CN206857632U - A kind of float lifts robot and using its loading and unloading system - Google Patents
A kind of float lifts robot and using its loading and unloading system Download PDFInfo
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- CN206857632U CN206857632U CN201720453292.3U CN201720453292U CN206857632U CN 206857632 U CN206857632 U CN 206857632U CN 201720453292 U CN201720453292 U CN 201720453292U CN 206857632 U CN206857632 U CN 206857632U
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Abstract
The utility model belongs to robotic technology field, specially a kind of lifting robot that floats, including AGV chassis, lifting mechanism and machine frame, lifting mechanism is located at the upper end on AGV chassis, machine frame is arranged on the top of lifting mechanism by position-limit mechanism, rolling assembly under some groups is provided between lifting mechanism and machine frame, machine frame can be moved by lower rolling assembly relative to lifting mechanism, machine frame is used to hold material, position-limit mechanism includes the stop part on lifting mechanism, and the limiting section on machine frame, stop part coordinates with limiting section to limit the amount of movement of machine frame.The utility model is provided by setting ball between lifting mechanism and machine frame so that machine frame can move in the case of by external force relative to lifting mechanism, and then adjust the position of material on machine frame, preferably carry out the transport of material.The utility model also provides a kind of loading and unloading system of application floating lifting robot, the system can correcting material position, so as to successfully blanking.
Description
Technical field
The utility model belongs to robotic technology field, and specially a kind of float lifts robot and using its loading and unloading
System.
Background technology
With the rise of human cost and the requirement of factory specification, AGV is increasingly becoming important handbarrow, tradition
Backpack AGV be only capable of transported material, people often set up other hardware devices to match somebody with somebody to expand AGV application
Close AGV to use, so as to improve its cost performance.
Realize that the method for AGV loading and unloading functions mainly there are two kinds at present, the first is to be located in setting feeding device in purpose,
Such as manipulator is few because this kind of method cost is higher, it is necessary to set feeding device in each destination, therefore only
Number enterprise uses this method；Second is that lifting mechanism is incorporated on AGV, allows AGV itself to possess lifting function, when AGV is arrived
Up to after destination, only loading and unloading need to can be carried out using lifting mechanism, so as to reduce the cost of loading and unloading.
Although above-mentioned second method advantage of lower cost, there is also following deficiency：AGV unavoidably can in transportation
In the presence of certain stopping error, such as AGV stopping accuracy is front and rear ± 15mm, left and right ± 10mm；If a material is once being transported
Needed during defeated by multiple terminals, then AGV needs to stop repeatedly, and after multiple feeding and blanking, thing
The actual position on AGV of material can produce the skew of accumulation compared with theoretical position；For example, as AGV material from raw material cabin
Be carried to station A successively, station B finally transports finished bin, if stopping producing ﹢ 10mm skew every time, material is to reaching
Finally caused offset is ﹢ 40mm in product storehouse, it can be seen that, under the influence of AGV stopping accuracy, it is possible that material is put not
Enter the situation of station.Therefore it is very necessary to research and develop a kind of AGV loading and unloading systems with correcting function.
Utility model content
The purpose of this utility model is overcome the deficiencies in the prior art, there is provided one kind, which is floated, lifts robot and one kind
Robot charge system with correcting function.
In order to solve the above-mentioned technical problem, the utility model uses following technical scheme：
One kind, which is floated, lifts robot, including AGV chassis, lifting mechanism and machine frame, the lifting mechanism are located at AGV bottoms
The upper end of disk, the machine frame is arranged on the top of lifting mechanism by position-limit mechanism, between the lifting mechanism and machine frame
Provided with rolling assembly under some groups, the machine frame can be moved by the lower rolling assembly relative to lifting mechanism, the frock
Frame is used to hold material, and the position-limit mechanism includes the stop part on lifting mechanism, and spacing on machine frame
Portion, the stop part coordinate with limiting section to limit the amount of movement of machine frame.
Compared with prior art, under robot provided by the utility model between lifting mechanism and machine frame by setting
Rolling assembly so that machine frame can move in the case of by external force relative to lifting mechanism, and then adjust the thing on machine frame
The position of material, the transport of material is preferably carried out, is additionally provided with position-limit mechanism, the position-limit mechanism is simple in construction, can prevent
Machine frame departs from lifting mechanism.
Further, the machine frame includes chassis and two supports, the support be separately positioned on chassis left side and
Right side, the chassis coordinate with lower rolling assembly, and the support is used for support material, the set-up mode structure letter of the machine frame
It is single.
Further, the lifting mechanism includes lifting device and the installing plate located at lifting device upper end, the lower rolling
Dynamic component is at least provided with two groups, and it is respectively arranged on the left side of the installing plate and right side, and the lifting mechanism is simple in construction,
The lower rolling assembly is arranged in the left side and right side of installing plate, and more conducively machine frame balance is placed.
Further, the left side of the chassis and right side are arranged with hollow-out parts respectively, per the lower section of side hollow-out parts
A bottom plate is equipped with, the bottom board symmetry of both sides is set, and the chassis is coordinated by the bottom plate and lower rolling assembly, the setting side
Formula can reduce the weight of machine frame, and advantageously reduce the manufacture material of machine frame.
Further, the limiting section is arranged with two, and the limiting section is separately positioned on the bottom plate of the left and right sides,
The stop part corresponds to the limiting section and is arranged with two, and the stop part is separately positioned on the interior of corresponding side limiting section
Side.The limiting section is the stopper slot for being opened in bottom plate upper end, and the stop part includes boss, and the boss per side is located at close be somebody's turn to do
The side of side limiting section is equipped with limited block, and the opening of the stopper slot is mutually fitted towards limited block, the stopper slot with limited block
Match somebody with somebody, per side limited block insert respectively corresponding to stopper slot it is spacing to realize, be gap between the stopper slot and limited block
Coordinate.The set-up mode of the limiting section and stop part is simple in construction, by the position-limit mechanism, can effectively limit machine frame
Amount of movement, depart from lifting mechanism so as to prevent machine frame movement transition, in addition, the set-up mode of the stopper slot can prevent work
Shelve inclination.
Further, upper rolling assembly is provided between the limited block and corresponding stopper slot, the stopper slot passes through institute
State rolling assembly can relative limit block movement, the upper rolling assembly make machine frame movement it is more smooth.
Further, the robot also includes detent mechanism, and the detent mechanism includes determining located at AGV chassis upper end
Position pin, and the corresponding alignment pin are located at the positioning hole of the machine frame lower end, and the alignment pin is preferably conical dowel pin,
The set-up mode makes machine frame not moved after declining because of lower rolling assembly, it is ensured that machine frame and AGV relative position are protected
Hold necessarily, conical dowel pin has inclined-plane, when machine frame declines, if the edge of positioning hole touches the inclined-plane of conical dowel pin
When, inclined-plane will guide positioning hole to adjust the position of machine frame, alignment pin is smoothly coordinated with positioning hole, so as to ensure frock
Frame accurately drops to the position of setting.
The utility model additionally provides a kind of loading and unloading system using above-mentioned robot, including above-mentioned robot and deposits
Expect device, the magazine includes the left support frame and right support frame for support material, the left support frame and right support
The stop area for accommodating robot is formed between frame, the robot, which travels to and fro between, stops area's progress feeding and blanking, the left support
The upper end of frame and right support frame is respectively equipped with guiding mechanism, and the beeline between two guiding mechanisms is at least just greater than material
Length, during robot blanking, if material contacts with the guiding mechanism of wherein side, the machine frame is with respect to lifting mechanism to phase
Anti- side movement, until material departs from guiding mechanism.
Further, the guiding mechanism includes the connecting portion being connected with support frame, and the connection connecting portion upper end
Guidance part, the inner side of the guidance part is provided with the inner inclined-plane tilted down, material with the inclined-plane is detachable contacts.
Robot charge system provided by the utility model, by setting up lower rolling between lifting mechanism and machine frame
Component, machine frame is set to produce floating effect, machine frame can be moved by lower rolling assembly relative to lifting mechanism, and the system
Magazine be also equipped with guiding mechanism, after material generates offset distance, decentralization to magazine during, material
Side can be contacted with guiding mechanism, in the presence of floating effect and guiding mechanism, now machine frame can be by guiding mechanism
Reaction force, it will moved relative to lifting mechanism to opposite side, so as to correcting material, it is successfully transferred to support
On frame, the defects of traditional AGV is not placed into material because stopping error being overcome.
Brief description of the drawings
Fig. 1 is robot stereogram 1
Fig. 2 is robot stereogram 2
Fig. 3 is robot top view
Fig. 4 is robot broken section structural representation
Fig. 5 is the enlarged drawing of Fig. 1 a-quadrant
Fig. 6 is the enlarged drawing of Fig. 2 B area
Schematic diagram 1 when Fig. 7 is loading and unloading system blanking
Fig. 8 is the schematic diagram 2 when correcting material is carried out in loading and unloading system blanking process
Fig. 9 is the schematic diagram 3 when loading and unloading system completes blanking
Figure 10 is the enlarged drawing in Fig. 7 C regions
Figure 11 is the enlarged drawing in Fig. 8 D regions
Figure 12 is the enlarged drawing in Fig. 9 E regions
Embodiment
Below in conjunction with brief description of the drawings specific embodiment of the present utility model.
In description of the present utility model, it is to be understood that " length ", " on ", " under ", "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " level ", " interior ", " outer " are to be closed based on orientation shown in the drawings or position
System, it is for only for ease of and describes the utility model and simplified description, rather than the device or element of instruction or hint meaning is necessary
With specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.
Embodiment one：
Referring to Fig. 1 to Fig. 6, Fig. 9, one kind, which is floated, lifts robot, including AGV chassis 1, lifting mechanism 2 and machine frame 3,
Each corner of the lower end of AGV chassis 1 is respectively equipped with a universal wheel 11, and two driving wheels 12, institute are provided with the middle part of its lower end
The upper end that lifting mechanism 2 is located at AGV chassis 1 is stated, the machine frame 3 is arranged on the top of lifting mechanism 2 by position-limit mechanism 6,
Rolling assembly 41 under some groups is provided between the lifting mechanism 2 and machine frame 3, the machine frame 3 passes through the lower rolling group
Part 41 can move relative to lifting mechanism 2, and the machine frame 3 is used to hold material 5, and the position-limit mechanism 6 includes being located at lifting machine
Stop part 61 on structure 2, and the limiting section 62 on machine frame 3, the stop part 61 coordinate with limiting section 62 to limit
The amount of movement of machine frame 3.
Referring to Fig. 2 to Fig. 4, the lifting mechanism 2 includes lifting device 21 and the installing plate located at the upper end of lifting device 21
22, the installing plate 22 is rectangular mounting plate 22, and the lower rolling assembly 41 is provided with four groups, and it is respectively arranged on the installation
Four corners of plate 22, rolling assembly 41 has three ball assemblies under every group, and the ball assembly includes being arranged on installing plate
Retainer 411 on 22 and the ball on retainer 411 412.The set-up mode of the lower rolling assembly 41 can allow
Machine frame 3 is installed more steadily, and movement is more smooth.The lifting device 21 includes drive device 211 and is coated on drive device 211
The organ protective cover 212 of periphery, the drive device 211 are arranged on AGV chassis 1, and the drive device 211 is hydraulically operated equipment
Or pneumatic means, its output end connect the installing plate 22.
Referring to Fig. 1 to Fig. 3, the machine frame 3 includes chassis 31 and two supports 32, and the chassis 31 is rectangular chassis
31, the support 32 is separately positioned on the left side and right side of chassis 31, and the left side and right side of the chassis 31 are respectively symmetrically
Provided with hollow-out parts 311, a bottom plate 312 is equipped with per the lower section of side hollow-out parts 311, the bottom plate 312 of both sides is symmetrical arranged, the bottom
Frame 31 is coordinated by the bottom plate 312 and lower rolling assembly 41, and the support 32 is used for support material 5.
Referring to Fig. 1 to Fig. 6, the limiting section 62 is provided with two, and the limiting section 62 respectively symmetrically is arranged in a left side
On the bottom plate 312 on side and right side, the corresponding limiting section 62 of the stop part 61 is provided with symmetrical two, and the stop part 61 is distinguished
It is arranged on the inner side of corresponding side limiting section 62.The limiting section 62 is the stopper slot 62 for being opened in the upper end of bottom plate 312, preferably
, each upper end of bottom plate 312 is respectively equipped with a pad 313, and the 313 preferred nylon material of pad, the stopper slot 62 is opened respectively
On corresponding pad 313；The stop part 61 includes the boss 611 on installing plate 22, and the drive device 211 is right
The boss 611 is answered to be provided with two, the lower end of the boss 611 connects with the output end of corresponding drive device 211 respectively, each
The boss 611 of side is located at is equipped with limited block 612, the stopper slot 62 and limited block 612 close to the side of the side limiting section 62
Be adapted, it is open towards the side of limited block 612, the limited block 612 per side insert respectively corresponding to stopper slot 62 with reality
It is existing spacing, coordinate between the stopper slot 62 and limited block 612 for gap, when machine frame 3 is during movement, if limited block
612 contact with the inwall of stopper slot 62, that is, represent that machine frame 3 reaches the limit of position on the moving direction.The He of limiting section 62
The set-up mode of stop part 61 is simple in construction, by the position-limit mechanism 6, can effectively limit the amount of movement of machine frame 3, so as to prevent
Only machine frame 3 moves transition and departs from lifting mechanism 2, in addition, the mode that is equipped with of the stopper slot 62 and limited block 612 can
Prevent machine frame 3 from rolling.
Referring to Fig. 4, as an improvement scheme, it is more smooth in order to allow machine frame 3 to move, the limited block 612 with it is right
Upper rolling assembly 42 is provided between the stopper slot 62 answered, the stopper slot 62 can relative limit block by the upper rolling assembly 42
612 movements, the upper rolling assembly 42 include the retainer 411 for being arranged on the downside of limited block 612, and installed in retainer
Ball 412 on 411.
Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 5 and Fig. 6, as an improvement scheme, the robot also includes detent mechanism,
The detent mechanism includes being symmetrically set in the alignment pin 71 at left and right sides of the upper end of AGV chassis 1, and correspondingly the alignment pin 71 is right
Claim the positioning hole 72 at left and right sides of the lower end of machine frame 3, the positioning hole 72 is preferably disposed on the bottom plate 312, institute
State alignment pin 71 be preferably conical dowel pin 71, the set-up mode make machine frame 3 decline after will not because of lower rolling assembly 41 and
It is mobile, it is ensured that the relative position on machine frame 3 and AGV chassis 1 keeps certain, because conical dowel pin 71 has the conical surface, machine frame 3
During decline, if the edge of positioning hole 72 touches the conical surface of conical dowel pin 71, the conical surface will by guide positioning hole 72 come
The position of machine frame 3 is adjusted, alignment pin 71 is smoothly coordinated with positioning hole 72, is set so as to ensure that machine frame 3 accurately drops to
Fixed position, by machine frame 3 be located at both sides stopper slot 62 and limited block 612 along the gap on the length direction of machine frame 3 it is equal when
Position be defined as initial position, positioning hole 72 and alignment pin 71 are coaxial in initial position, on the basis of initial position, frock
The amount of movement of frame 3 is less than or equal to the radius of positioning hole 72；Certain positioning hole 72 can be located on AGV chassis 1, and alignment pin 71 can be set
In on bottom plate 312.
Robot provided by the utility model between lifting mechanism 2 and machine frame 3 by setting ball so that machine frame
3 in the case of by external force, can be moved relative to lifting mechanism 2, and then adjusts the position of the material 5 on machine frame 3, preferably
Feeding and the blanking of material 5 are carried out, is additionally provided with position-limit mechanism 6 and detent mechanism, so as to prevent machine frame 3 from departing from lifting
Rocking after mechanism 2 and the decline of machine frame 3.
Embodiment two：
Referring to Fig. 7 to Figure 12, the present embodiment provides a kind of loading and unloading system of the robot 100 of Application Example one, bag
Robot 100 and magazine 8 are included, the magazine 8 includes the left support frame 81 and right support frame for support material 5
82, the stop area 83 for accommodating robot 100 is formed between the left support frame 81 and right support frame 82, the robot 100 is past
Return and be respectively equipped with guiding mechanism in stop area 83 progress feeding and blanking, the upper end of the left support frame 81 and right support frame 82,
The guiding mechanism includes the connecting portion 841 being connected with support frame, and the guidance part 842 of the connection upper end of connecting portion 841,
The connecting portion 841 is a vertically extending connection sheet, and the upper end bending laterally of the connection sheet forms the guidance part
842, the distance between two connecting portions 841 are just greater than the length of material 5, the inner side of the guidance part 842 be provided with it is inner to
Under inclined inclined-plane 842a, material 5 with the inclined-plane 842a is detachable contacts, the correcting amplitude of guiding mechanism is according to robot
100 actual stopping errors being configured, i.e., inclined-plane 842a length gradient and length are set according to the stopping error of reality
Put.
The robot charge system that the present embodiment provides, by setting up lower rolling between lifting mechanism 2 and machine frame 3
Component 41, machine frame 3 is set to produce floating effect, machine frame 3 can be moved by lower rolling assembly 41 relative to lifting mechanism 2, and
The magazine 8 of the system is also equipped with guiding mechanism, and in the stopping error that guiding mechanism allows, guiding mechanism can correcting material
5；For example, when robot 100 runs to the progress blanking of magazine 8, as illustrated in fig. 7 and fig. 10, robot 100 is by multiple
Stopping after generating offset distance, material 5 is now put partially to the left；As shown in Figure 8 and Figure 11, transferred in material 5 to material stock
During device 8, the left side of material 5 can be contacted with the guiding mechanism in left side, but the right side of material can be then first placed in
On the support frame on right side, material 5 is in the decentralization that is tilted to the right this moment, in the presence of floating effect and guiding mechanism, under continuing
During material, machine frame 3 can be by the reaction force (reaction of that guiding mechanism contacted with material 5 of left side guiding mechanism
Power), as shown in figs. 9 and 12, now machine frame 3 will relative to lifting mechanism 2 to the right guiding mechanism direction movement, simultaneously
Drive material 5 to progressively disengage the guidance part 842 of left side guiding mechanism and ajust material 5, allow the left side of material 5 to be also disposed in left side
Support frame on, realize the function of correcting and complete blanking, the utility model overcomes traditional AGV and put not because stopping error
The defects of entering material 5.
The announcement and teaching of book according to the above description, the utility model those skilled in the art can also be to above-mentioned realities
The mode of applying is changed and changed.Therefore, the utility model is not limited to embodiment disclosed and described above, right
Some modifications and changes of the present utility model should also be as falling into scope of the claims of the present utility model.In addition, to the greatest extent
Some specific terms have been used in pipe this specification, but these terms are merely for convenience of description, not to the utility model
Form any restrictions.
Claims (10)
- The lifting robot 1. one kind is floated, it is characterised in that：Including AGV chassis, lifting mechanism and machine frame, the lifting mechanism Located at the upper end on AGV chassis, the machine frame is arranged on the top of lifting mechanism, the lifting mechanism and work by position-limit mechanism Rolling assembly under some groups is provided between shelving, the machine frame can be moved by the lower rolling assembly relative to lifting mechanism, The machine frame is used to hold material, and the position-limit mechanism includes the stop part on lifting mechanism, and located at machine frame On limiting section, the stop part and limiting section coordinate to limit the amount of movement of machine frame.
- A kind of 2. lifting robot that floats according to claim 1, it is characterised in that：The machine frame includes chassis and two Individual support, the support are separately positioned on the left side and right side of chassis, and the chassis coordinates with lower rolling assembly, and the support is used In support material.
- A kind of 3. lifting robot that floats according to claim 2, it is characterised in that：The lifting mechanism includes lifting and filled Put and the installing plate located at lifting device upper end, for the lower rolling assembly at least provided with two groups, it is respectively arranged on the installing plate Left side and right side.
- A kind of 4. lifting robot that floats according to claim 3, it is characterised in that：The left side and right side of the chassis Portion is arranged with hollow-out parts respectively, and a bottom plate is equipped with below the hollow-out parts of every side, and the bottom board symmetry of both sides is set, the chassis Coordinated by the bottom plate and lower rolling assembly.
- A kind of 5. lifting robot that floats according to claim 4, it is characterised in that：The limiting section is arranged with two Individual, the limiting section is separately positioned on the bottom plate of the left and right sides, and the stop part corresponds to the limiting section and is arranged with two, The stop part is separately positioned on the inner side of corresponding side limiting section.
- A kind of 6. lifting robot that floats according to claim 5, it is characterised in that：The limiting section is to be opened in bottom plate The stopper slot of upper end, the stop part include boss, and the boss per side is located at is all provided with limited location close to the side of the side limiting section Block, the opening of the stopper slot are adapted towards limited block, the stopper slot with limited block, and the limited block per side inserts respectively Corresponding stopper slot is spacing to realize, coordinates between the stopper slot and limited block for gap.
- A kind of 7. lifting robot that floats according to claim 6, it is characterised in that：The limited block with it is corresponding spacing Upper rolling assembly is provided between groove, the stopper slot can the movement of relative limit block by the upper rolling assembly.
- A kind of 8. lifting robot that floats according to claim 1, it is characterised in that：Also include detent mechanism, it is described fixed Position mechanism includes the alignment pin located at AGV chassis upper end, and the corresponding alignment pin is located at the positioning hole of machine frame lower end.
- A kind of 9. loading and unloading system, it is characterised in that：Including the machine described in magazine and any one of claim 1 to 8 People；The magazine include for support material left support frame and right support frame, the left support frame and right support frame it Between form the stop area for accommodating robot, the robot, which travels to and fro between, to be stopped area and carries out feeding and blanking, the left support frame and The upper end of right support frame is respectively equipped with guiding mechanism, and the beeline between two guiding mechanisms is at least just greater than the length of material Degree, during robot blanking, if material contacts with the guiding mechanism of wherein side, the machine frame is with respect to lifting mechanism to opposite Side is moved, until material departs from guiding mechanism.
- A kind of 10. loading and unloading system according to claim 9, it is characterised in that：The guiding mechanism includes and support frame The connecting portion of connection, and the guidance part of the connection connecting portion upper end, the inner side of the guidance part tilts down provided with the inner Inclined-plane, material with the inclined-plane is detachable contacts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720453292.3U CN206857632U (en) | 2017-04-26 | 2017-04-26 | A kind of float lifts robot and using its loading and unloading system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720453292.3U CN206857632U (en) | 2017-04-26 | 2017-04-26 | A kind of float lifts robot and using its loading and unloading system |
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| Publication Number | Publication Date |
|---|---|
| CN206857632U true CN206857632U (en) | 2018-01-09 |
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ID=60822177
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720453292.3U Active CN206857632U (en) | 2017-04-26 | 2017-04-26 | A kind of float lifts robot and using its loading and unloading system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113023311A (en) * | 2021-02-26 | 2021-06-25 | 四川九洲电器集团有限责任公司 | Automatic mechanism of ajusting of goods |
| CN113441879A (en) * | 2021-06-05 | 2021-09-28 | 中国第一汽车股份有限公司 | Flexible lifting feeding system based on AGV and feeding control method |
-
2017
- 2017-04-26 CN CN201720453292.3U patent/CN206857632U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113023311A (en) * | 2021-02-26 | 2021-06-25 | 四川九洲电器集团有限责任公司 | Automatic mechanism of ajusting of goods |
| CN113441879A (en) * | 2021-06-05 | 2021-09-28 | 中国第一汽车股份有限公司 | Flexible lifting feeding system based on AGV and feeding control method |
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