CN106241666A - Two-way stacking AGV - Google Patents
Two-way stacking AGV Download PDFInfo
- Publication number
- CN106241666A CN106241666A CN201610727986.1A CN201610727986A CN106241666A CN 106241666 A CN106241666 A CN 106241666A CN 201610727986 A CN201610727986 A CN 201610727986A CN 106241666 A CN106241666 A CN 106241666A
- Authority
- CN
- China
- Prior art keywords
- sprocket wheel
- chain
- fork
- way stacking
- agv
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/18—Load gripping or retaining means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of two-way stacking AGV.Described two-way stacking AGV includes that car body, hoisting mechanism and bidirectional fork, described hoisting mechanism are located on car body, and described bidirectional fork is located on hoisting mechanism, and hoisting mechanism drives bidirectional fork lifting；Described bidirectional fork includes: cargo loading plate, for bearing goods；Middle fork, is used for connecting cargo loading plate, and drives cargo loading plate level to slide by the first haulage gear or the second haulage gear；Pedestal, is used for connecting middle fork；Horizontal drive motor, is used for driving Bidirectional driving assembly so that it is middle fork level on pedestal is slided.The present invention two-way stacking AGV can economization space, simple in construction, easy to maintenance.
Description
Technical field
The present invention relates to automatic guided vehicle technical field, particularly relate to a kind of two-way stacking AGV.
Background technology
What current automatic guided vehicle used is all unidirectional pallet fork, i.e. can only be carried forward picking or unloading, needs
Just can carry out unloading goods by turning to, turn to, need bigger space to support, take up room big.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of without turning to the two-way stacking AGV getting final product unloading goods.
For solving the problems referred to above, the present invention provides a kind of two-way stacking AGV, described two-way stacking AGV to include car body, lifting
Mechanism and bidirectional fork, described hoisting mechanism is located on car body, and described bidirectional fork is located on hoisting mechanism, hoisting mechanism band
Dynamic bidirectional fork lifting；Described bidirectional fork includes:
Cargo loading plate, for bearing goods；
Middle fork, is used for connecting cargo loading plate, and drives cargo loading plate level by the first haulage gear or the second haulage gear
Slide；
Pedestal, is used for connecting middle fork；
Horizontal drive motor, is used for driving Bidirectional driving assembly so that it is middle fork level on pedestal is slided.
Further, described first haulage gear and the second haulage gear all include horizontally tracting part and reversing piece, described
Horizontally tracting part one end is fixed with cargo loading plate, and the other end of described horizontally tracting part is fixed with pedestal through reversing piece, described in change
It is fixed on middle fork to part.
Further, described Bidirectional driving assembly includes output chain gear and drives chain, and described output chain gear drives with level
The output shaft of galvanic electricity machine is fixed, and the two ends of described driving chain are fixed in the middle of described on fork, and drive sprocket is wrapped in output
On sprocket wheel.
Further, described Bidirectional driving assembly also includes that fastening walked around successively by two fastening sprocket wheels, described driving chain
Sprocket wheel, output chain gear and fastening sprocket wheel.
Further, described Bidirectional driving assembly also includes First Transition sprocket wheel and the second transition sprocket wheel, described first mistake
Crossing sprocket wheel and the second transition sprocket wheel is located at same rotating shaft, described First Transition sprocket wheel is connected with drive sprocket by transition chain,
On described second transition sprocket wheel and driving chain interoperation.
Further, described AGV hoisting mechanism includes: fixing door frame, hoisting frame, bearing part, the first transmission component, the
Two transmission components and lifting drive motor；Lifting drives motor to drive the first transmission component, the first transmission component to drive described
Hoisting frame slides on fixing door frame；When hoisting frame slides on fixing door frame, hoisting frame passes through the second transmission group
Part drives bearing part to move.
Further, described first transmission component is the first sprocket wheel and the first chain, and the two ends of described first chain are fixed
On hoisting frame, lifting drives motor to drive the first sprocket wheel to rotate so that it is the first chain-driving hoisting frame moves.
Further, described first transmission component also includes that two drive sprockets, described first chain walk around transmission successively
Sprocket wheel, the first sprocket wheel and drive sprocket.
Further, described second transmission component includes lifting traction piece and tumbler, described lifting traction piece one end with
Fixing door frame is fixed, and the other end of described lifting traction piece is fixed through tumbler with bearing part, and described tumbler is fixed on and carries
Rise on door frame.
Further, described fixing door frame is additionally provided with tilt prop.
The present invention two-way stacking AGV uses can the pallet fork of bidirectional-movement so that it is when unloading goods, can be directly at track route
Directly carry out unloading goods, it is not necessary to turn to, economization room and time, improve work efficiency.Use motor as elevator simultaneously
Structure and the power source of bidirectional fork, can avoid the faults such as leakage of oil；Overall structure is simple, easy to maintenance.
Accompanying drawing explanation
Fig. 1 is the structural representation of the better embodiment of the present invention two-way stacking AGV.
Fig. 2 is the structural representation of bidirectional fork.
Fig. 3 is the structural representation of middle fork.
Fig. 4 is the structural representation of transmission component.
Fig. 5 is the structural representation of the first haulage gear.
Fig. 6 is an up the structural representation of mechanism.
Fig. 7 is the sectional view of A A in Fig. 6.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.
As it is shown in figure 1, the structure of the better embodiment of the present invention two-way stacking AGV include car body 1, hoisting mechanism and
Bidirectional fork, described hoisting mechanism is located on car body 1, and described bidirectional fork is located on hoisting mechanism, and hoisting mechanism drives two-way
Pallet fork lifts, and bidirectional fork drives goods transverse shifting.
As in figure 2 it is shown, described bidirectional fork includes pedestal 21, middle fork 22, cargo loading plate 23, horizontal drive motor 24, passes
Dynamic assembly, the first haulage gear 26 and the second haulage gear, described horizontal drive motor 24 drives transmission component so that it is middle
Fork 22 slides on pedestal 21, and described middle fork 22 drives cargo loading plate 23 to centre fork 22 wherein by the first haulage gear 26
Sliding in one end, described middle fork 22 drives the cargo loading plate 23 other end slip to centre fork 22 by the second haulage gear.
In conjunction with Fig. 3 reference, described pedestal 21 and cargo loading plate 23 being equipped with chute, the both sides of described middle fork 22 are equipped with
Multiple top sheaves 221 and lower sheave 222, multiple top sheaves 221 form slide rail, and described middle fork 22 is slided by lower sheave 222
Being located in the chute of pedestal 21, described cargo loading plate 23 is located on the slide rail that top sheave 221 is formed by slide.Described pedestal
21 and pallet fork on be all additionally provided with chain fixer 28.
As shown in Figure 4, described transmission component include output chain gear 251, drive chain 252, First Transition sprocket wheel 253, the
Two transition sprocket wheels 254 and two fastening sprocket wheels 255.The output shaft of described output chain gear 251 and horizontal drive motor 24 is fixed,
Described First Transition sprocket wheel 253 and the second transition sprocket wheel 254 are located at same rotating shaft, and described axis of rotation is located on pedestal 21；Institute
State First Transition sprocket wheel 253 to be connected with output chain gear 251 by transition chain 56, described second transition sprocket wheel 254 and driving chain
Bar 252 coordinates.The two ends of described driving chain 252 are fixed in the middle of described on the chain fixer 28 of fork 22, and drive chain
252 walk around fastening sprocket wheel 255, output chain gear 251 and fastening sprocket wheel 255 successively, and fastening sprocket wheel 255 makes it drive chain 252 tight
Tight is connected with the second transition sprocket wheel 254.In other embodiments, First Transition sprocket wheel 253 and the second transition chain can be removed
Wheel 254, or two fastening sprocket wheels 255, then or colleague remove First Transition sprocket wheel the 253, second transition sprocket wheel 254 and two fastenings
Sprocket wheel 255, all can realize this function.
As it is shown in figure 5, described first haulage gear 26 and the second haulage gear are located at the both sides of cargo loading plate 23 centrage.Institute
State the first haulage gear 26 and the second haulage gear all includes horizontally tracting chain 261 and two commutation sprocket wheels 262, described level
Conduction chain 261 one end is fixed with cargo loading plate 23, and the other end of described horizontally tracting chain 261 is through commutation sprocket wheel 262 and base
Chain fixer 28 on seat 21 is fixed, and one of them commutation sprocket wheel 262 is fixed on middle fork 22, another sprocket wheel 262 that commutates
It is fixed on pedestal 21.In other embodiments, can be only with a commutation sprocket wheel 262, it is also possible to replace with pull rope and pulley
For horizontally tracting chain 261 and commutation sprocket wheel 262.
Horizontal drive motor 24 drives output chain gear 251 to rotate, and output chain gear 251 drives the first mistake by transition chain 56
Crossing sprocket wheel 253 to rotate, First Transition sprocket wheel 253 is coaxially disposed with the second transition sprocket wheel 254, and the second transition sprocket wheel 254 follows
One transition sprocket wheel 253 rotates, and the second transition sprocket wheel 254 rotates to drive and drives chain 252 to move on the second transition sprocket wheel 254,
So that fork 22 can slide to the left or to the right on pedestal 21 in the middle of it.When centre fork 22 slides to the left by the first traction machine
Structure 26 drives cargo loading plate 23 to slide to the left；When centre fork 22 to the right slide time by the first haulage gear 26 drive cargo loading plate 23 to
Right slip；Thus realize Bidirectional slide.When unloading goods, directly can directly carry out unloading goods at track route, it is not necessary to turn to, subtract
Save space and time, improve work efficiency.
As shown in Figure 6 to 7, the better embodiment of hoisting mechanism includes: fixing door frame 31, hoisting frame 32, carrying
Part the 33, first transmission component the 34, second transmission component 35 and upgrading drive motor 36；Upgrading drives motor 36 to drive the first biography
Dynamic assembly 34, the first transmission component 34 drives described hoisting frame 32 to slide on fixing door frame 31；When hoisting frame 32 is solid
When determining to slide on door frame 31, hoisting frame 32 drives bearing part 33 to move by the second transmission component 35.Described bearing part 33 is used
In bearing goods or retractable fork.
Described fixing door frame 31 is provided with driving fixed plate 313, tilt prop 314 and two the first chutes, and described upgrading is driven
Galvanic electricity machine 36 is fixed in driving fixed plate 313, and described tilt prop 314 is for strengthening the rigidity and steadily of fixing door frame 31
Property.
The both sides of described hoisting frame 32 are provided with four slide rail bearings, and each slide rail bearing is provided with pulley 321 and guides
Bar 322 (as shown in Figure 1), described pulley 321 and gib block 322 are arranged alternately four slide rails of formation, the two of described wherein side
Individual slide rail slides in the first chute, and such hoisting frame 32 can slide on fixing door frame；Set on described bearing part 33
Having two the second chutes, the second slide is located on two slide rails of opposite side so that it is bearing part 33 can be at hoisting frame 32
Upper slip.Hoisting frame 32 is provided with pulley 321, the friction of bearing part 33 and hoisting frame 32 can be reduced.
Described first transmission component 34 includes the first sprocket wheel the 341, first chain 342 and two drive sprockets 343, described two
Individual drive sprocket 343 is located at the both sides of the first sprocket wheel 341, and one end of described first chain 342 is solid with the upper end of hoisting frame 32
Fixed, the other end of described first chain 342 walk around successively drive sprocket the 343, first sprocket wheel 341 and drive sprocket 343 and with carry
The bottom rising door frame 32 is fixed.Described first sprocket wheel 341 is fixed on upgrading and drives on the output shaft of motor 36, and upgrading drives motor
36 drive the first sprocket wheel 341 to rotate, and the first sprocket wheel 341 rotates and drives the first chain 342 to move, and the first chain 342 moves and makes it
Hoisting frame 32 slides on fixing door frame 31.In other embodiments, also two drive sprockets 343 can be removed, only protect
Stay the first sprocket wheel 341 and the first chain 342, it is possible to realize identical function.
Described second transmission component 35 includes two the second chains 351 and transition sprocket wheel 352, said two the second chain
351 one end are fixed with fixing door frame 31, and the other end of described second chain 351 is fixed through transition sprocket wheel 352 with bearing part 33.
When hoisting frame 32 moves up so that it is transition sprocket wheel 352 moves up, because one end of the second chain 351 maintains static, because of
This, bearing part 33 can move up along with hoisting frame 32；Otherwise, then can move down.In other embodiments, described
Two transmission components 35 can also be stay cord and pulley 11.
Upgrading drives motor 36 to drive the first sprocket wheel 341 to rotate so that it is hoisting frame 32 rises, and hoisting frame 32 rises logical
Cross the second chain 351 and transition sprocket wheel 352 makes its bearing part 33 rise.Its simple in construction, easy accessibility, safeguard or the side of maintenance
Just, it is not necessary to frequent maintenance.
When body movement to discharge location, hoisting mechanism drives bidirectional fork to rise, after reaching lifting height, and two-way goods
Fork transverse movement, drives goods transverse movement, otherwise, then can carry out picking.Need not turn to and goods can be put down.
These are only embodiments of the present invention, not thereby limit the scope of the claims of the present invention, every utilize the present invention
The equivalent structure that description and accompanying drawing content are made, is directly or indirectly used in other relevant technical fields, the most in like manner at this
Within the scope of patent protection of invention.
Claims (10)
1. a two-way stacking AGV, it is characterised in that: described two-way stacking AGV includes car body, hoisting mechanism and two-way goods
Fork, described hoisting mechanism is located on car body, and described bidirectional fork is located on hoisting mechanism, and hoisting mechanism drives bidirectional fork liter
Fall；Described bidirectional fork includes:
Cargo loading plate, for bearing goods；
Middle fork, is used for connecting cargo loading plate, and drives cargo loading plate level to slide by the first haulage gear or the second haulage gear；
Pedestal, is used for connecting middle fork；
Horizontal drive motor, is used for driving Bidirectional driving assembly so that it is middle fork level on pedestal is slided.
Two-way stacking AGV the most as claimed in claim 1, it is characterised in that: described first haulage gear and the second haulage gear
All include that horizontally tracting part and reversing piece, described horizontally tracting part one end are fixed with cargo loading plate, another of described horizontally tracting part
End is fixed through reversing piece with pedestal, and described reversing piece is fixed on middle fork.
Two-way stacking AGV the most as claimed in claim 1, it is characterised in that: described Bidirectional driving assembly include output chain gear and
Driving chain, the output shaft of described output chain gear and horizontal drive motor is fixed, described in the two ends of described driving chain are fixed on
On middle fork, and drive sprocket is wrapped on output chain gear.
Two-way stacking AGV the most as claimed in claim 3, it is characterised in that: described Bidirectional driving assembly also includes two fastenings
Sprocket wheel, described driving chain walks around fastening sprocket wheel, output chain gear and fastening sprocket wheel successively.
5. the two-way stacking AGV as described in claim 3 or 4, it is characterised in that: described Bidirectional driving assembly also includes the first mistake
Cross sprocket wheel and the second transition sprocket wheel, described First Transition sprocket wheel and the second transition sprocket wheel and be located at same rotating shaft, described First Transition
Sprocket wheel is connected with drive sprocket by transition chain, on described second transition sprocket wheel and driving chain interoperation.
Two-way stacking AGV the most as claimed in claim 1, it is characterised in that: described AGV hoisting mechanism includes: fixes door frame, carry
Rise door frame, bearing part, the first transmission component, the second transmission component and lifting and drive motor；Lifting drives motor to drive first
Transmission component, the first transmission component drives described hoisting frame to slide on fixing door frame；When hoisting frame is on fixing door frame
During slip, hoisting frame drives bearing part to move by the second transmission component.
Two-way stacking AGV the most as claimed in claim 6, it is characterised in that: described first transmission component is the first sprocket wheel and
One chain, the two ends of described first chain are fixed on hoisting frame, and lifting drives motor to drive the first sprocket wheel to rotate so that it is the
One chain-driving hoisting frame moves.
Two-way stacking AGV the most as claimed in claim 7, it is characterised in that: described first transmission component also includes two transmissions
Sprocket wheel, described first chain walks around drive sprocket, the first sprocket wheel and drive sprocket successively.
Two-way stacking AGV the most as claimed in claim 6, it is characterised in that: described second transmission component includes lifting traction piece
And tumbler, described lifting traction piece one end fixes with fixing door frame, the other end of described lifting traction piece through tumbler with
Bearing part is fixed, and described tumbler is fixed on hoisting frame.
Two-way stacking AGV the most as claimed in claim 6, it is characterised in that: it is additionally provided with tilt prop on described fixing door frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610727986.1A CN106241666A (en) | 2016-08-26 | 2016-08-26 | Two-way stacking AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610727986.1A CN106241666A (en) | 2016-08-26 | 2016-08-26 | Two-way stacking AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106241666A true CN106241666A (en) | 2016-12-21 |
Family
ID=57594762
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610727986.1A Pending CN106241666A (en) | 2016-08-26 | 2016-08-26 | Two-way stacking AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106241666A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108609538A (en) * | 2018-06-22 | 2018-10-02 | 昆山华恒工程技术中心有限公司 | AGV vehicles |
| CN109132948A (en) * | 2017-06-27 | 2019-01-04 | 深圳市科陆智慧工业有限公司 | A kind of automatic guided vehicle |
| CN109205526A (en) * | 2018-09-21 | 2019-01-15 | 刘明 | Increment load-bearing two way sliding apparatus and fork truck |
| CN109650288A (en) * | 2018-12-29 | 2019-04-19 | 广州蓝海机器人***有限公司 | A kind of control method based on single peaceful RGV |
| CN110182723A (en) * | 2019-05-21 | 2019-08-30 | 上海盟裕自动化科技有限公司 | A kind of more goods yards are bilaterally into fork AGV stacking trolley |
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| CN205998947U (en) * | 2016-08-26 | 2017-03-08 | 重庆嘉腾机器人自动化有限公司 | Two-way stacking AGV |
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| CH640797A5 (en) * | 1981-04-08 | 1984-01-31 | Sibonne Sa | Storage installation comprising carriages which can be moved in two directions |
| JPH0967003A (en) * | 1995-08-30 | 1997-03-11 | Takigen Mfg Co Ltd | Carrying vehicle having elevating/lowering cargo carrying device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109132948A (en) * | 2017-06-27 | 2019-01-04 | 深圳市科陆智慧工业有限公司 | A kind of automatic guided vehicle |
| CN108609538A (en) * | 2018-06-22 | 2018-10-02 | 昆山华恒工程技术中心有限公司 | AGV vehicles |
| CN108609538B (en) * | 2018-06-22 | 2024-05-17 | 昆山华恒工程技术中心有限公司 | AGV vehicle |
| CN109205526A (en) * | 2018-09-21 | 2019-01-15 | 刘明 | Increment load-bearing two way sliding apparatus and fork truck |
| CN109650288A (en) * | 2018-12-29 | 2019-04-19 | 广州蓝海机器人***有限公司 | A kind of control method based on single peaceful RGV |
| CN109650288B (en) * | 2018-12-29 | 2020-06-09 | 广州蓝海机器人***有限公司 | RGV control method based on single-liter platform |
| CN110182723A (en) * | 2019-05-21 | 2019-08-30 | 上海盟裕自动化科技有限公司 | A kind of more goods yards are bilaterally into fork AGV stacking trolley |
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Application publication date: 20161221 |