CN208249800U - A kind of new A GV robot - Google Patents
A kind of new A GV robot Download PDFInfo
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- CN208249800U CN208249800U CN201820378554.9U CN201820378554U CN208249800U CN 208249800 U CN208249800 U CN 208249800U CN 201820378554 U CN201820378554 U CN 201820378554U CN 208249800 U CN208249800 U CN 208249800U
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- screw rod
- yoke
- car body
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Abstract
The utility model relates to industrial transport automatic fields, disclose a kind of new A GV robot, including car body (1), yoke (2) and drive wheel assemblies (3), car body (1) is equipped with yoke crossbeam (4), the connection that yoke (2) passes through yoke crossbeam (4) on first crossbeam link block (41) and second cross beam link block (42) and car body (1), left and right telescopic component (420) are equipped with inside second cross beam link block (42), left and right telescopic component (420) drives second cross beam link block (42) can move left and right in yoke crossbeam (4)；Drive wheel assemblies (3) are divided into active drive wheel (31) and driven wheel (32), and active drive wheel (31) and driven wheel (32) select omni-directional wheel；The utility model AGV forklift device is more more flexible than traditional AGV and fork truck, and space utilization rate is higher, and the process of transportation logistics does not need manually to carry out intervention operation, realizes unmanned storage.
Description
Technical field
The utility model relates to industrial transport automatic fields, specially a kind of new A GV robot.
Background technique
AGV is the abbreviation of Automated Guided Vehicle, implies that " automated guided vehicle ", is referred to equipped with electricity
Magnetically or optically equal homing guidances device, it can be travelled along defined guide path, have safeguard protection and various transfer function
The transport vehicle of energy.The AGV above market cannot achieve automatic loading/unloading mostly at present, especially for the article of pallet class, still
The artificial pick-and-place for carrying out material is so needed, has part shelf backpack AGV forklift device although to realize certain automation, it can
With Automatic-searching shelf, shelf operation is born, however, there remains manually take depositing to material on shelf.To the material of pallet
It is then more helpless, it needs to be loaded by other modes.
Traditional fork truck can realize the access to pallet material by yoke, and with the development of present technology, nothing
People's fork truck gradually grows up, and the degree of automation that can see in factory is also higher and higher, but either unmanned fork lift is also
It is electri forklift, required turning radius, running space are all bigger, are unfavorable for increasing warehouse storage capacity, for the sky in single tunnel
Between be not available at all, while, artificial fork truck in need artificial participation unhappy from the speed of electrical forklift.
The utility model provides a kind of new A GV robot, according to can be realized omnidirectional moving, by the way that centre is arranged in
Yoke structure realizes the access and carrying of pallet material, realizes the automatic transportation of narrow space.
Utility model content
The utility model provides a kind of new A GV robot to overcome the disadvantages mentioned above of the prior art.
In order to solve the above-mentioned technical problem, the utility model is addressed by following technical proposals:
A kind of new A GV robot, including car body, yoke and drive wheel assemblies, car body are equipped with yoke crossbeam, and yoke is logical
The connection of yoke crossbeam on first crossbeam link block and second cross beam link block and car body is crossed, is equipped with inside second cross beam link block
Left and right telescopic component, left and right telescopic component drive second cross beam link block that can move left and right in yoke crossbeam；AGV forklift device
It is firstly moved to the front of pallet, telescopic component adjusting in left and right is suitable width, to adapt to the size of different pallets.
Preferably, left and right telescopic component include screw rod and be equipped on second cross beam link block with screw rod cooperate be driven
Screw rod sleeve, screw rod and driving motor output shaft be drivingly connected, and driving motor rotation drives screw rod rotation, screw rod and screw rod bushing
Cylinder cooperation assembly, so that second cross beam link block can be moved left and right in yoke crossbeam.
Preferably, left and right telescopic component includes driving motor and transmission gear, yoke crossbeam is equipped with and transmission gear
The tooth-strip part of engagement, driving motor drive transmission gear rotation, and transmission gear is engaged with tooth-strip part, thus second cross beam link block
It can be moved left and right in yoke crossbeam.
Preferably, the both ends of arm crossbeam are flexibly connected by vertical lift device with car body；AGV forklift device is to pallet
Yoke, is inserted into the bottom of pallet by direction movement, and the lifting mechanism up and down of yoke crossbeam, fork are realized by vertical lift device
Arm starts to be lifted and pallet is integrally lifted away from bottom surface, so as to subsequent AGV forklift device conveying tray material.
Preferably, vertical lift device includes screw rod and screw rod sleeve, elevation driving unit, screw axis are equipped in car body
Line and horizontal plane, elevation driving unit drive screw rod rotation, and the both ends of yoke crossbeam are formed by screw rod sleeve with screw rod
Screw pair realizes the lifting of yoke crossbeam relative level.
Preferably, vehicle body is equipped with control assembly and inductive component；Control assembly is for receiving and executing instant finger
Order or preset instructions realize AGV forklift device remote automatic control, and inductive component is for identification on AGV fork truck travel path
Navigation information, such as have conducting wire, tape or the colour band of variable frequency induction electromagnetic field, control assembly identifies inductive component
Navigation information carries out processing operation, and then control AGV forklift device can be travelled along defined guide path, be realized visually oriented
Or the automatic guiding functions such as inertial guidance.
Preferably, vehicle body is equipped with driving assembly, drive wheel assemblies are divided into active drive wheel and driven wheel, driving group
Part and active drive wheel are sequentially connected.
Preferably, driving assembly includes Storage Unit and power unit, Storage Unit can be chargeable storage or
Oil-burning machine, power unit can select motor, power unit and active drive wheel to pass through gear pair transmission connection or belt
Transmission connection.
Preferably, active drive wheel and driven wheel select omni-directional wheel, omni-directional wheel can realize omnidirectional in different directions
It is mobile.
Compared with prior art, the utility model has the beneficial effects that the utility model AGV forklift device is than traditional
AGV and fork truck are more flexible, and space utilization rate is higher, and AGV can be completed in more narrow space and fork truck can not be complete
At pick-and-place pallet cargo function, improve garage capacity rate, while the Omni-mobile feature of AGV ensure that AGV in small space
In operation flexible motion.Whole process does not need manually to carry out intervention operation, realizes unmanned storage.
Detailed description of the invention
Fig. 1 is the three-dimensional view of the embodiments of the present invention 1.
Fig. 2 is the top view of the embodiments of the present invention 1.
Fig. 3 is the main view of the yoke header portion of the embodiments of the present invention 1.
Fig. 4-Fig. 5 is the schematic diagram of the loading pallet of the embodiments of the present invention 1.
Fig. 6 is the right telescopic component transmission schematic diagram of the embodiments of the present invention 3.
The toponym that each number designation is referred in attached drawing is as follows: 1- car body, 2- yoke, 3- drive wheel assemblies, 31- master
Dynamic driving wheel, 32- driven wheel, 4- yoke crossbeam, 41- first crossbeam link block, 42- second cross beam link block, 420- or so stretch
Contracting component, 421- driving motor, 422- transmission gear, 423- screw rod, 424- screw rod bushing, 43- tooth-strip part, 5- driving assembly, 51-
Power unit, 52- Storage Unit, 6- vertical lift device, 61- screw rod, 62- screw rod sleeve, 7- elevation driving unit, 8- control
Component, 9- inductive component.
Specific embodiment
The utility model is described in further detail with embodiment with reference to the accompanying drawing.
Embodiment 1
As shown in Figure 1, a kind of new A GV robot, including car body 1, yoke 2 and drive wheel assemblies 3, car body 1 are equipped with
Yoke crossbeam 4, the company that yoke 2 passes through yoke crossbeam 4 on first crossbeam link block 41 and second cross beam link block 42 and car body 1
It connects, as shown in figure 3, being equipped with left and right telescopic component 420 inside second cross beam link block 42, left and right telescopic component 420 drives second
Crossbeam link block 42 can be moved left and right in yoke crossbeam 4, as shown in figure 3, the left and right telescopic component 420 in the present embodiment includes
Driving motor 421 and transmission gear 422, yoke crossbeam 4 are equipped with the tooth-strip part 43 engaged with transmission gear 422, driving motor
421 driving transmission gears 422 rotate, and transmission gear 422 is engaged with tooth-strip part 43, so that second cross beam link block 42 is in yoke cross
Beam 4 can move left and right.
As shown in figure 3, the both ends of yoke crossbeam 4 are flexibly connected by vertical lift device 6 with car body 1, in the present embodiment
In, going straight up to falling unit 6 includes screw rod 61 and screw rod sleeve 62, is equipped with elevation driving unit 7,61 axis of screw rod and water in car body 1
Plane is vertical, and elevation driving unit 7 drives screw rod 61 to rotate, and the both ends of yoke crossbeam 4 pass through screw rod sleeve 62 and 61 shape of screw rod
At screw pair, the lifting of 4 relative level of yoke crossbeam is realized.
As shown in Fig. 2, being equipped with control assembly 8 and inductive component 9 inside car body 1；Control assembly 8 is for receiving and executing i.e.
Shi Zhiling or preset instructions, realize AGV forklift device remote automatic control, and inductive component 9 identifies on AGV fork truck travel path
Navigation information, such as have variable frequency induction electromagnetic field conducting wire, tape or colour band, control assembly 8 to inductive component 9 identify
Navigation information carry out processing operation, and then control AGV forklift device and can travel along defined guide path, realization track part is led
To, laser guide, inertial guidance, road sign guiding, the automatic guiding functions such as visually oriented；In the present embodiment, inductive component 9 wraps
Visual sensor is included, by control assembly 8 and inductive component 9, realizes the practical guide function of AGV forklift device.Inside car body 1
Equipped with driving assembly 5, drive wheel assemblies 3 are divided for active drive wheel 31 and driven wheel 32, and driving assembly 5 and active drive wheel 31 pass
Dynamic connection, driving assembly 5 include Storage Unit 52 and power unit 51, and Storage Unit 52 can be chargeable storage or fuel oil
Machine, power unit 51 can select motor, power unit 51 and active drive wheel 31 to pass through gear pair transmission connection or skin
Chargeable storage is selected in V belt translation connection, in the present embodiment, Storage Unit 52, and power unit 51 selects motor, power
Unit 51 and active drive wheel 31 are sequentially connected by gear pair.In the present embodiment, active drive wheel 31 and driven wheel 32 select
With omni-directional wheel, omni-directional wheel can realize Omni-mobile in different directions.
As shown in Figure 4 and Figure 5, when AGV forklift device acts on, AGV forklift device is firstly moved to the front of pallet, sense
Component 9 is answered to sense that pallet size data, left and right telescopic component 420 are adjusted to suitable width, to adapt to the size of pallet, and
And the center of gravity of AGV forklift device and pallet cargo can effectively prevent during transportation because of goods always between two yokes 2
The problem of object causes AGV forklift device to topple very much again；Driving assembly 5 drives AGV forklift device to move to pallet direction,
In the present embodiment, driving assembly 5 is located at the rear portion of car body 1, i.e., the rear of yoke 2 as shown in Figure 2, in other optional implementations
In example, driving assembly 5 be may also set up in 3 top of drive wheel assemblies of 2 left and right sides of yoke of car body 1, make AGV forklift device
Structure is more compact；AGV forklift device moves the bottom that yoke 2 is inserted into pallet to pallet direction, is filled by vertical lift
6 are set, yoke 2 starts to be lifted and pallet is integrally lifted away from bottom surface, and yoke 2 and pallet can regard one as at this time, becomes AGV fork
One part of vehicle device, as shown in figure 5, being moved by the omni-directional wheel of AGV forklift device, AGV forklift device is with support
Disk exits storage space, and pallet is transported to specified place.After dispatching in place, have through similar process, by pallet from AGV fork truck
Corresponding station is discharged to above device.Then AGV forklift device can both start to execute task next time.
Embodiment 2
Substantially the same manner as Example 1, difference is that Storage Unit 52 selects oil-burning machine, power unit 51 and active drive
Wheel 31 is sequentially connected by belt.
Embodiment 3
Substantially the same manner as Example 1, difference is as shown in fig. 6, left and right telescopic component 420 includes silk in the present embodiment
Bar 423 and the screw rod sleeve 424 with the cooperation transmission of screw rod 423 being equipped on second cross beam link block 42, screw rod 423 and driving
421 output shaft of motor is drivingly connected, and the rotation of driving motor 421 drives screw rod 423 to rotate, and screw rod 423 is matched with screw rod sleeve 424
It closes, so that second cross beam link block 42 can be moved left and right in yoke crossbeam 4.
The beneficial effects of the utility model are: space utilization rate is higher, can be completed in more narrow space general
Logical AGV and the impossible function of picking and placing pallet cargo of fork truck, improve garage capacity rate, while the utility model AGV fork truck fills
Set the flexible motion that ensure that operation of the AGV forklift device in small space using the mobile feature of omni-directional wheel.Whole process
It does not need manually to carry out intervention operation, realizes unmanned storage.
In short, the above is only the preferred embodiment of the present invention, it is all according to present utility model application the scope of the patents institute
The equivalent changes and modifications of work should all belong to the covering scope of the utility model patent.
Claims (8)
1. a kind of new A GV robot, including car body (1), yoke (2) and drive wheel assemblies (3), it is characterised in that: car body (1)
It is equipped with yoke crossbeam (4), yoke (2) passes through first crossbeam link block (41) and second cross beam link block (42) and car body (1)
The connection of upper yoke crossbeam (4), second cross beam link block (42) is internal to be equipped with left and right telescopic component (420).
2. a kind of new A GV robot according to claim 1, it is characterised in that: left and right telescopic component (420) includes silk
Bar (423) and the screw rod sleeve (424) with screw rod (423) cooperation transmission being equipped on second cross beam link block (42), screw rod
(423) with driving motor (421) export axis connection, driving motor (421) rotation drive screw rod (423) rotation, screw rod (423) with
Screw rod sleeve (424) transmission cooperation assembly.
3. a kind of new A GV robot according to claim 1, it is characterised in that: left and right telescopic component (420) includes driving
Dynamic motor (421) and transmission gear (422), yoke crossbeam (4) are equipped with the tooth-strip part (43) engaged with transmission gear (422),
Driving motor (421) drives transmission gear (422) rotation, and transmission gear (422) is engaged with tooth-strip part (43).
4. a kind of new A GV robot according to claim 3, it is characterised in that: the both ends of yoke crossbeam (4) are by hanging down
Falling unit (6) is gone straight up to be flexibly connected with car body (1).
5. a kind of new A GV robot according to claim 4, it is characterised in that: vertical lift device (6) includes screw rod
(61) and screw rod sleeve (62), car body (1) are interior equipped with elevation driving unit (7), screw rod (61) axis and horizontal plane, lifting
Driving unit (7) drives screw rod (61) rotation, and the both ends of yoke crossbeam (4) form silk by screw rod sleeve (62) and screw rod (61)
Bar pair.
6. a kind of new A GV robot according to claim 1, it is characterised in that: be equipped with control assembly inside car body (1)
(8) and inductive component (9).
7. a kind of new A GV robot according to claim 1, it is characterised in that: be equipped with driving assembly inside car body (1)
(5), driving assembly (5) includes Storage Unit (52) and power unit (51), and drive wheel assemblies (3) are divided into active drive wheel (31)
With driven wheel (32), the power unit (51) of driving assembly (5) and active drive wheel (31) by gear pair transmission connection or
Belt transmission connection.
8. a kind of new A GV robot according to claim 7, it is characterised in that: active drive wheel (31) and driven wheel
(32) omni-directional wheel is selected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820378554.9U CN208249800U (en) | 2018-03-20 | 2018-03-20 | A kind of new A GV robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820378554.9U CN208249800U (en) | 2018-03-20 | 2018-03-20 | A kind of new A GV robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208249800U true CN208249800U (en) | 2018-12-18 |
Family
ID=64609071
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820378554.9U Active CN208249800U (en) | 2018-03-20 | 2018-03-20 | A kind of new A GV robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208249800U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109795855A (en) * | 2019-01-25 | 2019-05-24 | 湖州哥伦布物流科技有限公司 | A kind of tiered warehouse facility disk tool transfer robot |
| CN111252163A (en) * | 2020-01-22 | 2020-06-09 | 同济大学 | AGV carrying device and method |
| CN111390950A (en) * | 2020-04-22 | 2020-07-10 | 成都飞机工业（集团）有限责任公司 | Robot hand with overload protection function for carrying aircraft part trays |
-
2018
- 2018-03-20 CN CN201820378554.9U patent/CN208249800U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109795855A (en) * | 2019-01-25 | 2019-05-24 | 湖州哥伦布物流科技有限公司 | A kind of tiered warehouse facility disk tool transfer robot |
| CN111252163A (en) * | 2020-01-22 | 2020-06-09 | 同济大学 | AGV carrying device and method |
| CN111390950A (en) * | 2020-04-22 | 2020-07-10 | 成都飞机工业（集团）有限责任公司 | Robot hand with overload protection function for carrying aircraft part trays |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191122 Address after: 310018 room 1415, building 19, No.260, No.6 street, Hangzhou Economic and Technological Development Zone, Zhejiang Province Patentee after: Hangzhou Weiliu Technology Co.,Ltd. Address before: 310018 Room 307, Building 12, 12 Avenue, Hangzhou Economic and Technological Development Zone, Jianggan District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU YIDONG ROBOT TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20210427 Granted publication date: 20181218 |
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| PP01 | Preservation of patent right | ||
| PD01 | Discharge of preservation of patent |
Date of cancellation: 20211227 Granted publication date: 20181218 |
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| PD01 | Discharge of preservation of patent | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220223 Address after: 310000 room 304, building B, building 2, No. 399, Danfeng Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: HANGZHOU HIKROBOT TECHNOLOGY Co.,Ltd. Address before: 310018 room 1415, building 19, No. 260, No. 6 street, Hangzhou Economic and Technological Development Zone, Zhejiang Province Patentee before: Hangzhou Weiliu Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| CP03 | Change of name, title or address |
Address after: 310051 room 304, B / F, building 2, 399 Danfeng Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Hikvision Robot Co.,Ltd. Address before: 310000 room 304, building B, building 2, No. 399, Danfeng Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU HIKROBOT TECHNOLOGY Co.,Ltd. |
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| CP03 | Change of name, title or address |