Automatic guided vehicle (AGV) and automatic feeding and discharging butt joint device

Abstract

The invention relates to the technical field of feeding and discharging butt joint, and provides an AGV trolley and automatic feeding and discharging butt joint device which is limited through three air cylinders, improves the transfer precision, facilitates follow-up automatic grabbing of a mechanical arm, is good in coupling performance with the mechanical arm and is more practical. The AGV robot is provided with a mechanical arm used for picking up the goods shelf skip car, the goods shelf skip car is used for supporting and storing materials, the goods shelf skip car is fixedly connected with two alignment triangular plates, the two alignment triangular plates are both matched with the mechanical arm, the positioning device comprises a connecting frame, a left base and a right base, the left base and the right base are both fixedly connected with the connecting frame, and the left base and the right base are fixedly connected with the connecting frame. The connecting frame is fixedly connected with an air cylinder mounting frame, a first air cylinder is mounted on the air cylinder mounting frame, a check block is fixedly mounted on a telescopic rod of the first air cylinder, second air cylinders are mounted in the left base and the right base correspondingly, and opposite moving push plates are fixedly mounted on piston rods of the two second air cylinders correspondingly.

Description

Technical Field

[0001] The invention relates to the technical field of material loading and unloading docking, and in particular to a device for docking an AGV trolley with automatic material loading and unloading. Background Art

[0002] As we all know, AGV is the abbreviation of Automated Guided Vehicle. Its main function is to automatically transport logistics. The AGV handling robot automatically transports items to designated locations through special landmark navigation. In actual use, due to the different goods being transported, a matching cart is usually used to form synchronous transportation, and the specific goods to be transported are placed on the cart. In order to facilitate the rapid matching of the cart with the AGV handling robot, we have designed a device that connects the AGV cart with automatic loading and unloading.

[0003] After searching, the invention patent with Chinese patent application number CN202320670669.6 discloses an automatic loading and unloading equipment based on AGV, which is roughly described as including a frame, on which a loading conveyor line, a unloading conveyor line, a tray separation device, a tray stacking device, a clamping device, a positioning device and a tray pushing device are arranged. The loading conveyor line is used to load and transport the stacked tray groups on the AGV trolley, the tray separation device is used to separate the stacked tray groups, and leave the trays at the bottom of the tray group on the loading conveyor line, the tray pushing device is used to push the trays left on the loading conveyor line to the positioning device and the clamping device, and the positioning device and the clamping device are used to The tray stacking device is used to position and clamp the trays, the tray stacking device is used to stack the trays that have completed loading and unloading operations, the unloading conveyor line is used to convey the tray groups that have completed loading and unloading operations to the AGV cart. When in use, the loading conveyor line is used to load and transport the stacked tray groups on the AGV cart, the tray separating device is used to separate the stacked tray groups, and leave the trays at the bottom of the tray group on the loading conveyor line, and the tray pushing device is used to push the trays left on the loading conveyor line to the positioning device and the clamping device; the positioning device and the clamping device are used to position and clamp the trays, and the tray stacking device is used to stack the trays that have completed loading and unloading operations.

[0004] Although the above-mentioned existing technical solutions can be matched with AGV carts to achieve automatic docking, their overall space is limited, and their matching performance for larger shelf material carts is poor. In addition, the positioning accuracy needs to be further improved, and the practicality needs to be further enhanced. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In view of the shortcomings of the prior art, the present invention provides a device for docking an AGV trolley with automatic loading and unloading equipment. The device is limited by three cylinders, which improves the transfer accuracy and facilitates subsequent automated grasping by a robotic arm. The device has a high degree of automation, good coupling with the robotic arm, and is more practical.

[0007] (II) Technical solution

[0008] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a device for docking an AGV trolley with automatic loading and unloading materials, comprising a positioning device and a shelf trolley, and also comprising an AGV robot, wherein the AGV robot is equipped with a mechanical arm for lifting the shelf trolley, the shelf trolley is used for supporting and storing materials, and the bottom end of the shelf trolley is fixedly connected to two alignment triangles, and the two alignment triangles are matched with the mechanical arm, the positioning device comprises a connecting frame, a left base and a right base, the left base and the right base are fixedly connected to the connecting frame, the connecting frame is fixedly connected to a cylinder mounting frame, a first cylinder is installed on the mounting frame on the cylinder mounting frame, and the first A stopper is fixedly installed on the telescopic rod of the cylinder, and a second cylinder is installed in the left base and the right base, and the two second cylinders are symmetrically arranged on the left and right sides. A push plate is fixedly installed on the piston rods of the two second cylinders, and a plurality of guide strips are installed on the ends of the two push plates close to each other. Two left receiving plates for guiding are installed in the left base, and the two left receiving plates are matched with a push plate located on the left side. Two right linear bearings for guiding are installed in the right base, and the two right linear bearings are matched with a push plate located on the right side. Hook limiters are installed in the left base and the right base, and bottom support assemblies are installed on the left base and the right base.

[0009] Preferably, the two hook limit members each include a support mounting frame and a lever-type cylinder, the two support mounting frames are respectively fixedly connected in the left base and the right base, and the two support mounting frames are fixedly connected with an articulated support member, the two articulated supports are both articulated with an articulated frame, the two articulated frames are both articulated with a limit hook, the two limit hooks are respectively articulated to the telescopic rods of the two lever-type cylinders, the left base and the right base are each provided with a swing extension opening, and the two swing extension openings are respectively matched with the two limit hooks.

[0010] Preferably, a switch mounting plate is fixedly connected inside the left base and the right base, a plurality of proximity sensors are installed on the two switch mounting plates, and a sensing metal rod matching the proximity sensor is installed at the bottom end of the two limit hooks.

[0011] Preferably, the two base support assemblies each include a suspension bracket and a middle connecting frame, the two middle connecting frames are respectively connected to the left base and the right base, the two suspension brackets are respectively fixedly connected to the two middle connecting frames, and the two middle connecting frames are each installed with a plurality of support bolts, and the plurality of support bolts are respectively matched with the two suspension brackets.

[0012] Preferably, the mutually close ends of the two opposing push plates and the top ends of the two suspension brackets are fixedly connected with a plurality of mounting sleeves, support balls are arranged in the plurality of mounting sleeves, and support springs are arranged in the plurality of mounting sleeves, and the plurality of support springs are matched with the plurality of support balls respectively.

[0013] Preferably, an elastic layer is arranged between the telescopic rod of the first cylinder and the stop block, and between the piston rods of the two second cylinders and the two opposing push plates respectively, and a pressure sensor is arranged between the telescopic rod of the first cylinder and the stop block, and between the piston rods of the two second cylinders and the two opposing push plates respectively, and a lower notch matching the pressure sensor is opened on the elastic layer.

[0014] Preferably, two side extension plates are installed on the stopper, and proximity control switches are installed on both of the side extension plates.

[0015] Preferably, a photoelectric sensor is installed in the cylinder mounting frame, and the photoelectric sensor is used for identifying the robotic arm, and the end of the robotic arm away from the AGV robot is provided with two side transition fillets and two slopes.

[0016] (III) Beneficial effects

[0017] Compared with the prior art, the present invention provides a device for docking an AGV with an automatic loading and unloading machine, which has the following beneficial effects:

[0018] 1. In the present invention, through the design of the positioning device, the matching shelf material cart forms a corresponding alignment structure, which is limited by a first cylinder and two second cylinders, a total of three cylinders, to facilitate subsequent automated grasping by a robotic arm, and the degree of automation is relatively high.

[0019] 2. In the present invention, through the design of the hook limiter, after the shelf trolley is limited, the shelf trolley is positioned, the transfer accuracy is improved, and the coupling with the robot arm is better.

[0020] 3. In the present invention, through the design of the bottom bracket assembly, the matching shelf material cart forms a corresponding support, which is convenient for the matching shelf material cart to form a bracket limit in height, and also convenient for the height control of the shelf material cart, which is more practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional structural schematic diagram of the overall working state of the present invention;

[0022] Figure 2 For the present invention Figure 1 A schematic diagram of the local enlarged structure at point A in the middle;

[0023] Figure 3 For the present invention Figure 1 A schematic diagram of the local enlarged structure at B in the middle;

[0024] Figure 4 It is a partially cutaway three-dimensional structural schematic diagram of the relative working state of the positioning device and the AGV robot of the present invention;

[0025] Figure 5 For the present invention Figure 4 A schematic diagram of the local enlarged structure at C in the middle;

[0026] Figure 6 It is a bottom-up three-dimensional structural schematic diagram of the overall working state of the present invention;

[0027] Figure 7 It is a schematic diagram of the three-dimensional structure of the cylinder mounting frame, the first cylinder and the stopper etc. of the present invention;

[0028] Figure 8 It is a schematic diagram of the three-dimensional structure of the supporting mounting frame, the lever-type cylinder and the articulated support member of the present invention.

[0029] In the figure: 1. Shelf material cart; 2. AGV robot; 3. Robotic arm; 4. Alignment triangle plate; 5. Connecting frame; 6. Left base; 7. Right base; 8. Cylinder mounting frame; 9. First cylinder; 10. Stopper; 11. Second cylinder; 12. Opposite push plate; 13. Guide strip; 14. Left receiving plate; 15. Right linear bearing; 16. Support mounting frame; 17. Lever type cylinder; 18. Articulated support; 19. Articulated frame; 20. Limiting hook; 21. Swinging extension port; 22. Switch mounting plate; 23. Proximity sensor; 24. Inductive metal rod; 25. Suspension bracket; 26. Middle connecting frame; 27. Support bolt; 28. Mounting sleeve; 29. ​​Support ball; 30. Support spring; 31. Elastic layer; 32. Side extension plate; 33. Proximity control switch; 34. Photoelectric sensor; 35. Side transition fillet; 36. Slope. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] Example

[0032] See also Figure 1-Figure 8 , a device for docking an AGV trolley with automatic loading and unloading materials, including a positioning device and a shelf trolley 1, and also including an AGV robot 2, the AGV robot 2 is equipped with a mechanical arm 3 for lifting the shelf trolley 1, the shelf trolley 1 is used for supporting and storing materials, and the bottom end of the shelf trolley 1 is fixedly connected with two alignment triangles 4, and the two alignment triangles 4 are matched with the mechanical arm 3, the positioning device includes a connecting frame 5, a left base 6 and a right base 7, the left base 6 and the right base 7 are both fixedly connected to the connecting frame 5, the connecting frame 5 is fixedly connected with a cylinder mounting frame 8, a first cylinder 9 is installed on the mounting frame of the cylinder mounting frame 8, a stopper 10 is fixedly installed on the telescopic rod of the first cylinder 9, a second cylinder 11 is installed in the left base 6 and the right base 7, and the two second cylinders 11 are installed in the left base 6 and the right base 7. The two cylinders 11 are symmetrically arranged on the left and right sides, and a push plate 12 is fixedly installed on the piston rods of the two second cylinders 11. A plurality of guide strips 13 are installed on the ends of the two push plates 12 that are close to each other. Two left receiving plates 14 for guiding are installed in the left base 6, and the two left receiving plates 14 are matched with a push plate 12 on the left side. Two right linear bearings 15 for guiding are installed in the right base 7, and the two right linear bearings 15 are matched with a push plate 12 on the right side. Through the design of the positioning device, the matching shelf material cart 1 forms a corresponding alignment structure, which is limited by the first cylinder 9 and the two second cylinders 11, a total of three cylinders, to facilitate the subsequent automatic grasping by the robot arm 3, and the degree of automation is relatively high.

[0033] It should be further explained that a hook limiter is installed in the left base 6 and the right base 7, and the two hook limiters include a support mounting frame 16 and a lever-type cylinder 17. The two support mounting frames 16 are respectively fixedly connected to the left base 6 and the right base 7, and the two support mounting frames 16 are fixedly connected to an articulated support 18, and the two articulated supports 18 are articulated with an articulated frame 19, and the two articulated frames 19 are articulated with a limit hook 20, and the two limit hooks 20 are respectively connected to the two lever-type cylinders 17. The telescopic rod is hinged, and a swinging insertion port 21 is provided on the left base 6 and the right base 7. The two swinging insertion ports 21 are matched with two limit hooks 20 respectively. A switch mounting plate 22 is fixedly connected in the left base 6 and the right base 7. A plurality of proximity sensors 23 are installed on the two switch mounting plates 22. The bottom ends of the two limit hooks 20 are equipped with a sensing metal rod 24 matched with the proximity sensor 23. Through the design of the hook-hanging limiter, after the shelf trolley 1 is limited, the shelf trolley 1 is positioned to provide a The transfer accuracy is improved, and the coupling with the robot arm 3 is good. The left base 6 and the right base 7 are both equipped with bottom bracket components. The two bottom bracket components include a suspension bracket 25 and a middle connecting frame 26. The two middle connecting frames 26 are respectively connected to the left base 6 and the right base 7. The two suspension brackets 25 are respectively fixedly connected to the two middle connecting frames 26. A plurality of supporting bolts 27 are installed on the two middle connecting frames 26. The plurality of supporting bolts 27 are respectively matched with the two suspension brackets 25. Through the design of the bottom bracket component, the matching shelf material cart 1 forms a corresponding The support is convenient for the matching shelf material cart 1 to form a bracket limit in height, and it is also convenient for the height control of the shelf material cart 1, which is more practical. The ends of the two opposing push plates 12 that are close to each other and the top ends of the two suspension brackets 25 are fixedly connected with multiple mounting sleeves 28, and support balls 29 are arranged in the multiple mounting sleeves 28, and support springs 30 are arranged in the multiple mounting sleeves 28. The multiple support springs 30 are respectively matched with the multiple support balls 29, and the matching shelf material cart 1 forms a contact support, so that the shelf material cart 1 can be fine-tuned in position.

[0034] It should be further explained that an elastic layer 31 is provided between the telescopic rod of the first cylinder 9 and the stopper 10, and between the piston rods of the two second cylinders 11 and the two opposite push plates 12. A pressure sensor is provided between the telescopic rod of the first cylinder 9 and the stopper 10, and between the piston rods of the two second cylinders 11 and the two opposite push plates 12. A lower notch matching the pressure sensor is provided on the elastic layer 31 to facilitate the detection of the clamping force of the first cylinder 9 and the second cylinder 11. Two side extension plates 32 are installed on the stopper 10, and proximity control The control switch 33 can realize the control of the operating state of the first cylinder 9 during use, that is, the first cylinder 9 will work to drive the block 10 to approach the shelf trolley 1 and form a mutual contact only after the proximity control switch 33 detects that the shelf trolley 1 is close to an appropriate distance relative to the block 10. A photoelectric sensor 34 is installed in the cylinder mounting frame 8. The photoelectric sensor 34 is used for identifying the robot arm 3, and the end of the robot arm 3 away from the AGV robot 2 is provided with two side transition fillets 35 and two slopes 36, which are convenient for the insertion and guidance of the robot arm 3 relative to the bottom end of the shelf trolley 1.

[0035] The first cylinder 9, the second cylinder 11, the AGV robot 2, the lever-type cylinder 17, the proximity sensor 23, the proximity control switch, the pressure sensor and the photoelectric sensor 34 in this embodiment are all conventional devices purchased on the market and known to those skilled in the art. In the present invention, we only use them and do not improve their structure and function. For those skilled in the art, their setting method, installation method and electrical connection method only need to be debugged according to the requirements of the instruction manual and will not be described in detail here.

[0036] To sum up, the working process of the device for docking the AGV trolley with automatic loading and unloading is as follows: when in use, first, the AGV trolley is installed and debugged with the supporting external equipment of the device for docking the AGV trolley with automatic loading and unloading, and the corresponding air pump, air tank and pipeline system are installed for the first cylinder 9, the second cylinder 11 and the lever-type cylinder 17. The pipeline system is equipped with a control circuit, and the proximity sensor 23, the proximity control switch 33, the pressure sensor and the photoelectric sensor 34 are all connected to the control circuit. During the actual operation, the shelf trolley 1 is adjusted to enter the area enclosed by the connecting frame 5, the left base 6 and the right base 7, and then the three cylinders, a first cylinder 9 and two second cylinders 11, are used to limit the position. After the limiting is completed, the lever-type cylinder 17 works to realize the driving of the limit hook 20 so that the limit hook 20 is extended in the swing extension port 21, so as to further position the matching shelf trolley 1. During this process, the proximity sensor 23 realizes the extension and collection of the limit hook 20. The identification of the state, the proximity control switch 33 realizes the identification of the shelf trolley 1, the pressure sensor identifies the clamping force of the first cylinder 9 and the two second cylinders 11 acting on the shelf trolley 1, and by setting the threshold of the pressure sensor, the control of the clamping force of the first cylinder 9 and the two second cylinders 11 acting on the shelf trolley 1 can be realized. After the shelf trolley 1 is positioned and clamped, the AGV robot 2 works to control the robot arm 3 to fall, and automatically adjusts the relative position between the robot arm 3 and the positioning device, and then the robot arm 3 is inserted relative to the positioning device. During the insertion process, the robot arm 3 will enter the area between the two alignment triangles 4. When the photoelectric sensor 34 identifies the robot arm 3, it means that the robot arm 3 has been relatively aligned with the shelf trolley 1, and then the first cylinder 9, the second cylinder 11 and the lever-type cylinder 17 work again to relax the shelf trolley 1, so as to facilitate the robot arm 3 to grab the shelf trolley 1.

[0037] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A device for docking an AGV with an automatic loading and unloading machine, comprising a positioning device and a shelf material trolley (1), characterized in that: It also includes an AGV robot (2), the AGV robot (2) is equipped with a mechanical arm (3) for lifting a shelf trolley (1), the shelf trolley (1) is used for supporting and storing materials, and the bottom end of the shelf trolley (1) is fixedly connected with two alignment triangles (4), and the two alignment triangles (4) are matched with the mechanical arm (3), the positioning device includes a connecting frame (5), a left base (6) and a right base (7), the left base (6) and the right base (7) are both fixedly connected to the connecting frame (5), the connecting frame (5) is fixedly connected with a cylinder mounting frame (8), a first cylinder (9) is installed on the mounting frame of the cylinder mounting frame (8), a stopper (10) is fixedly installed on the telescopic rod of the first cylinder (9), and the left base (6) and the right base (7) are fixedly connected to each other. ) are both installed with a second cylinder (11), the two second cylinders (11) are symmetrically arranged on the left and right, a push plate (12) is fixedly installed on the piston rods of the two second cylinders (11), and a plurality of guide strips (13) are installed on the ends of the two push plates (12) close to each other, two left receiving plates (14) for guiding are installed in the left base (6), and the two left receiving plates (14) are matched with a push plate (12) located on the left side, two right linear bearings (15) for guiding are installed in the right base (7), and the two right linear bearings (15) are matched with a push plate (12) located on the right side, hook limiters are installed in the left base (6) and the right base (7), and bottom bracket assemblies are installed on the left base (6) and the right base (7).

2. The device for docking an AGV with an automatic loading and unloading device according to claim 1 is characterized in that: The two hook limit members each comprise a support mounting frame (16) and a lever-type cylinder (17); the two support mounting frames (16) are respectively fixedly connected to the left base (6) and the right base (7); and the two support mounting frames (16) are both fixedly connected to an articulated support member (18); the two articulated supports (18) are both articulated with an articulated frame (19); the two articulated frames (19) are both articulated with a limit hook (20); the two limit hooks (20) are respectively articulated with the telescopic rods of the two lever-type cylinders (17); the left base (6) and the right base (7) are both provided with a swing extension port (21); the two swing extension ports (21) are respectively matched with the two limit hooks (20).

3. The device for docking an AGV with an automatic loading and unloading machine according to claim 2, characterized in that: A switch mounting plate (22) is fixedly connected inside the left base (6) and the right base (7), a plurality of proximity sensors (23) are mounted on the two switch mounting plates (22), and a sensing metal rod (24) matching the proximity sensor (23) is mounted at the bottom end of the two limit hooks (20).

4. The device for docking an AGV with an automatic loading and unloading device according to claim 3 is characterized in that: The two base assemblies each comprise a suspension bracket (25) and a middle connecting frame (26); the two middle connecting frames (26) are respectively connected to the left base (6) and the right base (7); the two suspension brackets (25) are respectively fixedly connected to the two middle connecting frames (26); a plurality of support bolts (27) are installed on the two middle connecting frames (26); and the plurality of support bolts (27) are respectively matched with the two suspension brackets (25).

5. The device for docking an AGV with an automatic loading and unloading machine according to claim 4, characterized in that: A plurality of mounting sleeves (28) are fixedly connected to the mutually adjacent ends of the two opposing push plates (12) and the top ends of the two suspension brackets (25), and a plurality of mounting sleeves (28) are each provided with a supporting ball (29), and a plurality of mounting sleeves (28) are each provided with a supporting spring (30), and the plurality of supporting springs (30) are respectively matched with the plurality of supporting balls (29).

6. The device for docking an AGV with an automatic loading and unloading machine according to claim 5, characterized in that: An elastic layer (31) is provided between the telescopic rod of the first cylinder (9) and the stopper (10), and between the piston rods of the two second cylinders (11) and the two opposing push plates (12); a pressure sensor is provided between the telescopic rod of the first cylinder (9) and the stopper (10), and between the piston rods of the two second cylinders (11) and the two opposing push plates (12); and a lower notch matching the pressure sensor is provided on the elastic layer (31).

7. The device for docking an AGV with an automatic loading and unloading machine according to claim 6, characterized in that: Two side extension plates (32) are installed on the stopper (10), and proximity control switches (33) are installed on both of the side extension plates (32).

8. The device for docking an AGV with an automatic loading and unloading machine according to claim 7, characterized in that: A photoelectric sensor (34) is installed in the cylinder mounting frame (8), and the photoelectric sensor (34) is used for identifying the mechanical arm (3), and the end of the mechanical arm (3) away from the AGV robot (2) is provided with two side transition fillets (35) and two slopes (36).

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