CN115535928A - AGV vehicle pulls goods upset unloading equipment - Google Patents
AGV vehicle pulls goods upset unloading equipment Download PDFInfo
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- CN115535928A CN115535928A CN202211497365.0A CN202211497365A CN115535928A CN 115535928 A CN115535928 A CN 115535928A CN 202211497365 A CN202211497365 A CN 202211497365A CN 115535928 A CN115535928 A CN 115535928A
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- rack
- rod
- goods
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- supporting part
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- 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
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- 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
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
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- 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
- B66F9/07504—Accessories, e.g. for towing, charging, locking
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- 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
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- 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
- B66F9/19—Additional means for facilitating unloading
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ship Loading And Unloading (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to the technical field of hoisting machines, and discloses an AGV vehicle traction goods overturning and unloading device, which has the technical scheme that a rack is horizontally placed on the ground, then an overturning supporting part is arranged, an included angle of ninety degrees is formed between the overturning supporting part and the rack, then when the AGV vehicle bears goods and is pulled to the front of the overturning supporting part, the goods are limited by using three binding parts (shown in figure 1), so that the goods are completely bound on the overturning supporting part, then a pressure sensor on the overturning supporting part is triggered, so that a collection module collects generated numerical values, an analysis module analyzes the collected numerical values, so that the analysis module generates a first-level driving signal, an execution module receives the first-level driving signal, the control driving part drives the overturning supporting part to complete goods overturning, and when the goods finish the overturning supporting part to contact the rack.
Description
Technical Field
The invention relates to the technical field of hoisting machines, in particular to an AGV vehicle traction goods overturning and unloading device.
Background
The hoisting machine is a multi-action hoisting machine used for vertically lifting and horizontally carrying heavy objects within a certain range, and is not convenient to rotate for hoisting, the AGV is a moving vehicle for dragging the goods and is used for transporting the goods, the shapes of the goods are various, and the goods are cuboid.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an AGV (automatic guided vehicle) traction goods overturning and unloading device, which is characterized in that a rack is horizontally placed on the ground, then an overturning supporting part is arranged, an included angle of ninety degrees is formed between the overturning supporting part and the rack, then when the AGV bears goods and is pulled to the front of the overturning supporting part, three binding parts (shown in figure 1) are utilized for limiting the goods, so that the goods are completely bound on the overturning supporting part, then a pressure sensor on the overturning supporting part is triggered, so that a collection module collects the generated values, an analysis module analyzes the collected values, so that the analysis module generates a first-level driving signal, an execution module receives the first-level driving signal, the execution module controls a driving part to drive the overturning supporting part to complete goods overturning, after the goods are in contact with the rack after the overturning supporting part is completed, the pressure sensor on the rack is triggered, then the analysis module receives the values collected by the collection module to generate a second-level driving signal, the execution module receives the second-level driving signal, the driving part controls the driving part to complete unloading, unloads the goods from the rack to the ground, and completes self unloading.
In order to achieve the purpose, the invention provides the following technical scheme: an AGV vehicle traction goods overturning and unloading device comprises a rack, an overturning supporting part, at least one binding part, a driving part and an auxiliary unloading part; the rack is flatly supported on the ground, the overturning supporting part is rotatably arranged on the rack and used for supporting and overturning the goods, the binding part is arranged on the overturning supporting part and used for binding the goods, the auxiliary unloading part is arranged on one side, far away from the overturning supporting part, of the rack and used for unloading the goods from the overturning supporting part, and the driving part is arranged in the rack and used for driving the overturning supporting part and the auxiliary unloading part; the turnover mechanism is characterized by also comprising two pressure sensors, wherein the two pressure sensors are respectively arranged on the rack and the turnover supporting part; the system also comprises an acquisition module, an analysis module and an execution module; the collecting module is used for collecting numerical values generated by the two pressure sensors, the pressure sensors on the overturning supporting part firstly generate numerical values, the analyzing module analyzes the collected numerical values, so that the analyzing module generates a first-level driving signal, the executing module receives the first-level driving signal and controls the driving part to drive the overturning supporting part to move, then the pressure sensors on the rack generate numerical values, the analyzing module generates a second-level driving signal, the executing module receives the second-level driving signal and controls the driving part to drive the auxiliary unloading part to move, and the rack is provided with six ground feet and a pair of buried tracks; six lower margins divide into two sets ofly about frame symmetry fixed mounting, the three lower margin of every group, and a pair of track that buries is located upset supporting part downside to bury underground. The frame is horizontally placed on the ground, then a turnover supporting part is arranged, an included angle of ninety degrees is formed between the turnover supporting part and the frame, then when an AGV vehicle bears a cargo and is pulled to the front of the turnover supporting part, the cargo is limited by three binding parts shown in the figure, the cargo is completely bound on the turnover supporting part, then a pressure sensor on the turnover supporting part is triggered, a collection module collects generated numerical values, an analysis module analyzes the collected numerical values, the analysis module generates a first-level driving signal, an execution module receives the first-level driving signal, the control driving part drives the turnover supporting part to complete the turnover of the cargo, after the cargo is completely contacted with the frame through the turnover supporting part, the pressure sensor on the frame is triggered, then the analysis module receives the numerical values collected by the collection module to generate a second-level driving signal, the execution module receives the second-level driving signal, the control driving part drives an auxiliary unloading part to complete unloading, the cargo is unloaded from the frame to the ground, and self unloading is completed.
As a further improvement of the invention, the overturning supporting part comprises a mother board, a moving opening, an engaging ruler strip, a stress dispersion board, a threaded rod, a moving supporting block, a daughter board and a pair of protection components; the mother board is rotatably mounted on the frame, the moving opening is formed in the mother board, the daughter board is slidably mounted on one surface of the mother board far away from the frame, the meshing ruler strip is fixedly mounted on one surface of the daughter board close to the mother board and matched with the moving opening, the stress dispersion board is slidably mounted on one surface of the daughter board far away from the mother board through an electric sliding rail, the stress dispersion board is in an isosceles trapezoid shape, a gap exists between the upper bottom of the isosceles trapezoid and the daughter board, the threaded rod is rotatably mounted on the waist of the stress dispersion board, and the moving support block is slidably mounted in the gap and in threaded fit with the threaded rod; attached drawing of a moving branch
The supporting blocks and the threaded rods form a group, the two groups are provided, and the movable supporting blocks of the first group are provided with through holes for the threaded rods of the other group to pass through; the protection assemblies are arranged on the frame in a central symmetry mode with respect to the mother board, one protection assembly is used for protecting the mother board from rotating and discharging, the other protection assembly is used for protecting the mother board from rotating and returning when resetting, the stress dispersion plate can disperse and support the pressure of the goods when bearing the goods, so that the problem that the gravity center of the special-shaped goods cannot be adjusted well and stably moves is solved, when the goods are turned over, the state change occurs to make a response, the position of the supporting block is adjusted and moved by the aid of the threaded rod, the goods with different shapes and sizes are adapted, and the goods can be turned over more conveniently. The rack is provided with a plurality of buffer rods, so that the mother board is buffered after falling.
As a further improvement of the invention, the auxiliary unloading part comprises an edge support plate, a cargo supporting plate, a pair of jacking telescopic cylinders, a pair of linkage mechanisms, a limiting assembly, a power transmission part, a threaded jacking rod and a counterweight plate; the weight plate is slidably mounted in the rack, the threaded jacking rod is fixedly mounted on one side, far away from the mother plate, of the rack, the edge supporting plates are fixedly connected onto the threaded jacking rod, the pair of jacking telescopic cylinders are fixedly mounted on the weight plate in a manner of being symmetrical with respect to the center of the weight plate, the weight plate is connected with the driving portion, the pair of linkage mechanism weight plates are symmetrically arranged on two sides of the weight plate and used for driving the pair of jacking telescopic cylinders, the limiting assembly is arranged at the upper end of the edge supporting plates and used for limiting the edges of goods, the power transmission portion is arranged at the lower end of the weight plate and used for transmitting power for moving the weight plate to the threaded jacking rod, one end of the goods is placed on the supporting plate, then one end of the goods is clamped by the limiting assembly, then the daughter board is moved away from the goods, the falling condition of the goods can occur in the goods disengaging process, the goods are supported after the goods are disengaged by means of sequential movement jacking of the pair of the jacking telescopic cylinders, and mechanized control is completed by the pair of linkage mechanisms, namely, when the goods are moved away, the pair of jacking telescopic cylinders are respectively lifted and the jacking daughter board can control the independent jacking speed of the jacking cylinders, and the jacking speed of the jacking daughter board can be matched with the separation of the goods.
As a further improvement of the invention, the binding part comprises a shell, a crank, a pulling rod, a compression spring, a rotation limiting structure and a binding belt; casing fixed mounting is on the atress dispersion board, the crank rotates the installation in the shell, pulling rod slidable mounting is in the shell, compression spring cover establishes on the pulling rod, and support on the shell inner wall, bind and take one end winding in articulate pivot, the other end extends the shell, the limit is changeed the structure and is connected with pulling rod, and be pulled the rod drive, use the rotation of restriction crank, bind and take the fixing that carries out the position before the upset to the goods through utilizing, and can laminate the different appearance of goods, thereby bind and take the effect that the restriction of limit is changeed the structure and is played the locking, make the upset more stable.
As a further improvement of the invention, the driving part comprises a main driving telescopic rod, a motor, a transmission selection component, a transmission connecting wheel and a driving gear; one end of the main driving telescopic rod is hinged with the mother board, the other end of the main driving telescopic rod is hinged with the rack, the motor is hinged in the rack, the driving gear is rotatably installed in the rack through a connecting shaft and is meshed with the meshing ruler strip, the transmission connecting wheel is fixedly installed on the connecting shaft and is connected with the transmission selection assembly, and the transmission selection assembly is arranged in the rack and is used for controlling whether the power output of the motor is connected with the transmission connecting wheel or not; the movable rack is fixedly mounted on one surface, close to the mother board, of the counterweight plate and meshed with the driving gear, the output of main power is completed by utilizing the driving telescopic rod, and then the hinge joint of the front position and the rear position of the counterweight plate is matched, so that the power transmission is completed more stably, and the whole machine is protected.
As a further improvement of the invention, the linkage mechanism comprises a moving plate, a tooth space, a threaded rotating rod, a meshing gear, a belt transmission wheel set and a connecting wheel; the movable plate is slidably mounted in the rack and located on the side face of the counterweight plate, the tooth grooves are formed in the movable plate, the threaded rotating rod is rotatably mounted in the rack and is in threaded fit with the movable plate, the meshing gear is rotatably mounted on the jacking telescopic cylinder, and the connecting wheel is fixedly mounted on the threaded rotating rod and is connected with the transmission selection assembly; the transmission selection assembly is used for selecting the transmission relation of power output, in this scheme the jacking telescoping cylinder is equipped with four, two liang of a set of, meshing gear connection is on the jacking telescoping cylinder that is close to the mother board, the belt transmission wheelset is connected the jacking telescoping cylinder of both sides, be used for power transmission, select the subassembly to carry out the selective connection through utilizing the transmission, export the connecting wheel with power transmission, at the in-process of drive daughter board, the weight plate can play the effect that power transmission can also be played to the condition of control machine self gravity, when convenient follow-up cooperation is unloaded, the movable plate is driven after, can utilize tooth's socket drive meshing gear, thereby the lift of drive jacking telescoping cylinder, the cooperation that utilizes machinery has reduced cooperation error, prevent the problem of hitting the machine.
As a further improvement of the invention, the limiting assembly comprises a motor, a motor threaded shaft and a clamping plate; the motor threaded shaft rotates and is installed in the edge supporting plate, the clamping plate is connected to the motor threaded shaft through a sliding rod limiting thread, the motor is fixedly connected with the motor threaded shaft, the motor is fixedly connected to the rack through a connecting rod, the clamping plate is driven to clamp goods through the two motor threaded shafts, and the problem that the goods cannot be separated due to overlarge friction force when the goods are separated from the ion plate is prevented.
As a further improvement of the invention, the protection component comprises a ratchet wheel, a bracket, a telescopic electric pole and a pawl; support fixed mounting is in the frame, and the ratchet rotates and installs on the support, and flexible pole fixed mounting is on the support to it is articulated with the pawl, and the pawl rotates and installs on the support, and with the separable butt of ratchet, carry out pawl lock ratchet through utilizing flexible pole, make the drive simple while more stable, and utilize a pair of protection subassembly to carry out the protection of corotation reversal to the turned position, make the protection more stable.
As a further improvement of the invention, the power transmission part comprises a fixed shaft, a partial rack, a transmission chain wheel set and an end face gear set; the fixed shaft is rotatably installed in the rack, part of racks are installed on one surface, far away from the driving gear, of the counterweight plate through a sliding rail with an independent power supply, the end face gear set is arranged on the thread jacking rod, the end face gear is fixedly installed on the thread jacking rod, one chain wheel in the transmission chain wheel set is fixedly connected onto the fixed shaft, the other chain wheel is fixed, the position of the part of racks is determined by utilizing signal conversion cooperation between systems, so that the position of the driving fixed shaft is determined, goods with different lengths are adapted, when the goods are too long, the sliding rail drives the position of the part of rack driving fixed shaft to change along with the position, and the problem that the goods are tilted due to the fact that the jacking of the auxiliary unloading part is too high is avoided.
The invention has the beneficial effects that:
(1) According to the invention, a rack is horizontally placed on the ground, then a turnover supporting part is arranged, an included angle of ninety degrees is formed between the turnover supporting part and the rack, then when an AGV vehicle bears a cargo and is pulled to the front of the turnover supporting part, the cargo is limited by using three binding parts shown in the figure, so that the cargo is completely bound on the turnover supporting part, then a pressure sensor on the turnover supporting part is triggered, so that a collection module collects a generated numerical value, an analysis module analyzes the collected numerical value, the analysis module generates a first-level driving signal, an execution module receives the first-level driving signal, a driving part is controlled to drive the turnover supporting part to complete turnover of the cargo, after the cargo is completely contacted with the rack through the turnover supporting part, the pressure sensor on the rack is triggered, then the analysis module receives the numerical value collected by the collection module to generate a second-level driving signal, the execution module receives the second-level driving signal, the driving part is controlled to drive an auxiliary unloading part to complete unloading, the unloading of the cargo from the rack, and the unloading of the cargo is completed.
(2) According to the invention, the stress dispersion plate can disperse and support the pressure of the goods when the goods are loaded, so that the problem that the gravity center of the special-shaped goods is not well adjusted and stably moved is avoided, and the threaded rod is utilized to adjust and move the position of the supporting block in response to the change of the state when the goods are turned over, so that the special-shaped goods turnover device is suitable for the goods with different shapes and sizes, and the goods can be turned over more conveniently.
(3) According to the invention, one end of a cargo is placed on the supporting plate, then the limiting assembly is used for clamping one end of the cargo, then the daughter board is moved to be separated from the cargo, the cargo can fall off in the cargo separation process, the cargo is supported after being separated by successively moving and jacking the pair of jacking telescopic cylinders, and the mechanized control is completed by the pair of linkage mechanisms, namely when the daughter board is moved to be separated, the pair of jacking telescopic cylinders respectively jack, the independent jacking speed of the pair of jacking telescopic cylinders can be controlled, and the cargo can be supported after the daughter board is separated.
(4) According to the invention, the binding belt is used for fixing the position of the goods before overturning, and can be attached to different shapes of the goods, so that the binding belt is limited by the rotation limiting structure to play a role in locking, and the overturning is more stable.
(5) The invention completes the output of main power by utilizing the driving telescopic rod and then matches with the hinging of the front and rear positions of the driving telescopic rod, thereby more stably completing the transmission of the power and simultaneously protecting the whole machine.
(6) According to the invention, the transmission selection component 53 is used for selective connection, power is transmitted and output to the connecting wheel 67, the weight plate 9 can control the gravity of the machine and also can transmit power in the process of driving the sub-plate 26, and the gear slot 631 can be used for driving the meshing gear 65 after the moving plate 63 is driven, so that the lifting of the jacking telescopic cylinder 621 is driven, the matching error is reduced by mechanical matching, and the problem of machine collision is prevented.
(7) According to the invention, the clamping plate 73 is driven by the two motor threaded shafts 72 to clamp the goods, so that the problem that the goods cannot be separated due to overlarge friction force when the goods are separated from the ion plate 26 is prevented, the ratchet wheel 41 is locked by the pawl 44 through the telescopic electric pole 43, the driving is simple, the stability is higher, and the forward rotation and the reverse rotation of the rotation position are protected by the pair of protection assemblies 4, so that the protection is more stable.
(8) According to the invention, the positions of partial racks 82 are determined by utilizing the signal conversion and matching among systems, so that the positions of the driving fixing shafts 81 are determined, the goods with different sizes and lengths are adapted, when the goods are too long, the positions of partial racks 82 driven by the sliding rails to drive the fixing shafts 81 are changed along with the change of the positions, and the problem that the goods are tilted due to too high jacking of the driving auxiliary unloading part is avoided.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic diagram of the structure of FIG. 1 at the motherboard in accordance with the present invention;
FIG. 3 is a schematic view of the structure of the clamping assembly of FIG. 1 in accordance with the present invention;
FIG. 4 is an enlarged schematic view of the invention at the moving plate of FIG. 3;
FIG. 5 is a schematic bottom view of the present invention shown in FIG. 3;
FIG. 6 is a schematic view of the invention after movement of FIG. 3;
FIG. 7 is a schematic view of the binding portion of FIG. 1 according to the present invention;
FIG. 8 is a schematic view of the internal structure of FIG. 7 according to the present invention;
FIG. 9 is a schematic view of the invention at the bumper beam of FIG. 1;
FIG. 10 is a schematic view of the structure of the protective assembly of FIG. 9 according to the present invention;
FIG. 11 is a schematic block diagram of the system of the present invention;
FIG. 12 is a schematic flow diagram of the present invention.
Reference numerals are as follows: 1. a frame; 11. ground feet; 12. burying a ground track; 13. a buffer rod; 2. a turning support part; 21. a motherboard; 22. moving the opening; 221. engaging the tape; 23. a force dispersion plate; 24. a threaded rod; 25. moving the supporting block; 26. a daughter board; 3. a binding section; 31. a housing; 32. a crank; 33. pulling a rod; 34. a compression spring; 35. a rotation limiting structure; 36. a binding band; 4. a protection component; 41. a ratchet wheel; 42. a support; 43. a telescopic electric pole; 44. a pawl; 5. a drive section; 51. a main drive telescopic rod; 52. a motor; 53. a drive selection assembly; 54. a drive engagement wheel; 541. a drive gear; 6. an auxiliary discharge part; 61. an edge support plate; 62. a cargo hold-up plate; 621. lifting a telescopic cylinder; 63. moving the plate; 631. a tooth socket; 64. a threaded rotating rod; 65. a meshing gear; 66. a belt drive pulley set; 67. a connecting wheel; 7. a limiting component; 71. a motor; 72. a motor threaded shaft; 73. a clamping plate; 8. a power transmission unit; 81. a fixed shaft; 82. a partial rack; 83. a drive sprocket set; 84. an end face gear set; 85. a threaded jacking rod; 9. a weight plate; 91. moving the rack; 101. an acquisition module; 102. an analysis module; 103. and executing the module.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "bottom" and "top," "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
Referring to fig. 1-12, the AGV traction load turnover unloading device of the present embodiment includes a frame 1, a turnover support 2, at least one binding portion 3, a driving portion 5, and an auxiliary unloading portion 6; the machine frame 1 is flatly supported on the ground, the overturning support part 2 is rotatably arranged on the machine frame 1 and used for supporting and overturning cargoes, the binding part 3 is arranged on the overturning support part 2 and used for binding cargoes, the auxiliary unloading part 6 is arranged on one side, away from the overturning support part 2, of the machine frame 1 and used for unloading cargoes from the overturning support part 2, and the driving part 5 is arranged in the machine frame 1 and used for driving the overturning support part 2 and the auxiliary unloading part 6; the turnover mechanism further comprises two pressure sensors which are respectively arranged on the rack 1 and the turnover supporting part 2; the system also comprises an acquisition module 101, an analysis module 102 and an execution module 103; the collecting module 101 is used for collecting numerical values generated by two pressure sensors, the pressure sensors on the overturning supporting part 2 firstly generate numerical values, the analyzing module 102 analyzes the collected numerical values, so that the analyzing module 102 generates a first-level driving signal, the executing module 103 receives the first-level driving signal, the driving part 5 is controlled to drive the overturning supporting part 2 to move, then the pressure sensors on the rack 1 generate numerical values, the analyzing module 102 generates a second-level driving signal, the executing module 103 receives the second-level driving signal, the driving part 5 is controlled to drive the auxiliary unloading part 6 to move, and the rack 1 is provided with six ground feet 11 and a pair of buried tracks 12; six lower margin 11 divide into two sets ofly about 1 symmetry fixed mounting of frame, and every three lower margin 11 of group, a pair of track 12 that buries are located 2 downside of upset supporting part to bury underground. The frame is horizontally placed on the ground, a turnover supporting part is arranged, an included angle of ninety degrees is formed between the turnover supporting part and the frame, when an AGV bears a cargo and is dragged to the front of the turnover supporting part, the cargo is limited by three binding parts shown in the figure 1, the cargo is completely bound on the turnover supporting part, then a pressure sensor on the turnover supporting part is triggered, a collection module collects a generated numerical value, an analysis module analyzes the collected numerical value, the analysis module generates a first-level driving signal, an execution module receives the first-level driving signal, the control driving part drives the turnover supporting part to complete turnover of the cargo, after the cargo is completely contacted with the frame through the turnover supporting part, the pressure sensor on the frame is triggered, the analysis module receives the numerical value collected by the collection module to generate a second-level driving signal, the execution module receives the second-level driving signal, the control driving part drives an auxiliary unloading part to complete unloading, the cargo is unloaded from the frame to the ground, and self unloading is completed.
As a further improvement of the present invention, the turning support part 2 includes a mother plate 21, a moving opening 22, an engaging rule 221, a force dispersion plate 23, a threaded rod 24, a moving support block 25, a daughter plate 26, and a pair of protection members 4; the mother board 21 is rotatably mounted on the rack 1, the moving opening 22 is formed in the mother board 21, the daughter board 26 is slidably mounted on one surface, far away from the rack 1, of the mother board 21, the meshing ruler strip 221 is fixedly mounted on one surface, close to the mother board 21, of the daughter board 26 and matched with the moving opening 22, the stress dispersion board 23 is slidably mounted on one surface, far away from the mother board 21, of the daughter board 26 through an electric sliding rail, the stress dispersion board 23 is in an isosceles trapezoid shape, a gap exists between the upper bottom of the isosceles trapezoid and the daughter board 26, the threaded rod 24 is rotatably mounted on the waist of the stress dispersion board 23, and the moving support block 25 is slidably mounted in the gap and is in threaded fit with the threaded rod 24; the movable supporting block 25 and the threaded rod 24 form a group, the two groups are totally, and the movable supporting block 25 of the first group is provided with a through hole for the threaded rod 24 of the other group to pass through; the pair of protection components 4 are symmetrical about the center of the mother board 21 and are arranged on the rack 1, one protection component is used for protecting the mother board 21 from rotating and discharging, the other protection component is used for protecting the mother board 21 from rotating and returning when resetting, the stress dispersion plate 23 can disperse and support the pressure of the goods when bearing the goods, so that the problem that the gravity center of the special-shaped goods cannot be adjusted well and stably moves is solved, the state change is responded when the goods are overturned, the position of the movable supporting block 25 is adjusted by the threaded rod 24, the goods in different shapes and sizes are adapted, and the goods can be overturned more conveniently. The frame 1 is provided with a plurality of buffer rods 13 to buffer the falling of the mother plate 21.
As a further improvement of the present invention, the auxiliary discharge part 6 comprises an edge support plate 61, a cargo supporting plate 62, a pair of lifting telescopic cylinders 621, a pair of linkage mechanisms, a limiting component 7, a power transmission part 8, a threaded lifting rod 85 and a counterweight plate 9; the weight plate 9 is slidably mounted in the rack 1, the threaded jacking rod 85 is fixedly mounted on one side, far away from the mother plate 21, of the rack 1, the edge supporting plate 61 is fixedly connected to the threaded jacking rod 85, the pair of jacking telescopic cylinders 621 are fixedly mounted on the weight plate 9 in a manner of being symmetrical about the center of the weight plate 9, the weight plate 9 is connected with the driving part 5, the pair of linkage mechanism weight plates 9 are symmetrically arranged on two sides of the weight plate 9 and used for driving the pair of jacking telescopic cylinders 621, the limiting assembly 7 is arranged at the upper end of the edge supporting plate 61 and used for limiting the edges of the goods, the power transmission part 8 is arranged at the lower end of the weight plate 9 and used for transmitting the power generated by the movement of the weight plate 9 to the threaded jacking rod 85, after one end of the goods is placed on the supporting plate 61, one end of the goods is clamped by the limiting assembly 7 and then the daughter plate 26 is moved to be separated from the goods, the situation that the goods fall can occur in the goods separation process, the goods 621 lifting is successively moved to support the goods after the separation of the goods, and the mechanical control of the jacking cylinders is performed, and the separation of the jacking cylinders 621 can be separated from the jacking cylinders, and the jacking cylinders 26, and the jacking cylinders can be matched with the lifting speed of the jacking cylinders.
As a further improvement of the present invention, the binding portion 3 includes a housing 31, a crank 32, a pulling rod 33, a compression spring 34, a rotation limiting structure 35 and a binding band 36; the shell 31 is fixedly installed on the stress dispersion plate 23, the crank 32 is rotatably installed in the shell 31, the pulling rod 33 is slidably installed in the shell 31, the compression spring 34 is sleeved on the pulling rod 33 and abuts against the inner wall of the shell 31, one end of the binding band 36 is wound on a rotating shaft of the crank 32, the other end of the binding band extends out of the shell 31, the rotation limiting structure 35 is connected with the pulling rod 33 and driven by the pulling rod 33 to limit the rotation of the crank 32, the goods are fixed before being turned by the binding band 36 and can be attached to different shapes of the goods, so that the binding band 36 is limited by the rotation limiting structure 35 to play a role in locking, and the turning is more stable.
As a further improvement of the present invention, the driving part 5 comprises a main driving telescopic rod 51, a motor 52, a transmission selection component 53, a transmission connecting wheel 54 and a driving gear 541; one end of the main driving telescopic rod 51 is hinged with the mother board 21, the other end is hinged with the frame 1, the motor 52 is hinged in the frame 1, the driving gear 541 is rotatably installed in the frame 1 through a connecting shaft and is meshed with the meshing ruler strip 221, the transmission connecting wheel 54 is fixedly installed on the connecting shaft and is connected with the transmission selecting component 53, and the transmission selecting component 53 is arranged in the frame 1 and is used for controlling whether the power output of the motor 52 is connected with the transmission connecting wheel 54; the movable rack 91 is fixedly installed on one surface, close to the mother board 21, of the counterweight plate 9 and meshed with the driving gear 541, the main power is output by utilizing the driving telescopic rod 51 and then the transmission of the power is completed more stably by matching with the hinging of the front position and the rear position of the counterweight plate, and meanwhile, the whole machine is protected.
As a further improvement of the present invention, the linkage mechanism includes a moving plate 63, a tooth groove 631, a threaded rotating rod 64, a meshing gear 65, a belt transmission wheel set 66 and a connecting wheel 67; the movable plate 63 is slidably mounted in the rack 1 and located on the side surface of the counterweight plate 9, the tooth socket 631 is formed in the movable plate 63, the threaded rotating rod 64 is rotatably mounted in the rack 1 and is in threaded fit with the movable plate 63, the meshing gear 65 is rotatably mounted on the jacking telescopic cylinder 621, and the connecting wheel 67 is fixedly mounted on the threaded rotating rod 64 and is connected with the transmission selection assembly 53; the transmission selection assembly 53 is used for selecting the transmission relation of power output, in the scheme, the jacking telescopic cylinders 621 are provided with four sets, two sets of the jacking telescopic cylinders 621 are in a group, the meshing gear 65 is connected to the jacking telescopic cylinders 621 close to the mother board 21, the belt transmission wheel set 66 connects the jacking telescopic cylinders 621 on two sides, the belt transmission wheel set is used for power transmission, the transmission selection assembly 53 is used for selective connection, power transmission is output to the connecting wheel 67, in the process of driving the daughter board 26, the counterweight plate 9 can play the role of controlling the gravity of the machine and also can play the role of power transmission, when subsequent matching is convenient to unload, after the movable plate 63 is driven, the tooth grooves 631 can be used for driving the meshing gear 65, so that the lifting of the jacking telescopic cylinders 621 is driven, the matching error is reduced by using mechanical matching, and the problem of machine collision is prevented.
As a further improvement of the present invention, the limiting assembly 7 comprises a motor 71, a motor threaded shaft 72 and a clamping plate 73; the motor threaded shaft 72 is rotatably installed on the edge supporting plate 61, the clamping plate 73 is connected to the motor threaded shaft 72 through a sliding rod limiting thread, the motor 71 is fixedly connected with the motor threaded shaft 72, the motor 71 is fixedly connected to the rack 1 through a connecting rod, the clamping plate 73 is driven by the two motor threaded shafts 72 to clamp the goods, and the problem that the goods cannot be separated due to overlarge friction force when the goods are separated from the ion plate 26 is prevented.
As a further improvement of the present invention, the protection assembly 4 comprises a ratchet wheel 41, a bracket 42, a telescopic electric pole 43 and a pawl 44; the support 42 is fixedly installed on the machine frame 1, the ratchet wheel 41 is rotatably installed on the support 42, the telescopic electric pole 43 is fixedly installed on the support 42 and is hinged to the pawl 44, the pawl 44 is rotatably installed on the support 42 and can be in separable abutting joint with the ratchet wheel 41, the pawl 44 is used for locking the ratchet wheel 41 through the telescopic electric pole 43, driving is simple, meanwhile, the stability is achieved, and the protection of forward rotation and reverse rotation of the rotation position is achieved through the pair of protection assemblies 4, so that protection is more stable.
As a further improvement of the present invention, the power transmission part 8 includes a fixed shaft 81, a partial rack 82, a drive sprocket group 83, and a face gear group 84; the fixed shaft 81 is rotatably installed in the rack 1, a part of the racks 82 are installed on one surface, far away from the driving gear 541, of the counterweight plate 9 through a sliding rail with an independent power supply, the end face gear group 84 is arranged on the threaded jacking rod 85, the end face gear is fixedly installed on the threaded jacking rod 85, one chain wheel in the transmission chain wheel group 83 is fixedly connected to the fixed shaft 81, the other chain wheel is fixed, the position of a part of the racks 82 is determined by utilizing signal conversion and matching between systems, so that the position of the driving fixed shaft 81 is determined, the driving fixed shaft 81 is suitable for cargos with different lengths, when the cargos are too long, the sliding rail drives the position of the part of the racks 82 to drive the fixed shaft 81 to be changed along with the change, and the problem that the cargos tilt due to too high jacking of the auxiliary unloading part is driven is avoided.
The working principle is as follows: as shown in fig. 1-12, in use, firstly, the AGV tractor pulls the goods onto the buried track 12, then the goods moves onto the daughter board 26, then the pulling rod 33 is pulled to compress the compression spring 34, so that the rotation limiting structure 35 is opened, the crank 32 is rotated to release the binding band 36 and bind the goods, then the other end locks the stretched binding band 36, the pulling rod 33 is released, the compression spring 34 is reset, the rotation limiting structure 35 limits the rotation of the crank 32, the binding and fixing of the goods are completed, then the pressure sensor is triggered, so that the collection module 101 collects the generated values, the analysis module 102 analyzes the collected values, so that the analysis module 102 generates a first-level driving signal, the execution module 103 receives the first-level driving signal to start the motor 52, so that the transmission selection assembly 53 first selects to transmit power to the main driving telescopic rod 51, so that the mother board 21 starts to overturn with the goods, in the process of overturning towards the rack 1, the protection assembly 4 starts to work, the telescopic assembly 43 extends out, so that the pawl 44 abuts against the ratchet 41, so that the ratchet 41 rotates towards the rack 1 when the counter weight 21 rotates, otherwise, the pole 53 does not select to rotate towards the rack, so that the reverse rotation of the pole 41, and the pole 41 can not rotate, so that the reverse rotation of the pole 41 can not extend, and the reverse rotation of the pole 41 can be avoided, and the reverse rotation of the pole 53 can be avoided, thereby the pole 41 can be possible to occur, and the reverse rotation of the pole 41 can be avoided.
When the mother board 21 falls down to the rack 1 and then is supported by the buffer rod 13, the problem of direct contact and no buffer caused by over weight of the goods is reduced, when the goods is turned over to the pressure sensor on the rack 1 and is triggered, then the analysis module 102 receives the value collected by the collection module 101 to generate a second level driving signal, the execution module 103 receives the second level driving signal, then the pulling rod 33 is released to compress the compression spring 34, the limit structure 35 is opened, the crank 32 is rotated, the binding belt 36 is released, the unloading is started, the transmission selection component 53 selects to transmit the power of the motor 52 to the transmission connecting wheel 54, so that the driving gear 541 starts to rotate, on one hand, the meshing ruler strip 221 is driven, so that the daughter board 26 is driven to move with the goods, the meshing ruler strip 221 extends out of the moving opening 22, and when the driving gear 541 rotates, the daughter board 26 moves towards the direction of the limiting component 7, the counterweight plate 9 is driven by the driving gear 541, and the daughter board is far away from the rack 1, thereby the problem of the gravity center of the whole machine is solved, the problem that the ground is sunken due to repeated stress of the direction of the practical machine close to the limiting component 7 for a long time is avoided, then the partial rack 82 does not drive the fixed shaft 81 to rotate in the process of moving and extending the counterweight plate 9, when the daughter board 26 is driven, the partial rack 82 drives the fixed shaft 81 to rotate, then the transmission chain wheel group 83 drives the end face gear group 84 to transmit, thereby the edge supporting plate 61 starts to be jacked by the thread jacking rod 85, the partial rack 82 is separated, after the acquisition module 101 acquires the length information of the goods, the analysis module judges that the goods are too long, the sliding rail drives the partial rack 82 to move, thereby the driving degree is changed, and the jacking degree of the thread jacking rod 85 is controlled.
Then the motor 71 drives the motor threaded shaft 72 to rotate, so as to clamp the edge of the goods, then the transmission selection assembly 53 selects the power output of the motor 52 to the connecting wheel 67, so that the threaded rotating rod 64 rotates to drive the moving plate 63 to move, then the tooth socket 631 drives the meshing gear 65 to rotate, so that the jacking telescopic cylinder 621 can jack along with the process that the daughter board 26 retreats, so as to complete the supporting of the goods,
the above are only preferred embodiments of the present invention, and the scope of the present invention is not limited to the above examples, and all technical solutions that fall under the spirit of the present invention belong to the scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (9)
1. The utility model provides a AGV vehicle pulls goods upset unloading equipment which characterized in that: comprises a frame (1), a turnover supporting part (2), at least one binding part (3), a driving part (5) and an auxiliary unloading part (6);
the machine frame (1) is flatly placed and supported on the ground, the overturning supporting part (2) is rotatably arranged on the machine frame (1) and used for supporting and overturning cargoes, the binding part (3) is arranged on the overturning supporting part (2) and used for binding the cargoes, the auxiliary unloading part (6) is arranged on one side, away from the overturning supporting part (2), of the machine frame (1) and used for unloading the cargoes from the overturning supporting part (2), and the driving part (5) is arranged in the machine frame (1) and used for driving the overturning supporting part (2) and the auxiliary unloading part (6);
the turnover mechanism is characterized by further comprising two pressure sensors, wherein the two pressure sensors are respectively arranged on the rack (1) and the turnover supporting part (2);
the system also comprises an acquisition module (101), an analysis module (102) and an execution module (103);
the collecting module (101) is used for collecting numerical values generated by two pressure sensors, the pressure sensors on the overturning supporting part (2) generate numerical values firstly, the analyzing module (102) analyzes and collects the numerical values, the analyzing module (102) generates first-level driving signals, the executing module (103) receives the first-level driving signals, the driving part (5) is controlled to drive the overturning supporting part (2) to move, then the pressure sensors on the rack (1) generate the numerical values, the analyzing module (102) generates second-level driving signals, the executing module (103) receives the second-level driving signals, and the driving part (5) is controlled to drive the auxiliary unloading part (6) to move.
2. An AGV vehicle traction load rollover unloading apparatus according to claim 1, wherein: the overturning supporting part (2) comprises a mother board (21), a moving opening (22), an engaging ruler strip (221), a stress dispersion plate (23), a threaded rod (24), a moving supporting block (25), a daughter board (26) and a pair of protection components (4);
the mother board (21) is rotatably mounted on the rack (1), the moving opening (22) is formed in the mother board (21), the daughter board (26) is slidably mounted on one surface, far away from the rack (1), of the mother board (21), the meshing ruler strip (221) is fixedly mounted on one surface, close to the mother board (21), of the daughter board (26) and matched with the moving opening (22), the stress dispersion board (23) is slidably mounted on one surface, far away from the mother board (21), of the daughter board (26) through an electric sliding rail, the stress dispersion board (23) is in an isosceles trapezoid shape, an interval exists between the upper bottom of the isosceles trapezoid and the daughter board (26), the threaded rod (24) is rotatably mounted on the waist of the stress dispersion board (23), and the moving support block (25) is slidably mounted in the interval and in threaded fit with the threaded rod (24);
the pair of protection assemblies (4) is in central symmetry with respect to the mother board (21) and arranged on the rack (1), one protection assembly is used for protecting the mother board (21) from being reversed when the mother board (21) is rotated for unloading, and the other protection assembly is used for protecting the mother board (21) from being reversed when the mother board (21) is rotated for resetting.
3. An AGV vehicle traction load rollover unloading apparatus according to claim 2, wherein: the auxiliary unloading part (6) comprises an edge supporting plate (61), a goods supporting plate (62), a pair of jacking telescopic cylinders (621), a pair of linkage mechanisms, a limiting assembly (7), a power transmission part (8), a threaded jacking rod (85) and a counterweight plate (9);
the utility model provides a portable computer, including frame (1), counterweight plate (9), screw thread jacking rod (85) fixed mounting is in frame (1) one side of keeping away from mother board (21), edge backup pad (61) fixed connection is on screw thread jacking rod (85), a pair of jacking telescoping cylinder (621) are on counterweight plate (9) central symmetry fixed mounting about counterweight plate (9), counterweight plate (9) are connected with drive division (5), a pair of link gear counterweight plate (9) set up in counterweight plate (9) both sides about the symmetry, be used for driving a pair of jacking telescoping cylinder (621), spacing subassembly (7) set up in edge backup pad (61) upper end, be used for carrying out the edge spacing to the goods, power transmission portion (8) set up at counterweight plate (9) lower extreme, be used for with the power transmission that counterweight plate (9) removed for screw thread jacking rod (85).
4. An AGV vehicle traction load rollover unloading apparatus according to claim 1, wherein: the binding part (3) comprises a shell (31), a crank (32), a pulling rod (33), a compression spring (34), a rotation limiting structure (35) and a binding belt (36);
casing (31) fixed mounting is on atress dispersion board (23), crank (32) rotate to be installed in casing (31), pulling rod (33) slidable mounting is in casing (31), compression spring (34) cover is established on pulling rod (33) to support on casing (31) inner wall, bind area (36) one end winding in the pivot of crank (32), the other end extends out casing (31), limit for rotation structure (35) are connected with pulling rod (33), and by the drive of pulling rod (33), use the rotation of restriction crank (32).
5. An AGV vehicle traction load rollover unloading apparatus as claimed in claim 3, wherein: the driving part (5) comprises a main driving telescopic rod (51), a motor (52), a transmission selection assembly (53), a transmission connecting wheel (54) and a driving gear (541);
one end of the main driving telescopic rod (51) is hinged with the mother board (21), the other end of the main driving telescopic rod is hinged with the rack (1), the motor (52) is hinged in the rack (1), the driving gear (541) is rotatably installed in the rack (1) through a connecting shaft and is meshed with the meshing ruler strip (221), the transmission connecting wheel (54) is fixedly installed on the connecting shaft and is connected with the transmission selecting component (53), and the transmission selecting component (53) is arranged in the rack (1) and is used for controlling whether the power output of the motor (52) is connected with the transmission connecting wheel (54);
and a movable rack (91) is fixedly arranged on one surface of the counterweight plate (9) close to the motherboard (21) and is meshed with the driving gear (541).
6. An AGV vehicle traction load rollover unloading apparatus as claimed in claim 5, wherein: the linkage mechanism comprises a moving plate (63), a tooth groove (631), a threaded rotating rod (64), a meshing gear (65) and a connecting wheel (67);
the movable plate (63) is slidably mounted in the rack (1) and located on the side face of the counterweight plate (9), the tooth grooves (631) are formed in the movable plate (63), the threaded rotating rod (64) is rotatably mounted in the rack (1) and in threaded fit with the movable plate (63), the meshing gear (65) is rotatably mounted on the jacking telescopic cylinder (621), and the connecting wheel (67) is fixedly mounted on the threaded rotating rod (64) and connected with the transmission selection assembly (53).
7. An AGV vehicle traction load rollover unloading apparatus according to claim 3, wherein: the limiting assembly (7) comprises a motor (71), a motor threaded shaft (72) and a clamping plate (73);
the motor threaded shaft (72) is rotatably installed on the edge supporting plate (61), the clamping plate (73) is connected to the motor threaded shaft (72) through a sliding rod limiting thread, the motor (71) is fixedly connected with the motor threaded shaft (72), and the motor (71) is fixedly connected to the rack (1) through a connecting rod.
8. An AGV vehicle traction load rollover unloading apparatus according to claim 2, wherein: the protection component (4) comprises a ratchet wheel (41), a bracket (42), a telescopic electric pole (43) and a pawl (44);
the support (42) is fixedly installed on the rack (1), the ratchet wheel (41) is rotatably installed on the support (42), the telescopic electric pole (43) is fixedly installed on the support (42) and hinged to the pawl (44), and the pawl (44) is rotatably installed on the support (42) and can be in separable abutting joint with the ratchet wheel (41).
9. An AGV vehicle traction load rollover unloading apparatus according to claim 5, wherein: the power transmission part (8) comprises a fixed shaft (81), a partial rack (82), a transmission chain wheel set (83) and a face gear set (84);
the fixed shaft (81) is rotatably installed in the rack (1), part of the racks (82) is installed on one surface, far away from the driving gear (541), of the counterweight plate (9) through a sliding rail with an independent power supply, the end face gear set (84) is arranged on the thread jacking rod (85), the end face gear is fixedly installed on the thread jacking rod (85), one chain wheel in the transmission chain wheel set (83) is fixedly connected onto the fixed shaft (81), and the other chain wheel is fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202211497365.0A CN115535928B (en) | 2022-11-28 | 2022-11-28 | AGV vehicle traction cargo overturning unloading equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211497365.0A CN115535928B (en) | 2022-11-28 | 2022-11-28 | AGV vehicle traction cargo overturning unloading equipment |
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| CN115535928B CN115535928B (en) | 2023-05-30 |
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| CN115535928B (en) | 2023-05-30 |
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