CN220745286U

CN220745286U - Conveying accessory and conveying device

Info

Publication number: CN220745286U
Application number: CN202322470779.0U
Authority: CN
Inventors: 龙昊天; 那耀宗; 袁伟
Original assignee: Hangzhou Hikrobot Co Ltd
Current assignee: Hangzhou Hikrobot Co Ltd
Priority date: 2023-09-12
Filing date: 2023-09-12
Publication date: 2024-04-09
Anticipated expiration: 2033-09-12

Abstract

The utility model discloses a carrying accessory and a carrying device, which relate to the technical field of carrying devices and are used for carrying devices, wherein the carrying accessory comprises an adjusting mechanism arranged on an installation foundation and a fork body for placing materials, and the adjusting mechanism is connected with the fork body to adjust the posture of the fork body.

Description

Conveying accessory and conveying device

Technical Field

The utility model relates to the technical field of conveying devices, in particular to a conveying accessory and a conveying device.

Background

AGVs are abbreviations for Automated Guided Vehicle, i.e. "automated guided vehicles". An AGV is a transport vehicle equipped with an automatic guidance device such as electromagnetic or optical, capable of traveling along a predetermined guidance path, and having safety protection and various transfer functions. The AGVs are of a hidden type, a traction type, a self-discharging type, a lifting type, a forklift type and the like, and can work with different accessories according to different working conditions. The forklift or stacking AGVs are provided with fork frames or door frames which can be lifted, the existing accessories developed for the AGVs are manufactured for the purposes of forking special cargoes (manufacturing special shapes), adjusting the positions of the cargoes (tilting, lateral moving and redirecting), realizing mechanism actions (clamping, lifting and adjusting) and the like, but under certain high-precision butt joint requirement situations, the butt joint precision is consistent with the walking precision of the AGVs due to the existing accessories of the AGVs, so that high-precision butt joint is difficult to realize.

Disclosure of Invention

The present utility model aims to solve one of the technical problems in the related art to a certain extent. Therefore, the utility model provides a carrying accessory and a carrying device in the first aspect, which have the advantage of accurate adjustment of the full freedom degree of a plane and provide a foundation for high-precision butt joint.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a transport accessory for on the handling device, its characterized in that, transport accessory is including being used for setting up the adjustment mechanism on the installation basis and being used for placing the fork body of material, just adjustment mechanism with the fork body links to each other, in order to adjust the gesture of fork body.

Optionally, the adjusting mechanism includes a plurality of sub-adjusting mechanisms, and the plurality of sub-adjusting mechanisms are respectively used for adjusting the attitudes of the fork bodies in different directions.

Optionally, the plurality of sub-adjustment mechanisms includes a first sub-adjustment mechanism, a second sub-adjustment mechanism, and a third sub-adjustment mechanism;

the first sub-adjustment mechanism is used for adjusting displacement in the x-axis direction, the second sub-adjustment mechanism is used for adjusting displacement in the y-axis direction, and the third sub-adjustment mechanism is used for adjusting the rotation angle on the xy-plane.

Optionally, the third sub-adjusting mechanism is arranged on the installation base, and the second sub-adjusting mechanism is stacked on the third sub-adjusting mechanism so as to rotate in an xy plane under the drive of the third sub-adjusting mechanism;

the first sub-adjusting mechanism is stacked on the second sub-adjusting mechanism so as to move along the y axis under the drive of the second sub-adjusting mechanism;

the fork body is connected with the first sub-adjusting mechanism so as to move along the x axis under the drive of the first sub-adjusting mechanism.

Optionally, the third sub-adjusting mechanism comprises a base, a turntable rotatably sleeved outside the base, and a third motor for driving the turntable to rotate; the turntable is connected with the second sub-adjusting mechanism.

Optionally, a gear ring is arranged outside the turntable; the third motor is fixed with the base, a gear meshed with the gear ring is arranged on an output shaft of the third motor, and the number of teeth of the gear is smaller than that of the gear ring.

Optionally, a positioning part is arranged on the end surface of one side of the base, and an axial contact bearing is arranged on the end surface of the other side of the base; the axial contact bearing is provided with two rotating bodies which are oppositely arranged in the axial direction of the bearing; one of the rotating bodies is fixed with the end face of the base, and the other rotating body is connected with the second sub-adjusting mechanism.

Optionally, the second sub-adjusting mechanism includes a second support plate, a second guide rail assembly, a second screw transmission assembly, and a second motor for driving the second screw transmission assembly;

the second supporting plate is arranged on the third sub-adjusting mechanism; the second guide rail assembly is arranged between a second supporting plate and the first sub-adjusting mechanism so as to support the first sub-adjusting mechanism to move;

the second motor is fixed on the second supporting plate and drives the first sub-adjusting mechanism to move through a second screw rod transmission assembly.

Optionally, the first sub-adjusting mechanism includes a first support plate, a first guide rail assembly, a first screw transmission assembly, and a first motor for driving the first screw transmission assembly;

the first supporting plate is arranged on the second sub-adjusting mechanism; the first guide rail assembly is arranged between the first supporting plate and the fork body so as to support the fork body;

the first motor is fixed on the first supporting plate and drives the fork body to move through the first screw rod transmission assembly.

Optionally, the device further comprises a displacement sensor which is arranged on the carrying device and used for detecting the material orientation or the abutting position.

In addition, the utility model also provides a carrying device in a second aspect, which comprises a vehicle body and the carrying accessory in the first aspect, wherein the vehicle body is provided with a mounting base, the carrying accessory is detachably mounted on the mounting base, and the mounting base is a fork frame or a portal frame.

These features and advantages of the present utility model will be disclosed in more detail in the following detailed description and the accompanying drawings. The best mode or means of the present utility model will be described in detail with reference to the accompanying drawings, but is not limited to the technical scheme of the present utility model. In addition, these features, elements, and components are shown in plural in each of the following and drawings, and are labeled with different symbols or numerals for convenience of description, but each denote a component of the same or similar construction or function.

Drawings

The utility model is further described below with reference to the accompanying drawings:

fig. 1 is a schematic structural view of the transporting device in this embodiment, showing transporting accessories provided on a fork carriage.

Fig. 2 is an exploded view of the adjusting mechanism of the carrying device according to the present embodiment.

Fig. 3 is an exploded view of the adjustment mechanism of the present embodiment.

Fig. 4 is a schematic diagram illustrating a docking state of the handling device and the docking station according to the embodiment.

Fig. 5 is an enlarged view at a in the present embodiment.

Wherein, 1, a carrying device; 10. a fork body; 100. a support body; 120. a cantilever; 130. a fork arm; 140. reinforcing the connection portion; 20. an adjusting mechanism; 210. a first sub-adjustment mechanism; 211. a first support plate; 212. a first rail assembly; 213. a first screw drive assembly; 214. a first motor; 220. a second sub-adjustment mechanism; 221. a second support plate; 222. a second rail assembly; 223. a second screw drive assembly; 224. a second motor; 230. a third sub-adjustment mechanism; 231. a base; 232. a turntable; 233. a third motor; 234. an axial contact bearing; 30. a vehicle body; 31. a fork rack; 32. a position sensor; 321. a cargo code camera; 40. a docking station; 41. a machine reference code; 42. a ground code; 50. goods; 51. and (5) a cargo code.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The examples in the embodiments are intended to illustrate the present utility model and are not to be construed as limiting the present utility model.

Reference in the specification to "one embodiment" or "an example" means that a particular feature, structure, or characteristic described in connection with the embodiment itself can be included in at least one embodiment of the disclosure. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.

Examples:

as shown in fig. 1, a transporting apparatus 1 is shown, which includes a vehicle body 30 and transporting accessories, wherein a mounting base is provided on the vehicle body 30, and the transporting accessories are detachably mounted on the mounting base. According to the kind of the transporting device 1, the mounting base is the fork frame 31, or the portal, for example, when the transporting device 1 is a forklift type AGV, the mounting base is the fork frame 31, and when the transporting device 1 is a stacker type AGV, the mounting base is the portal, and the specific situation can be flexibly set.

The carrying accessory comprises an adjusting mechanism 20 and a fork body 10, wherein the adjusting mechanism 20 is arranged on an installation base, the fork body 10 is used for placing materials, and the adjusting mechanism 20 is connected with the fork body 10 to adjust the posture of the fork body 10. Here, the posture refers to the direction and position of the fork 10, and the adjustment mechanism 20 may adjust the displacement of the fork 10 in a certain direction or adjust the rotation angle of the fork on a plane perpendicular to the direction. As shown in fig. 2 and 3, the adjustment mechanism 20 includes a plurality of sub-adjustment mechanisms for adjusting the posture of the fork 10 in different directions, respectively. The plurality of sub-adjustment mechanisms includes a first sub-adjustment mechanism 210, a second sub-adjustment mechanism 220, and a third sub-adjustment mechanism 230. Each sub-adjustment mechanism has one degree of freedom adjustment, and the three sub-adjustment mechanisms have exactly different degrees of freedom for adjustment.

In terms of the spatial rectangular coordinate system, the three sub-adjustment mechanisms can respectively adjust the displacement in the x-axis and the y-axis on the horizontal plane, and the rotation around the z-axis (or the rotation angle in the xy-plane).

Specifically, the first sub-adjustment mechanism 210 is used for adjusting displacement in the x-axis direction, the second sub-adjustment mechanism 220 is used for adjusting displacement in the y-axis direction, and the third sub-adjustment mechanism 230 is used for adjusting the rotation angle in the xy-plane. The three sub-adjustment mechanisms are stacked together such that the adjustment mechanism 20 enables full (xy) plane degree of freedom adjustment.

It should be noted that, the (xy) plane full-degree-of-freedom adjustment of the adjustment mechanism 20 is independent of the arrangement order of the three sub-adjustment mechanisms, and those skilled in the art can flexibly adjust the arrangement order of the three sub-adjustment mechanisms according to the need, which is not limited herein.

The present embodiment is described taking, as an example, a manner in which the third sub-adjusting mechanism 230, the second sub-adjusting mechanism 220, and the first sub-adjusting mechanism 210 are stacked in this order on the fork carriage 31. The third sub-adjusting mechanism 230 is disposed on the fork frame 31, and the second sub-adjusting mechanism 220 is stacked on the third sub-adjusting mechanism 230 to rotate in the xy plane under the driving of the third sub-adjusting mechanism 230. The first sub-adjustment mechanism 210 is stacked on the second sub-adjustment mechanism 220, so as to move along the y-axis under the driving of the second sub-adjustment mechanism 220. The fork 10 is connected to the first sub-adjustment mechanism 210, so as to move along the x-axis under the driving of the first sub-adjustment mechanism 210.

As shown in fig. 3, the third sub-adjustment mechanism 230 includes a base 231, a turntable 232 rotatably sleeved outside the base 231, and a third motor 233 for driving the turntable 232 to rotate, and the turntable 232 is connected with the second sub-adjustment mechanism 220.

The rotary table 232 is externally provided with a gear ring, the third motor 233 is fixed with the base 231, an output shaft of the third motor 233 is provided with a gear meshed with the gear ring for transmission, and the number of teeth of the gear is smaller than that of the gear ring, so that the motor can drive the rotary table 232 to rotate with smaller output, and the rotary table 232 drives the second sub-adjusting mechanism 220 to drive the first sub-adjusting mechanism 210, thereby finally achieving the purpose of adjusting the rotation angle of the fork 10.

The base 231 has a positioning portion on a lower end surface, and the positioning portion has a concave-convex structure. Correspondingly, another positioning portion is also provided on the fork carriage 31, which is matched with the positioning portion. For example, in the drawing, the positioning portion on the fork frame 31 is a circular protrusion (see fig. 3), and the positioning portion on the lower end surface of the base 231 is a groove adapted to the outer diameter of the circular protrusion.

An axial contact bearing 234 is arranged on the end surface of the other side of the base 231, and the axial contact bearing 234 is provided with two rotating bodies oppositely arranged in the axial direction of the bearing; one of the rotating bodies is fixed to an end surface of the base 231, and one of the rotating bodies is connected to the second sub-adjustment mechanism 220. The second sub-adjustment mechanism 220 and the upper mechanism can be effectively supported by the axial contact bearing 234, and resistance can be effectively reduced when the second sub-adjustment mechanism 220 rotates on the base 231.

As shown in fig. 2, the second sub-adjustment mechanism 220 includes a second support plate 221, a second rail assembly 222, a second screw transmission assembly 223, and a second motor 224 for driving the second screw transmission assembly 223; the first sub-adjustment mechanism 210 includes a first support plate 211, a first rail assembly 212, a first screw transmission assembly 213, and a first motor 214 for driving the first screw transmission assembly 213.

The second support plate 221 is disposed on the third sub-adjustment mechanism 230. Specifically, the bottom of the second support plate 221 contacts with the rotor above in the axial contact bearing 234, and is effectively supported by the base 231 through the axial contact bearing 234, and the turntable 232 outside the axial contact bearing 234 is fixed to the bottom of the second support plate 221, so that the turntable 232 can drive the second support plate 221 when rotating.

The second rail assembly 222 is disposed between the second support plate 221 and the first support plate 211 to support the first sub-adjustment mechanism 210 for movement. Specifically, the second rail assembly 222 includes a rail disposed on a surface of the second support plate 221 in the y-axis direction, and a slider slidably coupled to a bottom of the first support plate 211 such that the first support plate 211 can be linearly moved in the y-axis direction.

The second guide rail assemblies 222 are two, the two second guide rail assemblies 222 are arranged in parallel, and the second screw rod transmission assembly 223 is arranged in the middle of the two second guide rail assemblies 222. The screw drive assembly may be a ball screw drive assembly or a roller screw drive assembly. The accuracy of movement of the roller screw drive assembly will be higher than that of the ball screw drive assembly, and a person skilled in the art can make a flexible choice according to the accuracy requirements without limitation.

Taking a screw transmission assembly as an example for explanation, the screw transmission assembly comprises a bearing seat, a screw and a nut block. The two ends of the screw rod are fixed on the second supporting plate 221 through bearing blocks, the screw rod can freely rotate, the nut block is sleeved on the screw rod and connected with the bottom of the first supporting plate 211, and the second motor 224 is fixed on the second supporting plate 221 and is coaxially driven with the screw rod. When the second motor 224 rotates forward or backward, the screw rod can be driven, and the rotation of the screw rod is converted into linear displacement of the nut block on the screw rod along the axial direction of the screw rod, so that the nut block drives the first support plate 211 to displace along the y-axis direction. The axial direction of the screw rod is the same as the y-axis.

The first rail assembly 212 is disposed between the first support plate 211 and the fork 10 to support the fork 10. The first rail assembly 212 is specifically configured with reference to the second rail assembly 222, which is not described in detail herein. The difference is that the first rail assembly 212 is disposed in the x-axis direction perpendicular to the y-axis direction. The carriage in the first rail assembly 212 is fixed with the fork 10.

Similarly, the first screw driving assembly 213 may refer to the arrangement of the second screw driving assembly 223, and the difference between them is that the arrangement direction of the first screw driving assembly 213 is the x-axis and is perpendicular to the y-axis. The nut block in the first screw driving assembly 213 is fixed to the fork 10, the first motor 214 is fixed to the first support plate 211, the first motor 214 is connected to the second screw driving assembly 223 through belt driving, and when the first motor 214 rotates forward or rotates backward, the fork 10 is driven to move in the x-axis direction.

In one embodiment, the upper end of the fork 10 is connected to the adjustment mechanism 20, and the lower end of the fork 10 extends downward below the fork carriage 31. Specifically, the fork 10 includes a support body 100, a cantilever arm 120, and a fork arm 130. The bottom of the support body 100 is fixed to the slide in the first rail assembly 212 and also to the nut block in the first screw drive assembly 213.

The cantilever 120 and the sub-adjustment mechanism are both located below the support body 100. The cantilever 120 is vertically arranged, and a plurality of cantilevers can be arranged and distributed at the bottom edge of the support body, and the upper end of the cantilever 120 is connected with the bottom of the support body. The support body 100 has a sufficient length and width so that it has a sufficient distance between the cantilevers 120 when driven by the first, second, or third sub-moving mechanisms, and does not erroneously hit the fork frame 31 of the transporting device 1.

The fork arms 130 are two, and the two fork arms 130 are arranged in parallel and located at the same height. One end of fork arm 130 is connected to the lower end of boom 120 and the other end is a free end. For added strength, one end of the same fork arm 130 may be connected to a plurality of cantilevers 120, but the free end of the fork arm 130 is of sufficient length for placement of material. Sufficient space is left between the prongs 130 and the fork carriage 31, and between the prongs 130 to accommodate the material to be placed, to avoid material from hitting the fork carriage 31 during adjustment of the prongs 130.

If the material placed on the fork arms 130 is a heavy object, reinforcing ribs or reinforcing connectors may be provided between the support body 100 and the cantilever arms 120, and between the cantilever arms 120 and the fork arms 130. The reinforcing connection piece is obliquely arranged, one end of the reinforcing connection piece is connected with the cantilever 120, the other end of the reinforcing connection piece is connected with the fork arm 130, and a triangular structure is formed among the reinforcing connection piece, the cantilever 120 and the fork arm 130, so that stability can be improved.

It should be noted that only one embodiment of the fork arm 130 is shown, and those skilled in the art may adapt the structure thereof according to the materials, which is not limited herein. In addition, the materials herein include, but are not limited to, cargo, and may also include special purpose implements for securing cargo.

The carrier device, that is, the AGV, generally uses a PLC to connect various sensors and various actuators on the body. In this embodiment, the handling tool is detachably mounted on the handling device according to the actual situation, and the actuating element in the adjusting mechanism 20 is directly and electrically connected to the PLC of the handling device, so that the operation can be completed under the control of the PLC.

The adjustment parameters (i.e., displacement distance and rotation angle) for the material by the adjustment mechanism 20 can be obtained directly from existing sensors on the handling device. If the existing handling device lacks a corresponding sensor, the handling device in this embodiment further includes a position sensor 32 (see fig. 1) disposed at the bottom of the handling device, for example, a displacement sensor disposed on a bottom fork of the forklift type AGV, and in particular, may be disposed on a cross beam between the bottom forks, for detecting the material orientation or the docking position, so that the adjustment mechanism 20 adjusts the position of the material according to the detection value of the position sensor 32.

The position sensor 32 includes, but is not limited to, a code reading camera, a laser sensor, and the like.

As shown in fig. 4 and 5, for example, two code reading cameras are respectively arranged in the middle of the beam between the bottom forks, namely a cargo code camera 321 and a ground code camera. The code reading camera can be located under the fork body 10 (or the material on the fork body), the goods code camera 321 and the ground code camera are opposite, the visual angle of the goods code camera 321 is upward, and the code reading camera is used for reading the goods code 51 or the machine table reference code 41 stuck on the bottom surface of the material (namely the goods 50), wherein the goods code 51 is stuck on the bottom surface of the material, the machine table reference code 41 is stuck on the bottom surface of the docking machine 40 downward, and the machine table reference code 41 and the goods code 51 are in the visual field of the goods code camera 321. The ground code camera is directed downward in view angle, and is used for reading the ground code 42, and the ground code 42 is adhered to the ground on the forklift entering side of the docking station 40.

The working condition for realizing high-precision docking in this embodiment is that the goods 50 are placed on the designated position of the docking station 40 through four positioning pins. All mechanisms of the forklift attachment part are located at the original positions, and two schemes can be adopted for the pick-and-place business process:

scheme one: the forklift is driven into the storage position to fetch goods, and the position of the goods is confirmed by identifying the position of the ground code 42 through the ground code camera. The fork frame 31 of the forklift is lifted to drive the carrying accessory, and after the carrying accessory is taken out through the fork arm 130, the self-walking precision of the forklift is difficult to meet the requirement of the docking precision in the process of putting the goods, so that the carrying accessory is realized by using the adjusting mechanism 20. Firstly, still the ground code camera is used for identifying the ground code 42, the forklift truck is driven into the storage position, at the moment, the relative position of the coordinates of the ground code camera and the ground code 42 needs to be fed back in the field of view of the ground code camera, the position of the goods 50 is adjusted according to the relative position, meanwhile, the goods code camera 321 starts to scan the goods code 51, and the relative position of the coordinates of the goods code camera 321 and the goods code 51 is fed back. The control device (for example, PLC) of the forklift truck converts the position difference between the goods-delivering code 51 and the ground code 42 into a motion displacement parameter or a rotation angle parameter of the adjusting mechanism 20 by calculating, and gives the corresponding parameter to the three sub-adjusting mechanisms, the actuating element (motor) corresponding to the sub-adjusting mechanism acts to adjust the positions of the three coordinates of the goods 50, x, y and θ (the angle rotating on the xy plane), so that the goods-delivering code 51 corresponds to the ground code 42, at this moment, the goods 50 can reach the accuracy range of the docking requirement, and the position is confirmed again by the goods-delivering code camera 321, after confirming the position, the goods 50 can be delivered, the forklift truck withdraws from the storage position, and the docking and the complete goods 50 picking and placing process is completed.

Scheme II: the floor code camera and the pasting floor code 42 are not required to be installed, only the goods code camera 321 is used, the machine table reference code 41 is used for scanning the floor code 42 instead of the code camera in the process of picking and placing goods, the forklift entering position recognition is carried out through the machine table reference code 41, and the goods 50 position is adjusted through the relative position difference comparison of the machine table reference code 41 and the goods code 51, so that the same purpose can be achieved.

Specifically, the scheme can be flexibly selected according to the situation by a person skilled in the art, and the scheme is not limited.

The above is only a specific embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and it should be understood by those skilled in the art that the present utility model includes but is not limited to the accompanying drawings and the description of the above specific embodiment. Any modifications which do not depart from the functional and structural principles of the present utility model are intended to be included within the scope of the appended claims.

Claims

1. The utility model provides a transport accessory for on the handling device, its characterized in that, transport accessory is including being used for setting up the adjustment mechanism on the installation basis and being used for placing the fork body of material, just adjustment mechanism with the fork body links to each other, in order to adjust the gesture of fork body.

2. The handling attachment of claim 1, wherein the adjustment mechanism comprises a plurality of sub-adjustment mechanisms for adjusting the attitude of the fork in different directions, respectively.

3. The handling attachment of claim 2, wherein the plurality of sub-adjustment mechanisms includes a first sub-adjustment mechanism, a second sub-adjustment mechanism, and a third sub-adjustment mechanism;

4. A handling attachment according to claim 3, wherein the third sub-adjustment mechanism is provided on the mounting base, the second sub-adjustment mechanism being stacked on the third sub-adjustment mechanism to rotate in the xy plane under the drive of the third sub-adjustment mechanism;

5. The handling attachment of claim 4, wherein the third sub-adjustment mechanism comprises a base, a turntable rotatably sleeved outside the base, and a third motor for driving the turntable to rotate; the turntable is connected with the second sub-adjusting mechanism.

6. The carrying attachment of claim 5, wherein a gear ring is provided outside the turntable; the third motor is fixed with the base, a gear meshed with the gear ring is arranged on an output shaft of the third motor, and the number of teeth of the gear is smaller than that of the gear ring.

7. The carrying attachment according to claim 5, wherein a positioning portion is provided on an end face of one side of the base, and an axial contact bearing is provided on an end face of the other side of the base; the axial contact bearing is provided with two rotating bodies which are oppositely arranged in the axial direction of the bearing; one of the rotating bodies is fixed with the end face of the base, and the other rotating body is connected with the second sub-adjusting mechanism.

8. The handling attachment of claim 4, wherein the second sub-adjustment mechanism comprises a second support plate, a second rail assembly, a second screw drive assembly, and a second motor for driving the second screw drive assembly;

9. The handling attachment of claim 4, wherein the first sub-adjustment mechanism comprises a first support plate, a first rail assembly, a first screw drive assembly, and a first motor for driving the first screw drive assembly;

10. The handling attachment of claim 1, further comprising a displacement sensor for positioning on the handling device and for detecting a material orientation or a docking position.

11. A carrying device comprising a vehicle body, and a carrying attachment as claimed in any one of claims 1 to 10; the vehicle body is provided with a mounting base, and is characterized in that the carrying accessory is detachably mounted on the mounting base, and the mounting base is a fork frame or a portal frame.