CN217866479U - 360-degree plane full-freedom-degree AGV (automatic guided vehicle) with flexible variable bearing platform - Google Patents

Abstract

The utility model discloses a flexible variable bearing platform 360 plane full degrees of freedom AGV, its characterized in that: the automatic guided vehicle comprises an AGV trolley, wherein an electric control unit is electrically connected and arranged in the AGV trolley, an adjustable carrying component is arranged at the top of the AGV trolley and comprises four groups of X-direction moving components fixedly arranged at the top of the AGV trolley, a Y-direction moving component is arranged above the moving end of each X-direction moving component, and a carrying platform is arranged above the moving end of each Y-direction moving component; the iron core tray can be adapted to the iron core tray by extending and contracting the object carrying plane consisting of 4 object carrying tables through the four groups of adjusting assemblies, can be automatically transported, has high transportation reliability, and is not easy to overturn object carrying; meanwhile, an auxiliary unloading assembly is arranged to facilitate unloading.

Description

360-degree plane full-freedom-degree AGV (automatic guided vehicle) with flexible variable bearing platform

Technical Field

The utility model belongs to the technical field of transformer transfer device technique and specifically relates to a 360 full degrees of freedom AGV in plane of flexible variable load-bearing platform.

Background

Mounting accessories are often used in the transformer assembling process, and workers are required to take materials from a warehouse and transfer the materials to an assembling station; the conventional transfer mode includes that a worker pushes a transfer cart to perform operation transfer, and a tray is automatically taken to an appointed position through an AGV; the manual operation mode has low efficiency and high cost; and AGV dolly is automatic gets material operation mode, because the tray size has multiple specification, when the tray of different sizes loaded on it, because the contact surface size of AGV dolly is fixed, lead to the area of contact with the tray bottom surface not identical, to the easy unstability of focus of carrying iron core tray during the dolly motion to influence and transport the reliability.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects in the prior art, the flexible variable bearing platform AGV with the 360-degree plane full-freedom degree is reasonable in structure, so that the automatic transfer of the iron core carrying tray is realized, the transfer reliability is high, and the loaded iron core is not easy to overturn; meanwhile, the auxiliary unloading assembly is arranged to facilitate unloading.

The utility model discloses the technical scheme who adopts as follows:

the utility model provides a 360 full degrees of freedom AGVs in plane of flexible variable load-bearing platform, it includes the AGV dolly, the inside electricity of AGV dolly is connected and is set up electrical control unit, the top of AGV dolly sets up adjustable year thing subassembly, adjustable year thing subassembly is including setting firmly four group's X direction removal subassemblies in AGV dolly top, every the removal end top of X direction removal subassembly sets up Y direction removal subassembly, the removal end top of Y direction removal subassembly sets up the objective table.

The trolley in-place unloading device comprises a trolley body, a loading device and a loading unloading device, wherein the loading device comprises a plurality of loading unloading assemblies, the loading unloading assemblies are arranged on the loading device, the loading device comprises a plurality of loading unloading assemblies, the loading unloading assemblies are symmetrically arranged, a detection sensor used for detecting whether a trolley is in place is arranged at the top of any one of the loading unloading assemblies, chain conveyors are arranged on two sides of each loading unloading assembly.

Further, the upper surface of chain conveyor and the upper surface of adjustable year thing subassembly flush setting.

Further, X direction removal subassembly is including setting firmly a pair of first linear guide and the servo motor of setting at the screw base of one end, the other end in AGV dolly top, the screw base internal rotation sets up the lead screw, the other end of lead screw with the servo motor transmission is connected, the circumference side of lead screw sets firmly the slip table.

Furthermore, the Y-direction moving assembly is consistent with the X-direction moving assembly in structure, and the Y-direction moving assembly is borne by arranging a mounting plate on the sliding table.

The utility model has the advantages as follows:

1. on prior art AGV dolly's basis, because the iron core specification is different, the iron core tray specification that its was equipped with is also different, through addding adjustable year thing subassembly, makes it can extend and contract in two directions of X, Y axle to form the year thing plane of equidimension not, the iron core tray of different specifications has been adapted in a flexible way, has prevented because AGV dolly carries the contact surface of thing top to different specification iron core tray bottoms little, and the focus that arouses is unstable, the transportation unstability phenomenon.

2. Correspondingly, the in-place situation of the AGV trolley from the transportation place to the destination is automatically detected through the in-place unloading assembly; after the detection is in place, the electric control system sends an unloading instruction to drive the chain conveyor to drive the tray and the iron core to unload from the AGV trolley, the manual unloading operation mode is replaced, and the operation efficiency is greatly improved.

Drawings

Fig. 1 is a perspective view of the present invention;

fig. 2 is a schematic structural view of the landing assembly of the present invention.

Wherein: 1. an AGV trolley; 2. an adjustable carrier assembly; 3. an X-direction moving assembly; 4. a Y-direction moving assembly; 5. an in-place discharge assembly; 51. a frame; 52. a detection sensor; 53. a chain conveyor; 6. an object stage.

Detailed Description

In order to make the purpose, technical scheme and advantage of the technical scheme of the utility model clearer, will combine the drawings of the specific embodiment of the utility model hereafter, it is right that the technical scheme of the embodiment of the utility model is clear, completely described. Like reference symbols in the various drawings indicate like elements; it should be noted that the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and in the claims does not indicate any order, quantity, or importance, but rather is used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not necessarily denote a limitation of quantity. The word "comprising" or "comprises", and the like, means that the element or item preceding the word comprises the element or item listed after the word and its equivalent, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

The following describes embodiments of the present invention with reference to the drawings.

As shown in fig. 1 and fig. 2, the flexible and variable loading platform full-freedom AGV with 360 ° plane is a transport vehicle with an automatic navigation device 1, which can travel along a prescribed navigation path, safety protection and various transfer functions; the AGV trolley 1 of the utility model is provided with the adjustable carrying components 2, the tray is taken from the appointed information position, because of the multi-specification of the tray size, the carrying planes with different sizes are formed by adjusting the relative X and Y directional space of the four groups of carrying platforms 6, the trays with different specifications can be supported, and the unstable gravity center of the tray is prevented;

the automatic guided vehicle comprises an AGV trolley 1, wherein an electric control unit is electrically connected and arranged in the AGV trolley 1, so that the conventional automatic navigation and safety protection functions are realized;

particularly, the top of the AGV trolley 1 is provided with an adjustable carrying component 2, the adjustable carrying component 2 comprises four groups of X-direction moving components 3 fixedly arranged on the top of the AGV trolley 1, a Y-direction moving component 4 is arranged above the moving end of each X-direction moving component 3, and a carrying platform 6 is arranged above the moving end of each Y-direction moving component 4.

The X direction removes subassembly 3 including setting firmly a pair of first linear guide rail and the servo motor who sets up at the lead screw seat of one end, the other end in 1 top of AGV dolly, the lead screw seat internal rotation sets up the lead screw, the other end of lead screw with the servo motor transmission is connected, and the circumference side of lead screw sets firmly the slip table.

The Y-direction moving assembly 4 is consistent with the X-direction moving assembly 3 in structure, and the Y-direction moving assembly 4 is borne by arranging a mounting plate on the sliding table.

The system further comprises an in-place unloading assembly 5, the system comprises a control unit and symmetrically arranged racks 51, a detection sensor 52 used for detecting whether the AGV trolley 1 is in place or not is arranged at the top of any rack 51, chain conveyors 53 are arranged on two sides of each rack 51, the upper surfaces of the chain conveyors 53 are flush with the upper surface of the adjustable carrying assembly 2, whether the AGV trolley 1 is in place or not is monitored through the detection sensor 52, if the AGV trolley is in place, an instruction is sent to the control unit, the control unit sends an unloading instruction to the chain conveyors 53 to unload, the conveying belt surface of each chain conveyor 53 abuts against the lower surface of a tray after the conveying belt surface is in place, and linear movement of the tray is achieved after the conveying belt surface is driven by a motor, so that the AGV trolley is unloaded to the next working unit.

The utility model discloses a theory of operation: for example, when the specification of the tray is large, the conventional small bearing surface is small in contact area with the lower surface of the tray, so that the gravity center is easy to be unstable and the tray is prone to topple; the four groups of object stages 6 are simultaneously expanded along the X direction and the Y direction through the X-direction moving assembly 3 and the Y-direction moving assembly 4 which are correspondingly arranged below, and the instruction receiving and sending can be realized through a servo motor and an electric control unit arranged in the AGV trolley 1; thereby extending the object carrying plane composed of 4 object carrying platforms 6, and adapting to large-size trays and iron cores; otherwise, operations such as retraction and the like can be carried out;

when the AGV trolley 1 reaches the designated unloading area, whether the AGV trolley 1 is in place or not is monitored through the detection sensor 52, if the AGV trolley 1 is in place, an instruction is sent to the control unit, the control unit sends an unloading finger chain conveyor 53 to unload, the conveying belt surface of the chain conveyor 53 abuts against the lower surface of the in-place tray, linear movement of the tray is achieved after the conveying belt surface of the chain conveyor 53 is driven by a motor, and therefore unloading is conducted to the next working unit.

The above description is for the purpose of explanation and not limitation of the invention, which is defined in the claims, and any modifications may be made within the scope of the invention.

Claims (5)

1. The utility model provides a flexible 360 full degrees of freedom AGV in plane of variable load-bearing platform which characterized in that: including AGV dolly (1), the inside electricity of AGV dolly (1) is connected and is set up electrical control unit, the top of AGV dolly (1) sets up adjustable carrier subassembly (2), adjustable carrier subassembly (2) are including setting firmly four group X direction moving assembly (3) at AGV dolly (1) top, every the removal end top of X direction moving assembly (3) sets up Y direction moving assembly (4), the removal end top of Y direction moving assembly (4) sets up objective table (6).

2. The flexible, variable load-bearing platform 360 ° full degree of freedom AGV of claim 1, wherein: the AGV trolley in-place unloading device comprises an in-place unloading assembly (5) and is characterized by comprising symmetrically arranged racks (51), a detection sensor (52) for detecting whether the AGV trolley (1) is in place or not is arranged at the top of any one of the racks (51), and chain conveyors (53) are arranged on two sides of each rack (51).

3. The flexible full-degree-of-freedom AGV with a variable load-bearing platform 360 ° in plane according to claim 2, wherein: the upper surface of the chain conveyor (53) is flush with the upper surface of the adjustable loading component (2).

4. The flexible, variable load-bearing platform 360 ° full degree of freedom AGV of claim 1, wherein: x direction removal subassembly (3) including set firmly in a pair of first linear guide of AGV dolly (1) top and set up the servo motor at the lead screw seat of one end, the other end, the lead screw seat internal rotation sets up the lead screw, the other end of lead screw with the servo motor transmission is connected, the circumference side of lead screw sets firmly the slip table.

5. The flexible variable load-bearing platform 360 ° planar full degree of freedom AGV of claim 4, wherein: the Y-direction moving assembly (4) is consistent with the X-direction moving assembly (3) in structure, and the Y-direction moving assembly (4) is borne by arranging a mounting plate on the sliding table.

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