CN210971347U

CN210971347U - AGV Car

Info

Publication number: CN210971347U
Application number: CN201921870500.5U
Authority: CN
Inventors: 李伟
Original assignee: Kuao Robot Development Technology Co ltd
Current assignee: Kuao Robot Development Technology Co ltd
Priority date: 2019-11-01
Filing date: 2019-11-01
Publication date: 2020-07-10
Anticipated expiration: 2029-11-01

Abstract

The utility model discloses an AGV (automatic guided vehicle) trolley, which comprises an AGV body and a base frame arranged on the AGV body, wherein one end of the base frame is provided with a movable traction mechanism, the other end of the base frame is provided with a fixed traction mechanism, a driving mechanism is arranged on one side of the fixed traction mechanism on the base frame, the movable traction mechanism comprises a support post, and the upper end part of the support post is fixedly provided with a first traction wheel; the fixed traction mechanism comprises supports which are respectively fixed on two sides of the base frame, a rotating shaft is clamped between the supports, and a second traction wheel is fixedly arranged on the rotating shaft. The utility model discloses a set up fixed drive mechanism in bed frame one side, set up movable drive mechanism at the bed frame opposite side, slide to the dumper below as first traction wheel, utilize actuating mechanism to drive movable drive mechanism motion for the second draws the slip protruding butt of stretching under the drive of rotatory rocking arm in the dumper below, coordinates first traction wheel and accomplishes the fixed and the operation that breaks away from of dumper, effectively reduces the complexity that artifical mode is connected AGV automobile body and dumper.

Description

AGV Car

Technical Field

The utility model belongs to the technical field of the transport vechicle technique and specifically relates to a AGV dolly is related to.

Background

In a production workshop, an AGV (automatic guided vehicle) is often used for pulling a material transporting vehicle for loading materials to complete material transportation between different places. When the material is transported, the material transporting vehicle is connected with the AGV vehicle, and the AGV vehicle needs to be separated from the material transporting vehicle after reaching the destination, so that the connection traction device is needed, and the connection and the separation of the AGV vehicle and the material transporting vehicle are realized.

The currently commonly used approaches are: artifical with a bolt pass through cross-under with AGV car and dumper, this bolt is in the same place the rotatable connection of dumper and AGV car, and this kind of connected mode has 3 weak points:

1. the connection or separation of the AGV trolley and the material transporting vehicle is completed by manual operation, so that the production efficiency is influenced, and the automatic production cannot be really realized.

2. Because the AGV car is connected with the fortune skip that pulls with the mode of trailer, turning radius is big, and the road space that occupies is big, and it requires highly to use the place of production space to the AGV car.

3. Due to the adoption of a trailer mode, the uncontrollable degree of a turning path is large, and certain potential safety hazards exist.

SUMMERY OF THE UTILITY MODEL

Based on this, the utility model aims at providing a AGV dolly has realized the automatic connection and the separation of AGV dolly and dumper, reduces manual operation's complexity.

In order to solve the technical problem, the utility model discloses the technical scheme who adopts is: an AGV trolley comprises an AGV trolley body and a base frame arranged on the AGV trolley body, wherein one end of the base frame is provided with a movable traction mechanism, the other end of the base frame is provided with a fixed traction mechanism, the base frame is provided with a driving mechanism on one side of the fixed traction mechanism, the movable traction mechanism comprises a support column, and the upper end part of the support column is fixedly provided with a first traction wheel; the fixed traction mechanism comprises a support, the support is fixed on two sides of the base frame respectively, a rotating shaft is clamped between the supports and is provided with a follow-up block, a rotary rocker arm is arranged at one end of the follow-up block, a second traction wheel is fixedly arranged at the upper end of the rotary rocker arm, a transmission mechanism is fixedly arranged below the rotating shaft and comprises a transmission lead screw, fixed blocks are arranged at two ends of the transmission lead screw respectively, a butt plate is clamped on the transmission lead screw, a transmission wheel is arranged at one end of the transmission lead screw, and the driving wheel is driven by the driving mechanism to rotate.

In one embodiment, the abutting wheels are respectively arranged at the position where the abutting plates are matched with the follow-up blocks, and the abutting wheels are arranged in an abutting mode with the follow-up blocks.

In one embodiment, a covering shell is fixed on the base frame, the fixed traction mechanism, the driving mechanism and the movable traction mechanism are respectively arranged in the covering shell, first slots are respectively formed in two sides of the front end of the covering shell, second slots are respectively formed in the upper end of the covering shell, the first traction wheel is arranged at the first slot, and the second traction wheel is arranged at the second slot.

In one embodiment, the driving mechanism comprises a driving motor, one end of the driving motor is provided with a driving wheel, and the driving wheel is connected with a driving wheel through a synchronous belt.

In one embodiment, a material transporting vehicle is arranged above the AGV body, the material transporting vehicle is provided with a material transporting plate, a V-shaped butt joint frame is arranged at the lower end part of the material transporting plate, a butt joint frame is arranged on one side of the butt joint frame, the first traction wheel is clamped in the butt joint frame, and the second traction wheel abuts against one side of the butt joint frame.

In one embodiment, a return spring is arranged on one side of the bracket and connected with the rotating shaft.

In one embodiment, guide rails are respectively arranged on two sides of the transmission screw rod, and two sides of the abutting plate are respectively clamped on the guide rails.

In one embodiment, the bottom ends of the two sides of the abutting plate are respectively and fixedly provided with a sliding block, the sliding blocks are clamped on the guide rail, and the sliding blocks move back and forth along the direction of the guide rail.

In one embodiment, a trapezoidal support plate is fixedly arranged at the upper end of the support column, and the support columns are respectively arranged at the corners of the support plate.

In one embodiment, a stroke sensor is fixedly arranged on the base frame and used for sensing the movement displacement of the abutting plate.

To sum up, the utility model discloses the AGV dolly sets up the bed frame through above the AGV automobile body, and the cooperation sets up fixed drive mechanism in bed frame one side, sets up movable drive mechanism at the bed frame opposite side, slides to the dumper below when first traction wheel, utilizes drive mechanism to drive movable drive mechanism motion for the second draws the slip protruding butt of stretching under the drive of rotatory rocking arm in the dumper below, cooperates first traction wheel to accomplish the fixed and the operation that breaks away from of dumper, effectively reduces the complexity that artifical mode is connected the AGV automobile body with the dumper.

Drawings

FIG. 1 is a schematic structural diagram of an AGV of the present invention;

FIG. 2 is a schematic structural view of the AGV after being hidden by the covering housing;

FIG. 3 is a schematic view of the AGV combined with a material transporting vehicle according to the present invention;

fig. 4 is a schematic structural view of the material transporting vehicle of the present invention.

Detailed Description

For further understanding of the features and technical means of the present invention, as well as the specific objects and functions attained by the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description.

As shown in fig. 1 to 4, the AGV cart of the present invention includes an AGV car body 100 and a base frame 200 disposed on the AGV car body 100, wherein one end of the base frame 200 is provided with a movable traction mechanism 300, the other end of the base frame 200 is provided with a fixed traction mechanism 400, the base frame is provided with a driving mechanism 500 on one side of the fixed traction mechanism 400, the movable traction mechanism 300 includes a support pillar 310, the upper end of the support pillar 310 is fixedly provided with a first traction wheel 320, the number of the support pillars 310 is four, the upper end of the support pillar 310 is fixedly provided with a trapezoidal support plate 330, the support pillar 310 is respectively disposed at four corners of the support plate 330, the support plate 330 is used for connecting four support pillars 310, and the stability of the support pillar 310 fixed on the.

The fixed traction mechanism 400 comprises supports 410, the supports 410 are respectively fixed on two sides of the base frame 200, a rotating shaft 420 is clamped between the supports 410, a follow-up block 430 is fixedly arranged on the rotating shaft 420, the cross section of the follow-up block 430 is of an arc-shaped structure, one end of the follow-up block 430 is provided with a rotating rocker arm 440, the upper end of the rotating rocker arm 440 is fixedly provided with a second traction wheel 450, a transmission mechanism 460 is fixedly arranged below the rotating shaft 420, the transmission mechanism 460 comprises a transmission screw rod 461, two ends of the transmission screw rod 461 are respectively provided with a fixed block 462, a butting plate 463 is clamped on the transmission screw rod 461, two sides of the transmission screw rod 461 are respectively provided with a guide rail 464, two sides of the butting plate 463 are respectively clamped on the guide rails 464, and the butting plate 463 operates back and forth in the direction of the.

Specifically, the bottom ends of the two sides of the abutting plate 463 are respectively and fixedly provided with a slider 465, the slider 465 is clamped on the guide rail 464, and the slider 465 moves back and forth along the direction of the guide rail 464; the abutting plates 463 are provided with abutting wheels 466 at positions matched with the follow-up blocks 430 respectively, the abutting wheels 466 are arranged in an abutting mode with the follow-up blocks 430, so that the follow-up blocks 430 are driven to rotate, the rotary rocker arms 440 at the end portions of the follow-up blocks 430 rotate accordingly, the positioning effect of the rotary rocker arms 440 from the horizontal direction to the vertical direction is achieved, and the positions of the second traction wheels 450 at the upper end portions of the rotary rocker arms 440 are changed along with the movement of the rotary rocker arms 440.

The driving mechanism 500 drives the driving wheel 467 to rotate, specifically, the driving mechanism 500 includes a driving motor 510, one end of the driving motor 510 is provided with a driving wheel 520, the driving wheel 520 is connected with the driving wheel 467 through a synchronous belt, the driving wheel 520 drives the driving wheel 467 to rotate so as to rotate the driving screw 461, drive the abutting plate 463 to move back and forth along the direction of the guide rail 464, and complete the turning action of the follower block 430, so that the rotary rocker arm 440 arranged at the upper end of the follower block 430 also performs the turning action.

In one embodiment, a return spring 470 is disposed on one side of the bracket 410, the return spring 470 is connected to the rotating shaft 420, and specifically, a reset block 421 is disposed on one side of the rotating shaft 420, one end of the return spring 470 is fixed to the base frame 200, and the other end of the return spring 470 is fixedly connected to the reset block 421, so that when the transfer screw drives the abutting plate 463 to move away from the driving wheel 467, the rotating shaft 420 rotates under the elastic force of the return spring 470, so that the rotating arm 440 returns to the horizontal state, and the second traction wheel 450 returns to the initial position along with the movement of the rotating arm 440.

In one embodiment, a stroke sensor 600 is fixedly disposed on the base frame 200, and the stroke sensor 600 is used for sensing the movement displacement of the abutting plate 463 so as to determine whether the second traction wheel 450 on the rotary rocker arm 440 is turned to a predetermined position.

In one embodiment, the base frame 200 is fixed with a covering housing 700, the fixed traction mechanism 400, the driving mechanism 500 and the movable traction mechanism 300 are respectively disposed in the covering housing 700, the shielding case 700 is provided with first slots 710 on both sides of the front end thereof, and the shielding case 700 is provided with second slots 720 on the upper end thereof, the first traction wheel 320 is disposed at the first slot 710, the second traction wheel 450 is disposed at the second slot 720, when the abutting plate 463 moves back and forth along the direction of the guide rail 464 under the rotation of the transmission screw rod 461, the abutting plate 463 will drive the follower block 430 to rotate, so that the rotating rocker arm 440 and the second traction wheel 450 are turned over, the fixed rotating rocker arm 440 is changed from a horizontal state to a vertical state, and the second traction wheel 450 is changed from being placed below the second slot 720 to protruding above the first slot 710 along with the turning motion of the rotating rocker arm 440.

In one embodiment, a material transporting vehicle 800 is arranged above the AGV body 100, the material transporting vehicle 800 is provided with a material transporting plate 810, a V-shaped docking frame 820 is arranged at the lower end of the material transporting plate 810, a docking frame 830 is arranged on one side of the docking frame 820, the first traction wheel 320 is clamped in the docking frame 820, and the second traction wheel 450 abuts against one side of the docking frame 830, so that the material transporting vehicle 800 completes a fixing process with the AGV body 100 under the action of the first traction wheel 320 and the second traction wheel 450, and the material transporting vehicle 800 moves against the motion of the AGV body 100.

In one embodiment, light baffles 840 are provided below the two sides of the cart 800, and the light baffles 840 are used to assist the AGV body 100 in determining the relative position to the cart 800.

In one embodiment, the AGV body 100 is a type MIR100 laser navigation AGV, and the AGV body 100 can determine the effect position between itself and the material transporting vehicle 800 through laser positioning, so as to complete the connection process; the AGV body 100 hides below the material transporting vehicle 800, and the AGV body 100 is firmly combined with the material transporting vehicle 800, so that the overall occupied area is small, the operation of turning and turning around the material transporting vehicle 800 in situ can be flexibly completed, and the requirement on the site space is low; the novel safety avoidance function which can be matched with the AGV car of the laser navigation is used, the safety performance is not changed, and the details are not needed in the prior art; in addition, the AGV automobile body 100 utilizes the transmission direction of the abutting plate 463 to be perpendicular to the abutting pressure direction of the material transporting vehicle 800 to the second traction wheel, and the self-locking effect of the AGV automobile body 100 is achieved, so that the AGV automobile body 100 of the AGV automobile body 100 can not be separated from the material transporting vehicle 800.

When the utility model works, the AGV body 100 is moved to the material transporting vehicle 800, the AGV body 100 is positioned by laser scanning and hidden under the material transporting vehicle 800, at this time, the first traction wheel 320 is gradually contacted with the V-shaped butt-joint frame 820 under the material transporting vehicle 800, the AGV body 100 stops braking, meanwhile, the driving mechanism 500 starts to operate, the driving wheel 467 is driven by the driving mechanism 500 to rotate so that the driving screw 461 also rotates, the butt-joint plate 463 moves along the direction of the guide rail 464 under the rotation of the driving screw 461, the butt-joint plate 463 drives the follower block 430 to rotate, the rotary rocker arm 440 rotates along with the follower block 430, at this time, the rotary rocker arm 440 rotates from the horizontal state to the vertical state, the second traction wheel 450 on the rotary rocker arm 440 protrudes out of the second slotting and props against the butt-joint frame 830 of the material transporting vehicle 800, the stroke sensor 600 lights, the connection process of the AGV body 100 and the material transporting vehicle 800 is finished, the AGV body 100 and the dumper 800 are firmly connected under the action of the first traction wheel 320 and the second traction wheel 450, the dumper 800 moves to a specified position under the driving of the AGV body 100, the AGV body 100 stops braking, the driving mechanism 500 starts to operate, the transmission screw rod 461 and the rotary rocker arm 440 start to reset, meanwhile, the rotating shaft 420 rotates under the elastic action of the reset spring 470, so that the rotary rocker arm 440 resets to a horizontal state, the second traction wheel 450 also returns to an initial position along with the movement of the rotary rocker arm 440, the separation process of the second traction wheel 450 and the butt-joint frame 830 is completed, the AGV body 100 backs up and runs outside the dumper 800, the next material conveying task is carried out, and the complexity of connecting or separating the AGV body and the dumper 800 in a manual mode is effectively reduced.

To sum up, the utility model discloses the AGV dolly sets up bed frame 200 through 100 tops at AGV automobile body, the cooperation sets up fixed drive mechanism 400 in bed frame 200 one side, set up movable drive mechanism 300 at bed frame 200 opposite side, slide to fortune skip 800 below when first traction wheel, utilize actuating mechanism 500 to drive movable drive mechanism 300 motion, make the second pull the slip protruding butt of stretching under rotatory rocking arm 440's the drive in fortune skip 800 below, cooperate first traction wheel to accomplish the fixed and the operation that breaks away from to fortune skip 800, effectively reduce the complexity that artifical mode is connected AGV automobile body and fortune skip 800.

The above-described embodiments are merely illustrative of several embodiments of the present invention, which are described in detail and specific, but not intended to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. An AGV dolly which characterized in that: the AGV comprises an AGV body and a base frame arranged on the AGV body, wherein one end of the base frame is provided with a movable traction mechanism, the other end of the base frame is provided with a fixed traction mechanism, one side of the base frame, which is provided with a driving mechanism, is provided with a support, the movable traction mechanism comprises a support, and the upper end part of the support is fixedly provided with a first traction wheel; the fixed traction mechanism comprises a support, the support is fixed on two sides of the base frame respectively, a rotating shaft is clamped between the supports and is provided with a follow-up block, a rotary rocker arm is arranged at one end of the follow-up block, a second traction wheel is fixedly arranged at the upper end of the rotary rocker arm, a transmission mechanism is fixedly arranged below the rotating shaft and comprises a transmission lead screw, fixed blocks are arranged at two ends of the transmission lead screw respectively, a butt plate is clamped on the transmission lead screw, a transmission wheel is arranged at one end of the transmission lead screw, and the driving wheel is driven by the driving mechanism to rotate.

2. The AGV cart of claim 1, wherein: the butt joint plate matches follow-up piece department and is provided with the butt joint wheel respectively, the butt joint wheel sets up with follow-up piece butt.

3. The AGV cart according to claim 1 or 2, wherein: the frame is fixed with and hides the casing, fixed drive mechanism, actuating mechanism and movable drive mechanism arrange respectively in and hide and cover the casing, hide and cover casing front end both sides and seted up first fluting respectively, hide and cover and seted up the second fluting on the casing upper end respectively, first fluting department is arranged in to first traction wheel, second fluting department is arranged in to the second traction wheel.

4. The AGV cart according to claim 1 or 2, wherein: the driving mechanism comprises a driving motor, one end of the driving motor is provided with a driving wheel, and the driving wheel is connected with a driving wheel through a synchronous belt.

5. The AGV cart according to claim 1 or 2, wherein: the AGV car body top is provided with the dumper, the dumper is provided with the fortune flitch, it is provided with V type butt joint frame to transport flitch tip down, butt joint frame one side is provided with the butt joint frame, first traction wheel card is held in the butt joint frame, the butt joint of second traction wheel is in butt joint frame one side.

6. The AGV cart according to claim 1 or 2, wherein: and a return spring is arranged on one side of the support and is connected with the rotating shaft.

7. The AGV cart according to claim 1 or 2, wherein: guide rails are arranged on two sides of the transmission screw rod respectively, and two sides of the butt joint plate are clamped on the guide rails respectively.

8. The AGV cart of claim 7, wherein: the bottom end parts of the two sides of the butt joint plate are respectively and fixedly provided with a sliding block, the sliding blocks are clamped on the guide rails, and the sliding blocks move back and forth along the direction of the guide rails.

9. The AGV cart according to claim 1 or 2, wherein: the upper end of the supporting column is fixedly provided with a trapezoidal supporting plate, and the supporting column is respectively arranged at each corner of the supporting plate.

10. The AGV cart according to claim 1 or 2, wherein: and a stroke sensor is fixedly arranged on the base frame and used for sensing the movement displacement of the abutting plate.