Explosion-proof AGV (Automatic Guided Vehicle) for transporting explosive liquid storage bin

Abstract

The anti-explosion AGV for transporting the explosive liquid stock bin comprises a frame composed of a plurality of cross beams and longitudinal beams, a supporting table is arranged at the top of the frame, an electrical control box and a lithium battery are arranged on the supporting table, a pair of driving wheel assemblies is arranged in the center of the bottom of the frame, a pair of universal wheels is arranged at each of the two ends of the bottom of the frame, and the driving wheel assemblies are arranged on the supporting table. A horizontal motor is fixedly arranged at the bottom of the frame, the working end of the horizontal motor is connected with one end of a lead screw through a coupler, the lead screw is connected with a nut base in a matched mode, the nut base is connected to a horizontal moving frame, and a horizontal sliding rail is connected to the bottom of the horizontal moving frame. The horizontal sliding rail is connected with a sliding block arranged at the bottom of the frame in a sliding mode, two driving plates are symmetrically arranged on the top end face of the horizontal moving frame, a driving face is arranged on the top of each driving plate, and each driving face is composed of a low-position horizontal supporting face, an inclined driving face and a high-position horizontal supporting face.

Description

Technical Field

[0001] The invention relates to the field of automatic transportation of workpieces, in particular to an explosion-proof AGV for transporting explosive liquid silos. Background Art

[0002] AGV stands for Automated Guided Vehicle, and its most common applications are AGV handling robots or AGV carts. It is mainly used for automatic logistics handling. In the field of industrial production, it is mainly used to handle and transport various workpieces or equipment.

[0003] There are two main types of traditional AGV robots. One type has relatively simple functions and only has the function of transporting workpieces, requiring manual labor or related equipment to place the workpieces on the AGV. The other type can actively lift or pick up workpieces.

[0004] For the latter type of AGV robot, in order to achieve the lifting action, it is necessary to set up a longitudinally distributed driving mechanism (pneumatic cylinder, oil cylinder, electric push rod, etc.) inside it. The height of the driving mechanism itself is superimposed on the longitudinal lifting space, which causes this type of AGV robot to occupy a certain longitudinal space; however, the lifting point height of some workpieces is relatively low, and there is not enough longitudinal space underneath, so this type of traditional AGV robot is not applicable.

[0005] At the same time, in some cases, AGV robots are needed to transport containers containing flammable and explosive liquids. When the robot is in motion, if the various electrical actuators inside it generate electric sparks during work, or the internal mechanical structure generates static electricity during movement, serious safety accidents may occur.

[0006] Therefore, a method or device capable of solving the above problems is now needed. Summary of the invention

[0007] The present invention aims to solve the above-mentioned deficiencies in the prior art and proposes an AGV with a simple structure, ingenious design, reasonable layout, and explosion-proof function, which can lift and transport workpieces without occupying too much longitudinal space.

[0008] The technical solution of the present invention is: an explosion-proof AGV for transporting explosive liquid silos, comprising a frame 1 composed of multiple crossbeams and longitudinal beams, characterized in that: a support platform 2 is arranged on the top of the frame 1, an electrical control box 3 and a lithium battery 29 are arranged on the support platform 2, a pair of driving wheel assemblies 4 are arranged in the center of the bottom of the frame 1, and a pair of universal wheels 5 are respectively arranged at both ends of the bottom of the frame 1. A horizontal motor 6 is fixedly arranged at the bottom of the frame 1, and the working end of the horizontal motor 6 is connected to one end of a lead screw 8 through a coupling 7, and the lead screw 8 is rotatably supported and connected to the frame 1, and the lead screw 8 is matched and connected to a nut seat, and the nut seat is connected to a horizontal movable frame 9, and a horizontal slide rail 10 is connected to the bottom of the horizontal movable frame 9, and the horizontal slide rail 10 is slidably connected to a slider arranged at the bottom of the frame 1, and two driving plates 11 are symmetrically arranged on the top surface of the horizontal movable frame 9, and a driving surface is arranged on the top of the driving plate 11, and the driving surface is composed of three parts: a low horizontal support surface 12, an inclined driving surface 13 and a high horizontal support surface 28, and there is a smooth transition between adjacent parts. A longitudinal movement frame 14 is also slidably connected in the frame 1. Two symmetrically distributed vertical plates 15 are arranged on the longitudinal movement frame 14. A pair of longitudinal slide rails 16 are arranged on the outer side of the vertical plates 15. The longitudinal slide rails 16 are slidably connected to the sliders arranged on the longitudinal beams of the frame 1. A roller 17 is rotatably supported on the outer side of the vertical plates 15. The roller 17 is in contact with the driving surface. A fork mechanism 18 is also arranged on the longitudinal movement frame 14. Two pairs of L-shaped positioning members 20 are arranged on the fork 19 of the fork mechanism 18. At the same time, a sensor bracket 21 is also arranged on the fork 19. An X-axis in-position sensor 22 and a Y-axis in-position sensor 23 are arranged on the sensor bracket 21. A photoelectric switch 30 for sensing the workpiece is arranged on the frame 1. The frame 1 is also provided with a covering 24 on the outside, and an operating port 25 matching the fork mechanism 18 is provided on the vertical surface of the covering 24 . Meanwhile, a plurality of lifting rings 26 are also provided on the top surface of the frame 1 .

[0009] The electrical control box 3 is an explosion-proof control box, the lithium battery 29 is an explosion-proof lithium battery, the motor used in the driving wheel assembly 4, the horizontal motor 6 and the motor used in the fork mechanism 18 are all explosion-proof motors, the X-axis in-position sensor 22, the Y-axis in-position sensor 23 and the photoelectric switch 30 for sensing the workpiece are all explosion-proof sensors, the wheels in the driving wheel assembly 4 and the universal wheel 5 are all anti-static rubber wheels, the fork 19, the L-shaped positioning piece 20, the horizontal slide rail 10 and the slider matched therewith, the longitudinal slide rail 16 and the slider matched therewith are all made of stainless steel.

[0010] Compared with the prior art, the present invention has the following advantages: This type of explosion-proof AGV for transporting explosive liquid silos has a simple structure, ingenious design and reasonable layout. It is designed to solve the problem of insufficient longitudinal space when traditional AGV robots lift certain workpieces with relatively low support points. A special structure is designed, which realizes the movement of the horizontal moving frame through a screw-nut transmission pair, and uses the inclined driving surface arranged thereon to drive the longitudinal moving frame to move along the Z-axis direction. That is to say, it converts the horizontal motion output into longitudinal motion output through the above structure, thereby achieving the purpose of saving longitudinal space; at the same time, the motors, control boxes, sensors and other power-on facilities arranged inside it are all explosion-proof, the tires are made of anti-static rubber wheels and the slide rails are made of stainless steel that will not generate static electricity and electric sparks during movement. Therefore, when transporting containers containing flammable and explosive liquids, the safety of the transportation process can be guaranteed as much as possible.

[0011] Moreover, the manufacturing process of this AGV robot is simple and the manufacturing cost is low, so it can be said that it has many advantages and is particularly suitable for promotion and application in this field, and its market prospects are very broad. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic structural diagram of an embodiment of the present invention.

[0013] Figure 2 It is a schematic structural diagram of an embodiment of the present invention (without the skin).

[0014] Figure 3 It is a schematic diagram of the structure of an embodiment of the present invention (without the skin and frame). DETAILED DESCRIPTION

[0015] The specific implementation of the present invention will be described below with reference to the accompanying drawings. Figures 1 to 3 As shown: an explosion-proof AGV for transporting explosive liquid silos, including a frame 1 composed of multiple crossbeams and longitudinal beams, a support platform 2 is arranged on the top of the frame 1, an electrical control box 3 and a lithium battery 29 are arranged on the support platform 2, a pair of driving wheel assemblies 4 are arranged in the center of the bottom of the frame 1, and a pair of universal wheels 5 are respectively arranged at both ends of the bottom of the frame 1. A horizontal motor 6 is fixedly arranged at the bottom of the frame 1, and the working end of the horizontal motor 6 is connected to one end of a lead screw 8 through a coupling 7, and the lead screw 8 is rotatably supported and connected to the frame 1, and the lead screw 8 is matched and connected to a nut seat, and the nut seat is connected to a horizontal movable frame 9, and a horizontal slide rail 10 is connected to the bottom of the horizontal movable frame 9, and the horizontal slide rail 10 is slidably connected to a slider arranged at the bottom of the frame 1, and two driving plates 11 are symmetrically arranged on the top surface of the horizontal movable frame 9, and a driving surface is arranged on the top of the driving plate 11, and the driving surface is composed of three parts: a low horizontal support surface 12, an inclined driving surface 13 and a high horizontal support surface 28, and there is a smooth transition between adjacent parts. A longitudinal movement frame 14 is also slidably connected in the frame 1. Two symmetrically distributed vertical plates 15 are arranged on the longitudinal movement frame 14. A pair of longitudinal slide rails 16 are arranged on the outer side of the vertical plates 15. The longitudinal slide rails 16 are slidably connected to the sliders arranged on the longitudinal beams of the frame 1. A roller 17 is rotatably supported on the outer side of the vertical plates 15. The roller 17 is in contact with the driving surface. A fork mechanism 18 is also arranged on the longitudinal movement frame 14. Two pairs of L-shaped positioning members 20 are arranged on the fork 19 of the fork mechanism 18. At the same time, a sensor bracket 21 is also arranged on the fork 19. An X-axis in-position sensor 22 and a Y-axis in-position sensor 23 are arranged on the sensor bracket 21. A photoelectric switch 30 for sensing the workpiece is arranged on the frame 1. The frame 1 is also provided with a covering 24 on the outside, and an operating port 25 matching the fork mechanism 18 is provided on the vertical surface of the covering 24 . Meanwhile, a plurality of lifting rings 26 are also provided on the top surface of the frame 1 .

[0016] The electrical control box 3 is an explosion-proof control box, the lithium battery 29 is an explosion-proof lithium battery, the motor used in the driving wheel assembly 4, the horizontal motor 6 and the motor used in the fork mechanism 18 are all explosion-proof motors, the X-axis in-position sensor 22, the Y-axis in-position sensor 23 and the photoelectric switch 30 for sensing the workpiece are all explosion-proof sensors, the wheels in the driving wheel assembly 4 and the universal wheel 5 are all anti-static rubber wheels, the fork 19, the L-shaped positioning piece 20, the horizontal slide rail 10 and the slider matched therewith, the longitudinal slide rail 16 and the slider matched therewith are all made of stainless steel.

[0017] The working process of the explosion-proof AGV for transporting explosive liquid silos in the embodiment of the present invention is as follows: when working, this type of explosion-proof AGV will follow the program regulations in the control system in the electrical control box 3, walk along a certain route, and make corresponding actions at corresponding nodes, that is, the AGV moves from the initial position to the material collection position, lifts the fork to pick up the workpiece (the silo containing flammable and explosive liquids), transports the workpiece to the next workstation, puts down the workpiece, moves to the material collection position again, and repeats the above operations repeatedly; The AGV moves on the road surface driven by the driving wheel assembly 4 and moves to the material picking position according to the established program. After the AGV moves to the position, the control system will control the fork mechanism 18 to move, and the motor drives the fork 19 to move in the X direction. The fork 19 moves to the bottom of the support structure of the workpiece. When the explosion-proof photoelectric switch 30 sensing the workpiece has a signal, it means that the AGV is already in the lifting position. Then the control system will send a signal to the horizontal motor 6, the horizontal motor 6 drives the lead screw 8 to rotate, and the nut seat connected to the lead screw 8 will drive the horizontal moving frame 9 to move horizontally. When the horizontal moving frame 9 moves, the driving plate 11 will move in the horizontal direction relative to the longitudinal moving frame 14. Since in the initial state, the roller 17 is in contact with the low horizontal support surface 12 in the driving surface, the longitudinal moving slide 14 is in a relatively low position at this time. When the driving plate 11 moves, the roller 17 will move from the low horizontal support surface 12 to the inclined driving surface 13. When the roller 17 runs at the half position of the driving surface 13 , the fork 19 contacts the silo, and the trigger member 27 on the workpiece triggers the X-axis in-position sensor 22 and the Y-axis in-position sensor 23 at the same time. The roller 17 continues to rise gradually under the action of the inclined driving surface 13 until the roller 17 moves to the high horizontal support surface 14. The longitudinal movement frame 14 moves to a high position and is supported by the high horizontal support surface 28. During the above movement, since the longitudinal movement frame 14 is slidably connected to the longitudinal beam of the frame 1 through the longitudinal slide rail 16, under the action of the longitudinal slide rail 16, the longitudinal movement frame 14 cannot be displaced in the horizontal direction, but can only be displaced in the longitudinal direction. When the roller 17 runs to the high horizontal support surface 28, the silo is separated from the ground support. Then the motor of the fork mechanism 18 runs, and the fork 19 drives the goods to realize X-direction movement, and the fork mechanism and the goods are hidden in the entire AGV skin; After the AGV transports the workpiece to the next workstation along the prescribed path under the control of the control system, the motor of the fork mechanism 18 is driven in reverse, the fork 19 drives the goods to extend in the X direction, the horizontal moving frame 9 moves in the opposite direction, the longitudinal moving frame 14 descends, and the roller 17 is supported by the low horizontal support surface 12 again, completing a cargo placement and transportation operation; During operation, since the electrical control box 3 is an explosion-proof control box, the battery 29 used is an explosion-proof lithium battery, the motor used in the driving wheel assembly 4, the horizontal motor 6 and the motor used in the fork mechanism 18 are all explosion-proof motors, and the X-axis in-position sensor 22, the Y-axis in-position sensor 23 and the explosion-proof photoelectric switch 30 for sensing the workpiece are all explosion-proof sensors, thus effectively ensuring the safety of the process of transporting flammable and explosive liquids; At the same time, the wheels in the driving wheel assembly 4 and the universal wheel 5 are all anti-static rubber wheels, and the fork 19, L-shaped positioning piece 20, horizontal slide rail 10 and the slider matched therewith, and the longitudinal slide rail 16 and the slider matched therewith are all made of stainless steel. They will not generate static electricity during operation and will not generate sparks during collision, and can also effectively ensure the safety of the process of transporting flammable and explosive liquids.

Claims

1. An explosion-proof AGV for transporting explosive liquid silos, comprising a frame (1) consisting of a plurality of cross beams and longitudinal beams, characterized in that: A support platform (2) is arranged on the top of the vehicle frame (1), an electrical control box (3) and a lithium battery (29) are arranged on the support platform (2), a pair of driving wheel assemblies (4) are arranged in the center of the bottom of the vehicle frame (1), and a pair of universal wheels (5) are arranged at both ends of the bottom of the vehicle frame (1). A horizontal motor (6) is fixedly arranged at the bottom of the frame (1), and the working end of the horizontal motor (6) is connected to one end of a lead screw (8) through a coupling (7). The lead screw (8) is rotatably supported and connected to the frame (1). The lead screw (8) is cooperatively connected to a nut seat, and the nut seat is connected to a horizontal movable frame (9). A horizontal slide rail (10) is connected to the bottom of the horizontal movable frame (9). The horizontal slide rail (10) is slidably connected to a slider arranged at the bottom of the frame (1). Two drive plates (11) are symmetrically arranged on the top surface of the horizontal movable frame (9). A drive surface is arranged on the top of the drive plate (11). The drive surface consists of three parts: a low horizontal support surface (12), an inclined drive surface (13) and a high horizontal support surface (28), and adjacent parts have a smooth transition. The frame (1) is also slidably connected to a longitudinal movement frame (14), the longitudinal movement frame (14) is provided with two symmetrically distributed vertical plates (15), a pair of longitudinal slide rails (16) are provided on the outer sides of the vertical plates (15), the longitudinal slide rails (16) are slidably connected to a slider provided on the longitudinal beam of the frame (1), a roller (17) is rotatably supported on the outer side of the vertical plate (15), the roller (17) is in contact with the driving surface, the longitudinal movement frame (14) is also provided with a fork mechanism (18), the fork (19) of the fork mechanism (18) is provided with two pairs of L-shaped positioning members (20), and the fork (19) is also provided with a sensor bracket (21), the sensor bracket (21) is provided with an X-axis in-position sensor (22) and a Y-axis in-position sensor (23), and a photoelectric switch (30) for sensing a workpiece is provided on the frame (1). The frame (1) is also provided with a covering (24) on the outside, and an operating port (25) matching the fork mechanism (18) is provided on the vertical surface of the covering (24), and a plurality of lifting rings (26) are also provided on the top surface of the frame (1).

2. The explosion-proof AGV for transporting explosive liquid silos according to claim 1 is characterized in that: The electrical control box (3) is an explosion-proof control box, the lithium battery (29) is an explosion-proof lithium battery, the motor used in the driving wheel assembly (4), the horizontal motor (6) and the motor used in the fork mechanism (18) are all explosion-proof motors, the X-axis in-position sensor (22), the Y-axis in-position sensor (23) and the photoelectric switch (30) for sensing the workpiece are all explosion-proof sensors, the wheels in the driving wheel assembly (4) and the universal wheel (5) are all anti-static rubber wheels, and the fork (19), the L-shaped positioning member (20), the horizontal slide rail (10) and the slider matched therewith, the longitudinal slide rail (16) and the slider matched therewith are all made of stainless steel.

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