CN220222387U

CN220222387U - Flat garage robot

Info

Publication number: CN220222387U
Application number: CN202321199226.XU
Authority: CN
Inventors: 潘勇; 杨恒; 杨应春; 李字华; 许浩楠
Original assignee: Yunnan Zhuopei Technology Co ltd
Current assignee: Yunnan Zhuopei Technology Co ltd
Priority date: 2023-05-17
Filing date: 2023-05-17
Publication date: 2023-12-22
Anticipated expiration: 2033-05-17

Abstract

The utility model discloses a flat garage robot, which comprises an AGV driving trolley, wherein the AGV driving trolley comprises a driving wheel and a frame, and the driving wheel is arranged below the frame; the AGV driving trolley is provided with a jacking device, a suspension buffer spring, a lifting synchronization device and a newspaper clip device; the jacking device is arranged in the AGV driving trolley, and a suspension buffer spring is arranged between the jacking device and the AGV driving trolley; and one side outside the AGV driving trolley is vertically provided with a lifting synchronization device, the lifting synchronization device is fixedly provided with a newspaper clip device, the AGV driving trolley is provided with a motor, and the lifting synchronization device, the newspaper clip device and the motor are connected through a circuit. The utility model has the advantages that the AGV conveying system is different from the traditional AGV conveying system; the single operation of the flat garage robot can complete the task of stacking and packing, and can complete the task of sporadic operation, and the operation mode is flexible.

Description

Flat garage robot

Technical Field

The utility model relates to the technical field of material handling system equipment of AGVs (Automated Guided Vehicle, automatic guided vehicles), in particular to a flat garage robot.

Background

The AGV transport system is a transport vehicle equipped with an automatic navigation device such as electromagnetic or optical, capable of traveling along a predetermined navigation path, and having safety protection and various transfer functions. In industrial application, a carrier for a driver is not needed, and a rechargeable storage battery is used as a power source. Generally, the traveling path and behavior of the vehicle can be controlled by a computer, or the traveling path can be established by using an electromagnetic track, the electromagnetic track is adhered to the floor, and the vehicle is moved and operated by the information brought by the electromagnetic track.

However, most of the existing conveying systems are based on modes of whole-stack and whole-pack operation, only smooth conveying can be achieved, designated placement cannot be achieved, workers are required to conduct classified storage again after conveying, and certain risks exist.

Disclosure of Invention

(one) solving the technical problems

Aiming at the defects of the prior art, the utility model provides a flat warehouse robot, solves the problems in the background art, develops a set of flat warehouse robot, and is different from the traditional AGV conveying system; the single operation of the flat garage robot can complete the task of stacking and packing, and can complete the task of sporadic operation, and the operation mode is flexible.

(II) technical scheme

In order to achieve the above purpose, the utility model is realized by the following technical scheme:

the flat garage robot comprises an AGV driving trolley, wherein the AGV driving trolley comprises driving wheels and a frame, and the driving wheels are arranged below the frame; the AGV driving trolley is provided with a jacking device, a suspension buffer spring, a lifting synchronization device and a newspaper clip device; the jacking device is arranged in the AGV driving trolley, and a suspension buffer spring is arranged between the jacking device and the AGV driving trolley; and one side outside the AGV driving trolley is vertically provided with a lifting synchronization device, the lifting synchronization device is fixedly provided with a newspaper clip device, the AGV driving trolley is provided with a motor, and the lifting synchronization device, the newspaper clip device and the motor are connected through a circuit.

Further preferably, the jacking device comprises a jacking platform and a stepping motor, wherein screw rod lifting devices are respectively arranged on two sides of the stepping motor, a shaft connector is connected between the screw rod lifting devices and the stepping motor, a lifting shaft is arranged between the jacking platform and the screw rod lifting devices, and the lifting shaft extends out of the jacking platform and is fixedly arranged on the positioning cone; the machine frame is divided into a front machine frame and a rear machine frame, auxiliary universal wheels are respectively arranged on two sides of a central axis of the front machine frame and two sides of a central axis of the rear machine frame, and driving wheels are respectively arranged on two sides below the machine frame.

Further preferably, the lifting synchronization device comprises a lifting frame, wherein a synchronization bearing is arranged on the lifting frame, and a synchronous belt is sleeved on the synchronization bearing; the middle of the lifting frame is provided with a guide rail, the guide rail is provided with a plurality of positioning holes, the guide rail is sleeved with a sliding fixed block, the upper end and the lower end of the guide rail are respectively provided with a synchronous belt tensioning device and a buffer, and the tail end of the lifting frame is provided with a power supply.

Further preferably, the newspaper clipping device 4 comprises newspaper clipping arms and a support plate, wherein the newspaper clipping arms are respectively arranged at two sides of the support plate to form a door shape; be provided with lead screw motor, sensor and sensor support on the bedplate, install a plurality of adjustment fixed blocks on the newspaper arm lock, newspaper arm lock end is provided with newspaper clamping jaw.

Further preferably, the newspaper clip device is further provided with a chute, and the lifting synchronization device is in sliding fit with the guide rail through the chute.

Further preferably, the driving wheel comprises a front driving wheel and a rear driving wheel, the front driving wheel and the rear driving wheel are respectively arranged below the front frame and the rear frame, positioning pins are arranged on the front driving wheel and the rear frame, and the positioning pins are connected with the motor.

Further preferably, a hinge rod is arranged on the front frame, a connecting rod is connected between the auxiliary universal wheels, the front frame and the rear frame are clamped and fixed through the hinge rod, the tread of the auxiliary universal wheels is made of polyurethane materials, and the auxiliary universal wheels, the front driving wheels and the rear driving wheels form a three-wheel structure.

Further preferably, the bottom of the jacking device is provided with a fixing bolt, and the front frame and the rear frame are provided with fixing nuts matched with the fixing bolt.

(III) beneficial effects

The utility model develops a set of flat warehouse robots, and is different from the traditional AGV conveying system; the single operation of the flat garage robot can complete the task of stacking and packing, and can complete the task of sporadic operation, and the operation mode is flexible; the automation degree is more superior, the function of visual photographing can be realized by carrying an industrial camera, the asset information in the whole flat warehouse is managed by the system, and the stacking and placing of assets in the warehouse area can be arranged according to the specified requirements of the system.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a schematic view of the AGV drive cart of the present utility model;

FIG. 3 is a rear view of the AGV drive cart of the present utility model;

FIG. 4 is a schematic view of the bottom structure of the AGV drive cart of the present utility model;

FIG. 5 is a front view of the jacking device of the present utility model;

FIG. 6 is a schematic perspective view of a jacking device according to the present utility model;

FIG. 7 is a schematic diagram of the AGV drive cart and jacking device of the present utility model in a coordinated relationship;

FIG. 8 is a schematic diagram of a lifting synchronization device according to the present utility model;

FIG. 9 is a schematic diagram of a newspaper holder device according to the present utility model;

fig. 10 is a front view of the newspaper holder device of the present utility model.

In the figure: 1. AGV drives the dolly, 2, jack-up device, 3, lifting synchronizer, 4, newspaper clip device, 5, hang the buffer spring;

101. front driving wheel, 102, rear driving wheel, 103, auxiliary universal wheel, 104, front frame, 105, rear frame, 106, fixing nut, 107, hinging rod, 108, connecting rod, 201, lifting platform, 202, shaft connector, 203, positioning cone, 204, stepping motor, 205, screw rod lifting device, 206, fixing bolt, 301, synchronous belt, 302, synchronous bearing, 303, positioning hole, 304, sliding fixing block, 305, synchronous belt tensioning device, 306, lifting frame, 401, newspaper clip arm, 402, newspaper clip claw, 403, screw rod motor, 404, adjusting fixing block, 405, sensor bracket, 406, chute, 407 and sensor.

Detailed Description

The structures, proportions, sizes, etc. shown in the present specification are shown only for the purposes of illustration and description, and are not intended to limit the scope of the utility model, which is defined by the claims, so that any structural modifications, proportional changes, or adjustments of size, which do not affect the efficacy of the utility model or the objects achieved, should fall within the scope of the utility model.

Example 1

As shown in fig. 1, the flat garage robot comprises an AGV driving trolley, wherein the AGV driving trolley comprises a driving wheel and a frame, and the driving wheel is arranged below the frame; the AGV driving trolley is provided with a jacking device, a suspension buffer spring, a lifting synchronization device and a newspaper clip device; the jacking device is arranged in the AGV driving trolley, and a suspension buffer spring is arranged between the jacking device and the AGV driving trolley; and one side outside the AGV driving trolley is vertically provided with a lifting synchronization device, the lifting synchronization device is fixedly provided with a newspaper clip device, the AGV driving trolley is provided with a motor, and the lifting synchronization device, the newspaper clip device and the motor are connected through a circuit.

As shown in fig. 2 to 4, the AGV driving trolley 2 adopts a motor to be matched with a planetary reducer to directly drive wheels, and the structure is a high-integration automatic optimized structure, and has the characteristics of small volume, sensitive response and high precision, and the tread adopts polyurethane materials, so that the ground grabbing performance is good, and the silencing effect is good. The front frame 105 and the rear frame 106 are connected by a hinge rod 107, and a self-lubricating plastic shaft sleeve is arranged between the hinge rod 107 and the hinge shaft, so that the hinge shaft and the hinge rod are ensured to rotate flexibly. The driving wheels are arranged on the left side and the right side of the front frame 105, the axes of the two driving wheels are ensured to be perpendicular to the horizontal central axis of the frame through the installation of the locating pins, the driving wheel setting mode has the advantages of relatively simple structure and control, the AGV car can turn in situ through controlling the left driving wheel and the right driving wheel to rotate positively at the same speed and reversely, the turning radius is small, the auxiliary universal wheels 103 are respectively arranged on the two sides of the central axes of the front frame 105 and the rear frame 106, the three-wheel structure is formed by the auxiliary universal wheels 103 and the driving wheels, and when the AGV driving trolley 2 advances, the four-wheel layout is favorable for the driving wheels to always be on the ground and no slipping phenomenon occurs.

As shown in fig. 5 to 6, after the AGV driving trolley 1 conveys the goods to the destination, the goods need to be lifted first, and the jacking devices 2 are separated front and back and respectively seated on the AGV driving trolley 1. An anti-skid rubber mat is paved on the jacking platform 201, and a positioning cone 203 can be matched for a specific carrying tray, so that the stability of cargoes in the moving process is enhanced, and the cargoes are prevented from overturning. The whole jacking device 2 is connected to the front frame 105 and the rear frame 106 through fixing bolts 206, is symmetrically distributed relative to the axes of the driving wheels, and is used for jacking cargoes to realize four-point support, and most of load is applied to the driving wheels on the left side and the right side through the action of the hinging rods 107 and the suspension buffer springs 5 when the load acts, so that the service life of the auxiliary universal wheels 103 is prolonged.

As shown in fig. 7, the jacking device 2 is matched with the AGV driving trolley 1 in a separation mode, a suspension buffer spring 5 is designed between the front frame 105 and the rear frame 106, when the AGV driving trolley 1 moves, the rear frame 106 can only move between the limit positions of the suspension buffer spring 5, the suspension buffer spring 5 is added to play a buffering role, the rear frame 106 cannot collide with the front frame 105 to generate abnormal sound due to abrupt change in the fluctuation process along with the ground, and the structure can ensure that the driving wheel and the auxiliary universal wheel 103 are grounded simultaneously and run stably.

As shown in fig. 8, the lifting synchronization device 3 is driven by a synchronous belt 301, and is controlled to lift by a servo system, so that the lifting synchronization device has the characteristics of high precision and stable start and stop, and the gravity center position of the whole flat garage robot approaches to the geometric center of a triangle formed by the driving wheel and the auxiliary universal wheel 103, so that the phenomenon of swinging forward and backward can not occur when the whole flat garage robot advances. The whole lifting synchronization device 3 is formed by an aluminum profile frame, is installed on the front frame 105, a guide rail is installed in the middle profile, the middle profile is connected with the clamping component 4 through a sliding fixing block 304, a synchronous belt tensioning device 305 is arranged at the end part of the profile, the synchronous belt tensioning device 305 is composed of mounting seats, belt seat bearings and shafts, the tensioning effect is achieved by adjusting the length of a screw rod between the mounting seats, and the synchronous belt 301 is ensured to be stably driven without jumping.

As shown in fig. 9 to 10, the newspaper clipping device 4 drives a screw nut through a screw motor 403, so as to drive the clipping arm 401 to open and close to reciprocate, so as to realize clipping action, sensor brackets 405 are arranged at the left and right sides of the stroke of the clipping arm 401, and the open and close positions of the clipping arm 401 are controlled through installing a sensor 407; the whole support plate is connected with the lifting synchronization device 3 through the sliding fixing block 304, and auxiliary guide wheels are arranged on the left side and the right side, so that the support plate is prevented from swinging left and right in the up-and-down movement process. Two guide rails are arranged on the support plate and are connected with the clamping arm 401 in a mounted manner through sliding fixing blocks 304 distributed in a triangular manner, and the stability of the clamping arm 401 in the moving process is greatly enhanced in a double-slider and double-guide rail structure mode. The newspaper clamping claw 402 arranged on the clamping arm 401 can clamp goods to the greatest extent, falling is prevented, and the stability of equipment in the transportation process is improved by matching with the adjusting fixing block 404 arranged on the clamping arm 401.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The flat garage robot comprises an AGV driving trolley (1), wherein the AGV driving trolley comprises driving wheels and a frame, and the driving wheels are arranged below the frame; the method is characterized in that: the AGV driving trolley (1) is provided with a jacking device (2), a suspension buffer spring (5), a lifting synchronization device (3) and a newspaper clip device (4); the jacking device (2) is arranged in the AGV driving trolley (1), and a suspension buffer spring (5) is arranged between the jacking device (2) and the AGV driving trolley (1); the Automatic Guided Vehicle (AGV) driving trolley is characterized in that a lifting synchronization device (3) is vertically arranged on one side outside the AGV driving trolley (1), a newspaper clip device (4) is fixedly arranged on the lifting synchronization device (3), a motor is arranged on the AGV driving trolley (1), and the lifting synchronization device (3) and the newspaper clip device (4) are connected with the motor through a circuit.

2. A flat garage robot as claimed in claim 1, wherein: the jacking device (2) comprises a jacking platform (201) and a stepping motor (204), screw rod lifting devices (205) are respectively arranged on two sides of the stepping motor (204), a shaft connector (202) is connected between the screw rod lifting devices (205) and the stepping motor (204), a lifting shaft is arranged between the jacking platform (201) and the screw rod lifting devices (205), and a positioning cone (203) is fixedly arranged on the lifting shaft extending out of the jacking platform (201); the machine frame is divided into a front machine frame (104) and a rear machine frame (105), auxiliary universal wheels (103) are respectively arranged on two sides of the central axis of the front machine frame (104) and two sides of the central axis of the rear machine frame (105), and driving wheels are respectively arranged on two sides below the machine frame.

3. A flat garage robot as claimed in claim 1, wherein: the lifting synchronization device (3) comprises a lifting rack (306), a synchronization bearing (302) is arranged on the lifting rack (306), and a synchronous belt (301) is sleeved on the synchronization bearing (302); the middle of the lifting frame (306) is provided with a guide rail, the guide rail is provided with a plurality of positioning holes (303), the guide rail is sleeved with a sliding fixed block (304), the upper end and the lower end of the guide rail are respectively provided with a synchronous belt tensioning device (305) and a buffer (308), and the tail end of the lifting frame (306) is provided with a power supply (307).

4. A flat garage robot as claimed in claim 1, wherein: the newspaper clip device (4) comprises a newspaper clip arm (401) and a support plate, wherein the newspaper clip arm (401) is respectively arranged at two sides of the support plate to form a door shape; be provided with lead screw motor (403), sensor (407) and sensor support (405) on the bedplate, install a plurality of adjustment fixed blocks (404) on newspaper clamp arm (401), newspaper clamp arm (401) end is provided with newspaper clamping jaw (402).

5. The flat garage robot of claim 4, wherein: the newspaper clip device (4) is also provided with a chute (406), and the lifting synchronization device (3) is in sliding fit with the guide rail through the chute (406) between the newspaper clip device (4).

6. A flat garage robot as claimed in claim 1, wherein: the driving wheel comprises a front driving wheel (101) and a rear driving wheel (102), the front driving wheel (101) and the rear driving wheel (102) are respectively arranged below a front frame (104) and a rear frame (105), positioning pins are arranged on the front driving wheel (101) and the rear frame (105), and the positioning pins are connected with a motor.

7. A flat garage robot as claimed in claim 2, wherein: be provided with articulated pole (107) on preceding frame (104), be connected with connecting rod (108) between auxiliary universal wheel (103), carry out the block with preceding frame (104) and back frame (105) through articulated pole (107) and fix, auxiliary universal wheel (103) tread adopts polyurethane material, auxiliary universal wheel (103) and preceding drive wheel (101) and back drive wheel (102) form the tricycle structure.

8. A flat garage robot as claimed in claim 1, wherein: the bottom of the jacking device (2) is provided with a fixing bolt (206), and the front frame (104) and the rear frame (105) are provided with fixing nuts (106) matched with the fixing bolt (206).