CN218025268U - Mechanism and AGV logistics system of plugging into - Google Patents

Abstract

The application relates to a commodity circulation transportation technical field discloses a mechanism of plugging into, includes: a platform; the station plate is rotatably arranged above the platform; two sides of the station plate are respectively provided with a station notch, and a material tray is placed above the station notch; the limiting assembly comprises a first stopping part and two second stopping parts; the first stopping part is connected to the side part of the station plate, which is not provided with the station notch, and the two second stopping parts are respectively arranged on two sides of the rotating track of the first stopping part; when one station notch rotates forwards to a connection position, the first stopping part abuts against the second stopping part to stop the station plate from continuing to rotate forwards; when the other station notch rotates reversely to the connection position, the first stopping part abuts against the other second stopping part to stop the station plate from continuing to rotate reversely. The application also discloses an AGV logistics system.

Description

Mechanism and AGV logistics system of plugging into

Technical Field

The application relates to the technical field of logistics transportation, for example to a mechanism and AGV logistics system of plugging into.

Background

With the popularization of automation, AGV carts are favored by various industries, and an Automated Guided Vehicle (AGV cart) refers to an automatic Guided Vehicle and is also called a logistics robot. Through the AGV dolly with commodity circulation transportation to appointed place to accept the commodity circulation that the AGV dolly transported through the mechanism of plugging into in appointed place, the commodity circulation transportation is more intelligent, and effectively reduces the cost of labor.

Be equipped with a plurality of robotic arm among the correlation technique, after the AGV dolly transports commodity circulation to appointed place, snatch the charging tray on the AGV dolly to the different stations of structure of plugging into through robotic arm.

In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in the related art:

the mechanism of plugging into shifts the charging tray to different stations through robotic arm on, robotic arm's cost is high and be difficult for maintaining, and then leads to AGV logistics system's cost higher.

SUMMERY OF THE UTILITY MODEL

The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments, but is intended to be a prelude to the more detailed description that is presented later.

The embodiment of the disclosure provides a mechanism of plugging into and AGV logistics system, has solved because adopt robotic arm to shift the charging tray on different stations and lead to the higher problem of AGV logistics system cost.

In some embodiments, the docking mechanism comprises:

a platform;

the station plate is rotatably arranged above the platform; two sides of the station plate are respectively provided with a station notch, and a material tray is placed above the station notch;

the limiting assembly comprises a first stopping part and two second stopping parts; the first stopping part is connected to the side part of the station plate, which is not provided with the station notch, and the two second stopping parts are respectively arranged on two sides of the rotating track of the first stopping part;

when one station notch rotates forwards to a connection position, the first stopping part abuts against the second stopping part to stop the station plate from continuing to rotate forwards; when the other station notch rotates reversely to the connection position, the first stopping part abuts against the other second stopping part to stop the station plate from continuing to rotate reversely.

Optionally, the first stopping portion comprises a stopping block, and the second stopping portion comprises:

the stop seat is fixed on the top surface of the platform;

the stop pin is arranged on the stop seat and is positioned on the rotation track of the stop block.

Optionally, the stop pin is removably connected to the stop seat.

Optionally, the stop seat comprises:

a cross plate section fixed to the top surface of the platform;

the vertical plate section is connected with the transverse plate section and is provided with a through hole, and the stop pin is inserted in the through hole.

Optionally, the stop block is fixed on the bottom surface of one side of the station plate through bolts.

Optionally, the docking mechanism further comprises:

and the rotating assembly is used for driving the station plate to rotate in the plane where the plate surface of the station plate is located.

Optionally, the rotating assembly comprises:

and the rotating cylinder is fixed on the top surface of the platform and connected to the center of the station plate.

Optionally, the rotating assembly further comprises:

the sensor is used for detecting whether a material tray exists in the position gap or not;

and the station controller is electrically connected with the sensor and the rotary cylinder and controls the rotary cylinder to drive the station plate to rotate according to a detection signal of the sensor.

Optionally, the station plate is configured as a rectangular plate, and two sides in the length direction are respectively provided with one station notch.

In some embodiments, the AGV logistics system includes a docking mechanism as described in any of the embodiments above.

The connection mechanism and AGV logistics system that this disclosed embodiment provided can realize following technological effect:

the station board can rotate and have two station breachs, and arbitrary station breach all can accept the charging tray that comes from AGV dolly and carry when rotating to the position of plugging into. When a station notch of the station plate rotates forwards to the connection position, the first stopping part and the second stopping part abut against each other to stop the station plate from rotating forwards continuously; at the moment, the station plate can only rotate reversely, and when the notch of the other station rotates reversely to the connection position, the first stopping part and the other second stopping part abut against each other to stop the station plate from continuing to rotate reversely, and at the moment, the station plate can only rotate forwardly. Therefore, the rotatable station plate rotates forwards or backwards for 180 degrees under the action of the limiting assembly, so that the two station gaps can be precisely made to circularly receive the material tray at the connection position. The connection mechanism circularly rotates through the station plates with the two station gaps to connect the material trays on the AGV, and the connection mechanism is simple and reliable in structure and low in cost.

The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.

Drawings

One or more embodiments are illustrated in the accompanying drawings, which correspond to the accompanying drawings and not in a limiting sense, in which elements having the same reference numeral designations represent like elements, and in which:

fig. 1 is a schematic structural diagram of a limiting assembly provided in an embodiment of the present disclosure;

FIG. 2 is an enlarged view of section C of FIG. 1;

fig. 3 is a schematic structural diagram of a docking mechanism provided in an embodiment of the present disclosure;

FIG. 4 is an enlarged view of portion B of FIG. 3;

FIG. 5 is an enlarged partial view of a jacking assembly provided by embodiments of the present disclosure;

FIG. 6 is a schematic diagram of an AGV configuration provided by embodiments of the present disclosure;

FIG. 7 is an enlarged view of portion A of FIG. 6;

fig. 8 is a partially enlarged view of a floating mount provided by an embodiment of the present disclosure.

Reference numerals:

10: a vehicle body; 101: a first slide rail; 11: a first carrier plate; 111: a first slider; 112: a second slide rail; 12: a second carrier plate; 121: a second slider; 13: a third carrier plate; 131: a turntable; 132: a tray support; 133: a material tray; 14: a first buffer section; 15: a second buffer portion; 16: a third buffer section; 17: guiding the male head; 18: guiding the female head; 19: a buffer seat;

20: a platform; 201: a station plate; 202: a working position gap; 203: a top pillar; 21: a jacking plate; 211: positioning pins; 22: jacking a cylinder; 221: a cylinder rod; 222: a cylinder block; 23: a guide bar; 231: connecting blocks; 24: an upper buffer section; 25: a lower buffer section;

30: a stop block; 31: a stop seat; 311: a transverse plate section; 312: a vertical plate section; 32: a stop pin; 33: a rotating cylinder; 34: a sensor.

Detailed Description

So that the manner in which the features and elements of the disclosed embodiments can be understood in detail, a more particular description of the disclosed embodiments, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may be practiced without these details. In other instances, well-known structures and devices may be shown in simplified form in order to simplify the drawing.

The terms "first," "second," and the like in the description and in the claims, and the above-described drawings of embodiments of the present disclosure, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged as appropriate for the embodiments of the disclosure described herein. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.

In the embodiments of the present disclosure, the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the disclosed embodiments and their examples and are not intended to limit the devices, elements or components indicated to a particular orientation or to be constructed and operated in a particular orientation. Moreover, some of the above terms may be used to indicate other meanings besides orientation or position, for example, the term "on" may also be used to indicate some kind of attachment or connection in some cases. The specific meanings of these terms in the embodiments of the present disclosure may be understood as specific cases by those of ordinary skill in the art.

In addition, the terms "disposed," "connected," and "secured" are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. Specific meanings of the above terms in the embodiments of the present disclosure can be understood by those of ordinary skill in the art according to specific situations.

The term "plurality" means two or more unless otherwise specified.

In the embodiment of the present disclosure, the character "/" indicates that the preceding and following objects are in an or relationship. For example, A/B represents: a or B.

The term "and/or" is an associative relationship that describes objects, meaning that three relationships may exist. For example, a and/or B, represents: a or B, or A and B.

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other

The embodiment of the disclosure provides an AGV logistics system, including AGV dolly and the mechanism of plugging into, the AGV dolly is used for transporting the charging tray 133 that is equipped with the goods to the mechanism of plugging into, and the mechanism of plugging into is used for accepting the goods that the AGV dolly transported and come.

In some embodiments, as shown in connection with fig. 1-8, the docking mechanism includes a platform 20, a station board 201, and a stop assembly. Wherein, the station board 201 is rotatably disposed above the platform 20; a station notch 202 is respectively arranged on two sides of the station plate 201, and a tray 133 is placed above the station notch 202; the limiting assembly comprises a first limiting stopper part and two second stopper parts; the first stopping portion is connected to the side portion of the station plate 201 where the station notch 202 is not located, and the two second stopping portions are respectively located on two sides of the rotation track of the first stopping portion; when one station notch 202 rotates forwards to the connection position, the first stop part abuts against the second stop part to stop the station plate 201 from continuing to rotate forwards; when the other station notch 202 rotates reversely to the connection position, the first stop portion abuts against the other second stop portion to stop the station plate 201 from continuing to rotate reversely.

In this embodiment, the station board 201 is rotatable and has two station notches 202, and any station notch 202 when rotated to the docking position can receive a tray 133 from an AGV transport. Moreover, when one station notch 202 of the station board 201 rotates forward to the connection position, the first stop portion and the second stop portion abut against each other to stop the station board 201 from continuing to rotate forward; at this moment, the station plate 201 can only rotate reversely, and when another station notch 202 rotates reversely to the connection position, the first blocking portion and another second blocking portion abut against each other to block the station plate 201 from continuing to rotate reversely, and at this moment, the station plate 201 can only rotate forwardly. In this way, the rotatable station plate 201 is rotated forward or backward by 180 ° by the limiting assembly, thereby precisely circulating the two station notches 202 to receive the tray 133 in the docking position. Therefore, the docking mechanism circularly rotates to receive the tray 133 on the AGV through the station plate 201 with the two station notches 202, and has the advantages of simple and reliable structure and lower cost.

Alternatively, as shown in fig. 1, the station board 201 is configured as a rectangular plate, and two station notches 202 are respectively provided on both sides in the length direction. The two station recesses 202 are configured as rectangular recesses of the same size.

Optionally, as shown in fig. 2, the first stopping portion includes a stopping block 30, and the second stopping portion includes a stopping seat 31 and a stopping pin 32. Wherein, the stop seat 31 is fixed on the top surface of the platform 20; the stopper pin 32 is disposed on the stopper seat 31 and located on the rotation trajectory of the stopper block 30.

In this embodiment, when one station notch 202 rotates forward to the connection position, the stop block 30 abuts against one stop pin 32 to stop the station plate 201 from rotating forward and only rotating backward; the station plate 201 rotates reversely, and when the other station notch 202 rotates reversely to the connection position, the stop block 30 abuts against the other stop pin 32, and the station plate 201 is stopped from rotating reversely and only can rotate normally. In this way, the two station notches 202 can be precisely cycled to receive the tray 133 in the docking position.

Alternatively, the stop pin 32 is detachably connected to the stop seat 31.

Optionally, the stop seat 31 includes a cross-plate section 311 and a riser section 312. The cross plate section 311 is fixed on the top surface of the platform 20; the vertical plate section 312 is connected to the horizontal plate section 311 and has a through hole, and the stopper pin 32 is inserted into the through hole.

In this embodiment, the transverse plate section 311 is provided with screw holes, and the transverse plate section 311 can be fixed on the platform 20 by using bolt fasteners matched with the screw holes. After the stop pin 32 is inserted into the through hole, two ends of the stop pin 32 are respectively located at two sides of the through hole, wherein one end of the stop pin 32 opposite to the stop block 30 plays a role of stop.

Alternatively, the stopper 30 is fixed to the bottom surface of the station plate 201 side by bolts.

Optionally, the docking mechanism further includes a rotating component, and the rotating component is configured to drive the station board 201 to rotate in the plane where the board surface of the station board is located. Under the action of the rotating assembly, the two station notches 202 of the station board 201 can rotate circularly to the connection position to receive the tray 133.

Optionally, the rotation assembly comprises a rotation cylinder 33. The rotary cylinder 33 is fixed on the top surface of the platform 20 and connected to the center of the station plate 201, and the station plate 201 is driven to rotate by the rotary cylinder 33.

Optionally, the rotating assembly further includes a sensor 34 and a position controller. The sensor 34 is used for detecting whether the station gap 202 has the tray 133; the work station controller is electrically connected to the sensor 34 and the rotary cylinder 33, and controls the rotary cylinder 33 to rotate the work station plate 201 according to a detection signal of the sensor 34.

Illustratively, the two station apertures 202 of the station plate 201 are referred to as a first aperture and a second aperture, respectively. In the initial state, the tray 133 does not exist on the two station notches 202. During operation, the work position controller controls the rotating cylinder 33 to rotate in the forward direction to rotate the first notch to the receiving position to receive the tray 133. When the sensor 34 detects that the tray 133 is placed on the first notch, the station controller controls the rotary cylinder 33 to rotate in the reverse direction to make the second notch rotate to the connection position to continue receiving the tray 133, and at this time, the user takes down the tray 133 of the first notch. When the sensor 34 detects that the first notch has no tray 133 and the second notch has a tray 133, the station controller controls the rotary cylinder 33 to rotate forward to make the first notch rotate to the docking position again to continue to receive the tray 133, and at this time, the user takes down the tray 133 of the second notch. The two station notches 202 are used for efficiently receiving the material trays 133 transported by the AGV trolley in the reciprocating circulation mode. Here, the presence or absence of the tray 133 in the two station notches 202 may be detected by one sensor 34, or the presence or absence of the tray 133 in the two station notches 202 may be detected by two sensors 34, respectively.

In some embodiments, as shown in connection with fig. 3-5, the docking mechanism includes a platform 20, a jacking assembly, and a lift-cushioning assembly. Wherein, a station plate 201 is arranged above the platform 20, and the station plate 201 is provided with a station gap 202; the jacking assembly comprises a jacking plate 21; the lifting plate 21 is arranged on the platform 20 in a lifting manner and is positioned below the station notch 202, the lifting plate 21 is matched with the station notch 202, and the lifting plate 21 can lift to pass through the station notch 202, so that the tray 133 above the station notch 202 is lifted; the lifting buffer assembly comprises an upper buffer part 24; the upper buffer portion 24 is disposed on the platform 20 and below the lift plate 21, and is configured to contact the lift plate 21 to buffer when the lift plate 21 descends to the lowest position.

In this embodiment, the AGV transports the tray 133 above the station gap 202 of the station plate 201, the lift plate 21 below the station gap 202 rises, and the lift plate 21 gradually passes through the station gap 202 and lifts the tray 133 until the tray 133 is separated from the AGV. The AGV then exits, and the lift plate 21 holds the tray 133 and gradually descends. When the lift plate 21 is lowered below the station notch 202, the tray 133 is held by the station plate 201. The lifting plate 21 continues to descend until the lifting plate abuts against the upper buffer part 24, at this time, the upper buffer part 24 plays a role in buffering the lifting plate 21, and the lifting plate 21 stops descending to wait for the next ascending of the lifting tray 133. The connection mechanism transfers the material tray 133 from the AGV to the station board 201 through the jacking assembly, and the connection mechanism is simple and reliable in structure and low in cost.

Optionally, the upper buffer 24 comprises an upper hydraulic buffer. The fixed end of the upper hydraulic buffer is fixed to the top surface of the platform 20 and the buffer end faces the bottom surface of the lifting plate 21. When the lift plate 21 descends and collides with the buffer end of the upper hydraulic buffer, an effective buffering action is exerted on the lift plate 21.

Optionally, as shown in fig. 5, the jacking assembly further comprises a jacking cylinder 22. The lift cylinder 22 has a cylinder rod 221; the jacking cylinder 22 is arranged below the platform 20, the cylinder rod 221 penetrates through the platform 20 to be connected to the bottom of the jacking plate 21, and the cylinder rod 221 drives the jacking plate 21 to lift when extending and retracting.

In this embodiment, the plate surface of the platform 20 opposite to the lift plate 21 is opened with a cylinder hole, and a cylinder block 222 is disposed below the cylinder hole. The lift cylinder 22 is fixed to the bottom surface of the plate of the platform 20 by a cylinder block 222, and a cylinder rod 221 extends toward the lift plate 21 through a cylinder hole and is connected to a middle position of the bottom surface of the lift plate 21. When cylinder rod 221 extends outward, it drives lift plate 21 to rise, and when cylinder rod 221 retracts, it drives lift plate 21 to fall.

Optionally, the docking mechanism further comprises a guide assembly. The guide assembly comprises a plurality of guide rods 23; the top end of the guide rod 23 is connected to the lifting plate 21, the bottom end of the guide rod 23 passes through the platform 20 and extends to the lower part of the platform 20, and the axial direction of the guide rod 23 is parallel to the telescopic direction of the cylinder rod 221.

In this embodiment, the platform 20 is provided with guide holes corresponding to the plurality of guide rods 23. The top end of the guide rod 23 is connected to the lifting plate 21, and the bottom end thereof passes through the guide hole and extends to the lower part of the platform 20. When the cylinder rod 221 drives the lifting plate 21 to lift, the guide rods 23 play a role of guiding the lifting plate 21 to lift, so as to prevent the lifting plate 21 from inclining and deviating from the lifting direction when the tray 133 is heavy.

Illustratively, the cylinder rod 221 is connected to a central position of the lifting plate 21, and the four guide rods 23 are respectively connected to four corners of the lifting plate 21. When the cylinder rod 221 drives the lifting plate 21 to lift, the four guide rods 23 lift synchronously. Also, the layout of the four guide bars 23 can function as a very effective guide.

Alternatively, as shown in fig. 4, the bottom ends of at least two guide rods 23 are connected by a connecting block 231; the lifting buffer assembly further comprises a lower buffer part 25, wherein the lower buffer part 25 is disposed at the upper part of the connecting block 231 and is used for contacting with the bottom surface of the platform 20 to form a buffer when the lifting plate 21 is lifted to the highest position.

In this embodiment, the connecting block 231 limits the extension of the cylinder rod 221, and when the cylinder rod 221 extends to drive the lifting plate 21 to ascend, the lifting plate 21 drives the guide rod 23 and the connecting block 231 to ascend synchronously. When the lower buffer portion 25 of the link block 231 abuts against the bottom surface of the stage 20, the guide bar 23 cannot be further raised, and the lower buffer portion 25 buffers the link block 231, so that the cylinder rod 221 cannot be further extended.

Illustratively, four guide rods 23 are connected at their top ends to the four corners of the lifting plate 21, respectively, and extend at their bottom ends through the platform 20 to below the platform 20. The cylinder rod 221 is connected to the center of the lift plate 21 such that the lift cylinder 22 is located at the center of the four guide rods 23. Wherein, the bottom ends of the two guide rods 23 on one side of the jacking cylinder 22 are connected through a connecting block 231, and the two guide rods 23 on the other side of the jacking cylinder 22 are connected through a connecting block 231, as shown in fig. 5. A lower buffer 25 is provided at the upper portion of each connecting block 231. When the cylinder rod 221 extends out to drive the lifting plate 21 to ascend, the lifting plate 21 drives the four guide rods 23 to ascend synchronously, and the two connecting blocks 231 ascend along with the corresponding guide rods 23 respectively. When the lower buffer portions 25 of the two connection blocks 231 simultaneously abut against the bottom surface of the platform 20, the guide rod 23 cannot be further raised and the cylinder rod 221 cannot be further extended, and the two lower buffer portions 25 perform a very effective buffering function.

Alternatively, the lower buffering portion 25 includes a lower hydraulic buffer, a fixed end of which is fixed to the top surface of the connection block 231, and a buffering end of which faces the bottom surface of the platform 20. When the connection block 231 ascends and the buffer end of the lower hydraulic buffer abuts against the bottom surface of the platform 20, an effective buffer function is performed to the connection block 231.

Optionally, the bottom surface of the platform 20 is provided with a top pillar 203, the top pillar 203 corresponds to the lower buffer portion 25, and the buffer end of the lower buffer portion 25 contacts with the top pillar 203 to form a buffer when the lifting plate 21 is lifted to the highest position.

In this embodiment, the positions and the number of the top pillars 203 correspond to those of the lower buffering portions 25, and when the cylinder rod 221 is extended to lift the lifting plate 21, the lifting plate 21 drives the guide rod 23 and the connecting block 231 to be lifted synchronously. When the lower buffer portion 25 at the upper portion of the connection block 231 abuts against the corresponding top pillar 203, the guide rod 23 cannot be further raised, and the lower buffer portion 25 performs a buffer function on the connection block 231, so that the cylinder rod 221 cannot be further extended. This prevents the lower buffer portion 25 from directly contacting the bottom surface of the platform 20, thereby protecting the platform 20.

Optionally, a positioning pin 211 is disposed on the top surface of the lifting plate 21, and the positioning pin 211 is used to position the tray 133 above the station notch 202.

In this embodiment, the bottom surface of the tray 133 is provided with positioning holes, and the top surface of the lifting plate 21 is provided with positioning pins 211 corresponding to the positioning holes. When the lift plate 21 is raised to contact the bottom surface of the tray 133, the positioning pins 211 of the lift plate 21 are inserted into the positioning holes of the tray 133. Thus, when the lifting plate 21 lifts the material tray 133, the material tray 133 can be prevented from sliding off the lifting plate 21, and the stability of the material tray 133 on the lifting plate 21 is ensured.

In some embodiments, and as shown in connection with FIGS. 6-8, an AGV includes a vehicle body 10, a floating buffer assembly, and a guidance assembly. The floating carrier is arranged on the vehicle body 10 for loading the tray 133 and can move in the X-axis direction and the Y-axis direction; the floating buffer assembly comprises a first buffer part 14 and a second buffer part 15; the two sides of the floating load seat along the X-axis direction are respectively provided with at least one first buffer part 14, and the two sides of the floating load seat along the Y-axis direction are respectively provided with at least one second buffer part 15; the guide assembly comprises a guide male head 17, and the guide male head 17 is arranged on the floating load seat; the floating load-bearing seat is adaptively moved to adjust the position when the guide male head 17 is butted with the guide female head 18 of the docking mechanism, and the first buffer part 14 and the second buffer part 15 respectively buffer the moving floating load-bearing seat in the corresponding directions.

In the embodiment, the guide male head 17 and the guide female head 18 are flexibly butted through the floating carrier. When in butt joint, the AGV trolley is close to the connection mechanism, so that the guide male head 17 is in contact with the guide female head 18. At this time, the two are not completely butted, and since the female guide head 18 is not movable, the female guide head 18 transmits a reaction force to the male guide head 17 and acts on the floating carriage. Because the floating load seat can move along the X-axis direction and the Y-axis direction, the floating load seat can move in a self-adaptive manner under the action of a reaction force to adjust the position of the floating load seat, so that the guide male head 17 is gradually butted with the guide female head 18. And while the floating carrier is moving in a self-adaptive manner, the first buffer part 14 and the second buffer part 15 respectively buffer the moving floating carrier in corresponding directions, and finally the guide male head 17 and the guide female head 18 are flexibly butted.

Alternatively, as shown in fig. 8, the top surface of the vehicle body 10 is provided with a first slide rail 101 along the X-axis direction; the floating mount includes a first carrier 11 and a second carrier 12. The first carrier plate 11 is arranged on the top surface of the vehicle body 10; the bottom surface of the first carrier plate 11 is provided with a first slide block 111, and the top surface is provided with a second slide rail 112 along the Y-axis direction; the first sliding block 111 and the first sliding rail 101 can form a sliding fit connection, so that the first carrier 11 moves along the first sliding rail 101; the second carrier 12 is disposed above the first carrier 11, and a second slider 121 is disposed on a bottom surface of the second carrier 12; the second sliding block 121 can form a sliding fit connection with the second sliding rail 112, so that the second carrier 12 moves along the second sliding rail 112.

In the present embodiment, the first carrier plate 11 is moved on the first slide rail 101 on the top surface of the vehicle body 10 by the first slide block 111, so that the first carrier plate 11 can move along the X-axis direction; the second carrier 12 is moved on the second slide rail 112 of the top surface of the first carrier 11 by the second slide block 121, so that the second carrier 12 can move along the Y-axis direction.

Illustratively, two first slide rails 101 are respectively disposed on two sides of the top surface of the vehicle body 10, and two corresponding first slide blocks 111 are respectively disposed on the bottom surface of the first carrier 11, so that the first carrier 11 can stably move along the X-axis direction. Two second slide rails 112 are respectively disposed on two sides of the top surface of the first carrier 11, and two corresponding second slide blocks 121 are respectively disposed on the bottom surface of the second carrier 12, so that the second carrier 12 can stably move along the Y-axis direction.

Alternatively, the first buffer portion 14 includes a first hydraulic buffer. The fixed end of the first hydraulic buffer is fixed on the top surface of the vehicle body 10, and the buffer end faces the side surface of the first carrier plate 11; and the first hydraulic buffers on both sides of the first carrier plate 11 in the X-axis direction correspond to each other.

In the present embodiment, during the flexible docking of the guiding male head 17 and the guiding female head 18, when the first carrier plate 11 moves in the positive direction along the X-axis, a buffer is formed when the side surface of the first carrier plate 11 abuts against the buffer end of the corresponding first hydraulic buffer. And the first carrier plate 11 is moved in the X-axis direction in the reverse direction by the buffer force.

Illustratively, two cushion seats 19 are respectively arranged on two sides of the top surface of the vehicle body 10 along the X-axis direction, and the cushion seats 19 on the two sides correspond. Each of the cushion seats 19 holds a first hydraulic cushion. The fixed end of each first hydraulic buffer is fixed on the corresponding buffer seat 19, and the buffer end faces the side of the first carrier 11.

Alternatively, the second buffer portion 15 includes a second oil buffer. The fixed end of the second hydraulic buffer is fixed on the top surface of the first carrier plate 11, and the buffer end faces the side surface of the second carrier plate 12; and the second hydraulic buffers on both sides of the second carrier plate 12 in the Y-axis direction correspond.

In the present embodiment, during the flexible docking of the male guide head 17 and the female guide head 18, when the second carrier plate 12 moves forward along the Y-axis, a buffer is formed when the side surface of the second carrier plate 12 abuts against the buffer end of the corresponding second hydraulic buffer. And the second carrier plate 12 is moved in the reverse direction along the Y-axis by the buffer force.

Illustratively, two buffer seats 19 are respectively disposed on two sides of the top surface of the first carrier plate 11 along the X-axis direction, and the buffer seats 19 on the two sides correspond to each other. Each of the cushion seats 19 holds a second hydraulic cushion. The fixed end of each second hydraulic buffer is fixed on the corresponding buffer seat 19, and the buffer end faces the side surface of the second carrier plate 12.

Optionally, the surface of the second carrier 12 is parallel to the surface of the first carrier 11. Thus, the second carrier 12 can be moved easily, and the interference between the second carrier 12 and the first carrier 11 can be avoided.

Optionally, the area of the second carrier 12 is smaller than the area of the first carrier 11. Since the second carrier 12 is located above the first carrier 11, the area of the second carrier 12 is designed to be smaller than that of the first carrier 11, which provides an installation space for disposing the second buffer parts 15 on both sides of the first carrier 11.

Optionally, the floating mount further comprises a third carrier plate 13. The third carrier 13 is rotatably disposed on the top surface of the second carrier 12; the male guide 17 is provided on the third carriage 13.

In this embodiment, the top surface of the second carrier plate 12 is provided with a rotating disc 131, and the center of the bottom surface of the third carrier plate 13 is connected to the rotating disc 131, so that the third carrier plate 13 can rotate around the rotating disc 131. The guiding male head 17 is disposed on the third carrier 13, when the guiding male head 17 and the guiding female head 18 are in butt joint, the guiding female head 18 transmits a reaction force to the guiding male head 17 and acts on the third carrier 13, the third carrier 13 rotates adaptively, and meanwhile, the second carrier 12 moves adaptively along the Y-axis direction and the first carrier 11 moves adaptively along the X-axis direction. This enables the guiding male head 17 and the guiding female head 18 to be flexibly butted.

Optionally, at least one third buffer 16 is respectively disposed on two sides of the third carrier 13 located on the guiding male head 17. Thus, when the guiding male head 17 and the guiding female head 18 are butted, the third carrier plate 13 is adaptively adjusted by rotation, and the rotating third carrier plate 13 is buffered by the third buffer part 16.

Illustratively, the female guide head 18 transmits a reaction force to the male guide head 17 and acts on the third carrier plate 13 to rotate it clockwise, forming a buffer when the side of the third carrier plate 13 abuts against the third buffer 16, and the third carrier plate 13 moves counterclockwise under the buffer force.

Optionally, the third buffer portion 16 includes a third hydraulic buffer. The fixed end of the third hydraulic buffer is fixed on the top surface of the second carrier plate 12, and the buffer end faces the side surface of the third carrier plate 13.

Illustratively, two buffer bases 19 are respectively disposed on the top surface of the second carrier plate 12 on both sides of the guiding male portion 17, and the two buffer bases 19 on both sides correspond to each other. Each of the cushion seats 19 holds a third hydraulic cushion. The fixed end of each third hydraulic buffer is fixed on the corresponding buffer seat 19, and the buffer end faces the side of the third loading plate 13.

Optionally, the surface of the third carrier 13 is parallel to the surface of the second carrier 12. Thus, the rotation of the third carrier 13 is facilitated, and the interference between the third carrier 13 and the second carrier 12 during the rotation is avoided.

Optionally, the area of the third carrier plate 13 is smaller than the area of the second carrier plate 12. Thus, the first carrier 11, the second carrier 12 and the third carrier 13 are pyramid-shaped floating carriers on the lower and upper sides, as shown in fig. 6 and 7. Therefore, the structure of the floating load seat is more stable in the butt joint process of the guide male head 17 and the guide female head 18.

Optionally, a tray holder 132 is disposed on the upper portion of the third carrier plate 13, and the tray holder 132 is used for holding a tray 133.

The above description and drawings sufficiently illustrate embodiments of the disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in or substituted for those of others. The embodiments of the present disclosure are not limited to the structures that have been described above and illustrated in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (10)

1. A docking mechanism, comprising:

a platform (20);

the station plate (201) is rotatably arranged above the platform (20); two sides of the station plate (201) are respectively provided with a station notch (202), and a material tray (133) is placed above the station notches (202);

the limiting assembly comprises a first stopping part and two second stopping parts; the first stopping part is connected to the side part, which is not provided with the station notch (202), of the station plate (201), and the two second stopping parts are respectively arranged on two sides of the rotating track of the first stopping part;

when one station notch (202) rotates forwards to a connection position, the first stopping part abuts against one second stopping part to stop the station plate (201) from continuing to rotate forwards; when the other station notch (202) rotates reversely to the connection position, the first stopping part abuts against the other second stopping part to stop the station plate (201) from continuing to rotate reversely.

2. The docking mechanism of claim 1, wherein the first stop comprises a stop block (30) and the second stop comprises:

a stop seat (31) fixed to the top surface of the platform (20);

a stop pin (32) arranged on the stop seat (31) and located on the rotation track of the stop block (30).

3. The docking mechanism of claim 2,

the stop pin (32) is detachably connected to the stop seat (31).

4. Docking mechanism according to claim 3, characterized in that said stop seat (31) comprises:

a cross plate section (311) fixed to the top surface of the platform (20);

the vertical plate section (312) is connected to the transverse plate section (311) and is provided with a through hole, and the stop pin (32) is inserted into the through hole.

5. The docking mechanism of any of claims 2 to 4,

the stop block (30) is fixed on the bottom surface of one side of the station plate (201) through bolts.

6. The docking mechanism of any one of claims 1 to 4, further comprising:

and the rotating assembly is used for driving the station board (201) to rotate in a plane where the board surface of the station board is located.

7. The docking mechanism of claim 6, wherein the rotating assembly comprises:

and the rotating cylinder (33) is fixed on the top surface of the platform (20) and is connected to the center of the station plate (201).

8. The docking mechanism of claim 7, wherein the rotating assembly further comprises:

the sensor (34) is used for detecting whether the station gap (202) is provided with a tray (133);

the work station controller is electrically connected with the sensor (34) and the rotary cylinder (33), and controls the rotary cylinder (33) to drive the work station plate (201) to rotate according to a detection signal of the sensor (34).

9. The docking mechanism of any one of claims 1 to 4,

the station plate (201) is a rectangular plate, and two sides in the length direction are respectively provided with one station notch (202).

10. An AGV logistics system comprising a docking mechanism according to any one of claims 1 to 9.

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