CN216784586U - Backpack bidirectional material taking AGV - Google Patents
Backpack bidirectional material taking AGV Download PDFInfo
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- CN216784586U CN216784586U CN202220005790.2U CN202220005790U CN216784586U CN 216784586 U CN216784586 U CN 216784586U CN 202220005790 U CN202220005790 U CN 202220005790U CN 216784586 U CN216784586 U CN 216784586U
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- side plate
- movable side
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- reclaiming
- agv
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Abstract
本实用新型公开了一种背负式双向取料AGV，包括：AGV车体、底板、双向取料单元、升降模组，所述升降模组通过轨道模组活动设置于所述AGV车体上，所述升降模组带动底板升降运动，所述双向取料单元相对设置于所述底板上，以在所述底板上前后运动进行取料。通过上述方式，本实用新型一种背负式双向取料AGV，采用背负式结构，可以适应狭小空间等多种使用环境，还可以双向搬运货物并精准自动上下料，提高工作效率。
The utility model discloses a backpack-type two-way reclaiming AGV, comprising: an AGV body, a bottom plate, a two-way reclaiming unit, and a lifting module, wherein the lifting module is movably arranged on the AGV body through a rail module, The lifting module drives the bottom plate to move up and down, and the two-way material reclaiming unit is relatively arranged on the bottom plate to move back and forth on the bottom plate to take materials. Through the above method, the utility model is a backpack-type two-way reclaiming AGV, which adopts a backpack-type structure, which can adapt to various use environments such as narrow spaces, and can also carry goods in two directions and accurately and automatically load and unload materials, thereby improving work efficiency.
Description
Technical Field
The utility model relates to the technical field of automation of conveying equipment, in particular to a backpack type bidirectional material taking AGV.
Background
The AGV is a transport vehicle which does not need a driver, and is widely applied to the fields of storage industry, manufacturing industry, medicine, food, chemical industry, dangerous places, special industry and the like.
However, there are some disadvantages to the use of current AGVs, such as:
1. the field AGV is in a dragging type, so that the field AGV cannot be suitable for various use environments;
2. the conventional AGV needs staff to carry out loading and unloading, so that the labor is consumed;
3. because the field conveying structure is mostly in a belt conveying mode, the conventional AGV cannot be used when facing an unpowered platform;
4. current structure is mostly one-way use, and the limitation is great, and power is mostly cylinder drive, can't use the AGV dolly.
SUMMERY OF THE UTILITY MODEL
The technical problem mainly solved by the utility model is to provide a backpack type two-way material taking AGV which has the advantages of high reliability, accurate positioning, compact structure and the like, and has wide market prospect in the application and popularization of carrying equipment.
In order to solve the technical problems, the utility model adopts a technical scheme that:
the utility model provides a two-way material AGV that gets of backpack, it includes: the automatic material taking device comprises an AGV body, a bottom plate, a bidirectional material taking unit and a lifting module, wherein the lifting module is movably arranged on the AGV body through a track module and drives the bottom plate to move up and down, the bidirectional material taking unit is oppositely arranged on the bottom plate so as to take materials by moving back and forth on the bottom plate,
the bidirectional material taking unit comprises a fixed side plate, a synchronous driving mechanism, a first-stage movable side plate, a second-stage movable side plate, a third-stage movable side plate and a hooking component, wherein the fixed side plate is arranged on the bottom plate, the fixed side plate, the first-stage movable side plate, the second-stage movable side plate and the third-stage movable side plate are sequentially connected in a sliding manner, two adjacent side plates are connected through a gear and rack transmission component, the synchronous driving mechanism is connected with the gear and rack transmission component to perform double stroke movement, the hooking component is movably arranged on the third-stage movable side plate,
the hook component comprises a rotary cam guide post, a rotary guide groove, a positioning guide block, a rotary guide rod, a guide pin, a limiting groove and a shifting plate, wherein the positioning guide block is movably arranged on a third-stage movable side plate, the limiting groove is arranged on the third-stage movable side plate, the guide pin movably connected with the limiting groove is arranged on the positioning guide block to limit the movement of the positioning guide block, the shifting plate is connected with the rotary cam guide post, the rotary guide groove is arranged on the rotary cam guide post, the rotary guide rod is arranged on the positioning guide block, and the rotary guide rod is movably arranged in the rotary guide groove and converts the front-back movement of the positioning guide block into the rotary rotation of the rotary guide rod so as to drive the shifting plate to rotate back and forth.
In a preferred embodiment of the present invention, the AGV body includes a seat, and the seat is provided with a power module, a collision avoidance module and a control module.
In a preferred embodiment of the utility model, the lifting module comprises a lifting frame, a lifting servo motor and a screw rod, the lifting frame moves back and forth on the saddle through the rail module to adjust the left and right positions, the lifting servo motor and the screw rod are arranged on the lifting frame, and the lifting servo motor drives the bidirectional material taking unit to lift through the screw rod.
In a preferred embodiment of the present invention, the rack and pinion assembly comprises a primary transmission gear, a primary transmission rack, a secondary transmission gear, a secondary transmission rack, a tertiary transmission gear, and a tertiary transmission rack, wherein the synchronous driving mechanism drives the primary transmission gear to rotate, the primary transmission rack is arranged at the lower part of the primary movable side plate, the primary transmission gear is meshed with the primary transmission rack to drive the primary movable side plate to move back and forth, the secondary transmission gear is rotatably arranged on the primary movable side plate, the secondary transmission rack is respectively arranged at the upper part of the fixed side plate and the lower part of the secondary movable side plate, the secondary transmission gear is respectively meshed with the two secondary transmission racks arranged up and down to drive the secondary movable side plate to move back and forth, the tertiary transmission gear is rotatably arranged on the secondary movable side plate, the tertiary transmission rack is respectively arranged at the lower part of the tertiary movable side plate and at the upper part of the secondary movable side plate, the three-stage transmission gear is respectively meshed with two three-stage transmission racks arranged up and down so as to drive the three-stage movable side plates to move back and forth.
In a preferred embodiment of the present invention, the driving shaft is respectively connected to the fixed side plates of the two sets of bidirectional material taking units, and the primary transmission gears are disposed at two ends of the driving shaft, and the synchronous driving mechanism drives the primary transmission gears to synchronously rotate through the driving shaft.
In a preferred embodiment of the present invention, the synchronous driving mechanism includes a driving servo motor and a synchronous pulley synchronous belt, the driving shaft and the driving servo motor are provided with synchronous pulleys, and the synchronous pulleys are connected through the synchronous belt to drive the primary transmission gears at the left and right ends of the driving shaft to move synchronously.
In a preferred embodiment of the utility model, the reflection sensor is arranged on the bottom plate, and the contrast super sensor is arranged on the three-stage movable side plate or the material shifting plate.
In a preferred embodiment of the utility model, two ends of each three-stage movable side plate are respectively provided with a group of the hooking components.
In a preferred embodiment of the present invention, an electric push rod disposed on the three-stage movable side plate drives the positioning guide block to move back and forth.
In a preferred embodiment of the present invention, the rotating guide slot is an arc-shaped through slot structure, the rotating guide rod passes through the rotating guide slot, and both ends of the rotating guide rod are connected to the positioning guide block.
The utility model has the beneficial effects that: adopt backpack structure, can adapt to multiple service environment such as narrow and small space, can also two-way transport goods and accurate automatic unloading of going up improve work efficiency.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
FIG. 1 is a schematic diagram of a backpack two-way reclaiming AGV according to a preferred embodiment of the present invention;
FIG. 2 is a schematic side view of a preferred embodiment of a piggyback two-way reclaiming AGV of the present invention;
FIG. 3 is a schematic top view of a preferred embodiment of a piggyback bi-directional pick-up AGV of the present invention;
FIG. 4 is a schematic diagram of a bi-directional material taking unit of a preferred embodiment of a piggyback bi-directional material taking AGV of the present invention;
FIG. 5 is a schematic view of the hooking member of a preferred embodiment of the piggyback two-way reclaiming AGV of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, an embodiment of the present invention includes:
the utility model provides a two-way material AGV that gets of backpack, its structure includes: AGV automobile body, bottom plate 1, two-way material unit, the lift module of getting, the lift module pass through the activity of track module set up in on the AGV automobile body, the lift module drives bottom plate elevating movement, two-way material unit of getting set up relatively in on the bottom plate, with the seesaw is got the material on the bottom plate.
The AGV automobile body includes saddle 2, power module, anticollision module, control module group.
The power module includes action wheel 3, automobile body driving motor and universal wheel 4, the universal wheel with the action wheel sets up respectively in the both sides of saddle bottom, automobile body driving motor set up in on the saddle to be connected with the action wheel through sprocket chain or driving belt, with drive action wheel rotary motion, accomplish actions such as the advancing, the back-off, turn, the stop of automobile body promptly through two automobile body driving motor cooperations. Two groups of 200w vehicle body driving motors are matched with a 30-time speed reducer and driven by the same driver to output power to two driving wheels, and the rear part of the trolley uses universal wheels to match with power wheels to finish turning action.
The anticollision module includes crashproof radar 5 and anticollision piece 6, the anticollision piece sets up in the side of saddle, the radar set up in on the anticollision piece, mechanical anticollision piece passes through anticollision piece displacement cooperation anticollision radar and detects to reach the function of collision emergency stop.
The control module group adopts the mode of magnetic navigation, and it includes: magnetic navigation sensor 7, RFID sensor, block terminal 9, double-colored lamp 10, music player 11, man-machine panel 12, control button 13, battery power display 14.
The magnetic navigation sensor and the distribution box are arranged on the saddle, the RFID sensor is arranged on the saddle and/or the bidirectional material taking unit, and the magnetic navigation sensor is matched with the RFID sensor to be communicated with a dispatching system of a user side so as to complete dispatching of the AGV; a motion and material taking control that is used for warning the double-colored lamp sets up on block terminal, crane and saddle, audio player, man-machine panel, control button, battery power display set up in on the block terminal, man-machine panel and audio player, control button, battery power display, magnetic navigation sensor, radar, automobile body driving motor, RFID sensor, double-colored lamp, lifting module and two-way material taking unit are connected, and the user can accomplish AGV on man-machine panel.
In addition, the AGV has a power-off protection function: by utilizing the servo motor with the brake, the equipment can keep the current position when the power is cut off in emergency, and no accident happens.
The lifting module comprises a lifting frame 15, a lifting servo motor 16 and a screw rod 17, the lifting frame moves back and forth on the saddle through the track module to adjust the left and right positions, the lifting servo motor and the screw rod are arranged on the lifting frame, the lifting servo motor is connected with the screw rod to drive the screw rod to rotate, a nut in threaded connection with the screw rod is connected with the bidirectional material taking unit, the bidirectional material taking unit can be driven to lift within the range of 220mm-1100mm through the matching of the screw rod and the nut, and in addition, the track module can be matched to be abutted to an unpowered platform to take materials bidirectionally within the range. The rail module can adopt a slide rail, a mobile module and other various translation driving devices.
The structure of two-way material taking unit includes: the hook comprises a fixed side plate 31, a driving shaft 32, a synchronous driving mechanism, a primary transmission gear 33, a primary transmission rack 34, a primary movable side plate 35, a secondary transmission gear 36, a secondary transmission rack 37, a secondary movable side plate 38, a tertiary transmission gear 39, a tertiary transmission rack 310, a tertiary movable side plate 311 and a hook component 18.
The fixed side plate and the reflection sensor 19 are arranged on the bottom plate, the fixed side plate, the first-stage movable side plate, the second-stage movable side plate and the third-stage movable side plate are sequentially connected in a sliding mode through a sliding rail from bottom to top, two sides of the driving shaft are arranged on the fixed side plates of the two groups of bidirectional material taking units through bearings with seats, the first-stage transmission gears are arranged at two ends of the driving shaft, the synchronous driving mechanism drives the first-stage transmission gears to rotate synchronously, the first-stage transmission rack is arranged at the lower portion of the first-stage movable side plate, and the first-stage transmission gears are meshed with the first-stage transmission rack to drive the first-stage movable side plate to move back and forth to complete one-time travel; the secondary transmission gear is rotatably arranged on the primary movable side plate, the secondary transmission racks are respectively arranged at the upper part of the fixed side plate and the lower part of the secondary movable side plate, and the secondary transmission gear is respectively meshed with the two secondary transmission racks arranged up and down to drive the secondary movable side plate to move back and forth so as to complete secondary times of stroke; the three-stage transmission gear is rotatably arranged on the second-stage movable side plate, the three-stage transmission racks are respectively arranged at the lower part of the third-stage movable side plate and the upper part of the second-stage movable side plate, and the three-stage transmission gear is respectively meshed with the two three-stage transmission racks arranged up and down to drive the three-stage movable side plate to move back and forth so as to complete three times of stroke; one or more of the hooking components are movably arranged on the upper part of the three-stage movable side plate, and the contrast over-sensor 20 is arranged on the three-stage movable side plate or the material shifting plate.
Synchronous drive mechanism is including driving servo motor 312, synchronizing wheel 313, hold-in range, 200W driving servo motor collocation speed reducer, the drive shaft with be provided with the synchronizing wheel on the speed reducer, the synchronizing wheel is connected with the hold-in range for the hold-in range is with power take off to the drive shaft to the one-level drive gear synchronous motion at both ends about the drive shaft is driven, thereby accomplishes the synchronous double stroke drive of both sides.
The hook material component comprises an electric push rod 315, a rotary cam guide post 316, a rotary guide groove 317, a positioning guide block 318, a rotary guide rod 319, a guide pin 320, a limiting groove 321 and a material shifting plate 314.
The limiting groove and the electric push rod are arranged on the third-stage movable side plate, the electric push rod is connected with the inner end of the positioning guide block to drive the positioning guide block to reciprocate on the third-stage movable side plate, the guide pin is arranged on the side wall of the positioning guide block, and the guide pin is movably arranged in the limiting groove to be matched with the positioning guide block to move and limit.
The outer end of the positioning guide block is provided with the rotating guide rod, the material stirring plate is arranged at the outer end of the rotating cam guide post through connecting pieces such as a bearing and a nut, an arc-shaped rotating guide groove is formed in the rotating cam guide post, the rotating guide rod is movably arranged in the rotating guide groove, horizontal motion is converted into rotating motion by utilizing the cylindrical cam structure principle, and the material stirring plate can rotate back and forth by driving the rotating guide rod to rotate back and forth through the front and back motion of the positioning guide block, so that the material stirring plate can rotate back and forth to control the motion of the material stirring plate in the material taking and placing process to coordinate the left and right material taking and placing actions. The positioning guide block is provided with an avoiding groove 322 allowing the rotary cam guide post to move back and forth, and the rotary guide rod is arranged at an opening of the avoiding groove.
When the automatic material taking and placing system is used, the AGV moves to a corresponding material taking and placing position according to the control instruction, and then the height of the bidirectional material taking unit is adjusted according to the height of the butt joint platform; the photoelectric sensor is matched with the synchronous driving mechanism, and power is transmitted by the three groups of gear rack assemblies, so that the movable side plates connected with each other through the slide rails can move back and forth in a certain stroke, the feeding position is accurately controlled, and the effect of bidirectional material taking is achieved; then, the cylindrical cam mechanism is used for changing horizontal motion into rotary motion, and the material shifting plate is turned inwards to hook and fix the material; the bi-directional material taking unit moves in the reverse direction to move the material from the docking platform to the base plate.
The backpack type bidirectional material taking AGV has the beneficial effects that:
1. AGV adopts backpack structure, can adapt to multiple service environment such as narrow and small space.
2. Not only can use by the unpowered platform of butt joint, can two-way transport goods and unloading in accurate automation moreover, improve work efficiency.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by the present specification, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220005790.2U CN216784586U (en) | 2022-01-05 | 2022-01-05 | Backpack bidirectional material taking AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220005790.2U CN216784586U (en) | 2022-01-05 | 2022-01-05 | Backpack bidirectional material taking AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216784586U true CN216784586U (en) | 2022-06-21 |
Family
ID=82013579
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220005790.2U Expired - Fee Related CN216784586U (en) | 2022-01-05 | 2022-01-05 | Backpack bidirectional material taking AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216784586U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117088030A (en) * | 2023-10-17 | 2023-11-21 | 成都思越智能装备股份有限公司 | Automatic stacker for carrying flat display glass substrate cassettes |
-
2022
- 2022-01-05 CN CN202220005790.2U patent/CN216784586U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117088030A (en) * | 2023-10-17 | 2023-11-21 | 成都思越智能装备股份有限公司 | Automatic stacker for carrying flat display glass substrate cassettes |
| CN117088030B (en) * | 2023-10-17 | 2023-12-22 | 成都思越智能装备股份有限公司 | Automatic stacker for carrying flat display glass substrate cassettes |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220621 |