Grooved material pallet based on AGV robot transportation

Abstract

The present invention belongs to the technical field of material pallet transportation, and specifically relates to a groove-type material pallet based on AGV robot transportation, which includes a material tray and a transport vehicle, wherein two through grooves are arranged on the left side of the material tray, two through grooves are arranged on the rear side of the material tray, and a plurality of notches are arranged on the surface of the material tray; a lifting mechanism and a rotating mechanism are arranged inside the transport vehicle, a rotating shaft is connected to the upper bearing of the transport vehicle, and the rotating shaft is connected to the lifting mechanism and the rotating mechanism, a sliding block is slidably connected to the upper side of the rotating shaft, and the middle shaft of the sliding block is connected to a support plate, hydraulic chambers are arranged on the upper left and right sides of the transport vehicle, and a hydraulic plate is slidably connected to the inner wall of the hydraulic chamber. The device solves the problem that when the AGV robot is currently used to transport materials, the robot generates inertia when stopping and walking, causing the materials stacked on the material tray to fall, resulting in reduced work safety and even damage to the materials.

Description

Technical Field

[0001] The present invention belongs to the technical field of material pallet transportation, and in particular relates to a grooved material pallet based on AGV robot transportation. Background Art

[0002] A material pallet is a medium that turns static goods into dynamic goods. It is a cargo platform, and it is also an active platform, or a movable ground. Even if the goods are placed on the ground and lose their flexibility, they will immediately become mobile goods once they are loaded on the pallet. Material pallets are generally moved by AGV robots or forklifts. When the material pallet is moved by an AGV robot, the inertia generated by the robot during movement and stopping can easily cause the materials on the pallet to fall off the pallet, making the transportation process unstable. This phenomenon has become a problem that people in this field need to solve urgently. Summary of the invention

[0003] The object of the present invention is to provide a grooved material pallet based on AGV robot transportation to solve the problems raised in the above background technology.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: a grooved material pallet based on AGV robot transportation, comprising a material tray and a transport vehicle, the left side of the material tray is provided with two through grooves, the rear side of the material tray is provided with two through grooves, and the surface of the material tray is provided with a plurality of notches; a lifting mechanism and a rotating mechanism are provided inside the transport vehicle, the upper bearing of the transport vehicle is connected with a rotating shaft, and the rotating shaft is connected with the lifting mechanism and the rotating mechanism, a sliding block is slidably connected above the rotating shaft, and the middle shaft of the sliding block is connected to a support plate, hydraulic chambers are provided on both sides of the upper left and right sides of the transport vehicle, the inner wall of the hydraulic chamber is slidably connected with a hydraulic plate, a support rod is fixedly installed above the hydraulic plate, and the support rod is in contact with the bottom surface of the support plate, a driving chamber is connected with a pipeline between the bottoms of the two hydraulic chambers, and a driving mechanism is provided inside the driving chamber.

[0005] The present invention further illustrates that the driving mechanism includes a motor, a gear, a toothed plate, a sliding rod, two connecting rods and two slide plates; the motor is fixedly installed on the inner wall of the driving cavity, the gear is fixedly connected to the output end of the motor, the two slide plates are respectively slidably connected to the left and right sides of the lower part of the driving cavity, and the two connecting rods are respectively fixedly installed on the inner sides of the two slide plates, a slide rail is fixedly installed on the bottom of the inner wall of the driving cavity, a telescopic joint is slidably connected above the slide rail, a pin is fixedly installed on the upper end of the telescopic joint, the inner ends of the two connecting rods are both provided with holes, and the two holes are aligned, and the pin is inserted into the two holes for connecting the two connecting rods, a slide groove is provided in the middle of the interior of the driving cavity, the slide rod is fixedly installed above the connecting rod on the left side and is slidably connected to the inside of the slide groove, the toothed plate is fixedly installed on the upper end of the slide rod and meshes with the gear, and the outer sides of the two slide plates are filled with hydraulic oil.

[0006] The present invention further illustrates that two push rods are slidably connected above the rotating shaft, and the upper ends of the two push rods are in contact with the bottom surface of the supporting plate, and an extrusion plate is fixed to the lower ends of the two push rods. The interior of the rotating shaft is hollow, and the extrusion plate is slidably connected to the inner wall of the rotating shaft, and the bottom end of the sliding block is fixed to the upper surface of the extrusion plate; a number of weight springs are fixed between the bottom of the extrusion plate and the bottom of the inner wall of the rotating shaft, the bottom of the rotating shaft is connected to the upper pipeline of the hydraulic chamber, and the bottom of the extrusion plate is also filled with hydraulic oil.

[0007] The present invention further describes that two hoses are connected to the telescopic joint above the rotating shaft, and a pressure valve is provided in one hose, and a control valve is provided in the other hose, and a strong tension spring is connected between the right side of the slide plate and the right side of the inner wall of the driving chamber.

[0008] The present invention further describes that a weight sensing module is provided inside the support plate, and a control module is provided inside the motor. The weight sensing module is electrically connected to the control module. The weight sensing module is used to sense the weight of the material on the support plate in real time. The control module is used to control the torque of the motor when it rotates according to the weight of the material, and control the direction of the motor according to the running state of the transport vehicle when walking and stopping.

[0009] The present invention further illustrates that the steering control of the motor is as follows: when the transport vehicle starts moving, the control module controls the motor to rotate counterclockwise, and then rotates clockwise to reset instantly after rotating ninety degrees; when the transport vehicle stops, the control module controls the motor to rotate clockwise, and then rotates counterclockwise to reset instantly after rotating ninety degrees.

[0010] The present invention further illustrates that the torque control of the motor includes: , is the torque of the motor, is the maximum torque of the motor, is the weight of the material, It is the maximum weight that the support tray can support. The heavier the material, the greater the torque of the motor.

[0011] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the material tray adopted by the present invention is inserted into the through slot of the material tray, or into the through slot, so as to lift the material tray. The material tray is convenient and quick to lift, and has high supporting strength. At the same time, the forklift can also lift the material by inserting it between the slots, so the use effect is better. At the same time, when transporting materials, the materials are affected by inertia and tilt, and their own weight can offset the inertia, so as to prevent the materials from falling due to inertia, enhance the work safety, and prevent accidents. At the same time, a downward force is applied to the hydraulic plate to prevent the hydraulic plate from moving upward too fast due to the torque at the moment of starting the motor, thereby preventing the support plate from tilting too fast, preventing the materials from being shaken off, further strengthening the protection of the materials, and playing a buffering role.

[0012] At the moment when the transport vehicle starts and stops, the support plate can be tilted less when the material is heavy, thereby preventing heavy and high-stacked materials from sliding down and causing the materials to fall, further protecting the materials and further enhancing transportation safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0015] Figure 2 It is a schematic diagram of the structure of the support tray of the present invention;

[0016] Figure 3 It is a front view of the present invention;

[0017] Figure 4 It is a schematic diagram of the structure below the support plate of the present invention;

[0018] Figure 5 It is a schematic diagram of the internal structure of the driving chamber of the present invention;

[0019] Figure 6 It is a schematic diagram of the pipe connection between the rotating shaft and the hydraulic chamber and the expansion joint of the present invention;

[0020] In the figure: 1. support tray; 11. through slot; 12. through slot; 13. notch; 2. transport vehicle; 21. rotating shaft; 211. push rod; 212. extrusion plate; 213. weight spring; 22. support plate; 23. hydraulic chamber; 231. hydraulic plate; 232. support rod; 24. drive chamber; 241. motor; 242. gear; 243. tooth plate; 244. slide rod; 245. connecting rod; 246. slide plate; 247. slide rail; 248. telescopic joint; 249. pin; 25. strong tension spring; 26. sliding block. DETAILED DESCRIPTION

[0021] The following is a further non-limiting detailed description of the technical solution of the present invention in conjunction with the preferred embodiments and the accompanying drawings. 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.

[0022] See also Figure 1-6 The present invention provides a technical solution: a grooved material tray based on AGV robot transportation, comprising a material tray 1 and a transport vehicle 2, two through grooves 11 are arranged on the left side of the material tray 1, two through grooves 12 are arranged on the rear side of the material tray 1, and a plurality of notches 13 are arranged on the surface of the material tray 1;

[0023] The transport vehicle 2 is provided with a lifting mechanism and a rotating mechanism inside. The upper bearing of the transport vehicle 2 is connected with a rotating shaft 21, and the rotating shaft 21 is connected with the lifting mechanism and the rotating mechanism. A sliding block 26 is slidably connected above the rotating shaft 21, and the middle shaft of the sliding block 26 is connected with the supporting plate 22. Hydraulic chambers 23 are provided on both sides of the upper left and right sides of the transport vehicle 2. A hydraulic plate 231 is slidably connected to the inner wall of the hydraulic chamber 23. A support rod 232 is fixedly installed above the hydraulic plate 231, and the support rod 232 is in contact with the bottom surface of the supporting plate 22. A driving chamber 24 is connected with a pipeline between the bottoms of the two hydraulic chambers 23, and a driving mechanism is provided inside the driving chamber 24.

[0024] The material is placed on the material tray 1, and then the forklift is inserted into the through groove 12 of the material tray 1, or into the through groove 11, so as to lift the material tray 1. The material tray 1 is easy and quick to lift, and has high supporting strength. At the same time, the forklift can also lift the material by inserting it between the slots 13, which has a better use effect. Then the forklift places the material tray 1 on the support plate 22, and the transport vehicle 2 starts to transport the material. When the material reaches the specified position, it stops, and the internal lifting mechanism puts down the material tray 1. During the material transportation process, the transport vehicle 2 will generate inertia from walking to stopping. At this time, the driving mechanism in the driving chamber 24 is running, so that the material on the material tray 1 can relatively overcome the influence of inertia and avoid the material falling.

[0025] The driving mechanism includes a motor 241, a gear 242, a tooth plate 243, a slide bar 244, two connecting rods 245 and two slide plates 246;

[0026] The motor 241 is fixedly mounted on the inner wall of the driving chamber 24, the gear 242 is fixedly connected to the output end of the motor 241, the two slide plates 246 are respectively slidably connected to the left and right sides of the lower part of the driving chamber 24, and the two connecting rods 245 are respectively fixedly mounted on the inner sides of the two slide plates 246, a slide rail 247 is fixedly mounted on the bottom of the inner wall of the driving chamber 24, a telescopic joint 248 is slidably connected above the slide rail 247, a pin 249 is fixedly mounted on the upper end of the telescopic joint 248, the inner ends of the two connecting rods 245 are both provided with holes, and the two holes are aligned, and the pin 249 is inserted into the two holes for connecting the two connecting rods 245, a slide groove is provided in the middle of the driving chamber 24, the slide rod 244 is fixedly mounted above the left connecting rod 245, and is slidably connected to the inside of the slide groove, the tooth plate 243 is fixedly mounted on the upper end of the slide rod 244, and meshes with the gear 242, and the outer sides of the two slide plates 246 are filled with hydraulic oil;

[0027] The motor 241 runs, driving the gear 242 to rotate. The gear 242 drives the tooth plate 243 to move through the meshing. The tooth plate 243 drives the two connecting rods 245 to move synchronously through the slide rod 244. The connecting rod 245 passes through the pin 249 to make the telescopic joint 248 slide on the slide rail 247. At the same time, the connecting rod 245 drives the two slide plates 246 to slide synchronously along the inner wall of the driving chamber 24. When the transport vehicle 2 starts to move, the material generates backward inertia, the motor 241 rotates counterclockwise, and the two slide plates 246 move synchronously to the right. The hydraulic oil on the right side is squeezed into the hydraulic chamber 2 on the right. 3, the right hydraulic plate 231 is squeezed and supported by the support rod 232 to slightly tilt the right side of the support plate 22 upwards. At the same time, the left slide plate 246 generates negative pressure to extract the hydraulic oil in the left hydraulic chamber 23, so that the left support rod 232 moves downwards. Then the motor 241 quickly resets, and vice versa, the left support rod 232 moves upwards and the right support rod 232 moves downwards. As a result, after the material is affected by inertia and the tilt, its own weight can offset the inertia, thereby preventing the material from falling due to inertia, enhancing work safety and preventing accidents.

[0028] Two push rods 211 are slidably connected to the top of the rotating shaft 21, and the upper ends of the two push rods 211 are in contact with the bottom surface of the supporting plate 22, and a pressing plate 212 is fixed to the lower ends of the two push rods 211. The interior of the rotating shaft 21 is hollow, and the pressing plate 212 is slidably connected to the inner wall of the rotating shaft 21. The bottom end of the sliding block 26 is fixed to the upper surface of the pressing plate 212.

[0029] A plurality of weight springs 213 are fixed between the bottom of the extrusion plate 212 and the bottom of the inner wall of the rotating shaft 21. The bottom of the rotating shaft 21 is connected to the upper pipeline of the hydraulic chamber 23. The bottom of the extrusion plate 212 is also filled with hydraulic oil.

[0030] When the support plate 1 is placed on the support plate 22, the support plate 22 is affected by the weight of the material, and the sliding block 26 presses the extrusion plate 212 to slide downward along the inner wall of the rotating shaft 21. The weight spring 213 is deformed by the force, and at the same time, the hydraulic oil under the extrusion plate 212 is squeezed and enters the upper part of the hydraulic cavity 23 through the pipeline, thereby applying a downward force to the hydraulic plate 231 to prevent the hydraulic plate 231 from moving upward too quickly due to the torque at the moment of starting the motor 241, thereby preventing the support plate 22 from tilting too quickly, preventing the material from being shaken off, further strengthening the protection of the material, and playing a buffering role.

[0031] Two hoses are connected to the telescopic joint 248 above the rotating shaft 21, and a pressure valve is provided in one hose, and a control valve is provided in the other hose. A strong tension spring 25 is connected between the right slide plate 246 and the right side of the inner wall of the driving chamber 24;

[0032] When the material is heavy, the inclination angle of the support plate 22 should not be too large. At this time, the distance that the extrusion plate 212 slides downward along the inner wall of the rotating shaft 21 is large, and negative pressure is generated above the extrusion plate 212. The pressure reaches the bearing limit of the pressure valve, so that the pressure valve is opened, and the gas in the expansion joint 248 is extracted through the pipeline, so that the expansion joint 248 is shortened, and the expansion joint 248 drives the pin shaft 249 to move downward, thereby separating from the two connecting rods 245. At this time, at the moment when the transport vehicle 2 starts to move, the motor 241 rotates counterclockwise, and through Figure 5 As shown, the left connecting rod 245 moves a distance to the right and fits with the right connecting rod 245, and the motor 241 also rotates ninety degrees. At this time, the left support rod 232 drops, while the right support rod 232 remains in position, thereby reducing the inclination of the support plate 22. On the contrary, when the transport vehicle 2 stops moving, the left connecting rod 245 moves to the left, while the right connecting rod 245 does not move, the left support rod 232 moves upward, and the right support rod 232 remains in position. Through the strong tension spring 25, the right support rod 232 obtains a certain supporting force, so that the inclination of the support plate 22 is reduced when the material is heavier, thereby preventing the heavy and highly stacked materials from sliding down and causing the materials to fall, further protecting the materials, and further enhancing the transportation safety.

[0033] A weight sensing module is provided inside the support plate 22, and a control module is provided inside the motor 241. The weight sensing module is electrically connected to the control module. The weight sensing module is used to sense the weight of the material on the support plate 1 in real time. The control module is used to control the torque of the motor 241 when it rotates according to the weight of the material, and control the direction of the motor 241 according to the running state of the transport vehicle 2 when walking and stopping.

[0034] The steering control of the motor 241 is as follows: when the transport vehicle 2 starts to move, the control module controls the motor 241 to rotate counterclockwise, rotate ninety degrees, and then rotate clockwise to reset;

[0035] When the transport vehicle 2 stops, the control module controls the motor 241 to rotate clockwise, rotate ninety degrees, and then rotate counterclockwise to reset.

[0036] The torque control of the motor 241 includes: , is the torque of the motor 241, is the maximum torque of the motor 241, is the weight of the material, is the maximum weight that the material tray 1 can support. The heavier the material, the greater the torque of the motor 241.

[0037] The heavier the material, the greater the torque of the motor 241, and the support rod 232 is strengthened to support the bottom surface of the support plate 22, ensuring that the support plate 22 can tilt smoothly, thereby offsetting the inertia. The lighter the material, the smaller the torque of the motor 241, avoiding the support rod 232 rising too fast and causing the support plate 22 to shake, thereby fully preventing the material from falling.

[0038] In the description of the present invention, it is necessary to understand that the terms "up", "down", "front", "back", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0039] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents, and these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A grooved material pallet for AGV robot transportation, comprising a material tray (1) and a transport vehicle (2), characterized in that: The left side of the support tray (1) is provided with two through grooves (11), the rear side of the support tray (1) is provided with two through grooves (12), and the surface of the support tray (1) is provided with a plurality of notches (13); The transport vehicle (2) is provided with a lifting mechanism and a rotating mechanism inside. The upper bearing of the transport vehicle (2) is connected to a rotating shaft (21), and the rotating shaft (21) is connected to the lifting mechanism and the rotating mechanism. A sliding block (26) is slidably connected to the upper part of the rotating shaft (21), and the intermediate shaft of the sliding block (26) is connected to the supporting plate (22). Hydraulic chambers (23) are provided on both the upper and lower sides of the transport vehicle (2). The inner wall of the hydraulic chamber (23) is slidably connected to a hydraulic plate (231). A supporting rod (232) is fixedly installed above the hydraulic plate (231), and the supporting rod (232) is in contact with the bottom surface of the supporting plate (22). A driving chamber (24) is connected to the bottom of the two hydraulic chambers (23) by a pipeline. A driving mechanism is provided inside the driving chamber (24), and the driving mechanism comprises a motor (241), a gear (242), a tooth plate (243), a sliding rod (244), two connecting rods (245) and two sliding plates (246). The motor (241) is fixedly mounted on the inner wall of the driving chamber (24); the gear (242) is fixedly connected to the output end of the motor (241); the two slide plates (246) are respectively slidably connected to the left and right sides of the lower part of the driving chamber (24); and the two connecting rods (245) are respectively fixedly mounted on the inner sides of the two slide plates (246); a slide rail (247) is fixedly mounted on the bottom of the inner wall of the driving chamber (24); a telescopic joint (248) is slidably connected to the upper part of the slide rail (247); a pin shaft (249) is fixedly mounted on the upper end of the telescopic joint (248); and holes are provided at the inner ends of the two connecting rods (245), and the two holes are aligned with each other. The two connecting rods (245) are aligned, and the pin shaft (249) is inserted into the two holes for connecting the two connecting rods (245). A slide groove is provided in the middle of the interior of the driving chamber (24). The slide rod (244) is fixedly installed above the left connecting rod (245) and is slidably connected to the interior of the slide groove. The tooth plate (243) is fixedly installed on the upper end of the slide rod (244) and is meshed with the gear (242). The outer sides of the two slide plates (246) are filled with hydraulic oil. The steering control of the motor (241) is as follows: when the transport vehicle (2) starts to move, the control module controls the motor (241) to rotate counterclockwise, and then rotates clockwise to reset after rotating ninety degrees. When the transport vehicle (2) stops, the control module controls the motor (241) to rotate clockwise, rotate ninety degrees, and then rotate counterclockwise to reset.

2. The grooved material pallet based on AGV robot transportation according to claim 1 is characterized in that: Two push rods (211) are slidably connected above the rotating shaft (21), and the upper ends of the two push rods (211) are in contact with the bottom surface of the support plate (22), and an extrusion plate (212) is fixed to the lower ends of the two push rods (211); the interior of the rotating shaft (21) is hollow, and the extrusion plate (212) is slidably connected to the inner wall of the rotating shaft (21), and the bottom end of the sliding block (26) is fixed to the upper surface of the extrusion plate (212); A plurality of weight springs (213) are fixed between the bottom of the extrusion plate (212) and the bottom of the inner wall of the rotating shaft (21), the bottom of the rotating shaft (21) is connected to the upper pipeline of the hydraulic chamber (23), and the bottom of the extrusion plate (212) is also filled with hydraulic oil.

3. The grooved material pallet based on AGV robot transportation according to claim 2 is characterized in that: Two hoses are connected to the telescopic joint (248) above the rotating shaft (21), one hose is provided with a pressure valve, and the other hose is provided with a control valve. A strong tension spring (25) is connected between the right side of the slide plate (246) and the right side of the inner wall of the driving chamber (24).

4. The grooved material pallet based on AGV robot transportation according to claim 3 is characterized in that: A weight sensing module is disposed inside the support plate (22), and a control module is disposed inside the motor (241). The weight sensing module is electrically connected to the control module. The weight sensing module is used to sense the weight of the material on the support plate (1) in real time. The control module is used to control the torque of the motor (241) when it rotates according to the weight of the material, and to control the direction of the motor (241) according to the running state of the transport vehicle (2) when it is moving or stopped.

5. The grooved material pallet based on AGV robot transportation according to claim 4 is characterized in that: The torque control of the motor (241) includes: , is the torque of the motor (241), is the maximum torque of the motor (241), is the weight of the material, is the maximum weight that the material support tray (1) can support. The heavier the material, the greater the torque of the motor (241).

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