Push-pull type heavy-load AGV tray transferring mechanism

Abstract

A push-pull type heavy-load AGV tray transferring mechanism belongs to the technical field of mechanical equipment and comprises an AGV body, an electric push-pull structure, an electric claw mechanism, a bearing platform mechanism and a positioning locking structure, the bearing platform mechanism comprises a supporting plate used for supporting materials and a conveying rail, the supporting plate is fixedly connected with the AGV body, and the conveying rail is fixedly connected with the supporting plate. The conveying rail is arranged above the supporting plate; the electric push-pull mechanism comprises a rigid chain device, the rigid chain device comprises a rigid chain box, a rigid chain and a first driving motor, the lower end of the rigid chain box is fixed on the AGV body, the upper end of the rigid chain box is fixedly connected with the transportation track, one end of the rigid chain is fixed in the chain box, and the other end of the rigid chain extends to the transportation track and is connected with the electric claw mechanism; the mechanism can effectively carry materials horizontally, especially in a heavy material workshop, so that plate materials are uniform in weight, high safety and stability are achieved, and a large amount of time and labor cost can be saved.

Description

Technical Field

[0001] The present application belongs to the technical field of mechanical equipment, and specifically relates to a push-pull heavy-load AGV pallet transfer mechanism. Background Art

[0002] With the development of science and technology, more and more automated equipment is being incorporated into people's production and daily lives. Unmanned guided vehicles (AGVs) are a typical example. AGVs, also known as automated guided vehicles (AGVs), automated guided vehicles (AGVs), and laser guided vehicles (LAVs), are characterized by their unmanned operation. Equipped with an automatic guidance system, AGVs can autonomously travel along a predetermined route without the need for human piloting, transporting goods or materials from their starting point to their destination. Another characteristic of AGVs is their flexibility, high degree of automation, and high intelligence. AGVs can flexibly adapt their routes to changes in warehouse storage requirements, production processes, and other factors. Furthermore, the cost of changing their routes is significantly lower than with traditional conveyor belts and rigid conveyor lines. With technological change and advancement, AGVs, which use load-carrying bodies to perform transfer functions, have emerged and are increasingly widely used in industrial production. Heavy-load AGVs require pallets to transport materials, and these pallets require a push-pull transfer mechanism on the AGV to facilitate this. However, currently, heavy-load AGVs in large factories are not very convenient for transporting heavy-duty materials. They only serve fixed transportation and transfer functions and lack mobility. Therefore, a new solution is urgently needed in the prior art to solve the above problems. Summary of the Invention

[0003] The purpose of the present invention is to provide a push-pull heavy-duty AGV pallet transfer mechanism for transporting auto mold sheets in large factories, making the transportation of large-scale transportation equipment more stable and safe.

[0004] A push-pull heavy-duty AGV pallet transfer mechanism includes an AGV body, an electric push-pull structure, an electric hook mechanism, a load-bearing platform mechanism, and a positioning locking structure.

[0005] The carrying platform mechanism includes a support plate for supporting materials and a transport track, the support plate is fixedly connected to the AGV body, and the transport track is arranged above the support plate;

[0006] The electric push-pull mechanism includes a rigid chain device, which includes a rigid chain box, a rigid chain and a first drive motor. The lower end of the rigid chain box is fixed to the AGV body, and the upper end is fixedly connected to the transport track. One end of the rigid chain is fixed in the chain box, and the other end extends to the transport track and is connected to the electric hook mechanism.

[0007] The electric hook mechanism includes a hook and a first servo motor, wherein the first servo motor is connected to a rotating shaft via a first reducer, and the rotating shaft drives the hook to rotate to hook the pallet;

[0008] The positioning locking mechanism includes a positioning mechanism and a locking mechanism, the positioning mechanism includes a baffle and a travel switch, the baffle is fixed to the support plate, and the travel switch is installed on the baffle; the locking mechanism includes an electric clamp and a second servo motor, and the electric clamp and the second servo motor are fixed to the AGV body;

[0009] When the tray triggers the travel switch, the positioning locking mechanism clamps the tray.

[0010] The driving motor of the rigid chain device is connected to a first reducer, the first reducer is connected to a first servo motor, and the output end of the first servo motor drives the rigid chain to move.

[0011] The electric hook mechanism further includes a drag chain and a drag chain track, and the drag chain moves along the drag chain track to drive the hook to move.

[0012] The clamping device of the positioning locking mechanism is connected to the second servo motor through a second reducer, and the second servo motor drives the electric clamp to clamp or release the pallet.

[0013] The rigid chain devices are symmetrically distributed on both sides of the AGV body, and the electric hook mechanism is correspondingly arranged at the end of the rigid chain.

[0014] The travel switch is electrically connected to the control system of the AGV body. When the pallet triggers the travel switch, the control system controls the positioning locking mechanism to clamp the pallet.

[0015] The driving motor of the electric push-pull mechanism is a servo motor, and the rotation speed of the servo motor is adjusted by a frequency converter to adapt to different transport rhythms.

[0016] The support plate is provided with a clamping device, which cooperates with the positioning locking mechanism to fix the tray.

[0017] The rigid chain is linked to the drive motor via a drive sprocket.

[0018] One end of the hook is connected in sequence with the second connecting piece through the first connecting piece, wherein one end of the first connecting piece, which plays a fixed connection role, is hinged to the hook, and the other end is hinged to one end of the second connecting piece; the other end of the second connecting piece is fixedly connected to the rotating shaft; the rotating shaft and the output shaft of the first servo motor are connected through a reducer transmission, the output shaft of the first servo motor is fixedly connected to the input shaft of the reducer, and the output shaft of the reducer is fixedly connected to the rotating shaft. When the first servo motor is started, the power is transmitted to the rotating shaft after being decelerated and torque-increased by the reducer, thereby driving the hook to rotate to achieve the action of hooking or releasing the pallet.

[0019] The beneficial effects of this application are: the mechanism can effectively carry out horizontal material handling, especially in heavy material workshops, ensuring uniform weight and stability of sheet materials, and significantly saving time and labor costs. The electric push-pull mechanism can drive the electric hook mechanism forward, that is, perpendicular to the conveyor line, to achieve precise position adjustment in the front-to-back direction. The rotating shaft within the electric hook mechanism of the present invention can drive the hook to rotate, thereby hooking the pallet. When the pallet hits the baffle and triggers the limit switch, feedback is provided to the workshop management system, which controls the positioning locking mechanism to lift and clamp the pallet. The pallet can be stably clamped and fixed, effectively avoiding position errors and pallet drops caused by vehicle body shaking, and improving the precise positioning and safe transfer of the pallet. The position sensor senses the position of the transfer platform, and the positioning cylinder automatically fixes the transfer platform. The installation of a limit switch can provide extreme displacement protection for the transfer platform. The present invention has a reasonable design, a high degree of automation, and is safe and reliable. It has broad application prospects in the automated transportation of automotive mold sheet materials and is suitable for large-scale industrial production and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a structural schematic diagram of a push-pull heavy-load AGV pallet transfer mechanism for this application.

[0021] Figure 2 This is a schematic diagram of the load-bearing platform mechanism of a push-pull heavy-load AGV pallet transfer mechanism in this application.

[0022] Figure 3 This is a side view of the electric hook mechanism of a push-pull heavy-load AGV pallet transfer mechanism in this application.

[0023] Figure 4 This is a schematic diagram of the first drive motor of a push-pull heavy-load AGV pallet transfer mechanism in the present application.

[0024] Figure 5 This is a schematic diagram of the first servo motor of a push-pull heavy-load AGV pallet transfer mechanism in the present application.

[0025] Figure 6This is a schematic diagram of the second servo motor of a push-pull heavy-load AGV pallet transfer mechanism in this application. DETAILED DESCRIPTION

[0026] A push-pull heavy-duty AGV pallet transfer mechanism, such as Figures 1-6 As shown, it includes an AGV body 200, an electric push-pull structure, an electric hook mechanism, a carrying platform mechanism and a positioning locking structure.

[0027] The carrying platform mechanism includes a support plate 3 and a transport track 4 for supporting materials. Figure 2 and Figure 4 As shown, the support plate 3 is fixedly connected to the AGV body 200, and the transport track 4 is arranged above the support plate 3;

[0028] The electric push-pull mechanism includes a rigid chain device, which includes a rigid chain box 2, a rigid chain 22 and a first drive motor 6. The lower end of the rigid chain box 2 is fixed to the AGV body 200, and the upper end is fixedly connected to the transport track 4. One end of the rigid chain 22 is fixed in the chain box 2, and the other end extends to the transport track 4 and is connected to the electric hook mechanism.

[0029] The electric claw mechanism includes a claw 1 and a first servo motor 13. Figure 5 As shown, the first servo motor 13 is connected to the rotating shaft 7 through the first reducer 18, and the rotating shaft 7 drives the hook 1 to rotate to hook the tray 100;

[0030] The positioning and locking mechanism includes a positioning mechanism and a locking mechanism. Figure 6 As shown, the positioning mechanism includes a baffle 17 and a travel switch 16, the baffle 17 is fixed on the support plate 3, and the travel switch 16 is installed on the baffle 17; the locking mechanism includes an electric clamp 14 and a second servo motor 20, the electric clamp 14 and the second servo motor 20 are fixed to the AGV body 200;

[0031] When the tray 100 triggers the travel switch 16 , the positioning locking mechanism clamps the tray 100 .

[0032] The driving motor 6 of the rigid chain device is connected to the first reducer 18 , and the first reducer 18 is connected to the first servo motor 13 . The output end of the first servo motor 13 drives the rigid chain to move.

[0033] The electric hook mechanism also includes a drag chain 8 and a drag chain track 9. Figure 3 As shown, the drag chain 8 moves along the drag chain track 9 to drive the hook 1 to move.

[0034] The clamping device 14 of the positioning and locking mechanism is connected to the second servo motor 20 via a second reducer 19 , and the second servo motor 20 drives the electric clamp 14 to clamp or release the pallet 100 .

[0035] The rigid chain devices are symmetrically distributed on both sides of the AGV body 200, and the electric hook mechanism is correspondingly arranged at the end of the rigid chain.

[0036] The travel switch 16 is electrically connected to the control system of the AGV body 200 . When the pallet 100 triggers the travel switch 16 , the control system controls the positioning locking mechanism to clamp the pallet 100 .

[0037] The driving motor 6 of the electric push-pull mechanism is a servo motor, and the speed of the servo motor is adjusted by a frequency converter to adapt to different transport rhythms.

[0038] The support plate 3 is provided with a clamping device 14, such as Figure 6 As shown, the clamping device 14 cooperates with the positioning locking mechanism to fix the pallet.

[0039] The rigid chain is linked to the drive motor 6 via the drive sprocket 23 .

[0040] One end of the hook 1 is connected in sequence with the second connecting piece 12 through the first connecting piece 10, wherein one end of the first connecting piece 10 which plays a fixed connection role is hinged to the hook 1, and the other end is hinged to one end of the second connecting piece 12; the other end of the second connecting piece 12 is fixedly connected to the rotating shaft 7; the rotating shaft 7 and the output shaft of the first servo motor 13 are connected through a reducer 18, the output shaft of the first servo motor 13 is fixedly connected to the input shaft of the reducer 18, and the output shaft of the reducer 18 is fixedly connected to the rotating shaft 7. When the first servo motor 13 is started, the power is transmitted to the rotating shaft 7 after being decelerated and torqued by the reducer 18, thereby driving the hook 1 to rotate to achieve the action of hooking or releasing the pallet 100.

[0041] The support plate 3 used to support the material is accurately placed at the predetermined position of the AGV body 200, and high-strength bolts are used to ensure that the support plate 3 is firmly fixed to the AGV body 200 to prevent displacement during operation. The transport track 4 is installed above the support plate 3, corresponding to the installation position of the transport track 4 on the support plate 3. The lower end of the rigid chain box 2 is placed on the corresponding installation position of the AGV body 200. It can be firmly fixed to the AGV body 200 by welding or high-strength bolt connection. Be sure to ensure that the rigid chain box 2 is firmly installed and perpendicular to the surface of the AGV body 200. The upper end of the rigid chain box 2 is fixed to the transport track 4, and welding or bolt connection is also used to ensure that the strength of the connection part meets the tension requirement of the rigid chain 22 during operation. One end of the rigid chain 22 is installed at a specified position inside the rigid chain box 2 to ensure that it is firmly installed to prevent it from falling off during operation. The other end of the rigid chain 22 extends along the path of the transport track 4. The drive motor 6 is connected to the first reducer 18, which in turn is connected to the first servo motor 13, ensuring concentricity at all connections. The output of the first servo motor 13 is linked to the rigid chain 22 via the drive sprocket 23. When installing the drive sprocket 23, its perpendicularity to the output shaft of the first servo motor 13 and its precise meshing with the rigid chain 22 must be ensured. The rigid chain assembly is symmetrically distributed on both sides of the AGV body 200 to ensure consistent installation and even force when pushing the pallet.

[0042] The output shaft of the first servo motor 13 is connected to the input shaft of the first reducer 18 via a coupling to ensure concentricity and reduce vibration and wear during operation. The output shaft of the first reducer 18 is fixedly connected to the rotating shaft 7 to ensure stable power transmission. One end of the hook 1 is connected to the second connecting piece 12 via a first connecting piece 10. One end of the first connecting piece 10 is hingedly connected to the hook 1 and secured with a pin and a cotter pin to ensure flexible rotation of the hook 1. The other end of the first connecting piece 10 is also hingedly connected to one end of the second connecting piece 12. The other end of the second connecting piece 12 is fixedly connected to the rotating shaft 7, for example, by welding or high-strength bolts to ensure a secure connection. Install the drag chain track 9 in the appropriate position, ensuring that it is level and straight as required. Install the drag chain 8 on the drag chain track 9, ensuring that it can move smoothly along the track 9. The drag chain 8 is connected to the hook 1 and moves with it during the movement of the hook 1, providing stable cable and pipe protection for the movement of the hook 1. The baffle 17 is fixed to the support plate 3 and can be connected by welding or bolting to ensure that the baffle 17 is firmly installed and perpendicular to the surface of the support plate 3. The limit switch 16 is installed on the baffle 17 to ensure that the limit switch 16 is installed in the accurate position and can be reliably triggered when the pallet 100 contacts it. The limit switch 16 is electrically connected to the control system of the AGV body 200 through wires. During the connection process, it is necessary to ensure that the wire connection is firm and the insulation performance is good to prevent faults such as short circuits or open circuits. The electric clamp 14 and the second servo motor 20 are fixed to the AGV body 200. First, fix the second servo motor 20 to the corresponding position of the AGV body 200 through the mounting bracket to ensure that it is firmly installed. Then connect the second reducer 19 to the output shaft of the second servo motor 20 to ensure the concentricity of the connection. The electric clamp 14 is connected to the second servo motor 20 through the second reducer 19. Adjust the position of the electric clamp 14 so that it can accurately clamp and release the pallet 100, and then use bolts and other connecting parts to fix it firmly.

[0043] When the AGV body 200 issues a transport instruction, the hook 1 controls the rotating shaft 7 through the first servo motor 13 to lower the hook 1 to fasten the pallet 100. After fastening, the first drive motor 6 and the second servo motor 20 work simultaneously to drive the drag chain 8 to transport backward. When the pallet is completely attached to the clamping device 14, the limit switch 16 is triggered and the operation stops.

[0044] Finally, the present invention should explain that: the above embodiments are detailed descriptions of the technical solutions of the present invention and are not limited to the aforementioned embodiments. Those skilled in the art should understand that modifications or replacements of the features and parameters in the aforementioned embodiments do not depart from the spirit and scope of the technical solutions of the aforementioned embodiments.

Claims

1. A push-pull heavy-load AGV pallet transfer mechanism, comprising an AGV body (200), characterized by: It also includes an electric push-pull structure, an electric hook mechanism, a carrying platform mechanism and a positioning locking structure. The carrying platform mechanism comprises a support plate (3) for supporting materials and a transport track (4), wherein the support plate (3) is fixedly connected to the AGV body (200), and the transport track (4) is arranged above the support plate (3); The electric push-pull mechanism includes a rigid chain device, which includes a rigid chain box (2), a rigid chain (22) and a first drive motor (6); the lower end of the rigid chain box (2) is fixed to the AGV body (200), and the upper end is fixedly connected to the transport track (4); one end of the rigid chain (22) is fixed in the chain box (2), and the other end extends to the transport track (4) and is connected to the electric hook mechanism; The electric hook mechanism comprises a hook (1) and a first servo motor (13), wherein the first servo motor (13) is connected to a rotating shaft (7) via a first reducer (18), and the rotating shaft (7) drives the hook (1) to rotate so as to hook the tray (100); The positioning locking mechanism includes a positioning mechanism and a locking mechanism, wherein the positioning mechanism includes a baffle (17) and a travel switch (16), wherein the baffle (17) is fixed on the support plate (3), and the travel switch (16) is installed on the baffle (17); the locking mechanism includes an electric clamp (14) and a second servo motor (20), wherein the electric clamp (14) and the second servo motor (20) are fixed on the AGV body (200); When the tray (100) triggers the travel switch (16), the positioning locking mechanism clamps the tray (100).

2. The push-pull heavy-load AGV pallet transfer mechanism according to claim 1 is characterized in that: The driving motor (6) of the rigid chain device is connected to a first reducer (18), the first reducer (18) is connected to a first servo motor (13), and the output end of the first servo motor (13) drives the rigid chain to move.

3. The push-pull heavy-load AGV pallet transfer mechanism according to claim 1 is characterized in that: The electric hook mechanism further comprises a drag chain (8) and a drag chain track (9), and the drag chain (8) moves along the drag chain track (9) to drive the hook (1) to move.

4. The push-pull heavy-load AGV pallet transfer mechanism according to claim 1 is characterized in that: The clamping device (14) of the positioning locking mechanism is connected to a second servo motor (20) via a second reducer (19), and the second servo motor (20) drives the electric clamp (14) to clamp or release the tray (100).

5. The push-pull heavy-load AGV pallet transfer mechanism according to claim 1 is characterized in that: The rigid chain devices are symmetrically distributed on both sides of the AGV body (200), and the electric hook mechanism is correspondingly arranged at the end of the rigid chain.

6. The push-pull heavy-load AGV pallet transfer mechanism according to claim 1 is characterized in that: The travel switch (16) is electrically connected to the control system of the AGV vehicle body (200); when the pallet (100) triggers the travel switch (16), the control system controls the positioning locking mechanism to clamp the pallet (100).

7. The push-pull heavy-load AGV pallet transfer mechanism according to claim 1, characterized in that: The driving motor (6) of the electric push-pull mechanism is a servo motor, and the rotation speed of the servo motor is adjusted by a frequency converter to adapt to different transport rhythms.

8. The push-pull heavy-load AGV pallet transfer mechanism according to claim 1, characterized in that: A clamping device (14) is provided on the support plate (3), and the clamping device (14) cooperates with a positioning locking mechanism to fix the tray.

9. The push-pull heavy-load AGV pallet transfer mechanism according to claim 1, characterized in that: The rigid chain is linked to the drive motor (6) via a drive sprocket (23).

10. The push-pull heavy-load AGV pallet transfer mechanism according to claim 1, characterized in that: One end of the hook (1) is connected to the second connecting piece (12) in sequence through a first connecting piece (10), wherein one end of the first connecting piece (10) which plays a fixed connection role is hinged to the hook (1), and the other end is hinged to one end of the second connecting piece (12); the other end of the second connecting piece (12) is fixedly connected to the rotating shaft (7); the rotating shaft (7) and the output shaft of the first servo motor (13) are connected by transmission through a reducer (18), the output shaft of the first servo motor (13) is fixedly connected to the input shaft of the reducer (18), and the output shaft of the reducer (18) is fixedly connected to the rotating shaft (7); when the first servo motor (13) is started, the power is transmitted to the rotating shaft (7) after being decelerated and torque-increased by the reducer (18), thereby driving the hook (1) to rotate to achieve the action of hooking or releasing the tray (100).

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