CN215401245U

CN215401245U - AGV dolly return to well device

Info

Publication number: CN215401245U
Application number: CN202120657870.1U
Authority: CN
Inventors: 邹扬威; 吴浩; 潘胜
Original assignee: Shanghai Fast Warehouse Automation Technology Co ltd
Current assignee: Shanghai Fast Warehouse Automation Technology Co ltd
Priority date: 2021-03-31
Filing date: 2021-03-31
Publication date: 2022-01-04
Anticipated expiration: 2031-03-31

Abstract

A centering device of an AGV trolley comprises a mounting rack, a guide rail mechanism, a gear rack transmission mechanism, a motor, a clamping arm, a detection piece and a photoelectric switch; the guide rail mechanism comprises guide rails, first slide blocks, first slide block connecting plates, second slide blocks and second slide block connecting plates, wherein the two guide rails are respectively provided with two first slide blocks and one second slide block positioned in the middle, the two corresponding first slide blocks are commonly connected with the first slide block connecting plates, and each second slide block is connected with the second slide block connecting plate; two racks are meshed on two sides of the gear, one ends of the two racks are respectively connected with the two first slider connecting plates, the other ends of the two racks are respectively connected with the two second slider connecting plates, and the two clamping arms are respectively installed on the two first slider connecting plates. Through motor drive, guide rail mechanism and rack and pinion drive mechanism transmission drive two arm lock and press from both sides tightly or loosen, make the workbin position on the on-vehicle line body that is located the AGV dolly set up in the middle to guarantee that the transport line physical stamina of butt joint accurately receives the workbin.

Description

AGV dolly return to well device

Technical Field

The utility model belongs to the technical field of AGV and relates to a centering device of an AGV.

Background

The position of the automatic adjustment workbin on its on-vehicle line body can't be realized to current AGV dolly, when meeting with the road conditions of jolting, the axis position of the on-vehicle line body can be deviated to the workbin, can't accurate transmission workbin when leading to AGV dolly and the butt joint of the transportation line body, and in workbin transmission process, the workbin probably takes place to drop, block the shell, causes the damage to AGV dolly and the transportation line body.

SUMMERY OF THE UTILITY MODEL

Aiming at the problems, the utility model provides a centering device for an AGV.

The purpose of the utility model can be realized by the following technical scheme: a centering device of an AGV trolley comprises a mounting rack, a guide rail mechanism, a gear rack transmission mechanism, a motor, a clamping arm, a detection piece and a photoelectric switch; the guide rail mechanism comprises guide rails, first slide blocks, first slide block connecting plates, second slide blocks and second slide block connecting plates, the two guide rails are arranged on the mounting frame in parallel, each guide rail is provided with two first slide blocks and one second slide block positioned in the middle, each two corresponding first slide blocks on the two guide rails are jointly connected with one first slide block connecting plate, and each second slide block is connected with one second slide block connecting plate; the gear rack transmission mechanism comprises a gear and racks, the gear is arranged between the two guide rails in the middle, the two sides of the gear are meshed with the two racks parallel to the guide rails, one end of each of the two racks is connected with the two first slider connecting plates, and the other end of each of the two racks is connected with the two second slider connecting plates; the motor is arranged on the mounting frame, and an output shaft of the motor is connected with the gear; the two clamping arms are respectively arranged on the two first sliding block connecting plates; the detection piece is installed on the second slider connecting plate, and the two photoelectric switches are installed on the installation frame and matched with the detection piece.

Further, the two racks are centrosymmetric with respect to the axis of the gear.

Further, the clamping arm comprises a clamping plate structure.

Furthermore, the connecting line of the two photoelectric switches is parallel to the guide rail.

Further, the device also comprises a mechanical limit, and the mechanical limit limits the motion range of the second sliding block. Furthermore, the mechanical limit comprises a limit block, the limit block is arranged on the mounting frame, and a limit groove which is parallel to the guide rail and limits the motion range of the second sliding block is arranged on the limit block.

Furthermore, the AGV comprises a vehicle body, a supporting platform, a vehicle-mounted line body and a vehicle-mounted control system; the mounting frame of the centering device is mounted on the supporting platform, the guide rail is horizontally vertical to the conveying direction of the vehicle-mounted line body, the two clamping arms are respectively located on two sides of the vehicle-mounted line body, and the motor and the photoelectric switch are connected with the vehicle-mounted control system. Furthermore, the mounting bracket is located below the vehicle-mounted line body and comprises a mounting plate and a supporting plate, and the mounting plate is horizontally arranged and is connected with the supporting platform through the supporting plate. The two clamping arms are symmetrically arranged on a vertical plane where a central axis of the vehicle-mounted line body is located.

Compared with the prior art, the utility model has the beneficial effects that: the automatic material receiving device is driven by a motor, and is guided by a guide rail mechanism and transmitted by a gear rack transmission mechanism to drive two clamping arms to clamp or loosen, so that a material box positioned on a vehicle-mounted line body of the AGV trolley is arranged in the center to ensure that the butted conveying line body can accurately receive the material box; the detection piece and the two photoelectric switches are arranged, and a vehicle-mounted control system of the AGV triggers the two photoelectric switches through the detection piece to judge the position of the sliding block on the guide rail, so that the motor is controlled to rotate forwards or backwards or stop; a limiting block with a limiting groove is used as mechanical limiting to limit the motion range of the sliding block on the guide rail.

Drawings

FIG. 1 is a schematic diagram of an AGV configuration according to one embodiment of the present invention;

FIG. 2 is a perspective view of an embodiment of the present invention;

FIG. 3 is a top view of an embodiment of the present invention;

FIG. 4 is a schematic structural view of an AGV according to an embodiment of the present invention docking with a conveyor line.

The reference numbers are as follows:

1 vehicle body

2 support the disc

3 support frame

4 vehicle-mounted wire body

5 centering device

6 mounting plate

7 support plate

8 guide rail

9 first slide block

10 first slider connecting plate

11 second slide

12 second slide block connecting plate

13 Gear

14 rack

15 electric machine

16 clamping arm

17 limiting block

18 detection piece

19 photoelectric switch

20 cover

21 transporting the wire body.

Detailed Description

The following detailed description of the embodiments of the present invention will be given in conjunction with the accompanying drawings to make it clear to those skilled in the art how to practice the present invention. While the utility model has been described in connection with preferred embodiments thereof, these embodiments are merely illustrative, and not restrictive, of the scope of the utility model.

Referring to fig. 1, the AGV cart mainly includes a cart body 1, a supporting platform, a vehicle-mounted line 4, a vehicle-mounted control system, and a cover 20 covering the supporting platform. Supporting platform includes supporting disk 2 and support frame 3, and supporting disk 2 passes through support frame 3 to be connected with the carousel at 1 top of automobile body, and on-vehicle line body 4 is installed on supporting disk 2, and on-vehicle control system control automobile body 1 removes and on-vehicle line body 4 work. The vehicle-mounted wire body 4 can adopt any wire body in the prior art, and in the embodiment, the vehicle-mounted wire body 4 adopts a belt wire.

Referring to fig. 1 to 3, a centering device 5 for an AGV is mounted on a supporting tray 2 of the AGV. The centering device 5 comprises a mounting frame, a guide rail mechanism, a gear rack transmission mechanism, a motor 15, a clamping arm 16, a limiting block 17, a detection sheet 18 and a photoelectric switch 19.

The mounting bracket comprises a mounting plate 6 and a support plate 7. The mounting panel 6 is located the below of on-vehicle line body 4 and parallel with supporting disk 2, and the both sides of mounting panel 6 all are connected with supporting disk 2 through a backup pad 7.

The guide rail mechanism comprises a guide rail 8, a first slide block 9, a first slide block connecting plate 10, a second slide block 11 and a second slide block connecting plate 12. Two guide rails 8 are parallelly installed on the mounting plate 6 and are horizontally vertical to the conveying direction of the vehicle-mounted line body 4, each guide rail 8 is provided with two first sliders 9 and a second slider 11 located in the middle, each two corresponding first sliders 9 on the two guide rails 8 are jointly connected with a first slider connecting plate 10, and each second slider 11 is connected with a second slider connecting plate 12.

The rack and pinion gear mechanism includes a pinion 13 and a rack 14. The gear 13 is arranged between the two guide rails 8 in the middle, two racks 14 are meshed on two sides of the gear 13, the two racks 14 are symmetrical about the axis center of the gear 13, the two racks 14 are located between the two guide rails 8 and are parallel to the guide rails 8, one ends of the two racks 14 are connected with the two first slider connecting plates 10 respectively, and the other ends of the two racks 14 are connected with the two second slider connecting plates 12 respectively.

The motor 15 is arranged on the mounting plate 6, an output shaft of the motor 15 penetrates through the mounting plate 6 and then is connected with the gear 13, and the motor 15 is connected with and controlled by a vehicle-mounted control system.

Two arm lock 16 install respectively on two first slider connecting plates 10 and symmetrical arrangement, and two arm lock 16 are located the both sides of on-vehicle line body 4 respectively, and in this embodiment, arm lock 16 adopts the splint structure of being convenient for press from both sides tight workbin.

The stopper 17 is mechanical spacing, and the stopper 17 is installed on the mounting panel 6, sets up the spacing groove parallel with guide rail 8 and restriction second slider 11 motion range on the stopper 17, and in this embodiment, the spacing groove of stopper 17 cooperates with a second slider 11. In practical implementation, the design length of the limiting groove needs to be determined according to parameters of the material box.

The detection piece 18 is installed on the second slide block 11, and in this embodiment, the detection piece 18 is installed on another second slide block 11 which is not matched with the limit block 17, so that the centering device is more compact in structure.

Two photoelectric switches 19 are arranged on the mounting plate 6 and are matched with the detection sheet 18, the connecting line of the two photoelectric switches 19 is parallel to the guide rail 8, and in practical implementation, the design distance between the two photoelectric switches 19 needs to be determined according to the parameters of the material box. The two photoelectric switches 19 are connected with a vehicle-mounted control system, and the vehicle-mounted control system triggers the two photoelectric switches 19 through the detection sheet 18 to judge the position of the second sliding block 11, so that the motor is controlled to rotate forwards, reversely or stop.

Referring to fig. 4, when the AGV is to transfer the bin on its on-vehicle line body 4 to the transport line body 21, the centering device 5 works in advance to adjust the position of the bin on the on-vehicle line body 4, so that the bin position is centered, and the transport line body 21 can accurately receive the bin. Specifically, the vehicle-mounted control system controls the motor 15 to work, the motor 15 drives the gear 13 to drive the two racks 14 to move, each rack 14 drives the connected first sliding block 9 and the second sliding block 11 to move along the guide rail 8, so that clamping or loosening actions of the two clamping arms 16 are realized, and alignment of a material box and a vertical surface of a central axis of the vehicle-mounted line body 4 can be ensured when the two clamping arms 16 are clamped.

Further, in this embodiment, referring to fig. 3, in the process that the motor 15 rotates forward and the two clamping arms 16 clamp, the second slider 11 moves rightward along the limiting groove of the limiting block 17, when the photoelectric switch 19 far away from the gear 13 is triggered by the detection piece 18, the photoelectric switch 19 transmits a signal to the vehicle-mounted control system, the vehicle-mounted control system controls the motor 15 to stop or rotate backward, and when the photoelectric switch 19 and/or the detection piece 18 have a problem and the photoelectric switch 19 cannot be triggered by the detection piece 18, in order to prevent the gear 13 and the rack 14 from being disengaged due to exceeding the stroke of the rack 14, the second slider 11 is blocked by the rightmost end of the limiting groove of the limiting block 17 and is located at the right limit position; when the motor 15 rotates reversely and the two clamping arms 16 are loosened, the second sliding block 11 moves leftwards along the limiting groove of the limiting block 17, when the photoelectric switch 19 which is closer to the gear 13 is triggered by the detection piece 18, the photoelectric switch 19 transmits a signal to the vehicle-mounted control system, the vehicle-mounted control system controls the motor 15 to stop, and when the photoelectric switch 19 cannot be triggered by the detection piece 18, the second sliding block 11 is blocked by the leftmost end of the limiting groove of the limiting block 17 and is located at a left limiting position.

It should be noted that many variations and modifications of the embodiments of the present invention fully described are possible and are not to be considered as limited to the specific examples of the above embodiments. The above examples are given by way of illustration of the utility model and are not intended to limit the utility model. In conclusion, the scope of the present invention should include those changes or substitutions and modifications which are obvious to those of ordinary skill in the art.

Claims

1. A centering device of an AGV trolley is characterized by comprising an installation rack, a guide rail mechanism, a gear rack transmission mechanism, a motor, clamping arms, a detection piece and a photoelectric switch; the guide rail mechanism comprises guide rails, first slide blocks, first slide block connecting plates, second slide blocks and second slide block connecting plates, the two guide rails are arranged on the mounting frame in parallel, each guide rail is provided with two first slide blocks and one second slide block positioned in the middle, each two corresponding first slide blocks on the two guide rails are jointly connected with one first slide block connecting plate, and each second slide block is connected with one second slide block connecting plate; the gear rack transmission mechanism comprises a gear and racks, the gear is arranged between the two guide rails in the middle, the two sides of the gear are meshed with the two racks parallel to the guide rails, one end of each of the two racks is connected with the two first slider connecting plates, and the other end of each of the two racks is connected with the two second slider connecting plates; the motor is arranged on the mounting frame, and an output shaft of the motor is connected with the gear; the two clamping arms are respectively arranged on the two first sliding block connecting plates; the detection piece is installed on the second slider connecting plate, and the two photoelectric switches are installed on the installation frame and matched with the detection piece.

2. The centering device for AGV carts of claim 1, wherein the two racks are centered symmetrically about the axis of the gear.

3. The centering device for an AGV cart according to claim 1, wherein said clamp arms include a clamp arrangement.

4. The centering device for AGV carts of claim 1, wherein the two opto-electronic switches are wired parallel to the guide rails.

5. The centering device for AGV trolleys according to any one of claims 1 to 4, further comprising a mechanical limit, wherein said mechanical limit limits the range of motion of said second sliding block.

6. The AGV trolley centering device according to claim 5, wherein the mechanical limiting device comprises a limiting block, the limiting block is mounted on the mounting frame, and a limiting groove parallel to the guide rail and limiting the movement range of the second sliding block is formed in the limiting block.

7. The centering device for the AGV trolley according to any one of claims 1 to 4 and 6, wherein the AGV trolley comprises a trolley body, a supporting platform, a trolley line body and a trolley control system; the mounting frame of the centering device is mounted on the supporting platform, the guide rail is horizontally vertical to the conveying direction of the vehicle-mounted line body, the two clamping arms are respectively located on two sides of the vehicle-mounted line body, and the motor and the photoelectric switch are connected with the vehicle-mounted control system.

8. The centering device for an AGV according to claim 7, wherein the mounting bracket is located below the on-board wire, and the mounting bracket includes a mounting plate and a supporting plate, and the mounting plate is horizontally disposed and connected to the supporting platform through the supporting plate.

9. The centering device for the AGV according to claim 7, wherein the two clamping arms are symmetrically arranged with respect to a vertical plane on which a central axis of the vehicle-mounted line body is located.