CN215624854U

CN215624854U - AGV tray transfer system

Info

Publication number: CN215624854U
Application number: CN202121982049.3U
Authority: CN
Inventors: 不公告发明人
Original assignee: Suzhou Kaiyi Intelligent Technology Co ltd
Current assignee: Guangdong Tusk Robot Co ltd
Priority date: 2021-08-23
Filing date: 2021-08-23
Publication date: 2022-01-25
Anticipated expiration: 2031-08-23

Abstract

The utility model discloses an AGV tray transferring system, wherein a tray groove is arranged at the bottom of a tray, and the tray groove can be inserted into a lifting arm for accommodating a lifter, wherein the lifting arm is provided with a conveying belt for bearing the tray, so that the tray can be transferred from the AGV to a production line or from the production line to the AGV by driving the lifting arm and the conveying belt. The utility model can realize the quick butt joint of the tray between the AGV with different height positions and the production line.

Description

AGV tray transfer system

Technical Field

The utility model relates to object handling equipment, in particular to an AGV tray transferring system.

Background

At present, many planar AGVs (automatic Guided vehicles) exist in the market, and the purpose of conveying trays and objects on the trays in a plane can be achieved. However, in practical use, there is still a need to transfer the trays to an assembly line with a certain height, and at this time, the operation needs to be assisted by a manual or manually operated stacking forklift, and the lifting and moving operation of the trays with a specific height cannot be met due to the adoption of the universal stacking forklift bracket, so that improvement is needed.

SUMMERY OF THE UTILITY MODEL

In view of the defects in the prior art, the utility model aims to provide an AGV tray transfer system so as to realize transfer and butt joint of articles at different height positions.

In order to solve the technical problems, the technical scheme provided by the utility model is as follows:

the utility model provides a AGV tray transfer system, the bottom of tray sets up the tray groove, the tray groove can insert the lifting arm of holding lifting machine, wherein the lifting arm is equipped with the transport and brings and bears the weight of the tray to through the drive the lifting arm reaches the transport is brought and is realized the tray and is transported to the assembly line or transport to the AGV from the assembly line from the AGV.

Further, the AGV top surface set up with the AGV guide slot that the tray groove was adjusted well, when AGV moves the transfer station, the lift arm can be located in the AGV guide slot.

Further, when the lifting arm is in a low position, the top surface of the lifting arm is lower than the bottom wall of the tray groove, and the bottom surface of the lifting arm is higher than the bottom wall of the AGV guide groove; when the lifting arm is in a high position, the bottom surface of the tray is flush with the assembly line.

Furthermore, the lifting arm is fixedly arranged on a lifting frame, and the lifting frame is arranged on a door frame of the lifting machine in a lifting manner, so that the lifting arm can lift on the door frame along with the lifting frame.

Furthermore, the portal frame is provided with a lifting motor and a speed reducer which are coupled through a shaft, the output end of the speed reducer is connected with the input end of the lifting transmission mechanism to conduct power, and the lifting frame is connected with the output end of the lifting transmission mechanism so that the lifting motor drives the lifting frame to lift.

Further, a guide rail is arranged on the upright post of the door frame, and the lifting frame is connected with the door frame in a sliding mode through the guide rail to lift.

Furthermore, driving wheels are arranged at two ends of the lifting arm, wherein the driving wheel at least one end is connected to the power conveying module, two ends of the conveying belt are wound around the driving wheels respectively, and the conveying belt is partially positioned on the upper surface of the lifting arm.

Further, the conveying power module comprises a conveying motor, and the conveying motor drives the conveying belt to translate through forward rotation or reverse rotation of the conveying motor.

Furthermore, the lifting arm is provided with a plurality of unpowered rollers at the outer side positions of the two ends of the conveying belt respectively, the unpowered rollers are mounted at the end parts of the lifting arm through roller shafts, and the upper surface of each unpowered roller is flush with the conveying belt.

Furthermore, a detection sensor is arranged to detect whether the tray exists on the lifting arm, and when the tray exists, a detection signal is output to the control cabinet to control the lifting arm and the conveying belt to act.

Compared with the prior art, the tray is provided with the structure matched with the lifting arm, and the tray can be lifted and moved after the AGV enters the operation station of the elevator, so that the tray can be quickly butted between the AGV at different height positions and an assembly line, and the operation is efficient.

Drawings

FIG. 1 is a schematic diagram of an AGV tray transfer system of the present invention;

FIG. 2 is a schematic diagram of an AGV entering a transfer station of the AGV pallet transfer system of the present invention;

FIG. 3 is a first state diagram of the AGV pallet transfer system transferring pallets in accordance with the present invention;

FIG. 4 is a second state diagram of the AGV pallet transfer system transferring pallets in accordance with the present invention;

FIG. 5 is a third state diagram of the AGV pallet transfer system transferring pallets in accordance with the present invention;

FIG. 6 is a fourth state diagram for the AGV pallet transferring system of the present invention transferring pallets;

FIG. 7 is a fifth state diagram illustrating an AGV pallet transfer system transferring pallets according to the present invention;

fig. 8 is a schematic view of the hoist of fig. 1.

Detailed Description

The embodiment of the utility model provides an AGV (automatic guided vehicle) handling system, which is provided with a lifting machine capable of moving in two directions, and can realize lifting in the height direction and conveying in the horizontal direction, so that a tray and objects (for simplicity, the tray and the objects are also referred to as the tray) on the tray can be conveniently lifted from a lower height to a higher height, and then the tray is moved from one end of a lifting arm to the other end, and the purpose of conveying the tray on the ground to a production line with a certain height is realized. Conversely, the AGV handling system may also be capable of transferring pallets from a higher assembly line to a lower height AGV. Therefore, the utility model can better meet the requirements of automation and unmanned ground transportation and assembly line butt joint.

Referring to FIGS. 1-8, an AGV handling system and the structure of its mechanisms and components according to embodiments of the present invention is shown. The present invention will be described in further detail below with reference to the drawings and specific embodiments, but it should not be construed that the scope of the present invention is limited to the following embodiments.

As shown in fig. 1-8, an embodiment of the present invention provides an AGV handling system that provides a solution for interfacing a flat handling AGV100 with a conveyor line 300 having a height. This AGV handling system comprises mechanisms and parts such as AGV100, tray 200, assembly line 300 and lifting machine 400, and wherein lifting machine 400 sets up in the front end of assembly line 300 for accomplish the butt joint operation of plane transport AGV100 and assembly line 300.

As shown in fig. 1-8, the elevator 40 is composed of a gantry 1, an elevator motor 2, a reducer 3, an elevator transmission mechanism 4, a guide rail 5, an elevator frame 6, an elevator arm 7, a conveying motor 8, a conveyor belt 9, an unpowered roller 10, a detection sensor 11, a control cabinet 12 and other mechanisms and components, wherein the elevator motor 2, the reducer 3 and the like constitute an elevator power module 401, and the conveying motor 8 and the like constitute a conveying power module 402. Among these mechanisms and components, the lift arm 7 is mounted to the gantry 1 to be lifted, the conveyor belt 9 is mounted to the lift arm 7 to carry and convey the tray 200, and when the AGV100 travels to the transfer station, the tray 200 is transferred from the AGV100 to the assembly line 300 or from the assembly line 300 to the AGV100 by driving the lift arm 7 to be lifted in the vertical direction and the conveyor belt 9 to be translated in the horizontal direction. In particular, in order to facilitate the control of the movement of the elevator 400, the lifting frame 6 is particularly provided with a plurality of detection sensors 11, which may be photoelectric sensors (such as correlation or reflection infrared sensors, etc.), respectively disposed on the vertical bars 61 at the four corners of the lifting frame 6 for detecting whether the tray 200 exists on the lifting arm 7, and when the tray 200 exists, the detection sensors 11 output detection signals to the control cabinet 12 (which may be a local or remote controller of another type) for controlling the movement of the lifting arm 7 and the conveyor belt 9.

The bottom of the tray 200 in this embodiment is provided with a tray groove 201,

the AGV guide groove 101 that the top surface setting of AGV100 was adjusted well with tray groove 201, when AGV100 moved to the transfer station, lift arm 7 can be located the AGV guide groove to and insert and hold in order to lift tray 200 in tray groove 201. When the lifting arm 7 is in the low position, the top surface of the lifting arm 7 is lower than the bottom wall of the tray groove 201, and the bottom surface of the lifting arm 7 is higher than the bottom wall of the guide groove 101, so that the lifting arm 7 can normally lift the tray 200; when the lifting arm 7 is at a high position, the bottom surface of the tray 200 is flush with the assembly line 300, so that the tray 200 can be translated between the assembly line 300 and the lifting arm 7, wherein when the two ends of the tray 200 are bridged between the lifting arm 7 and the assembly line 300, the conveyer belt 9 and the assembly line 300 are synchronously conveyed, and the tray 200 is ensured to be stably transported.

As shown in fig. 1 to 8, the upper portion of the conveyor belt 9 in the embodiment of the present invention is mounted on the upper surface of the lift arm 8 so that the conveyor belt 9 can carry and convey the pallet. Wherein, the concrete mounting structure of conveyer belt 9 does: the two ends of the conveyor belt 9 are wound around the driving wheels arranged on the lifting arms 7 respectively, wherein the driving wheel at least one end is connected to the conveying power module 402, and the conveying power module 402 comprises a conveying motor 8 which rotates forwards or backwards to drive the conveyor belt 9 to move horizontally, so that the tray 200 is conveyed in the horizontal direction. Here, the lifting arm 7 is provided with rollers 10 at positions outside both ends of the conveyor belt 9, and these rollers 10 may be unpowered rollers that are mounted to the ends of the lifting arm 7 through respective roller shafts and whose upper surfaces are flush with the conveyor belt 9, so that the tray 200 can be smoothly conveyed.

As shown in fig. 1-8, a special lifting frame 6 is specifically provided in the embodiment of the present invention to assemble the lifting arm 7. The lifting arm 7 is fixedly arranged on the lifting frame 6 in a welding mode and the like, the lifting frame 6 is in transmission connection with the lifting power module 401 through the lifting transmission mechanism 4, and therefore the lifting frame 6 can be driven to lift, and the lifting arm 7 can further lift on the portal frame 1 along with the lifting frame 6. In this embodiment, the lifting power module 401 and the lifting transmission mechanism 4 are both disposed on the gantry 1, wherein the lifting power module 401 specifically includes the lifting motor 2 and the speed reducer 3, both of which are coupled to each other by a shaft, and the output end of the speed reducer 3 is connected to the input end of the lifting transmission mechanism 4 to transmit power. Here, the lifting transmission mechanism 4 may be in various forms, such as a rack and pinion mechanism, a sprocket chain mechanism, etc., and since the lifting frame 6 is connected to the lifting transmission mechanism 4, it can be lifted and lowered by the driving of the lifting power module 401. Particularly, the guide rail 5 is arranged on the upright post of the portal frame 1, and the bottom of the lifting frame 6 can be provided with a sliding groove (not shown), so that the lifting frame 6 is in sliding connection with the portal frame 1 through the guide rail 5, and the lifting frame 6 can drive the lifting arm 7 to lift on the portal frame 1 along the guide rail 5, and the stable operation of the lifting frame 6 and the lifting arm 7 on the lifting frame is ensured. Of course, the lifting frame 6 can also be realized by a driving mechanism with linear motion such as an air cylinder or a hydraulic cylinder, a push rod and the like, and the description is omitted.

The AGV transporting system of the present invention, the structure, operation principle and operation process of its constituent mechanisms and components are explained below.

As shown in fig. 8, the lifting arm 7 and the lifting frame 6 are welded into a whole, the lifting frame 6 is connected with the gantry 1 in a sliding way through the guide rail 5, and the up-and-down movement in the gantry 1 is realized through the power of the lifting transmission mechanism 4; the conveying belt 9 is assembled on the surface of the lifting arm 7 and can be driven to move leftwards or rightwards by the rotation of the conveying motor 8; the detection sensor 11 can be a photoelectric sensor and can detect whether the tray 13 is placed on the lifting arm 7 or not so as to judge whether the rotation of the lifting motor 2 and the conveying motor 8 is needed or controlled; the control cabinet 12 judges and controls the movement of each motor through the received signals of the 12 detection sensors.

The AGV100 can directly transport the tray 200 on the ground for flat transport. With the elevator 400 in place, the transfer of the pallet 200 between the lower AGV100 and the higher line 300 can be accomplished.

As shown in FIG. 2, the initial position of the lift arm 7 is at the lowest portion of the lift 400 as the AGV100 enters the transfer station.

As shown in FIG. 3, the AGV100 is shown transporting the pallet 200 into the lift 400, after which the pallet 200 is lifted to a height by the lift 400. Specifically, the method comprises the following steps: the AGV100 carries the tray 200 into the transfer station in the elevator 400, and the height of the lifting arm 7 can just enter the tray slot 201 of the tray 200; when the AGV100 stops after running to a certain position, the tray 200 triggers the detection sensor 11, the signal is transmitted to the control cabinet 12, and the control cabinet 12 controls the lifting power module 401 to work to lift the lifting arm 7 to a certain height; since the tray 200 is placed on the lifting arm 7 at this time, the lifting arm 7 lifts the tray 200 to a certain height (at this time, the bottom surface of the tray 200 is flush with the upper surface of the production line 300), at this time, the lifting arm 7 triggers the detection sensor 11 arranged on the lifter 400, the signal is transmitted to the control cabinet 12, the control cabinet 12 sends an instruction to control the lifting power module 401 to stop running, and at this time, the lifting arm 7 keeps the position still.

As shown in fig. 4-7, the process of the elevator 400 transferring the pallet 200 onto the pipeline 300 is shown. Specifically, the method comprises the following steps: after the lifting arm 7 lifts the tray 200 to a certain height, the detection sensor 11 preset on the lifter 400 is triggered, and after the control cabinet 12 receives a signal transmitted by the detection sensor 11, the lifting arm 7 is controlled to stop at the height position, then the conveying power module 402 is controlled to operate, and the conveying power module 402 drives the conveying belt 9 to rotate, so that the tray 200 is driven to move leftwards (i.e., to one side of the assembly line 300); when the tray 200 moves to a certain position, the detection sensor 11 arranged on the lifting arm 7 and close to one side of the production line 300 is triggered, the signal is transmitted to the control cabinet 12, and then the control cabinet 12 controls the transmission belt of the production line 300 to start rotating through the system; after the tray 200 moves to one end to contact the line 300, the line 300 and the conveyor 9 move the tray 200 in synchronization until the tray 200 is completely moved onto the line 300. At this time, the detection sensor 11 on the left side of the lift arm 7 is not triggered, and the conveyance power module 402 stops operating. And finishing the butt joint operation of plane carrying and assembly line.

If it is desired to transfer a tray 200 on the flow line 300 to an AGV100 on the floor, the operation is reversed and will not be described further.

The AGV carrying system provided by the embodiment of the utility model can realize automation and unmanned butt joint of ground carrying AGV and an assembly line, wherein the elevator is small in installation space, low in cost and large in lifting height range, and can meet the requirements of more use scenes.

Although the present invention has been described with reference to the preferred embodiments, it should be understood that the scope of the present invention is not limited to the embodiments described above, and that various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the present invention.

Claims

1. The utility model provides a AGV tray transfer system, its characterized in that, the bottom of tray sets up the tray groove, the tray groove can insert the lift arm of holding lifting machine, wherein the lift arm is equipped with the transport and brings and bears the weight of the tray to through the drive the lift arm reaches the transport is brought and is realized the tray and transport to the assembly line from the AGV or transport to the AGV from the assembly line.

2. The AGV tray transfer system of claim 1 wherein the AGV roof provides an AGV guide aligned with the tray slot, the lift arm being positionable within the AGV guide when the AGV is traveling to the transfer station.

3. The AGV tray transfer system of claim 2 wherein the lift arm has a top surface that is lower than the bottom wall of the tray slot and a bottom surface that is higher than the bottom wall of the AGV guide when the lift arm is in the lowered position; when the lifting arm is in a high position, the bottom surface of the tray is flush with the assembly line.

4. The AGV tray transfer system of claim 1, wherein said lift arm is fixedly attached to a lift frame, said lift frame being elevationally attached to a gantry of said lift such that said lift arm follows said gantry to elevate on said gantry.

5. The AGV tray transfer system of claim 4 wherein said gantry is provided with a hoist motor and speed reducer coupled to a shaft, an output of said speed reducer is coupled to an input of a hoist gear for power transmission, and said lift rack is coupled to an output of said hoist gear so that said hoist motor drives said lift rack up and down.

6. The AGV tray transfer system of claim 4 wherein said mast of said door frame has rails mounted thereon, said lift frame being slidably connected to said door frame via said rails for elevation and lowering.

7. An AGV tray transfer system according to claim 1 wherein said lift arm is provided with drive wheels at each end, wherein at least one of said drive wheels is connected to a transport power module, wherein said conveyor belt is wound at each end about said drive wheels, and wherein said conveyor belt is partially positioned on the upper surface of said lift arm.

8. The AGV tray transfer system of claim 7 wherein said transport power module includes a transport motor that drives said conveyor belt in translation by forward or reverse rotation thereof.

9. An AGV tray transfer system according to claim 2 wherein said lift arm has a plurality of unpowered rollers mounted to the ends of said lift arm by roller shafts at positions outboard of the ends of said conveyor belt, wherein the upper surfaces of said unpowered rollers are flush with said conveyor belt.

10. An AGV tray transfer system according to any one of claims 1 to 9 wherein a detection sensor is provided to detect the presence of a tray on the lift arm and when a tray is present, a detection signal is output to the control cabinet to control the movement of the lift arm and the conveyor belt.