CN220393223U

CN220393223U - Omnidirectional stacking type AGV robot

Info

Publication number: CN220393223U
Application number: CN202321864637.6U
Authority: CN
Inventors: 闫姜昊; 高宏亮; 赵佳琪; 夏嫣然; 仵锁强
Original assignee: Xi'an Chenghe Industrial Automation Equipment Co ltd
Current assignee: Xi'an Chenghe Industrial Automation Equipment Co ltd
Priority date: 2023-07-17
Filing date: 2023-07-17
Publication date: 2024-01-26
Anticipated expiration: 2033-07-17

Abstract

The utility model relates to an omnidirectional stacking type AGV robot which comprises an AGV body, an AGV control system, a lifting bracket, a storage rack and a fork lifting power motor, wherein the AGV body is connected with the lifting bracket through a connecting rod; the lifting support is provided with a fork lifting mechanism, and the fork lifting mechanism is provided with a fork telescopic rotating mechanism; the fork telescopic rotating mechanism comprises a fork mounting seat, wherein the fork mounting seat is connected with a fork rotating seat through a rotating wheel, and a fork telescopic assembly, a fork telescopic motor and a fork rotating motor are arranged at the top of the fork rotating seat; the fork telescopic assembly is connected with a fork, the fork telescopic motor is connected with the fork telescopic assembly, and the fork rotary motor is meshed with the transmission wheel of the rotary wheel; the control panel, the fork lifting power motor, the fork telescopic motor and the fork rotating motor are all electrically connected with the AGV control system. The utility model can be driven in three directions for forking and omnidirectionally, and can directly fork materials on a goods shelf without turning or adjusting the position when the materials are forked in a narrow lane, thereby being convenient to use.

Description

Omnidirectional stacking type AGV robot

Technical Field

The utility model belongs to the technical field of AGV robots, and particularly relates to an omni-directional stacking AGV robot.

Background

Along with the development of economy and social progress, each enterprise gradually develops to an automation and intelligent direction in the aspect of logistics storage, and AGVs are generated in the environment and mainly used in the aspects of automatic delivery, automatic warehouse entry and automatic warehouse entry of materials. The AGV is an automatic guided transport vehicle, and is a transport vehicle equipped with an automatic guide device and capable of traveling along a predetermined guide route. AGVs are widely used, and can replace manual work to finish work tasks such as stacking, removing supports, carrying and the like in a storage environment.

The stacking AGV in the present market can only fork the material of getting the AGV place ahead when getting the material, can not carry out the fork to the material of AGV both sides and get, need AGV pivot turn just can get the material fork when the material of AGV side is got to needs. However, when the narrow roadway works, the narrow roadway is inconvenient to turn in situ due to the narrow field, and cannot be used in a narrow environment; and because it can only travel straight, when needing the position adjustment, can not carry out the motion of arbitrary direction, the adjustment spends a long time, work efficiency is low.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model provides an omnidirectional stacking type AGV robot which can realize three-direction forking and omnidirectional driving, and when the stacking type AGV forks materials in a narrow lane, the stacking type AGV does not need turning or position adjustment, can directly fork the materials on a goods shelf, and is convenient to use.

In order to achieve the above purpose, the technical scheme of the utility model is as follows:

the omnidirectional stacking type AGV robot comprises an AGV body, wherein an AGV control system is arranged in the AGV body, and a lifting bracket, a storage rack and a fork lifting power motor are respectively arranged at the top of the AGV body; the storage rack is arranged at the rear side of the lifting bracket, a control panel is arranged on the partition plate of the storage rack, and the fork lifting power motor is positioned below the storage rack; the front end of the lifting bracket is provided with a fork lifting mechanism, and the fork lifting mechanism is connected with a fork telescopic rotating mechanism;

the fork telescopic rotating mechanism comprises a fork mounting seat connected with the fork lifting mechanism, the top of the fork mounting seat is rotatably connected with a fork rotating seat through a rotating wheel, and the top of the fork rotating seat is provided with a fork telescopic assembly, and a fork telescopic motor and a fork rotating motor which are respectively arranged at two sides of the fork telescopic assembly;

the power output shaft of the fork rotating motor penetrates through the bottom of the fork rotating seat and is provided with a driving wheel meshed with the rotating wheel;

the control panel, the fork lifting power motor, the fork telescopic motor and the fork rotating motor are all electrically connected with the AGV control system.

Above-mentioned qxcomm technology stack formula AGV robot, fork elevating system includes that both ends stride and establish the transfer line in elevating bracket lower extreme both sides to and set up the elevating driven wheel in elevating bracket upper end both inner sides respectively.

According to the omni-directional stacking AGV robot, the transmission rod is respectively sleeved with the first transmission gear and the second transmission gear; the first transmission gear is arranged at the middle section of the transmission rod and is connected with a motor gear on the output shaft of the fork lifting power motor through a first transmission chain; the second transmission gears are respectively sleeved at two ends of the transmission rod and are respectively connected with lifting driven wheels at the same side through second transmission chains; the fork mounting seat is connected with the second transmission chain through the moving block respectively.

According to the omni-directional stacking AGV robot, the two sides of the front end of the lifting support are symmetrically provided with the pair of sliding guide rails, and the tops of the sliding guide rails are provided with the limiting blocks; the moving blocks are respectively connected with the sliding guide rails on the same side in a sliding way through sliding blocks.

Foretell omnidirectional stacking formula AGV robot, four sides of AGV automobile body all are equipped with infrared obstacle avoidance sensor, infrared obstacle avoidance sensor all is connected with AGV control system electricity.

Foretell omnidirectional stack formula AGV robot, one side of AGV automobile body, and be located infrared obstacle avoidance sensor side and be equipped with automatic brush board that fills, automatic brush board that fills is connected with AGV control system electricity.

According to the omnidirectional stacking type AGV robot, the four corners of the bottom of the AGV body are provided with the AGV moving mechanisms, and each AGV moving mechanism comprises the Mecanum wheel, the bearing seat, the speed reducer and the servo driving motor which are sequentially connected; the speed reducer and the servo driving motor are respectively and electrically connected with the AGV control system.

According to the omnidirectional stacking type AGV robot, two pairs of hanging rings are symmetrically arranged on two sides of the AGV body.

According to the omnidirectional stacking type AGV robot, the AGV emergency stop button is arranged on one side of the lifting support; the AGV scram button is electrically connected with the AGV control system.

The utility model has the technical effects and advantages that:

1. according to the omnidirectional stacking type AGV robot provided by the utility model, the combination design of the fork mounting seat, the rotating wheel, the fork rotating seat, the fork telescopic assembly, the fork telescopic motor and the fork rotating motor is adopted, so that the fork can realize three-direction fork goods taking, when the stacking type AGV takes goods in a narrow lane fork, the vehicle body does not need to turn 90 degrees and is opposite to a goods shelf, after the AGV body reaches a designated fork taking position, the fork rotation is controlled to be opposite to the goods, the goods taking is carried out, the goods taking is convenient, the working efficiency of the AGV is effectively improved, and the problem that the AGV cannot be used in a narrow environment due to narrow place and inconvenient turning in situ is solved.

2. According to the omnidirectional stacking type AGV robot provided by the utility model, the AGV moving mechanism adopts the combined design of the Mecanum wheel, the bearing seat, the speed reducer and the servo driving motor, so that the AGV can move in any direction, when the position error exists between the AGV body and the goods shelf in the process of forking goods, the AGV body does not need to go back and forth to enter and leave the roadway for adjusting the gesture for a plurality of times, the AGV body can be directly moved to a required position according to the position difference between the AGV body and the goods shelf, the gesture adjustment is convenient, and the working efficiency of the AGV is effectively improved.

Drawings

FIG. 1 is a schematic perspective view of the present utility model;

FIG. 2 is a schematic rear view of the present utility model;

FIG. 3 is a schematic view of the telescopic rotating mechanism of the fork of the present utility model;

FIG. 4 is a schematic view of the bottom structure of the pallet fork telescoping rotary mechanism of the present utility model;

FIG. 5 is a schematic view of the AGV movement mechanism of the present utility model.

Reference numerals in the drawings: 1. AGV body; 2. an AGV control system; 3. a lifting bracket; 31 a transmission rod; 32. lifting the driven wheel; 33. a first transmission gear; 34. a second transmission gear; 35. a second drive chain; 36. a moving block; 37. a sliding guide rail; 38. a limiting block; 39. a slide block; 4. a storage rack; 5. a control panel; 6. a fork lifting power motor; 7. a fork telescopic rotating mechanism; 71. a fork mounting seat; 72. a rotating wheel; 73. a fork rotating seat; 74. a fork telescoping assembly; 75. a fork telescopic motor; 76. a fork rotating motor; 77. a fork; 78. a driving wheel; 8. an infrared obstacle avoidance sensor; 9. an AGV moving mechanism; 91. mecanum wheel; 92. a bearing seat; 93. a speed reducer; 94. a servo drive motor; 10. automatically charging the brush plate; 11. a hanging ring; 12. AGV scram button.

Detailed Description

The utility model is described in further detail below with reference to examples given in the accompanying drawings.

Referring to fig. 1-2, an omnidirectional stacking type AGV robot comprises an AGV body 1, a lifting bracket 3, a storage rack 4 and a fork lifting power motor 6; the lifting support 3, the storage rack 4 and the fork lifting power motor 6 are respectively arranged at the top of the AGV body 1, the storage rack 4 is arranged at the rear side of the lifting support 3, and the fork lifting power motor 6 is arranged below the storage rack 4. And a control panel 5 is further arranged on the partition plate of the storage rack 4 and used for controlling the operation of the AGV body.

In the specific implementation, as shown in fig. 1 and 2, an AGV control system 2 is provided in the AGV body 1, so that the operation control of the AGV when the AGV forks the goods is realized.

Further, the control panel 5 and the fork lifting power motor 6 are respectively electrically connected with the AGV control system 2.

In the specific implementation, referring to fig. 1 and 2, four sides of the AGV body 1 are respectively provided with an infrared obstacle avoidance sensor 8 for detecting an obstacle on the running path of the AGV, and after detecting the obstacle, the AGV makes actions such as alarm, deceleration, scram, obstacle avoidance, etc.

In specific implementation, referring to fig. 1 and 2, one side of the AGV body 1 is provided with an automatic charging brush board 10 located beside the infrared obstacle avoidance sensor 8, and the automatic charging brush board is used for connecting an external charging pile to supplement electric energy for the AGV.

In specific implementation, referring to fig. 1 and 2, two pairs of hanging rings 11 are symmetrically arranged on two sides of the AGV body 1, so as to facilitate lifting when carrying the AGV.

In the specific implementation, the infrared obstacle avoidance sensor 8, the automatic charging brush plate 10, the fork lifting power motor 6 and the control panel 5 are all electrically connected with the AGV control system 2.

In specific implementation, referring to fig. 1, four corners of the bottom of the AGV car body 1 are provided with an AGV moving mechanism 9, and the AGV moving mechanism 9 includes a mecanum wheel 91, a bearing block 92, a speed reducer 93 and a servo driving motor 94 which are sequentially connected.

During concrete implementation, through adopting the combined design of Mecanum wheel 91, bearing frame 91, speed reducer 93 and servo driving motor 94 with AGV moving mechanism, can make the AGV carry out the motion of arbitrary direction, in carrying out fork and getting goods operation in-process, when AGV automobile body and goods shelves exist position error, the AGV automobile body need not to make a round trip to get in and out the tunnel a plurality of adjustment gesture again, can directly remove to required position according to the position difference between the two, and adjustment gesture is convenient, has improved AGV's work efficiency low effectively.

In the specific implementation, referring to fig. 1, an AGV emergency stop button 12 is disposed on one side of the lifting support 3.

In the specific implementation, as shown in fig. 1 and 2, a fork lifting mechanism is arranged at the front end of the lifting bracket 3, and a fork telescopic rotating mechanism 7 is connected to the fork lifting mechanism.

In the specific implementation, referring to fig. 1, 3 and 4, the fork telescopic rotating mechanism 7 includes a fork mounting seat 71 connected with a fork lifting mechanism, a fork rotating seat 73 is rotatably connected to the top of the fork mounting seat 71 through a rotating wheel 72, a fork telescopic assembly 74 is arranged on the top of the fork rotating seat 73, and a fork telescopic motor 75 and a fork rotating motor 76 are respectively arranged on two sides of the fork telescopic assembly 74.

In the specific implementation, referring to fig. 3 and 4, the fork 77 is connected to the fork telescopic assembly 74, a power output shaft of the fork telescopic motor 75 is connected to the fork telescopic assembly 74, and a power output shaft of the fork rotary motor 76 is inserted into the bottom of the fork rotary seat 73 and is provided with a driving wheel 78 engaged with the rotary wheel 72.

Further, a fork extension motor 75 and a fork rotation motor 76 are shown electrically connected to the AGV control system 2, respectively.

During the concrete implementation, through adopting fork mount pad 71, the swiveling wheel 72, fork swivel mount pad 73, fork telescopic assembly 74, fork 77, fork telescopic motor 75 and fork rotating electrical machines 76's combined design, can make fork 77 realize three direction fork and get the goods, when the stack AGV gets the goods at the narrow lane fork, the automobile body need not to carry out 90 degrees again and turns to just the goods shelves, after the AGV automobile body reached appointed fork and gets the position, the fork rotation is relative with the goods, carry out the fork of goods and get convenient, the goods fork is got conveniently, AGV's work efficiency has been improved effectively, the AGV during the work of narrow lane has been solved extremely, because the place is narrow and small, turn inconvenient in the place, can't be in the problem of using under narrow and small environment.

In particular, as shown in fig. 2, the fork lifting mechanism includes a driving rod 31 with two ends straddling two sides of the lower end of the lifting bracket 3, and lifting driven wheels 32 respectively disposed at two inner sides of the upper end of the lifting bracket 3.

In the specific implementation, referring to fig. 1 and 2, the transmission rod 31 is respectively sleeved with a first transmission gear 33 and a second transmission gear 34; the first transmission gear 33 is arranged at the middle section of the transmission rod 31 and is connected with a motor gear on the output shaft of the fork lifting power motor 6 through a first transmission chain; the second transmission gears 34 are respectively sleeved at two ends of the transmission rod 31 and are respectively connected with the lifting driven wheels 32 at the same side through second transmission chains 35; the fork mounting seats 71 are respectively connected with the second transmission chain 35 through the moving blocks 36.

In the implementation, referring to fig. 1 and 2, two sides of the front end of the lifting bracket 3 are symmetrically provided with a pair of sliding guide rails 37, and the top of the sliding guide rails 37 is provided with a limiting block 38; the moving blocks 36 are respectively connected with the sliding guide rails 37 on the same side in a sliding way through sliding blocks 39.

Compared with the stacking AGVs on the market at present, the stacking AGVs in the embodiment have great advantages in the aspect of narrow lane environment application due to the fact that the Mecanum wheels 91 are adopted in the embodiment to design the AGV driving mode into an omni-directional driving mode and the telescopic fork direction is designed into a rotatable three-way fork mode, and the problem that the stacking AGVs in the narrow lane are low in working efficiency or cannot be used is solved.

The foregoing is merely a preferred embodiment of the present utility model, and it should be noted that modifications and improvements could be made by those skilled in the art without departing from the inventive concept, which falls within the scope of the present utility model.

Claims

1. An omnidirectional stacking type AGV robot which is characterized in that: the automatic lifting device comprises an AGV body (1), wherein an AGV control system (2) is arranged in the AGV body (1), and a lifting bracket (3), a storage rack (4) and a fork lifting power motor (6) are respectively arranged at the top of the AGV body; the storage rack (4) is arranged at the rear side of the lifting bracket (3), a control panel (5) is arranged on a partition plate of the storage rack, and the fork lifting power motor (6) is positioned below the storage rack (4); the front end of the lifting bracket (3) is provided with a fork lifting mechanism, and the fork lifting mechanism is connected with a fork telescopic rotating mechanism (7);

the fork telescopic rotating mechanism (7) comprises a fork mounting seat (71) connected with the fork lifting mechanism, a fork rotating seat (73) is rotatably connected to the top of the fork mounting seat (71) through a rotating wheel (72), a fork telescopic assembly (74) is arranged on the top of the fork rotating seat (73), and a fork telescopic motor (75) and a fork rotating motor (76) are respectively arranged on two sides of the fork telescopic assembly (74);

the fork telescopic assembly (74) is connected with a fork (77), a power output shaft of the fork telescopic motor (75) is connected with the fork telescopic assembly (74), and a power output shaft of the fork rotary motor (76) penetrates through the bottom of the fork rotary seat (73) and is provided with a driving wheel (78) meshed with the rotary wheel (72);

the control panel (5), the fork lifting power motor (6), the fork telescopic motor (75) and the fork rotating motor (76) are all electrically connected with the AGV control system (2).

2. The omni-directional stacking AGV robot of claim 1 wherein: the fork lifting mechanism comprises a transmission rod (31) with two ends straddling the two sides of the lower end of the lifting support (3), and lifting driven wheels (32) respectively arranged on the two inner sides of the upper end of the lifting support (3).

3. The omni-directional stacking AGV robot of claim 2 wherein: the transmission rod (31) is respectively sleeved with a first transmission gear (33) and a second transmission gear (34); the first transmission gear (33) is arranged at the middle section of the transmission rod (31) and is connected with a motor gear on the output shaft of the fork lifting power motor (6) through a first transmission chain; the second transmission gears (34) are respectively sleeved at two ends of the transmission rod (31) and are respectively connected with lifting driven wheels (32) at the same side through second transmission chains (35); the fork mounting seats (71) are respectively connected with the second transmission chain (35) through the moving blocks (36).

4. The omni-directional stacking AGV robot of claim 3 wherein: a pair of sliding guide rails (37) are symmetrically arranged on two sides of the front end of the lifting support (3), and limiting blocks (38) are arranged at the tops of the sliding guide rails (37); the moving blocks (36) are respectively connected with the sliding guide rails (37) on the same side in a sliding way through sliding blocks (39).

5. The omni-directional stacking AGV robot of claim 1 wherein: four sides of AGV automobile body (1) all are equipped with infrared obstacle avoidance sensor (8), infrared obstacle avoidance sensor (8) all are connected with AGV control system (2) electricity.

6. The omni-directional stacking AGV robot of claim 5 wherein: the automatic charging brush board (10) is arranged beside the infrared obstacle avoidance sensor (8) on one side of the AGV body (1), and the automatic charging brush board (10) is electrically connected with the AGV control system (2).

7. The omni-directional stacking AGV robot according to claim 1 or 5 wherein: AGV moving mechanisms (9) are arranged at four corners of the bottom of the AGV body (1), and each AGV moving mechanism (9) comprises a Mecanum wheel (91), a bearing seat (92), a speed reducer (93) and a servo driving motor (94) which are sequentially connected; the speed reducer (93) and the servo driving motor (94) are respectively and electrically connected with the AGV control system (2).

8. The omni-directional stacking AGV robot according to claim 1 or 5 wherein: two pairs of hanging rings (11) are symmetrically arranged on two sides of the AGV body (1).

9. The omni-directional stacking AGV robot of claim 1 wherein: one side of the lifting support is provided with an AGV emergency stop button (12); the AGV emergency stop button (12) is electrically connected with the AGV control system (2).