A fully automatic pallet collection device based on an AGV vehicle

Abstract

The present invention relates to the technical field of pallet collection, and discloses a fully automatic pallet collection device based on an AGV cart, including a placement frame. An operation space is formed inside the placement frame for the AGV cart to enter and exit. A synchronous belt drive lifting mechanism and a positioning clamping telescopic mechanism are arranged on the placement frame. The synchronous belt drive lifting mechanism clamps the pallet on the AGV cart through the clamping jaw telescopic mechanism, so that the synchronous belt drive lifting mechanism can drive the pallet to move vertically through vertical movement. The positioning clamping telescopic mechanism is used to calibrate the position of the pallet on the AGV cart; for this fully automatic pallet collection device based on an AGV cart, by setting the positioning clamping telescopic mechanism, after the AGV cart transports the pallet into the placement frame, the positioning clamping telescopic mechanism calibrates the position of the pallet to ensure that the upper and lower pallets are aligned, improving the stability during subsequent pallet stacking.

Description

Technical Field

[0001] The present invention relates to the technical field of pallet collection, and in particular to a fully automatic pallet collection device based on an AGV trolley. Background Art

[0002] A pallet is a horizontal platform device used for packaging, stacking, handling and transporting goods and products as unit loads. It is now widely used in production, transportation, warehousing and circulation, and is considered to be one of the two key innovations in the logistics industry in the 20th century. Among them, the AGV cart is also called an automatic guided vehicle. The AGV cart is an industrial vehicle that loads goods automatically or manually, automatically drives along a set route or tows a cargo trolley to a designated location, and then loads and unloads goods automatically or manually. Among them, the application of existing AGV carts in pallet handling has gradually become a norm.

[0003] For example, the patent with publication number CN218173877U and publication date December 30, 2022 discloses a fully automatic loading and unloading device, including a frame, a loading and conveying mechanism, a loading and lifting mechanism, a transplanting mechanism, a unloading and lifting mechanism and a unloading and conveying mechanism arranged on the frame; the loading and conveying mechanism is used to transport the pallet filled with materials to the loading and lifting mechanism, the loading and lifting mechanism is used to transport the pallet filled with materials to the work station of the transplanting mechanism, the transplanting mechanism is used to grab and convey the materials in the pallet filled with materials on the loading and lifting mechanism to the external positioning mechanism, and the transplanting mechanism is used to grab and convey the empty pallet to the unloading and lifting mechanism, the unloading and lifting mechanism is used to convey the empty pallet to the unloading and conveying mechanism, and the unloading and conveying mechanism is used to convey the empty pallet to the external collection mechanism; this patent is compatible with AGV trolleys and manual loading, only requires regular maintenance, has high reliability, and can also realize loading and unloading without stopping, thereby improving production efficiency.

[0004] When existing pallet collection devices collect pallets, they usually stack multiple pallets together in the vertical direction. When stacking pallets, the upper and lower pallets are prone to misalignment, resulting in unstable stacking of pallets. When the number of stacked pallets is large, the unstable stacked pallet rack is prone to tipping over, posing certain safety hazards. Summary of the invention

[0005] The purpose of the present invention is to provide a fully automatic pallet collecting device based on an AGV trolley to solve the above-mentioned deficiencies in the prior art.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A fully automatic pallet collection device based on an AGV cart, including a placement frame. An operation space is formed inside the placement frame for the AGV cart to enter and exit. A synchronous belt drive lifting mechanism and a positioning clamping and telescoping mechanism are arranged on the placement frame. The synchronous belt drive lifting mechanism clamps the pallet on the AGV cart through the clamping jaw telescoping mechanism, so that the synchronous belt drive lifting mechanism can drive the pallet to move vertically through vertical movement. The positioning clamping and telescoping mechanism is used to calibrate the position of the pallet on the AGV cart.

[0008] As described above, there are two groups of positioning clamping and telescoping mechanisms, which are respectively arranged on both sides of the placement frame. The positioning clamping and telescoping mechanism includes a first telescopic cylinder and a positioning clamping mechanism. The first telescopic cylinder is used to drive the positioning clamping mechanism to approach or move away from the pallet, and the positioning clamping mechanism is used to clamp the side of the pallet.

[0009] As described above, the positioning clamping mechanism includes a frame plate connected to the telescopic end of the first telescopic cylinder. A double-extension cylinder is horizontally arranged on the frame plate. Positioning clips are fixedly installed on the two telescopic ends of the double-extension cylinder. The two positioning clips clamp the opposite side walls of the pallet under the action of the double-extension cylinder.

[0010] As described above, the clamping jaw telescoping mechanism includes a connecting frame and a second telescopic cylinder. The telescopic end of the second telescopic cylinder passes through the connecting frame. The telescopic end of the second telescopic cylinder is connected with a lifting clamping jaw. Based on the movement of the synchronous belt drive lifting mechanism, the lifting clamping jaw lifts the pallet. The lifting clamping jaw includes a connecting plate connected to the second telescopic cylinder and a lifting part installed on the connecting plate.

[0011] As described above, the lifting clamping jaw further includes a separating telescopic rod, two separating clips, and a fixing part fixedly connected to the connecting plate. A guiding track is horizontally installed on the fixing part. The two separating clips are slidably installed in the guiding track. The two separating clips are arranged at intervals in the horizontal direction in sequence. The separating telescopic rod is used to drive the two separating clips to move from the middle position of the guiding track to the edge positions on both sides.

[0012] As described above, an adjusting clip is slidably installed vertically below the separating clip. The adjusting clip and the separating clip are connected by a traction spring. The adjusting clip is used to adjust the position of the pallet below.

[0013] As described above, a separating part is further arranged between the adjusting clip and the separating clip. When the adjusting clip moves from the middle to the end along the guiding track, the separating part drives the adjusting clip and the separating clip to gradually separate.

[0014] As described above, the separating part includes a guiding block and a separating guide groove opened on the fixing part of the lifting clamping jaw. The separating guide groove slopes downward from the middle position to the edge position of the fixing part. One end of the guiding block is fixedly connected to the adjusting clip, and the other end of the guiding block is inserted into the separating guide groove.

[0015] As mentioned above, a reset guide groove is also provided on the fixed part, and the reset guide groove includes a vertical section and a horizontal section. The lower end of the vertical section is connected to one end of the separation guide groove close to the edge position of the fixed part, the higher end of the vertical section is connected to the horizontal section, and the other end of the horizontal section is connected to the other end of the separation guide groove.

[0016] As mentioned above, the lifting jaw and the adjusting clip are both L-shaped, the horizontal length of the lifting jaw is longer than the horizontal length of the adjusting clip, and the distance between the lifting jaw and the adjusting clip is exactly the height of a tray.

[0017] The beneficial effect of the present invention is that in the above technical scheme, the present invention provides a fully automatic pallet collection device based on an AGV trolley, which, by setting a positioning clamping and retracting mechanism, calibrates the position of the pallet after the AGV trolley transports the pallet to the placement frame, ensuring that the upper and lower pallets are in an aligned state, thereby improving the stability of subsequent pallet stacking. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0019] Figure 1 A schematic diagram of the structure of a fully automatic tray collecting device provided by an embodiment of the present invention;

[0020] Figure 2 A schematic diagram of the structure of a tray provided in an embodiment of the present invention;

[0021] Figure 3 A schematic diagram of the structure of the fully automatic tray collecting device provided by an embodiment of the present invention when empty;

[0022] Figure 4 The embodiment of the present invention provides Figure 3 An enlarged schematic diagram of point A;

[0023] Figure 5 A schematic diagram of the structure of a lifting clamp provided in another embodiment of the present invention;

[0024] Figure 6 A schematic diagram of the side structure of a lifting clamping jaw provided in another embodiment of the present invention;

[0025] Figure 7 A schematic diagram of the distribution of the separation portion on the lifting clamping jaw provided in another embodiment of the present invention;

[0026] Figure 8 A schematic diagram of a state in which the adjusting clamping jaw slides along the separation guide groove provided by another embodiment of the present invention;

[0027] Figure 9 A schematic diagram of the connection between a separation clip and an adjustment clip provided in another embodiment of the present invention.

[0028] Description of reference numerals:

[0029] 1. Placement frame; 2. Positioning clamping and telescopic mechanism; 21. First telescopic cylinder; 22. Positioning clamping mechanism; 221. Frame plate; 222. Double extension cylinder; 223. Positioning clip; 3. Clamping claw telescopic mechanism; 31. Connecting frame; 32. Second telescopic cylinder; 33. Lifting claw; 331. Guide rail; 332. Separating clip; 333. Fixing part; 34. Adjusting clip; 35. Traction spring; 36. Separating part; 361. Guide block; 362. Separating guide groove; 37. Resetting guide groove; 371. Vertical section; 372. Horizontal section; 4. Synchronous belt drive lifting mechanism; 5. Pallet; 51. Load-bearing plate surface; 52. Support foot; 53. Make way gap. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the technical solution of the present invention, Figures 1-9 , the present invention is further introduced in detail.

[0031] The embodiment of the present invention provides a fully automatic pallet collection device based on an AGV trolley, comprising a placement frame 1, an operating space is formed inside the placement frame 1 for the AGV trolley to enter and exit, and the placement frame 1 is provided with:

[0032] The synchronous belt drive lifting mechanism 4 clamps the pallet 5 on the AGV trolley through the clamp claw extension mechanism 3, so that the synchronous belt drive lifting mechanism 4 can drive the pallet 5 to move vertically through vertical movement;

[0033] The positioning clamping and retracting mechanism 2 is used to calibrate the position of the pallet 5 on the AGV trolley.

[0034] Specifically, the placement frame 1 is preferably composed of multiple aluminum alloy profiles, and the ends of the multiple aluminum alloy profiles are connected to form a frame for storing the pallet 5, and an operating space is formed on the inner side of the frame for the AGV trolley carrying the pallet 5 to enter and exit, wherein the pallet 5 is composed of a load-bearing plate surface 51 and multiple support feet 52, the load-bearing plate surface 51 is rectangular or approximately rectangular, the load-bearing plate surface 51 is used to place materials, and multiple support feet 52 are arranged at the corners of the lower surface of the load-bearing plate surface 51 and form an integrated structure between the load-bearing plate surface 51. This shape is one of the most common load-bearing structures at present, and the support feet 52 on the two corners of the same side are spaced apart to form a clearance gap 53 for clamping and lifting the pallet 5. The synchronous belt drive lifting mechanism 4 uses a combination of a common servo motor, a transmission belt, a rotating wheel and a lifting block. The servo motor is installed on the placement frame 1, one end of the transmission belt is sleeved on a wheel body set on the output shaft of the servo motor, and the other end of the transmission belt is sleeved on the rotating wheel, and the rotating wheel rotates The lifting mechanism 4 is a prior art, and its principle is not described in detail. The clamping claw telescopic mechanism 3 includes a connecting frame 31 and a second telescopic cylinder 32. The connecting frame 31 is connected to the lifting block. The second telescopic cylinder 32 is fixedly installed on the connecting frame 31, and the telescopic end of the second telescopic cylinder 32 passes through the connecting frame 31. The telescopic end of the second telescopic cylinder 32 is connected with a lifting clamping claw 33. In this embodiment, the lifting clamping claw 33 includes a connecting plate connected to the second telescopic cylinder 32 and a lifting part installed on the connecting plate. The lifting part is composed of a vertical plate and a horizontal plate. One end of the vertical plate is installed on the connecting plate by bolts, and the other end of the vertical plate is fixedly connected to the horizontal plate. The horizontal plate extends in a direction away from the second telescopic cylinder 32. When the lifting clamping claw 33 stacks the pallets 5, there are mainly the following two states:

[0035] One is: when the lifting claw 33 is unloaded, the AGV trolley transports the pallet 5 to the placement frame 1, and then the second telescopic cylinder 32 begins to extend, driving the lifting claw 33 to insert into the clearance gap 53 on the bottom pallet 5 on the AGV trolley, and then the servo motor starts to work. Under the action of the servo motor, the transmission belt moves, and the transmission belt moves upward with the connecting frame 31 through the lifting block. The lifting claw 33 on the connecting frame 31 lifts the pallet 5, so that all the pallets 5 on the AGV trolley are separated from the AGV trolley, completing the unloading process of the pallets 5 on the AGV trolley;

[0036] Second, when there is a pallet 5 on the lifting gripper 33, as the AGV cart transports a new pallet 5, the AGV cart moves the pallet 5 to directly below the pallet 5 lifted by the lifting gripper 33. Subsequently, the synchronous belt drive lifting mechanism 4 operates in reverse. The synchronous belt drive lifting mechanism 4 drives the connecting frame 31 to move downward. The lifting gripper 33 on the connecting frame 31 places the lifted pallet 5 on the top of the pallet 5 on the AGV cart. Subsequently, the second telescopic cylinder 32 contracts, causing the lifting gripper 33 to leave the originally lifted pallet 5. After that, the synchronous belt drive lifting mechanism 4 continues to operate in reverse, and the gripper telescopic mechanism 3 moves downward until the lifting gripper 33 is directly opposite the positioning notch 53 on the bottommost pallet 5 on the AGV cart. The second telescopic cylinder 32 starts to extend, and the lifting gripper 33 is inserted into the positioning notch 53. Finally, the synchronous belt drive lifting mechanism 4 continues to operate, driving the gripper telescopic mechanism 3 to move upward. Under the action of the lifting gripper 33, all the pallets 5 on the AGV cart are lifted, causing all the pallets 5 to be stacked on the lifting gripper 33, completing the stacking process of the pallets 5.

[0037] Obviously, when there is a pallet 5 on the lifting gripper 33 and then stacking the pallets 5 on the AGV cart, it is easy for the pallets 5 at the bottommost of the lifting gripper 33 and the pallets 5 on the AGV cart to be misaligned, which easily leads to unstable stacking of the pallets 5. When the number of stacked pallets 5 is large, the unstable stacked pallets 5 are prone to tipping, posing a certain safety hazard.

[0038] To solve the above problems, a positioning clamping telescopic mechanism 2 is also provided on the placement frame 1. The positioning clamping telescopic mechanism 2 is used to calibrate the position of the pallet 5 on the AGV cart. There are two sets of the positioning clamping telescopic mechanism 2, which are respectively arranged on both sides of the placement frame 1. The positioning clamping telescopic mechanism 2 includes a first telescopic cylinder 21 and a positioning clamping mechanism 22. The first telescopic cylinder 21 is used to drive the positioning clamping mechanism 22 to approach or move away from the pallet 5. The positioning clamping mechanism 22 includes a frame plate 221 connected to the telescopic end of the first telescopic cylinder 21. A double-extension cylinder 222 is horizontally arranged on the frame plate 221. Positioning clips 223 are fixedly installed on both telescopic ends of the double-extension cylinder 222. In the initial state, the double-extension cylinder 222 is in the maximum extended position. At this time, the distance between the two positioning clips 223 is greater than the width of the pallet 5. During positioning, the two positioning clips 223 approach each other under the action of the double-extension cylinder 222 to clamp the opposite side walls of the pallet 5.

[0039] Specifically, in this embodiment, the telescopic direction of the first telescopic cylinder 21 is perpendicular to the telescopic direction of the double extension cylinder 222, that is, when the frame plates 221 of the two positioning clamping mechanisms 22 gradually approach the left and right sides of the pallet 5 as the first telescopic cylinder 21 extends, then, as the double extension cylinder 222 contracts, the two positioning clips 223 connected to the double extension cylinder 222 gradually approach the front and rear sides of the pallet 5;

[0040] When the lifting clamp 33 is empty, as the AGV trolley transports the pallet 5 to the placement frame 1, the two sets of positioning clamp telescopic mechanisms 2 are placed on both sides of the uppermost pallet 5 on the AGV trolley, and then the two first telescopic cylinders 21 begin to extend, and the first telescopic cylinders 21 drive the positioning clamp mechanism 22 to approach the left and right sides of the pallet 5. When the frame plate 221 on the positioning clamp mechanism 22 is about to abut against the left and right sides of the pallet 5, the first telescopic cylinder 21 stops extending, and then the double extension cylinder 222 begins to retract, and the double extension cylinder 222 With two positioning clips 223, the two positioning clips 223 are close to the front and rear sides of the pallet 5. When the positioning clips 223 on the two sets of positioning clamping mechanisms 22 clamp the pallet 5, the position calibration of the pallet 5 is completed. Then the second telescopic cylinder 32 begins to extend, driving the lifting claw 33 to insert into the clearance gap 53 on the pallet 5. Then the synchronous belt drive lifting mechanism 4 works, and the synchronous belt drive lifting mechanism 4 moves the connecting frame 31 upward. The lifting claw 33 on the connecting frame 31 lifts the pallet 5, completing the lifting process of the first pallet 5.

[0041] When the pallet 5 is lifted on the lifting claw 33, as the AGV trolley transports the pallet 5 to the placement frame 1, the two sets of positioning clamping telescopic mechanisms 2 continue to be placed in half on both sides of the top pallet 5 on the AGV trolley, and then the two first telescopic cylinders 21 begin to extend, and the first telescopic cylinders 21 drive the positioning clamping mechanism 22 to approach the left and right sides of the pallet 5. When the frame plate 221 on the positioning clamping mechanism 22 is about to abut against the left and right sides of the pallet 5, the first telescopic cylinder 21 stops extending, and then the double extension cylinder 222 begins to retract, and the double extension cylinder 222 brings the two positioning clips 223 close to the front and rear sides of the pallet 5. When the positioning clips on the two sets of positioning clamping mechanisms 22 are When the plate 223 clamps the pallet 5, the position calibration of the pallet 5 is completed. After that, the synchronous belt drive lifting mechanism 4 works in the reverse direction, and the synchronous belt drive lifting mechanism 4 moves downward with the connecting frame 31. The lifting claw 33 on the connecting frame 31 will place the originally lifted and calibrated pallet 5 above the calibrated pallet 5 at the top of the AGV cart. At this time, when stacking the pallets 5, the upper and lower pallets 5 are both calibrated by the positioning clamping and telescopic mechanism 2, so that the position of each pallet 5 is fixed when it is lifted, thereby avoiding the phenomenon of misalignment between the upper and lower pallets 5, thereby avoiding the occurrence of unstable stacking of the pallets 5.

[0042] Obviously, when the AGV cart transports multiple pallets 5 into the placement frame 1 at one time, in order to ensure the stability of the stacked pallets 5 on the lifting gripper 33, the pallets 5 on the AGV cart are stacked from top to bottom in sequence. Therefore, the positioning clamping telescopic mechanism 2 also needs to be able to move in the vertical direction. Preferably, the positioning clamping telescopic mechanism 2 can be connected to a linear electric control telescopic rod, and the linear electric control telescopic rod is used to drive the positioning clamping telescopic mechanism 2 to move in the vertical direction, facilitating the position calibration of the pallets 5 at different heights on the AGV cart.

[0043] Among them, in this embodiment, each time the pallets 5 are stacked, it is necessary for the positioning clamping telescopic mechanism 2 to calibrate the position of the pallet 5 to be stacked, and then the pallet 5 is stacked by the clamping telescopic mechanism 3. This method of calibrating first and then stacking results in a relatively slow stacking efficiency of the pallets 5.

[0044] To solve the above problems, in another embodiment of the present invention, the lifting gripper 33 further includes a separating telescopic rod, two split clamping pieces 332, and a fixing portion 333 fixedly connected to the connecting plate. A guiding track 331 is horizontally installed on the fixing portion 333. The two split clamping pieces 332 are slidably installed in the guiding track 331. The two split clamping pieces 332 are arranged at intervals in the horizontal direction in sequence. The separating telescopic rod is arranged in the guiding track 331. The separating telescopic rod has two telescopic ends, and the two telescopic ends of the separating telescopic rod are respectively connected to the two split clamping pieces 332. The separating telescopic rod is a structure that can linearly expand and contract at both ends, that is, linear drive, and it is used to drive the two split clamping pieces 332 to move from the middle position of the guiding track 331 towards the ends of the guiding track 331. The adjusting clamping piece 34 is slidably installed along the vertical direction below the split clamping piece 332. The adjusting clamping piece 34 is connected to the split clamping piece 332 through a traction spring 35. The adjusting clamping piece 34 is used to adjust the position of the pallet 5 below. Among them, both the split clamping piece 332 and the adjusting clamping piece 34 are L-shaped, and both include a vertical portion and a horizontal portion. Among them, the dimension in the horizontal direction of the split clamping piece 332, that is, the length, is longer than the length of the adjusting clamping piece 34 in the horizontal direction. And the distance between the split clamping piece 332 and the adjusting clamping piece 34 is exactly the height between the bearing surfaces 51 of two upper and lower pallets 5.

[0045] Specifically, when the entire jaw telescoping mechanism 3 is unloaded, when the AGV cart transports a pallet 5 to the placement frame 1, under the action of the synchronous belt drive lifting mechanism 4, the jaw telescoping mechanism 3 moves downward, making the adjustment clip 34 face the relief notch 53 on the pallet 5. Subsequently, the second telescopic cylinder 32 drives the adjustment clip 34 to move into the relief notch 53 on the pallet 5, causing the adjustment clip 34 to be inserted into the relief notch 53 on the pallet 5. Then, the separation telescopic rod starts to extend, and the separation telescopic rod drives the two split clips 332 to move away from each other along the direction of the guiding track 331. The two split clips 332, along with the adjustment clip 34 connected to them, also move away from each other. If there is a deviation in the placement position of the pallet 5 on the AGV cart, when the adjustment clip 34 moves synchronously with the split clip 332, the two adjustment clips 34 will drive the pallet 5 that cooperates with them to move, enabling the pallet 5 held by the adjustment clip 34 to be positionally calibrated. After that, under the action of the synchronous belt drive lifting mechanism 4, the adjustment clip 34 holds the pallet 5 and moves upward to complete the stacking process of the first pallet 5.

[0046] When there is a pallet 5 on the adjustment clip 34, as the AGV cart transports a pallet 5 to the placement frame 1 for stacking, under the action of the synchronous belt drive lifting mechanism 4, the jaw telescoping mechanism 3 moves downward to place the pallet 5 originally stacked on the adjustment clip 34 above the pallet 5 transported by the AGV cart. Subsequently, the second telescopic cylinder 32 drives the adjustment clip 34 to move away from the pallet 5. Then, the synchronous belt drive lifting mechanism 4 continues to drive the lifting jaws 33 and the adjustment clip 34 to move downward, making the split clip 332 face the relief notch 53 of the pallet 5 originally held by the adjustment clip 34, while the adjustment clip 34 faces the relief notch 53 of the pallet 5 on the AGV cart. The second telescopic cylinder 32 drives the split clip 332 and the adjustment clip 34 to be inserted into the corresponding relief notch 53 of the pallet 5. Then, the separation telescopic rod starts to extend, and the separation telescopic rod drives the two split clips 332 to move away from each other along the direction of the guiding track 331. The two split clips 332, along with the adjustment clip 34 connected to them, also move away from each other. When the two split clips 332 move towards the two side walls of the relief notch 53, the adjustment clip 34 connected to the split clip 332 also moves synchronously with the split clip 332. If there is a deviation in the placement position of the pallet 5 on the AGV cart, when the adjustment clip 34 moves synchronously with the split clip 332, the two adjustment clips 34 will drive the pallet 5 that cooperates with them to move, enabling the upper and lower pallets 5 to be aligned. At this time, during the stacking process of the new pallet 5, the positional calibration process of the new pallet 5 is completed, improving the stacking efficiency of the pallet 5.

[0047] Obviously, in this embodiment, the two adjustment clips 34 are arranged at intervals in the horizontal direction, that is, the two adjustment clips 34 are located on one side of the tray 5. When the adjustment clip 34 follows the movement of the sub-clip 332, the tray 5 can only be adjusted in one direction as the adjustment clip 34 moves. For example, if the adjustment clip 34 is set on the left or right side of the tray 5, the adjustment clip 34 can only drive the adjustment tray 5 to move in the front and rear direction as the adjustment clip 34 moves, and the tray 5 cannot be adjusted to move in the left and right direction. Conversely, if the adjustment clip 34 is set on the front or rear side of the tray 5, the adjustment clip 34 can only drive the adjustment tray 5 to move in the left and right direction as the adjustment clip 34 moves, and the tray 5 cannot be adjusted to move in the front and rear direction.

[0048] Preferably, two groups of the clamping jaw retracting mechanisms 3 are provided, and the two groups of the clamping jaw retracting mechanisms 3 are respectively placed on both sides of the tray 5 .

[0049] Specifically, Figure 6 As shown, the protruding height of the guide rail 331 on the fixing portion 333 is consistent with the protruding height of the vertical portion of the dividing clip 332 on the fixing portion 333 and the protruding height of the vertical portion of the adjusting clip 34 on the fixing portion 333. However, when the trays 5 need to be stacked, the process is as follows:

[0050] When the entire gripper retractable mechanism 3 is unloaded, as the AGV trolley transports the pallet 5 for stacking, the gripper retractable mechanism 3 moves downward under the action of the synchronous belt drive lifting mechanism 4, so that the adjusting clip 34 is directly opposite to the clearance notch 53 on the pallet 5, and then the second telescopic cylinder 32 drives the adjusting clip 34 to move toward the clearance notch 53 of the pallet 5, so that the adjusting clip 34 is inserted into the clearance notch 53 on the pallet 5, and the vertical part of the adjusting clip 34 abuts against the side wall of the pallet 5. Under the pressure of the vertical parts of the adjusting clips 34 on the left and right sides of the pallet 5, the position of the pallet 5 in the left and right direction is fixed, and the position of the pallet 5 in the front and rear direction is adjusted in cooperation with the adjusting clip 34, so as to complete the position calibration of the pallet 5;

[0051] When there is a pallet 5 on the adjustment clip 34, when the pallet 5 transported by the AGV trolley is stacked, under the action of the synchronous belt drive lifting mechanism 4, the clamping claw telescopic mechanism 3 moves downward, and the pallet 5 on the adjustment clip 34 is placed above the pallet 5 transported by the AGV trolley, and then the second telescopic cylinder 32 drives the adjustment clip 34 to move away from the pallet 5, and then the synchronous belt drive lifting mechanism 4 continues to drive the lifting claw 33 and the adjustment clip 34 to move downward, so that the split clip 332 is facing the clearance notch 53 of the pallet 5 originally lifted by the adjustment clip 34, and the adjustment clip 34 is facing the pallet 5 on the AGV trolley. The second telescopic cylinder 32 drives the dividing clip 332 and the adjusting clip 34 to be inserted into the corresponding making way gap 53 of the tray 5 until the vertical portion of the dividing clip 332 and the vertical portion of the adjusting clip 34 respectively abut against the side wall surfaces of the upper and lower trays 5. Under the pressure of the vertical portions of the dividing clip 332 disposed on the left and right sides of the tray 5 and the vertical portions of the adjusting clip 34, the positions of the upper and lower trays 5 in the left and right directions are kept constant. The adjusting clip 34 cooperates to adjust the position of the lower tray 5 in the front and rear directions, so that the upper and lower trays 5 can be fully aligned, thereby improving the stability of the trays 5 when stacked.

[0052] Among them, when the AGV cart transports a large number of pallets 5 to the placement frame 1 for stacking at one time, in order to ensure the stability of the stacked pallets 5, the clamping claw retractable mechanism 3 stacks the pallets 5 on the AGV cart from top to bottom when clamping the pallets 5, so that the stacked pallets 5 are in an aligned state, thereby ensuring the stability of the pallets 5 after stacking.

[0053] It should be noted that, in the present embodiment, when there is a tray 5 on the adjustment clip 34, when the tray 5 is subsequently stacked, when the adjustment clip 34 is adjusted at the position of the new tray 5, the previously stacked trays 5 are all located above the tray 5 to be stacked. At this time, the upper surface of the tray 5 to be adjusted is subjected to downward pressure. When the adjustment clip 34 drives the tray 5 to move, the friction force applied to the tray 5 is relatively large, which affects the adjustment efficiency of the adjustment clip 34 on the tray 5.

[0054] In order to solve the above-mentioned problem, preferably, a separation portion 36 is further provided between the adjustment clip 34 and the separation clip 332. As the adjustment clip 34 moves from the middle to the end along the guide track 331, the separation portion 36 drives the adjustment clip 34 and the separation clip 332 to gradually separate; the separation portion 36 includes a guide block 361 and a separation guide groove 362 opened on the fixed portion 333 of the lifting clamp 33, and the separation guide groove 362 is inclined downward from the middle to the edge of the fixed portion 333, one end of the guide block 361 is fixedly connected to the adjustment clip 34, and the other end of the guide block 361 is inserted into the separation guide groove 362.

[0055] Specifically, when stacking the pallets 5 transported by the AGV, the claw extension mechanism 3 moves downward under the action of the synchronous belt drive lifting mechanism 4, and the pallets 5 originally stacked on the splitting clip 332 and the adjusting clip 34 are placed above the pallet 5 transported by the AGV. Then, the second extension cylinder 32 drives the adjusting clip 34 to move away from the pallet 5, and then the synchronous belt drive lifting mechanism 4 continues to drive the lifting claw 33 and the adjusting clip 34 to move downward, so that the splitting clip 332 is directly opposite to the pallet originally lifted by the adjusting clip 34. The pallet 5 held up by the adjusting clip 34 has an adjustment space below it, and the separating telescopic rod begins to extend, driving the two separating clips 332 to move away from each other along the direction of the guide rail 331, and the two separating clips 332 carry the adjusting clips connected thereto. The entire clips 34 also move away from each other. As the two adjustment clips 34 move away from each other, the guide block 361 on the adjustment clip 34 also slides along the separation guide groove 362. Since the separation guide groove 362 is tilted downward from the middle of the fixing portion 333 to both sides, when the guide block 361 slides along the separation guide groove 362 with the adjustment clip 34, the adjustment clip 34 also moves away from the separation clip 332 downward in the vertical direction. At this time, the traction spring 35 connecting the separation clip 332 and the adjustment clip 34 is stretched. The tray 5 is lifted by the dividing clip 332 and the tray 5 is lifted by the adjusting clip 34. At this time, the dividing clip 332 moves to the two ends of the guide rail 331. When the adjusting clip 34 adjusts the position of the tray 5 it is lifting, it will not be affected by the pressure exerted by the upper tray 5. Therefore, the adjusting clip 34 can easily adjust the position of the tray 5 it is lifting to align it with the upper tray 5, thereby improving the stability of the trays 5 when stacking.

[0056] Among them, in the above embodiment, when there is a tray 5 on the adjustment clip 34, when the trays 5 are subsequently stacked, after the adjustment clip 34 completes the position adjustment of the tray 5 it supports, although the tray 5 supported by the separation clip 332 and the tray 5 supported by the adjustment clip 34 are in an aligned state, the two trays 5 are in a state of being arranged in an upper and lower spacing, and the upper and lower trays 5 need to be stacked together. When stacking, if the separation clip 332 is directly separated from the tray 5 supported by it, and the upper tray 5 falls to the top of the lower tray 5 under the action of gravity, this method will easily cause the originally aligned tray 5 to be misaligned, affecting the stacking effect of the trays 5.

[0057] Preferably, a reset guide groove 37 is further formed in the fixing portion 333. The reset guide groove 37 includes a vertical section 371 and a horizontal section 372. The lower end of the vertical section 371 communicates with one end of the separation guide groove 362 near the edge of the fixing portion 333. The upper end of the vertical section 371 communicates with the horizontal section 372. The other end of the horizontal section 372 is connected to the other end of the separation guide groove 362.

[0058] Specifically, when the two split clamping pieces 332 move to both ends of the guiding track 331, the two adjusting clamping pieces 34 also move to both ends of the separation guide groove 362. At this time, the traction spring 35 releases the accumulated elastic potential energy. The traction spring 35 pulls the adjusting clamping piece 34 upward. The guiding block 361 moves upward along the vertical section 371 of the reset guide groove 37. The guiding block 361 drives the adjusting clamping piece 34 to move upward synchronously. The adjusting clamping piece 34 lifts the tray 5 upward, so that the bearing surface 51 of the tray 5 lifted by the adjusting clamping piece 34 contacts the bottom surface of the support leg 52 of the tray 5 lifted by the split clamping piece 332. At this time, the two trays 5 that have completed position calibration and alignment are stacked together, and the stacking process of the tray 5 is completed. Among them, when the separation telescopic rod drives the two split clamping pieces 332 to separate from each other along the guiding track 331, in order to prevent the adjusting clamping pieces 34 from moving along the horizontal section 372 of the reset guide groove 37 and affecting the position adjustment of the tray 5 lifted by the adjusting clamping piece 34, preferably, a one-way deflection mechanism is further provided at the connection between the horizontal section 372 of the reset guide groove 37 and the separation guide groove 362. When the separation telescopic rod drives the two split clamping pieces 332 to separate from each other along the guiding track 331, the one-way deflection mechanism restricts the adjusting clamping piece 34 from entering the horizontal section 372 of the reset guide groove 37. The one-way deflection mechanism can be a combination of a common baffle, a rotating shaft and a torsion spring. It is only necessary to limit the rotation amplitude of the baffle within a limited range of 90 degrees. When the torsion spring is in a natural state, one side of the baffle is restricted, the rotating shaft can only rotate in one direction to drive the baffle to flip, and the other side is limited. The one-way deflection mechanism is a prior art, and its principle will not be elaborated.

[0059] Only some exemplary embodiments of the present invention have been described by way of illustration above. Undoubtedly, for those of ordinary skill in the art, without departing from the spirit and scope of the present invention, the described embodiments can be modified in various different ways. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the protection scope of the claims of the present invention.

Claims

1. A fully automatic pallet collection device based on an AGV, comprising a placement frame, wherein an operating space is formed inside the placement frame for the AGV to enter and exit, characterized in that: The placement frame is provided with: A synchronous belt-driven lifting mechanism, which clamps the pallet on the AGV trolley through a claw extension mechanism, so that the synchronous belt-driven lifting mechanism can drive the pallet to move vertically through vertical movement; Positioning clamp telescopic mechanism, which is used to calibrate the position of the pallet on the AGV trolley; the pallet consists of a load-bearing plate and multiple supporting feet; There are two sets of positioning clamping and telescopic mechanisms, which are respectively placed on both sides of the placement frame; There are two groups of clamping claw retracting mechanisms, which are respectively placed on both sides of the tray; The clamping claw extension mechanism includes a connecting frame and a second extension cylinder, the extension end of the second extension cylinder passes through the connecting frame, the extension end of the second extension cylinder is connected to a lifting clamping claw, based on the movement of the synchronous belt drive lifting mechanism, the lifting clamping claw lifts the pallet, and the lifting clamping claw includes a connecting plate connected to the second extension cylinder and a lifting part installed on the connecting plate; The lifting clamping claw also includes a separation telescopic rod, two separation clamping pieces and a fixed part fixedly connected to the connecting plate, a guide rail is horizontally installed on the fixed part, the two separation clamping pieces are slidably installed in the guide rail, and the two separation clamping pieces are arranged in sequence at intervals along the horizontal direction, and the separation telescopic rod is used to drive the two separation clamping pieces to move from the middle position of the guide rail to the edges on both sides; An adjusting clip is installed below the split clip by sliding along the vertical direction. The adjusting clip is connected to the split clip via a traction spring. The adjusting clip is used to adjust the position of the tray below. A separation portion is also provided between the adjusting clip and the separating clip. As the adjusting clip moves from the middle to the end along the guide track, the separation portion drives the adjusting clip and the separating clip to gradually separate. The lifting jaw and the adjusting clamping piece are both L-shaped, the horizontal length of the lifting jaw is longer than the horizontal length of the adjusting clamping piece, and the distance between the lifting jaw and the adjusting clamping piece is exactly the height of a tray.

2. The fully automatic pallet collection device based on the AGV trolley according to claim 1 is characterized in that: The positioning clamping and telescopic mechanism comprises a first telescopic cylinder and a positioning clamping mechanism. The first telescopic cylinder is used to drive the positioning clamping mechanism to approach or move away from the pallet. The positioning clamping mechanism is used to clamp the side of the pallet.

3. The fully automatic pallet collection device based on the AGV trolley according to claim 2 is characterized in that: The positioning clamping mechanism includes a frame plate connected to the telescopic end of the first telescopic cylinder, a double-extension cylinder is horizontally arranged on the frame plate, and positioning clamps are fixedly installed on the two telescopic ends of the double-extension cylinder. The two positioning clamps clamp the opposite side walls of the pallet under the action of the double-extension cylinder.

4. The fully automatic pallet collection device based on the AGV trolley according to claim 3 is characterized in that: The separation part includes a guide block and a separation guide groove opened on the fixed part of the lifting clamp, the separation guide groove is inclined downward from the middle position of the fixed part to the edge position, one end of the guide block is fixedly connected to the adjustment clip, and the other end of the guide block is inserted into the separation guide groove.

5. The fully automatic pallet collection device based on the AGV trolley according to claim 4 is characterized in that: A reset guide groove is also provided on the fixed part, which includes a vertical section and a horizontal section. The lower end of the vertical section is connected to one end of the separation guide groove close to the edge of the fixed part, the higher end of the vertical section is connected to the horizontal section, and the other end of the horizontal section is connected to the other end of the separation guide groove.

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