CN218025275U - AGV dolly and AGV logistics system - Google Patents

Abstract

The application relates to the technical field of logistics transportation and discloses an AGV, comprising: a vehicle body; the floating load seat is arranged on the vehicle body and used for loading a material tray, and can move in the X-axis direction and the Y-axis direction; the floating buffer assembly comprises a first buffer part and a second buffer part; the two sides of the floating load seat along the X-axis direction are respectively provided with at least one first buffer part, and the two sides of the floating load seat along the Y-axis direction are respectively provided with at least one second buffer part; the guide assembly comprises a guide male head, and the guide male head is arranged on the floating carrier seat; when the guide male head is in butt joint with the guide female head of the connection mechanism, the floating load seat moves adaptively to adjust the position, and the first buffer part and the second buffer part respectively buffer the floating load seat moving in the corresponding direction. The application also discloses an AGV logistics system.

Description

AGV dolly and AGV logistics system

Technical Field

The application relates to the technical field of logistics transportation, for example to an AGV dolly and AGV logistics system.

Background

With the popularization of automation, AGV carts are favored by various industries, and an Automated Guided Vehicle (AGV cart) refers to an automatic Guided Vehicle and is also called a logistics robot. Through the AGV dolly with commodity circulation transportation to appointed place to accept the commodity circulation that the AGV dolly transported through the mechanism of plugging into in appointed place, the commodity circulation transportation is more intelligent, and effectively reduces the cost of labor.

According to the related technology, the AGV trolley is provided with a plurality of positioning sensors, the position of the AGV trolley is determined through the positioning sensors, then the AGV trolley moves to a position close to the connection mechanism, and then the connection mechanism performs secondary positioning on the AGV trolley through the clamping devices.

In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in the related art:

the arrangement of a plurality of positioning sensors requires a long period for debugging and is high in cost, and the AGV trolley can only be passively clamped by a clamping device and cannot be self-adaptively adjusted in position.

SUMMERY OF THE UTILITY MODEL

The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview nor is intended to identify key/critical elements or to delineate the scope of such embodiments but rather as a prelude to the more detailed description that is presented later.

The embodiment of the disclosure provides an AGV and an AGV logistics system, which are used for solving the problems that the cost of a positioning structure of the AGV is high, and the positioning process cannot be adjusted in a self-adaptive mode.

In some embodiments, the AGV includes:

a vehicle body;

the floating carrier seat is arranged on the vehicle body and used for loading a material tray, and can move in the X-axis direction and the Y-axis direction;

the floating buffer assembly comprises a first buffer part and a second buffer part; the two sides of the floating load seat along the X-axis direction are respectively provided with at least one first buffer part, and the two sides of the floating load seat along the Y-axis direction are respectively provided with at least one second buffer part;

the guide assembly comprises a guide male head, and the guide male head is arranged on the floating carrier seat;

when the guiding male head is in butt joint with the guiding female head of the connection mechanism, the floating load seat moves adaptively to adjust the position, and the first buffer part and the second buffer part respectively buffer the moving floating load seat in the corresponding direction, so that the position of the floating load seat is corrected.

Optionally, a first slide rail is arranged on the top surface of the vehicle body along the X-axis direction; the floating load seat comprises:

the first carrier plate is arranged on the top surface of the vehicle body; the bottom surface of the first carrier plate is provided with a first sliding block, and the top surface of the first carrier plate is provided with a second sliding rail along the Y-axis direction; the first sliding block and the first sliding rail can form sliding fit connection so that the first carrier plate can move along the first sliding rail;

the second carrier plate is arranged above the first carrier plate, and a second sliding block is arranged on the bottom surface of the second carrier plate; the second sliding block and the second sliding rail can form sliding fit connection, so that the second carrier plate can move along the second sliding rail.

Optionally, the first buffer portion includes:

and the fixed end of the first hydraulic buffer is fixed on the top surface of the vehicle body, and the buffer end faces the side surface of the first carrier plate.

Optionally, the second buffer portion includes:

and the fixed end of the second hydraulic buffer is fixed on the top surface of the first carrier plate, and the buffer end faces the side surface of the second carrier plate.

Optionally, the area of the second carrier plate is smaller than the area of the first carrier plate.

Optionally, the surface of the second carrier is parallel to the surface of the first carrier.

Optionally, the floating mount further comprises:

the third carrier plate is rotatably arranged on the top surface of the second carrier plate; the guide male head is arranged on one side of the third carrier plate and faces the guide female head.

Optionally, at least one third buffer portion is respectively disposed on two sides of the third carrier plate, which are located on the guide male head.

Optionally, the third buffer portion includes:

and the fixed end of the third hydraulic buffer is fixed on the top surface of the second carrier plate, and the buffer end faces the side surface of the third carrier plate.

In some embodiments, the AGV logistics system includes an AGV cart as described in any of the embodiments above.

The AGV dolly and AGV logistics system that this disclosed embodiment provided can realize following technological effect:

the floating load seat enables the guiding male head and the guiding female head to realize flexible butt joint. When in butt joint, the AGV trolley is close to the connecting mechanism, so that the guiding male head is contacted with the guiding female head. At the moment, the two are not completely butted, and the guiding female head can not move, so that the guiding female head transmits reaction force to the guiding male head and acts on the floating load seat. Because the floating load seat can move along the X-axis direction and the Y-axis direction, the floating load seat can move in a self-adaptive manner under the action of a reaction force to adjust the position of the floating load seat, so that the guide male head is gradually butted with the guide female head. And when the floating load seat moves in a self-adaptive manner, the first buffer part and the second buffer part respectively buffer the floating load seat moving in the corresponding direction, so that the position of the floating load seat is corrected, and finally the guiding male head and the guiding female head are flexibly butted.

The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the accompanying drawings and not in limitation thereof, in which elements having the same reference numeral designations are shown as like elements and not in limitation thereof, and wherein:

FIG. 1 is a schematic diagram of an AGV configuration provided by embodiments of the present disclosure;

FIG. 2 is an enlarged view of portion A of FIG. 1;

FIG. 3 is an enlarged view of a portion of a floating mount provided by an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of a connection mechanism provided in an embodiment of the disclosure;

FIG. 5 is an enlarged view of portion B of FIG. 4;

FIG. 6 is an enlarged partial view of a jacking assembly provided by embodiments of the present disclosure;

FIG. 7 is a schematic structural diagram of a spacing assembly provided in an embodiment of the present disclosure;

fig. 8 is an enlarged view of a portion C of fig. 7.

Reference numerals:

10: a vehicle body; 101: a first slide rail; 11: a first carrier plate; 111: a first slider; 112: a second slide rail; 12: a second carrier plate; 121: a second slider; 13: a third carrier plate; 131: a turntable; 132: a tray support; 133: a material tray; 14: a first buffer section; 15: a second buffer portion; 16: a third buffer section; 17: guiding the male head; 18: guiding the female head; 19: a buffer seat;

20: a platform; 201: a station plate; 202: a station gap; 203: a top pillar; 21: a jacking plate; 211: positioning pins; 22: jacking a cylinder; 221: a cylinder rod; 222: a cylinder block; 23: a guide bar; 231: connecting blocks; 24: an upper buffer section; 25: a lower buffer portion;

30: a stop block; 31: a stop seat; 311: a transverse plate section; 312: a vertical plate section; 32: a stop pin; 33: a rotating cylinder; 34: a sensor.

Detailed Description

So that the manner in which the features and elements of the disclosed embodiments can be understood in detail, a more particular description of the disclosed embodiments, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may be practiced without these details. In other instances, well-known structures and devices may be shown in simplified form in order to simplify the drawing.

The terms "first," "second," and the like in the description and in the claims, and the above-described drawings of embodiments of the present disclosure, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the present disclosure described herein may be made. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.

In the embodiments of the present disclosure, the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the disclosed embodiments and their embodiments, and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation. Moreover, some of the above terms may be used to indicate other meanings besides orientation or position, for example, the term "on" may also be used to indicate some kind of attachment or connection in some cases. The specific meanings of these terms in the embodiments of the present disclosure can be understood by those of ordinary skill in the art as appropriate.

In addition, the terms "disposed," "connected," and "secured" are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. Specific meanings of the above terms in the embodiments of the present disclosure can be understood by those of ordinary skill in the art according to specific situations.

The term "plurality" means two or more, unless otherwise specified.

In the embodiment of the present disclosure, the character "/" indicates that the preceding and following objects are in an or relationship. For example, A/B represents: a or B.

The term "and/or" is an associative relationship that describes objects, meaning that three relationships may exist. E.g., a and/or B, represents: a or B, or A and B.

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other

The embodiment of the disclosure provides an AGV logistics system, which comprises an AGV trolley and a connection mechanism, wherein the AGV trolley is used for conveying a material tray 133 filled with goods to the connection mechanism, and the connection mechanism is used for receiving the goods conveyed by the AGV trolley.

In some embodiments, and as shown in connection with FIGS. 1-8, an AGV includes a vehicle body 10, a floating buffer assembly, and a guidance assembly. The floating carrier is arranged on the vehicle body 10 for loading the tray 133 and can move in the X-axis direction and the Y-axis direction; the floating buffer assembly comprises a first buffer part 14 and a second buffer part 15; the two sides of the floating load seat along the X-axis direction are respectively provided with at least one first buffer part 14, and the two sides of the floating load seat along the Y-axis direction are respectively provided with at least one second buffer part 15; the guide assembly comprises a guide male head 17, and the guide male head 17 is arranged on the floating load seat; when the guiding male head 17 is in butt joint with the guiding female head 18 of the connection mechanism, the floating load-bearing seat moves adaptively to adjust the position, and the first buffer part 14 and the second buffer part 15 respectively buffer the moving floating load-bearing seat in the corresponding directions, so that the position of the floating load-bearing seat is corrected.

In the embodiment, the guide male head 17 and the guide female head 18 are flexibly butted through the floating carrier. When in butt joint, the AGV trolley is close to the connection mechanism, so that the guide male head 17 is in contact with the guide female head 18. At this time, the two are not completely butted, and the female guide head 18 cannot move, so that the female guide head 18 transmits a reaction force to the male guide head 17 and acts on the floating carriage. Because the floating carrier can move along the X-axis and Y-axis directions, the floating carrier can move adaptively under the action of a reaction force to adjust the position of the floating carrier, so that the guide male head 17 is gradually butted with the guide female head 18. And while the floating carrier is moving in a self-adaptive manner, the first buffer part 14 and the second buffer part 15 respectively buffer the moving floating carrier in corresponding directions, so that the position of the floating carrier is corrected, and finally the guide male head 17 and the guide female head 18 are flexibly butted.

Alternatively, as shown in fig. 3, the top surface of the vehicle body 10 is provided with a first slide rail 101 along the X-axis direction; the floating mount includes a first carrier 11 and a second carrier 12. The first carrier plate 11 is arranged on the top surface of the vehicle body 10; the bottom surface of the first carrier plate 11 is provided with a first slide block 111, and the top surface is provided with a second slide rail 112 along the Y-axis direction; the first sliding block 111 and the first sliding rail 101 can form a sliding fit connection, so that the first carrier 11 moves along the first sliding rail 101; the second carrier 12 is disposed above the first carrier 11, and a second slider 121 is disposed on a bottom surface of the second carrier 12; the second slide block 121 can form a sliding fit connection with the second slide rail 112, so that the second carrier 12 moves along the second slide rail 112.

In the present embodiment, the first carrier plate 11 is moved on the first slide rail 101 on the top surface of the vehicle body 10 by the first slide block 111, so that the first carrier plate 11 can move along the X-axis direction; the second carrier 12 is moved on the second slide rail 112 of the top surface of the first carrier 11 by the second slide block 121, so that the second carrier 12 can move along the Y-axis direction.

Illustratively, two first slide rails 101 are respectively disposed on two sides of the top surface of the vehicle body 10, and two corresponding first slide blocks 111 are respectively disposed on the bottom surface of the first carrier plate 11, so that the first carrier plate 11 can stably move along the X-axis direction. Two second slide rails 112 are respectively disposed on two sides of the top surface of the first carrier 11, and two corresponding second slide blocks 121 are respectively disposed on the bottom surface of the second carrier 12, so that the second carrier 12 can stably move along the Y-axis direction.

Optionally, the first buffer 14 comprises a first hydraulic buffer. The fixed end of the first hydraulic buffer is fixed on the top surface of the vehicle body 10, and the buffer end faces the side surface of the first carrier plate 11; and the first hydraulic buffers on both sides of the first carrier plate 11 in the X-axis direction correspond to each other.

In the present embodiment, during the flexible docking of the male guide head 17 and the female guide head 18, when the first carrier plate 11 moves in the positive direction along the X-axis, a buffer is formed when the side surface of the first carrier plate 11 abuts against the buffer end of the corresponding first hydraulic buffer. And the first carrier plate 11 moves in the X-axis direction in the reverse direction by the buffer force, thereby making a correction to the position of the first carrier plate 11 in the X-axis direction.

Illustratively, two cushion seats 19 are respectively arranged on two sides of the top surface of the vehicle body 10 along the X-axis direction, and the cushion seats 19 on the two sides correspond to each other. Each of the cushion seats 19 holds a first hydraulic cushion. The fixed end of each first hydraulic buffer is fixed on the corresponding buffer seat 19, and the buffer end faces the side of the first carrier 11.

Alternatively, the second buffer portion 15 includes a second oil buffer. The fixed end of the second hydraulic buffer is fixed on the top surface of the first carrier plate 11, and the buffer end faces the side surface of the second carrier plate 12; and the second hydraulic buffers on both sides of the second carrier plate 12 in the Y-axis direction correspond.

In the present embodiment, during the flexible docking of the male guide head 17 and the female guide head 18, when the second carrier plate 12 moves forward along the Y-axis, a buffer is formed when the side surface of the second carrier plate 12 abuts against the buffer end of the corresponding second hydraulic buffer. And the second carrier plate 12 is moved in the reverse direction along the Y-axis by the buffer force. Thereby creating a correction in the position of the second carrier plate 12 in the Y-axis direction.

Illustratively, two buffer bases 19 are respectively disposed on two sides of the top surface of the first carrier plate 11 along the X-axis direction, and the two buffer bases 19 are corresponding to each other. Each of the cushion seats 19 holds a second hydraulic cushion. The fixed end of each second hydraulic buffer is fixed on the corresponding buffer seat 19, and the buffer end faces the side surface of the second carrier plate 12.

Optionally, the surface of the second carrier 12 is parallel to the surface of the first carrier 11. Thus, the second carrier 12 can be moved easily, and the interference between the second carrier 12 and the first carrier 11 can be avoided.

Optionally, the area of the second carrier 12 is smaller than the area of the first carrier 11. Since the second carrier 12 is located above the first carrier 11, the area of the second carrier 12 is designed to be smaller than that of the first carrier 11, which provides an installation space for disposing the second buffer parts 15 on both sides of the first carrier 11.

Optionally, the floating mount further comprises a third carrier plate 13. The third carrier 13 is rotatably disposed on the top surface of the second carrier 12; the male guide 17 is provided on the third carriage 13.

In the present embodiment, as shown in fig. 2, the top surface of the second carrier 12 is provided with a rotating disc 131, and the center of the bottom surface of the third carrier 13 is connected to the rotating disc 131, so that the third carrier 13 can rotate around the rotating disc 131. The guiding male head 17 is disposed on the third carrier 13, when the guiding male head 17 and the guiding female head 18 are in butt joint, the guiding female head 18 transmits a reaction force to the guiding male head 17 and acts on the third carrier 13, the third carrier 13 rotates adaptively, and meanwhile, the second carrier 12 moves adaptively along the Y-axis direction and the first carrier 11 moves adaptively along the X-axis direction. This enables the guide male head 17 and the guide female head 18 to be flexibly butted.

Optionally, at least one third buffer 16 is respectively disposed on both sides of the third carrier plate 13 on the guiding male 17. Thus, when the guiding male head 17 and the guiding female head 18 are butted, the third carrier plate 13 is adaptively adjusted by rotation, and the rotating third carrier plate 13 is buffered by the third buffer part 16.

Illustratively, the female guide head 18 transmits a reaction force to the male guide head 17 and acts on the third carrier plate 13 to rotate it clockwise, forming a buffer when the side of the third carrier plate 13 abuts against the third buffer 16, and the third carrier plate 13 moves counterclockwise under the buffer force.

Optionally, the third buffer portion 16 includes a third hydraulic buffer. The fixed end of the third hydraulic buffer is fixed on the top surface of the second carrier plate 12, and the buffer end faces the side surface of the third carrier plate 13.

Illustratively, two buffer seats 19 are respectively disposed on the top surfaces of the second carrier plate 12 on both sides of the guiding male portion 17, and the two buffer seats 19 correspond to each other. Each of the cushion seats 19 holds a third hydraulic cushion. The fixed end of each third hydraulic buffer is fixed on the corresponding buffer seat 19, and the buffer end faces the side surface of the third loading plate 13.

Optionally, the surface of the third carrier 13 is parallel to the surface of the second carrier 12. Thus, the rotation of the third carrier 13 is facilitated, and the interference between the third carrier 13 and the second carrier 12 during the rotation is avoided.

Optionally, the area of the third carrier plate 13 is smaller than the area of the second carrier plate 12. Therefore, the floating carrier seat with pyramid shape is arranged below and above the first carrier plate 11, the second carrier plate 12 and the third carrier plate 13, and the structure of the floating carrier seat is more stable in the butt joint process of the guide male head 17 and the guide female head 18.

Optionally, a tray holder 132 is disposed on the upper portion of the third carrier plate 13, and the tray holder 132 is used for holding a tray 133.

In some embodiments, as shown in connection with fig. 4-6, the docking mechanism includes a platform 20, a jacking assembly, and a lift-cushioning assembly. Wherein, a station plate 201 is arranged above the platform 20, and the station plate 201 is provided with a station gap 202; the jacking assembly comprises a jacking plate 21; the lifting plate 21 is arranged on the platform 20 in a lifting manner and is positioned below the station notch 202, the lifting plate 21 is matched with the station notch 202, and the lifting plate 21 can lift to pass through the station notch 202, so that the tray 133 above the station notch 202 is lifted; the lifting buffer assembly comprises an upper buffer part 24; the upper buffer portion 24 is disposed on the platform 20 and below the lift plate 21, and is configured to contact the lift plate 21 to buffer when the lift plate 21 descends to the lowest position.

In this embodiment, the AGV transports the tray 133 over the station gap 202 of the station plate 201, the lift plate 21 below the station gap 202 rises, and the lift plate 21 gradually passes through the station gap 202 and lifts the tray 133 until the tray 133 is separated from the AGV. The AGV then exits, and the lift plate 21 holds the tray 133 and gradually lowers. When the lift plate 21 is lowered below the station notch 202, the tray 133 is held by the station plate 201. The lifting plate 21 continues to descend until the lifting plate abuts against the upper buffer portion 24, at this time, the upper buffer portion 24 has a buffer effect on the lifting plate 21, and the lifting plate 21 stops descending to wait for the next ascending of the lifting tray 133. The mechanism of plugging into like this shifts the charging tray 133 from the AGV dolly to the board 201 through jacking assembly, and simple structure is reliable, the cost is lower.

Optionally, the upper buffer 24 comprises an upper hydraulic buffer. The fixed end of the upper hydraulic buffer is fixed to the top surface of the platform 20 and the buffer end faces the bottom surface of the lifting plate 21. When the jacking plates 21 descend and collide with the buffer ends of the upper hydraulic buffers, an effective buffering action is exerted on the jacking plates 21.

Optionally, as shown in fig. 6, the jacking assembly further comprises a jacking cylinder 22. The lift cylinder 22 has a cylinder rod 221; the jacking cylinder 22 is arranged below the platform 20, the cylinder rod 221 penetrates through the platform 20 to be connected to the bottom of the jacking plate 21, and the cylinder rod 221 drives the jacking plate 21 to lift when extending and retracting.

In the present embodiment, the plate surface of the deck 20 facing the lift plate 21 is provided with cylinder bores, and cylinder blocks 222 are provided below the cylinder bores. The lift cylinder 22 is fixed to the bottom surface of the platform 20 by a cylinder block 222, and a cylinder rod 221 extends through a cylinder hole toward the lift plate 21 and is connected to a middle position of the bottom surface of the lift plate 21. When the cylinder rod 221 extends outward, the lifting plate 21 is driven to ascend, and when the cylinder rod 221 retracts, the lifting plate 21 is driven to descend.

Optionally, the docking mechanism further comprises a guide assembly. The guide assembly comprises a plurality of guide rods 23; the top end of the guide rod 23 is connected to the lifting plate 21, the bottom end of the guide rod 23 passes through the platform 20 and extends to the lower part of the platform 20, and the axial direction of the guide rod 23 is parallel to the telescopic direction of the cylinder rod 221.

In this embodiment, the platform 20 is provided with guide holes corresponding to the plurality of guide rods 23. The top end of the guide rod 23 is connected to the lifting plate 21, and the bottom end thereof passes through the guide hole and extends to the lower part of the platform 20. When the cylinder rod 221 drives the lifting plate 21 to lift, the guide rods 23 play a role of guiding the lifting plate 21 to lift, so as to prevent the lifting plate 21 from inclining and deviating from the lifting direction when the tray 133 is heavy.

Illustratively, the cylinder rod 221 is connected to a central position of the lift plate 21, and four guide rods 23 are respectively connected to four corners of the lift plate 21. When the cylinder rod 221 drives the lifting plate 21 to lift, the four guide rods 23 lift synchronously. Also, the layout of the four guide bars 23 can function as a very effective guide.

Alternatively, as shown in fig. 5, the bottom ends of at least two guide rods 23 are connected by a connecting block 231; the lifting buffer assembly further comprises a lower buffer part 25, wherein the lower buffer part 25 is disposed at the upper part of the connecting block 231 and is used for contacting with the bottom surface of the platform 20 to form a buffer when the lifting plate 21 is lifted to the highest position.

In this embodiment, the connecting block 231 limits the extension of the cylinder rod 221, and when the cylinder rod 221 extends to drive the lifting plate 21 to ascend, the lifting plate 21 drives the guide rod 23 and the connecting block 231 to ascend synchronously. When the lower buffer portion 25 of the link block 231 abuts against the bottom surface of the stage 20, the guide bar 23 cannot be further raised, and the lower buffer portion 25 buffers the link block 231, so that the cylinder rod 221 cannot be further extended.

Illustratively, four guide rods 23 are connected at their top ends to the four corners of the lifting plate 21, respectively, and extend at their bottom ends through the platform 20 to below the platform 20. The cylinder rod 221 is connected to the center of the lift plate 21 such that the lift cylinder 22 is located at the center of the four guide rods 23. Wherein, the bottom ends of the two guide rods 23 on one side of the jacking cylinder 22 are connected through a connecting block 231, and the two guide rods 23 on the other side of the jacking cylinder 22 are connected through a connecting block 231, as shown in fig. 6. A lower buffer 25 is provided at an upper portion of each connection block 231. When the cylinder rod 221 extends out to drive the lifting plate 21 to ascend, the lifting plate 21 drives the four guide rods 23 to ascend synchronously, and the two connecting blocks 231 ascend along with the corresponding guide rods 23 respectively. When the lower buffer portions 25 of the two connection blocks 231 simultaneously abut against the bottom surface of the platform 20, the guide rod 23 cannot be further raised and the cylinder rod 221 cannot be further extended, and the two lower buffer portions 25 perform a very effective buffering function.

Alternatively, the lower buffer portion 25 includes a lower hydraulic buffer, a fixed end of which is fixed to the top surface of the connection block 231 and a buffer end of which faces the bottom surface of the platform 20. When the connection block 231 ascends and the buffer end of the lower hydraulic buffer abuts against the bottom surface of the platform 20, an effective buffering function is performed to the connection block 231.

Optionally, the bottom surface of the platform 20 is provided with a top pillar 203, the top pillar 203 corresponds to the lower buffer portion 25, and the buffer end of the lower buffer portion 25 contacts with the top pillar 203 to form a buffer when the lifting plate 21 is lifted to the highest position.

In this embodiment, the positions and the number of the top pillars 203 correspond to those of the lower buffering portions 25, and when the cylinder rod 221 is extended to lift the lifting plate 21, the lifting plate 21 drives the guide rod 23 and the connecting block 231 to be lifted synchronously. When the lower buffer portion 25 at the upper portion of the connection block 231 abuts against the corresponding top pillar 203, the guide rod 23 cannot be further raised, and the lower buffer portion 25 performs a buffer function on the connection block 231, so that the cylinder rod 221 cannot be further extended. This prevents the lower buffer portion 25 from directly contacting the bottom surface of the platform 20, thereby protecting the platform 20.

Optionally, a positioning pin 211 is disposed on the top surface of the lifting plate 21, and the positioning pin 211 is used to position the tray 133 above the station notch 202.

In this embodiment, the bottom surface of the tray 133 is provided with positioning holes, and the top surface of the lifting plate 21 is provided with positioning pins 211 corresponding to the positioning holes. When the lift plate 21 is raised to contact the bottom surface of the tray 133, the positioning pins 211 of the lift plate 21 are inserted into the positioning holes of the tray 133. Thus, when the lifting plate 21 lifts the material tray 133, the material tray 133 can be prevented from sliding off the lifting plate 21, and the stability of the material tray 133 on the lifting plate 21 is ensured.

In some embodiments, as shown in fig. 7 and 8, the station plate 201 is rotatably disposed above the platform 20; a station notch 202 is respectively arranged on two sides of the station plate 201, and a tray 133 is placed above the station notch 202; the limiting assembly comprises a first limiting stopper part and two second stopper parts; the first stopping portion is connected to the side portion of the station plate 201 where the station notch 202 is not arranged, and the two second stopping portions are respectively arranged on two sides of the rotating track of the first stopping portion; when one station notch 202 rotates forwards to the connection position, the first stop part abuts against one second stop part to stop the station plate 201 from continuing to rotate forwards; when the other station notch 202 rotates reversely to the connection position, the first stop portion abuts against the other second stop portion to stop the station plate 201 from rotating continuously in the reverse direction.

In this embodiment, the station board 201 is rotatable and has two station notches 202, and any station notch 202 when rotated to the docking position can receive a tray 133 from an AGV transport. Moreover, when one station notch 202 of the station board 201 rotates forward to the connection position, the first stop portion and the second stop portion abut against each other to stop the station board 201 from continuing to rotate forward; at this moment, the station plate 201 can only rotate reversely, and when another station notch 202 rotates reversely to the connection position, the first blocking portion and another second blocking portion abut against each other to block the station plate 201 from continuing to rotate reversely, and at this moment, the station plate 201 can only rotate forwardly. Thus, the rotatable station plate 201 is rotated forward or backward 180 ° by the limiting assembly, thereby precisely circulating the two station notches 202 to receive the tray 133 at the docking position.

Alternatively, as shown in fig. 7, the station plate 201 is configured as a rectangular plate, and two station notches 202 are respectively provided at both sides in the length direction. The two station recesses 202 are configured as rectangular recesses of the same size.

Optionally, as shown in fig. 8, the first stopping portion includes a stopping block 30, and the second stopping portion includes a stopping seat 31 and a stopping pin 32. Wherein, the stop seat 31 is fixed on the top surface of the platform 20; the stop pin 32 is disposed on the stop seat 31 and located on the rotation track of the stop block 30.

In this embodiment, when one station notch 202 rotates forward to the connection position, the stop block 30 abuts against one stop pin 32 to stop the station plate 201 from rotating forward and only rotating backward; the station plate 201 rotates reversely, and when the other station notch 202 rotates reversely to the connection position, the stop block 30 abuts against the other stop pin 32, and the station plate 201 is stopped from rotating reversely and only can rotate normally. In this way, the two station notches 202 can be precisely cycled to receive the tray 133 in the docking position.

Alternatively, the stop pin 32 is detachably connected to the stop seat 31

Optionally, the stop seat 31 includes a cross-plate section 311 and a riser section 312. The cross plate section 311 is fixed to the top surface of the platform 20; the vertical plate section 312 is connected to the horizontal plate section 311 and has a through hole, and the stopper pin 32 is inserted into the through hole.

In this embodiment, the transverse plate section 311 is provided with screw holes, and the transverse plate section 311 can be fixed on the platform 20 by using bolt fasteners matched with the screw holes. After the stop pin 32 is inserted into the through hole, two ends of the stop pin 32 are respectively located at two sides of the through hole, wherein one end of the stop pin 32 opposite to the stop block 30 plays a role of stop.

Alternatively, the stopper 30 is fixed to the bottom surface of the station plate 201 side by bolts.

Optionally, the docking mechanism further includes a rotating component for driving the station board 201 to rotate in the plane of the board surface. Under the action of the rotating assembly, the two station notches 202 of the station board 201 can rotate circularly to the connection position to receive the tray 133.

Optionally, the rotating assembly comprises a rotating cylinder 33. The rotary cylinder 33 is fixed on the top surface of the platform 20 and connected to the center of the station plate 201, and the station plate 201 is driven to rotate by the rotary cylinder 33.

Optionally, the rotating assembly further includes a sensor 34 and a position controller. The sensor 34 is used for detecting whether the station gap 202 has the tray 133; the work station controller is electrically connected to the sensor 34 and the rotary cylinder 33, and controls the rotary cylinder 33 to rotate the work station plate 201 according to a detection signal of the sensor 34.

Illustratively, the two station apertures 202 of the station plate 201 are referred to as a first aperture and a second aperture, respectively. In the initial state, no tray 133 is arranged on the two station notches 202. During operation, the station controller controls the rotating cylinder 33 to rotate in the forward direction to rotate the first notch to the docking position to receive the tray 133. When the sensor 34 detects that the tray 133 is placed on the first notch, the station controller controls the rotary cylinder 33 to rotate in the reverse direction to make the second notch rotate to the connection position to continue receiving the tray 133, and at this time, the user takes down the tray 133 of the first notch. When the sensor 34 detects that the first notch has no tray 133 and the second notch has a tray 133, the station controller controls the rotary cylinder 33 to rotate forward to make the first notch rotate to the docking position again to continue to receive the tray 133, and at this time, the user takes down the tray 133 of the second notch. The material tray 133 transported by the AGV trolley is efficiently received through the two station gaps 202 in the reciprocating circulation. Here, the presence or absence of the tray 133 in the two station notches 202 may be detected by one sensor 34, or the presence or absence of the tray 133 in the two station notches 202 may be detected by two sensors 34, respectively.

The above description and drawings sufficiently illustrate embodiments of the disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in or substituted for those of others. The embodiments of the present disclosure are not limited to the structures that have been described above and illustrated in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (10)

1. An AGV cart, comprising:

a vehicle body (10);

the floating loading seat is arranged on the vehicle body (10) and used for loading the tray (133), and can move in the X-axis direction and the Y-axis direction;

a floating cushion assembly comprising a first cushion portion (14) and a second cushion portion (15); the two sides of the floating load seat along the X-axis direction are respectively provided with at least one first buffer part (14), and the two sides of the floating load seat along the Y-axis direction are respectively provided with at least one second buffer part (15);

the guide assembly comprises a guide male head (17), and the guide male head (17) is arranged on the floating load seat;

when the male guide head (17) is in butt joint with the female guide head (18) of the connection mechanism, the floating load-bearing seat moves adaptively to adjust the position, and the first buffer part (14) and the second buffer part (15) buffer the moving floating load-bearing seat in the corresponding directions respectively, so that the position of the floating load-bearing seat is corrected.

2. AGV according to claim 1, characterised in that the top side of the car body (10) is provided with a first slide rail (101) in the X-axis direction; the floating load seat comprises:

the first carrier plate (11) is arranged on the top surface of the vehicle body (10); a first sliding block (111) is arranged on the bottom surface of the first carrier plate (11), and a second sliding rail (112) is arranged on the top surface of the first carrier plate along the Y-axis direction; the first sliding block (111) can be in sliding fit connection with the first sliding rail (101) so that the first carrier plate (11) can move along the first sliding rail (101);

the second carrier plate (12) is arranged above the first carrier plate (11), and a second sliding block (121) is arranged on the bottom surface of the second carrier plate (12); the second sliding block (121) can be in sliding fit connection with the second sliding rail (112) so that the second carrier plate (12) can move along the second sliding rail (112).

3. The AGV trolley according to claim 2, characterised in that the first buffer (14) comprises:

and the fixed end of the first hydraulic buffer is fixed on the top surface of the vehicle body (10), and the buffer end faces the side surface of the first carrier plate (11).

4. AGV trolley according to claim 2 or 3, characterised in that the second buffer (15) comprises:

and the fixed end of the second hydraulic buffer is fixed on the top surface of the first carrier plate (11), and the buffer end faces the side surface of the second carrier plate (12).

5. The AGV of claim 2 or 3,

the area of the second carrier plate (12) is smaller than that of the first carrier plate (11).

6. The AGV of claim 2 or 3,

the plate surface of the second carrier plate (12) is parallel to the plate surface of the first carrier plate (11).

7. The AGV of claim 2 or 3, wherein said floating mount further comprises:

the third carrier plate (13) is rotatably arranged on the top surface of the second carrier plate (12); the guide male head (17) is arranged on one side of the third carrying plate (13) and faces the guide female head (18).

8. The AGV of claim 7,

and at least one third buffer part (16) is respectively arranged on the two sides of the third carrying plate (13) positioned on the guide male head (17).

9. AGV trolley according to claim 8, characterized in that the third buffer (16) comprises:

and the fixed end of the third hydraulic buffer is fixed on the top surface of the second carrier plate (12), and the buffer end faces the side surface of the third carrier plate (13).

10. AGV logistics system comprising an AGV trolley according to any of the claims 1 to 9.

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