CN218988712U

CN218988712U - Liftable flexible fork AGV

Info

Publication number: CN218988712U
Application number: CN202223324675.0U
Authority: CN
Inventors: 王玉辉; 刘健
Original assignee: Hangzhou Yifei Robot Intelligent Manufacturing Co ltd
Current assignee: Hangzhou Yifei Robot Intelligent Manufacturing Co ltd
Priority date: 2022-12-12
Filing date: 2022-12-12
Publication date: 2023-05-09
Anticipated expiration: 2032-12-12

Abstract

The utility model discloses a liftable telescopic fork AGV, which comprises a chassis mechanism, a fork lifting mechanism and a telescopic fork mechanism, wherein the top of the chassis mechanism is fixedly connected with the fork lifting mechanism, the side part of the fork lifting mechanism is movably connected with the telescopic fork mechanism, the chassis mechanism comprises a chassis mounting plate, the middle part of the bottom of the chassis mounting plate is fixedly connected with a middle shaft connecting plate, the inner side of the middle shaft connecting plate is movably connected with a middle shaft, the inside of the rotary connecting plate is movably connected with a bottom speed reducer, one end of the bottom speed reducer is fixedly connected with a bottom servo motor, the other end of the bottom speed reducer is movably connected with a driving wheel, the bottom of the chassis mounting plate is fixedly connected with two driven universal wheels, the bottom of the chassis mounting plate is fixedly connected with two fixed driven universal wheels, the bottom of the chassis mechanism is fixedly connected with a bottom bracket, and the side part of the bottom bracket is fixedly connected with a charging brush plate.

Description

Liftable flexible fork AGV

Technical Field

The utility model relates to the technical field of industrial automation, in particular to a liftable telescopic fork type AGV.

Background

At present, the problems of narrow workshop space, high equipment density, small shelf space and high height of the mobile phone glass panel industry generally exist, so that the automatic transportation difficulty of a tray is increased, and no mature equipment and scheme exist on the market to solve the problems.

Disclosure of Invention

The utility model aims to provide a lifting telescopic fork type AGV which solves the problems in the background technology.

In order to solve the technical problems, the utility model adopts the following technical scheme: the utility model provides a liftable flexible fork AGV, includes chassis mechanism, fork elevating system, flexible fork mechanism, the top fixedly connected with fork elevating system of chassis mechanism, fork elevating system's lateral part swing joint has flexible fork mechanism, chassis mechanism includes the chassis mounting panel, the bottom middle part fixedly connected with axis connecting plate of chassis mounting panel, the inboard swing joint of axis connecting plate has the jackshaft, the both sides swing joint of jackshaft has the gyration connecting plate, gyration connecting plate fixedly connected with in the bottom of chassis mounting panel.

Preferably, the inside swing joint of gyration connecting plate has the bottom speed reducer, the one end fixedly connected with bottom servo motor of bottom speed reducer, the other end swing joint of bottom speed reducer has the drive wheel, the bottom fixedly connected with of chassis mounting panel is two driven universal wheels, the bottom fixedly connected with of chassis mounting panel is two fixed driven universal wheels, the bottom fixedly connected with bottom support of chassis mechanism, the lateral part fixedly connected with of bottom support brushes the version with electricity.

Preferably, the fork elevating system includes longmen bottom mounting panel, the top fixedly connected with longmen bottom support of longmen bottom mounting panel, the top fixedly connected with longmen servo motor of longmen bottom support, the top fixedly connected with longmen speed reducer of longmen servo motor, the top swing joint of longmen speed reducer has driving sprocket, driving sprocket's lateral part swing joint has drive chain, the inboard other end swing joint of drive chain has driven sprocket, driven sprocket's inboard fixedly connected with drive shaft, the opposite side fixedly connected with initiative side sprocket of drive shaft.

Preferably, the lateral part swing joint of driving side sprocket has the longmen bottom support, the top fixedly connected with fixed mounting piece of longmen bottom mounting panel, the other end swing joint of drive shaft is in the inboard of fixed mounting piece, the top fixedly connected with portal frame of fixed mounting piece, the top fixedly connected with driven side sprocket of portal frame, the lateral part swing joint of driven side sprocket and driving side sprocket has the drive installation chain, the front swing joint of portal frame has linear guide.

Preferably, the telescopic fork mechanism comprises a telescopic mechanism supporting plate, the telescopic mechanism supporting plate is fixedly connected to the side part of the conveying rail, and the conveying rail is movably connected to the side part of the driving installation chain.

Preferably, the top fixedly connected with panel beating guard shield of longmen bottom mounting panel, the top fixedly connected with laser navigation sensor of longmen bottom mounting panel, the lateral part fixedly connected with crashproof strip 15 of longmen bottom mounting panel.

Compared with the prior art, the utility model has the beneficial effects that:

1. the rear end of the trolley chassis mounting plate is provided with a bracket, and a charging brush plate is arranged on the bracket and can be used for butting the trolley and a charging pile to realize automatic charging of the AGV trolley;

2. the laser navigation sensor is also arranged on the mounting plate at the bottom of the gantry, so that a walking line can be corrected for the trolley to avoid obstacles. Organ shields are arranged on the two inner sides of the portal frame and used for protecting an AGV internal transmission structure, other external leakage parts are protected by sheet metal shields, and various electrical system hardware is arranged in the portal frame;

3. the three-stage pallet fork has the characteristics of compact equipment external dimension, large telescopic range of the three-stage pallet fork and large pallet area, and solves the problems of narrow transportation and fork taking space and narrow passageway commonly existing in the field of automated transportation of Tray in the mobile phone glass panel industry;

4. because the driving gear train and the driven gear train can rotate around the intermediate shaft along with the rotary connecting plate, the driving gear train can not be overhead when passing through the convex and concave uneven road surface, and the trolley loses power or loses precision.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of the overall structure of the present utility model.

Fig. 2 is a schematic view of the chassis structure of the present utility model.

Fig. 3 is a schematic view of a lifting structure of the present utility model.

Fig. 4 is a schematic diagram of the main structure of the present utility model.

FIG. 5 is a schematic view of the fork structure of the present utility model.

In the figure: 1. a chassis mechanism; 2. a fork lifting mechanism; 3. a telescopic fork mechanism; 4. a chassis mounting plate; 5. a middle shaft connecting plate; 6. an intermediate shaft; 7. a rotary connecting plate; 8. a bottom servo motor; 9. a bottom speed reducer; 10. a driving wheel; 11. driven universal wheels; 12. fixing a driven universal wheel; 13. a bottom bracket; 14. charging a brush plate; 15. a gantry bottom mounting plate; 16. a gantry bottom bracket; 17. gantry servo motor; 18. a gantry speed reducer; 19. a drive sprocket; 20. a drive chain; 21. a driven sprocket; 22. a drive shaft; 23. a drive side sprocket; 24. rotating the fixed ring; 25. fixing the mounting block; 26. driving a mounting chain; 27. a driven side sprocket; 28. a linear guide rail; 29. a portal frame; 30. a bumper strip; 31. a laser navigation sensor; 32. a transfer column; 33. a sheet metal shield; 34. and a telescopic mechanism supporting plate.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Examples: as shown in fig. 1-5, the utility model provides a liftable telescopic fork type AGV, which comprises a chassis mechanism 1, a fork lifting mechanism 2 and a telescopic fork mechanism 3, wherein the top of the chassis mechanism 1 is fixedly connected with the fork lifting mechanism 2, the side part of the fork lifting mechanism 2 is movably connected with the telescopic fork mechanism 3, the chassis mechanism 1 comprises a chassis mounting plate 4, the middle part of the bottom of the chassis mounting plate 4 is fixedly connected with a middle shaft connecting plate 5, the inner side of the middle shaft connecting plate 5 is movably connected with a middle shaft 6, two sides of the middle shaft 6 are movably connected with rotary connecting plates 7, and the rotary connecting plates 7 are fixedly connected with the bottom of the chassis mounting plate 4.

The chassis mechanism 1 can move the AGV, the fork lifting mechanism 2 and control the lifting of the telescopic fork mechanism 3.

Further, the inside swing joint of gyration connecting plate 7 has bottom speed reducer 9, and the one end fixedly connected with bottom servo motor 8 of bottom speed reducer 9, the other end swing joint of bottom speed reducer 9 has drive wheel 10, and the bottom fixedly connected with of chassis mounting panel 4 is two driven universal wheels 11, and the bottom fixedly connected with of chassis mounting panel 4 is two fixed driven universal wheels 12, and the bottom fixedly connected with bottom support 13 of chassis mechanism 1, the lateral part fixedly connected with brush version 14 that charges of bottom support 13.

The bottom servo motor 8 and the bottom speed reducer 9 provide power for the movement of the device, and the charging brush plate 14 can charge the equipment.

Further, the fork elevating system 2 includes longmen bottom mounting panel 15, the top fixedly connected with longmen bottom support 16 of longmen bottom mounting panel 15, the top fixedly connected with longmen servo motor 17 of longmen bottom support 16, the top fixedly connected with longmen speed reducer 18 of longmen servo motor 17, the top swing joint of longmen speed reducer 18 has driving sprocket 19, driving sprocket 19's lateral part swing joint has drive chain 20, the inboard other end swing joint of drive chain 20 has driven sprocket 21, driven sprocket 21's inboard fixedly connected with drive shaft 22, drive side sprocket 23 is connected with to the opposite side of drive shaft 22.

The gantry servo motor 17 and the gantry speed reducer 18 provide power for lifting and lowering the telescopic fork mechanism 3, and the driving chain wheel 19, the driving chain 20 and the driven chain wheel 21 can transmit power.

Further, the lateral part swing joint of driving side sprocket 23 has longmen bottom support 16, the top fixedly connected with fixed mounting piece 25 of longmen bottom mounting panel 15, the other end swing joint of drive shaft 22 is in the inboard of fixed mounting piece 25, the top fixedly connected with portal frame 29 of fixed mounting piece 25, the top fixedly connected with driven side sprocket 27 of portal frame 29, the lateral part swing joint of driven side sprocket 27 and driving side sprocket 23 has drive installation chain 26, the front swing joint of portal frame 29 has linear guide 28.

The drive installation chain 26 is connected with the drive side chain wheel 23 and the driven side chain wheel 27 in a transmission way to drive the installation chain 26 to move up and down

Further, the telescopic fork mechanism 3 includes a telescopic mechanism support plate 34, the telescopic mechanism support plate 34 is fixedly connected to the side portion of the conveying rail 32, and the conveying rail 32 is movably connected to the side portion of the driving installation chain 26.

The telescopic mechanism supporting plate 34 is used for placing and conveying materials and is arranged on the conveying rail 32, so that the telescopic mechanism supporting plate 34 can be quickly lifted or put down.

Preferably, the top of the gantry bottom mounting plate 15 is fixedly connected with a sheet metal shield 33, the top of the gantry bottom mounting plate 15 is fixedly connected with a laser navigation sensor 31, and the side of the gantry bottom mounting plate 15 is fixedly connected with a bumper strip 30.

The laser navigation sensor 31 can monitor obstacles, provide a safe moving path, and the bumper strip 30 can prevent the machine from touching the obstacles to damage the machine.

Working principle: when the device is used, the chassis mounting plate 4 serves as a main structural member of the whole trolley chassis, a middle shaft connecting plate 5 is mounted on the main structural member, the middle shaft connecting plate 5 is connected with a driving gear train intermediate shaft 6, two sides of the shaft are provided with rotary connecting plates 7 which can rotate around the intermediate shaft, two ends of each rotary connecting plate 7 are provided with driven universal wheels 11 and driving gear trains, and each driving gear train consists of a servo motor 8, a speed reducer 9 and driving wheels 10. The driving gear train can realize the omnidirectional movement of the trolley through a differential control algorithm, and in addition, the driving gear train and a set of driven gear trains can rotate around the middle shaft 6 along with the rotary connecting plate 7, so that the driving gear train cannot be overhead when passing through a convex-concave uneven road surface, and the trolley loses power or loses precision. In addition, another set of fixed driven universal wheels 12 are arranged on the trolley for supporting the vehicle body. The rear end of the trolley chassis mounting plate 4 is provided with a bracket 13, a charging brush plate 14 is arranged on the bracket, the charging brush plate can be used for butting the trolley and a charging pile, automatic charging of the AGV trolley is realized, the trolley chassis mounting plate 4 is provided with a gantry bottom mounting plate 15, the bracket 16 is provided with a servo motor 17 and a speed reducer 18, the servo motor 17 is used as power of a lifting system to drive a driving chain wheel 19 to rotate, the power is transmitted to a driven chain wheel 21 arranged on a driving shaft 22 through a driving chain 20, the driving shaft 22 fixed on a bearing seat 25 is driven to rotate, the power is transmitted to a driving chain 26 through a driving side chain wheel 23 matched with a driven side chain wheel 27, the chain and a telescopic mechanism supporting plate 14 are fixedly arranged, and the telescopic mechanism supporting plate is driven to lift up and down along two linear guide rails 28 connected to the two inner sides of a gantry 29. In addition, the front and rear parts of the gantry bottom mounting plate 15 are provided with the anti-collision strips 30, so that the trolley can stop when colliding with foreign matters, and the gantry bottom mounting plate 15 is also provided with the laser navigation sensor 31, so that a walking line can be corrected for the trolley, and obstacles can be avoided. The organ guard shield is installed to portal frame 29 both inner sides for protection AGV inner drive structure, and other hourglass parts are protected through panel beating guard shield 33, and its internally mounted has all kinds of electrical system hardware, and flexible fork mechanism 3 is installed on telescopic machanism backup pad 14, and accessible longmen elevating system drives oscilaltion, is used for getting of different goods shelves heights to put, changes the fork into tertiary telescopic structure, but compact structure has realized the flexible volume of little thickness greatly, and fig. 4 is the state of changing the fork when stretching out, and the preceding terminal surface of fork does not surpass the AGV chassis scope after the withdrawal.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present utility model without departing from the spirit or scope of the utility model. Thus, it is intended that the present utility model also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims

1. The utility model provides a flexible fork AGV of liftable, includes chassis mechanism (1), fork elevating system (2), flexible fork mechanism (3), its characterized in that: the utility model discloses a fork lifting mechanism, including chassis mechanism (1), fork lifting mechanism (2), chassis mechanism (1) are including chassis mounting panel (4), the bottom middle part fixedly connected with axis connecting plate (5) of chassis mounting panel (4), the inboard swing joint of axis connecting plate (5) has jackshaft (6), the both sides swing joint of jackshaft (6) has gyration connecting plate (7), gyration connecting plate (7) fixedly connected with in the bottom of chassis mounting panel (4).

2. The liftable and retractable fork type AGV of claim 1, wherein: the novel electric power charging brush is characterized in that a bottom speed reducer (9) is movably connected to the inside of the rotary connecting plate (7), one end of the bottom speed reducer (9) is fixedly connected with a bottom servo motor (8), the other end of the bottom speed reducer (9) is movably connected with a driving wheel (10), two driven universal wheels (11) are fixedly connected to the bottom of the chassis mounting plate (4), two fixed driven universal wheels (12) are fixedly connected to the bottom of the chassis mounting plate (4), a bottom support (13) is fixedly connected to the bottom of the chassis mechanism (1), and a charging brush plate (14) is fixedly connected to the side portion of the bottom support (13).

3. The liftable and retractable fork type AGV of claim 1, wherein: the fork elevating system (2) includes longmen bottom mounting panel (15), the top fixedly connected with longmen bottom support (16) of longmen bottom mounting panel (15), the top fixedly connected with longmen servo motor (17) of longmen bottom support (16), the top fixedly connected with longmen speed reducer (18) of longmen servo motor (17), the top swing joint of longmen speed reducer (18) has driving sprocket (19), the lateral part swing joint of driving sprocket (19) has driving chain (20), the inboard other end swing joint of driving chain (20) has driven sprocket (21), the inboard fixedly connected with drive shaft (22) of driven sprocket (21), the opposite side fixedly connected with initiative side sprocket (23) of drive shaft (22).

4. A liftable and retractable fork type AGV as set forth in claim 3 wherein: the side swing joint of initiative side sprocket (23) has longmen bottom support (16), the top fixedly connected with fixed mounting piece (25) of longmen bottom mounting panel (15), the other end swing joint of drive shaft (22) is in the inboard of fixed mounting piece (25), the top fixedly connected with portal frame (29) of fixed mounting piece (25), the top fixedly connected with driven side sprocket (27) of portal frame (29), the lateral part swing joint of driven side sprocket (27) and initiative side sprocket (23) has drive installation chain (26), the front swing joint of portal frame (29) has linear guide (28).

5. The liftable and retractable fork type AGV of claim 1, wherein: the telescopic fork mechanism (3) comprises a telescopic mechanism supporting plate (34), the telescopic mechanism supporting plate (34) is fixedly connected to the side part of the conveying column (32), and the conveying column (32) is movably connected to the side part of the driving installation chain (26).

6. A liftable and retractable fork type AGV as set forth in claim 3 wherein: the top fixedly connected with panel beating guard shield (33) of longmen bottom mounting panel (15), the top fixedly connected with laser navigation sensor (31) of longmen bottom mounting panel (15), the lateral part fixedly connected with crashproof strip (30) of longmen bottom mounting panel (15).