traction force is strong, and it is little to remove the radius, and the reliability is high, requires lowly to the location, and has certain shock attenuation effect, is fit for the heavy load, the automatic logistics scene of many storages, like silkworm mill etc..

In order to achieve the above purpose, the technical scheme of the utility model is that: a latent traction type AGV system comprises an AGV and an AGV interaction cart;

the middle of the top of the AGV trolley is provided with an identification unit which is used for identifying and positioning the AGV interaction trolley;

the top of the AGV trolley is also provided with the jacking mechanism and the jacking motor, and the jacking motor is used for providing power for the jacking mechanism so as to drive the jacking mechanism to move;

four traction structures are fixedly arranged on the jacking mechanism and used for traction the AGV to carry out interactive cart movement; each traction structure comprises an aluminum block base, a buffer spring, a rubber top block sleeve and a mounting bolt;

the aluminum block base is fixedly connected with the jacking mechanism; the buffer spring is sleeved on the aluminum block base; the rubber top block sleeve is sleeved on the aluminum block base and is positioned above the buffer spring; the mounting bolt is positioned in the cavity of the aluminum block base and used for fixing the aluminum block base on the jacking mechanism;

an identification area matched with the identification unit is arranged in the middle of the bottom of the AGV interaction cart;

four traction holes for the traction structure to pass through are formed in the periphery of the AGV interaction cart;

after the recognition unit of the AGV trolley recognizes and positions the recognition area of the AGV interactive trolley, the jacking mechanism rises, and the four traction structures are inserted into the four traction holes to complete the butt joint of the AGV trolley and the AGV interactive trolley;

wherein, work as the traction structure passes behind the traction hole, the rubber kicking block cover struts, AGV dolly accessible four traction structure drive the mutual shallow motion of AGV.

Further, the diameter of the rubber jacking block sleeve is larger than that of the traction hole.

Further, the rubber ejector block sleeve comprises a rubber block and a circular flange copper sleeve, and the rubber block is connected with the circular flange copper sleeve through a bolt.

Further, the rubber top block sleeve is movably sleeved on the aluminum block base.

Further, the lower end of the buffer spring is abutted against the aluminum block base, and the upper end of the buffer spring is abutted against the rubber top block sleeve.

Further, still be provided with two fixed modules of goods on the mutual shallow of AGV, two fixed modules of goods be in with the same straight line that the length direction of the mutual shallow of AGV parallels.

Furthermore, a cargo fixing hole capable of passing through is formed in the middle of each cargo fixing module.

Furthermore, four mounting slotted holes are formed at the joint of the AGV interaction cart and each cargo fixing module; four round holes matched with the mounting slotted holes are formed in the periphery of each cargo fixing module.

Further, the goods fixing module and the AGV interaction cart are detachably connected.

Further, the identification unit is a camera; the identification area is a cart sign.

The working principle of the technical scheme is as follows: after the identification unit of the AGV trolley identifies and positions the identification area of the AGV interaction trolley, the jacking mechanism rises, the rubber jacking block sleeve shrinks downwards, and the four traction structures are inserted into the four traction holes to complete the butt joint of the AGV trolley and the AGV interaction trolley; wherein, after the structure that pulls passed the traction hole, the rubber kicking block cover propped open to block the mutual shallow of AGV, the AGV dolly drives the mutual shallow motion of AGV through four structures of pulling.

The beneficial effects of this technical scheme lie in: the AGV dolly blocks the mutual shallow of AGV that can be fine through four rubber kicking block covers that pull structural for the AGV dolly is connected with the mutual shallow of AGV more firmly, promotes the reliability. Meanwhile, the traction structure is simple, the cost is low, the traction capacity is strong, the reliability is high, the requirement on positioning is low, and a certain damping effect is achieved.

AGV interaction shallow: 1) the bottom plate block is provided with four interactive traction holes which can be matched with an AGV trolley traction structure to realize the connection of the trolley and the AGV trolley; 2) the bottom plate block is provided with an identification area, the AGV trolley can obtain the information of the trolley through the identification area, and the machine vision positioning between the AGV trolley and the trolley is carried out according to the special pattern on the identification area; 3) the bottom plate block is detachably connected with the cart body, so that the corresponding bottom plate block can be replaced according to the combination mode of the AGV cart;

4) the trolley is provided with a support rod and a trundle, and enough space is reserved below the trolley through the support rod for the AGV to enter in a hidden mode; the truckles can realize the omnidirectional movement of the cart.

The utility model discloses can realize the silkworm shallow storage of no humanization completely, transport, it is with low costs, safe, the job uniformity is high, and bearing capacity is strong, and tractive ability is strong, and it is little to remove the radius, and the reliability is high, requires lowly to the location, and has advantages such as certain shock attenuation effect.

Drawings

Fig. 1 is a schematic structural diagram of an AGV cart of a latent traction type cart AGV system according to the present invention;

fig. 2 is a cross-sectional view of a traction structure of a latent traction type cart AGV system according to the present invention;

fig. 3 is an exploded view of a traction structure of a latent traction type cart AGV system according to the present invention;

fig. 4 is a schematic structural diagram of an AGV interactive cart of the latent traction-type cart AGV system according to the present invention;

fig. 5 is a schematic structural diagram of a cart body of an AGV interactive cart of the latent traction-type cart AGV system according to the present invention;

fig. 6 is a schematic structural diagram of an AGV interactive cart of the latent traction-type cart AGV system according to the present invention;

fig. 7 is a bottom view of an AGV interactive cart of the latent traction-type cart AGV system according to the present invention;

fig. 8 is the utility model relates to a structure schematic diagram when AGV dolly of towed shallow AGV system of hiding counterpoints the completion with the mutual shallow of AGV.

Detailed Description

The following is further detailed by way of specific embodiments:

reference numerals in the drawings of the specification include: 1. an AGV trolley; 2. an identification unit; 3. a jacking mechanism; 4. a jacking motor; 5. a traction structure; 51. an aluminum block base; 52. a buffer spring; 53. a rubber top block sleeve; 531. a rubber block; 532. a circular flange copper sleeve; 54. installing a bolt; 55. a clamp spring; 6. AGV interactive pushing; 61. a cart body; 62. a bottom plate block; 611. a body support; 612. a support bar; 613. a caster wheel; 614. a carrying mechanism; 7. identifying an area; 8. a drawing hole; 9. a cargo securing module; 10. a cargo securing hole; 11. and installing the slotted hole.

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

As shown in figures 1, 2, 3 and 8: a latent traction type AGV system comprises an AGV trolley 1 and an AGV interactive trolley 6; the middle of the top of the AGV trolley 1 is provided with an identification unit 2, the identification unit 2 is a camera, and the identification unit 2 is used for identifying and positioning the AGV interactive trolley 6; the top of the AGV trolley 1 is also provided with a jacking mechanism 3 and a jacking motor 4, and the jacking motor 4 is used for providing power for the jacking mechanism 3 so as to drive the jacking mechanism 3 to move; four traction structures 5 are fixedly arranged on the jacking mechanism 3 and used for traction of the AGV to perform interactive cart movement, and each traction structure 5 comprises an aluminum block base 51, a buffer spring 52, a rubber jacking block sleeve 53 and a mounting bolt 54; the aluminum block base 51 is fixedly connected with the jacking mechanism 3; the buffer spring 52 is sleeved on the aluminum block base 51, the lower end of the buffer spring 52 props against the aluminum block base 51, and the upper end props against the rubber top block sleeve 53; the rubber ejector block sleeve 53 is sleeved on the aluminum block base 51 and positioned above the buffer spring 52, the rubber ejector block sleeve 53 is movably sleeved on the aluminum block base 51, the rubber ejector block sleeve 53 comprises a rubber block 531 and a circular flange copper sleeve 532, and the rubber block 531 and the circular flange copper sleeve 532 are connected through bolts; the diameter of the rubber ejector block sleeve 53 is larger than that of the traction hole 8; the mounting bolt 54 is positioned in the cavity of the aluminum block base 51 and used for fixing the aluminum block base 51 on the jacking mechanism 3; the traction structure 5 further comprises a clamp spring 55, wherein the clamp spring 55 is sleeved on the aluminum block base 51 and is positioned above the rubber top block sleeve 53, and is used for limiting the position of the upper end of the rubber top block sleeve 53.

As shown in figures 4-8: the AGV interacts with the cart 6, which specifically includes a cart body 61 and a floor block 62. The cart body comprises a body bracket 611, a support rod 612, a caster 613 and a bearing mechanism 614; the support rod 612 is fixedly connected with the body bracket 611; the caster 613 is fixedly connected with the support rod 612; the carrier 614 is connected to the body bracket 611. The bottom plate block 62 is detachably connected with the cart body 61 through a bearing mechanism 614; the middle of the bottom plate block 62 is provided with an identification area 7 matched with the identification unit 2, and the identification area 7 is a cart label; four drawing holes 8 for the drawing structures 5 to pass through are arranged around the bottom plate block 62. Still be provided with two fixed modules of goods 9 on the mutual shallow 6 of AGV, the mutual shallow 6 of AGV has certain length and width, and two fixed modules of goods 9 are located the same straight line that parallels with the length direction of the mutual shallow 6 of AGV, and fixed module of goods 9 is located the intermediate position department on the mutual shallow 6 width direction of AGV. Mutual shallow 6 of AGV and each goods fixed module 9 junction all are equipped with four installation bar slotted holes 11, and each goods fixed module 9 is equipped with all around with four round holes of installation bar slotted hole 11 complex, and goods fixed module 9 can dismantle with mutual shallow 6 of AGV and be connected. Each cargo fixing module 9 is provided with a cargo fixing hole 10 in the middle for fixing cargo. Through setting up installation bar slotted hole 11, can adjust the distance between two goods fixed module 9, realize adapting to not unidimensional goods.

After the identification unit 2 of the AGV trolley 1 identifies and positions the identification area 7 of the AGV interactive cart 6, the jacking mechanism 3 rises, and the four traction structures 5 are inserted into the four traction holes 8 to complete the butt joint of the AGV trolley 1 and the AGV interactive cart 6; wherein, after traction structure 5 passed traction hole 8, rubber kicking block cover 53 propped open, AGV 1 accessible four traction structure 5 drive the mutual shallow 6 motion of AGV.

The specific implementation process is as follows:

after the identification unit 2 of the AGV trolley 1 identifies and positions the identification area 7 of the AGV interactive cart 6, the jacking mechanism 3 rises, the rubber jacking block sleeves 53 shrink downwards, and the four traction structures 5 are inserted into the four traction holes 8 to complete the butt joint of the AGV trolley 1 and the AGV interactive cart 6; wherein, after traction structure 5 passed traction hole 8, rubber kicking block cover 53 propped open to block mutual shallow 6 of AGV, AGV dolly 1 drives mutual shallow 6 motion of AGV through four traction structure 5.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The above descriptions are merely examples of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein, and those skilled in the art will know all the common technical knowledge in the field of the invention before the application date or priority date, can know all the prior art in this field, and have the ability to apply the conventional experimental means before this date. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims

1. The utility model provides a towed shallow AGV system hides which characterized in that: the method comprises the steps of carrying out AGV trolley and AGV interactive trolley;

2. A latent traction cart, AGV, system according to claim 1, characterized in that: the diameter of the rubber ejector block sleeve is larger than that of the traction hole.

3. A latent traction cart, AGV, system according to claim 1, characterized in that: the rubber top block sleeve comprises a rubber block and a circular flange copper sleeve, and the rubber block is connected with the circular flange copper sleeve through a bolt.

4. A latent traction cart, AGV, system according to claim 1, characterized in that: the rubber top block sleeve is movably sleeved on the aluminum block base.

5. A latent traction cart, AGV, system according to claim 1, characterized in that: the lower end of the buffer spring is abutted against the aluminum block base, and the upper end of the buffer spring is abutted against the rubber top block sleeve.

6. A latent traction cart, AGV, system according to claim 1, characterized in that: still be provided with two fixed modules of goods on the mutual shallow of AGV, two fixed modules of goods be in with the same straight line that the length direction of the mutual shallow of AGV parallels.

7. A latent pull cart (AGV) system according to claim 6, wherein: and a penetrable cargo fixing hole is formed in the middle of each cargo fixing module.

8. A latent traction cart, AGV, system according to claim 7, characterized in that: four mounting slotted holes are formed in the joint of the AGV interaction cart and each cargo fixing module; four round holes matched with the mounting slotted holes are formed in the periphery of each cargo fixing module.

9. A latent traction cart, AGV, system according to claim 8, characterized in that: the goods fixing module and the AGV interaction cart are detachably connected.

10. A latent traction cart, AGV, system according to claim 1, characterized in that: the identification unit is a camera; the identification area is a cart sign.