AGV (Automatic Guided Vehicle) carrying, connecting and feeding equipment

Abstract

The invention provides AGV carrying, connecting and feeding equipment, and belongs to the technical field of AGV carrying. The AGV carrying, connecting and feeding equipment comprises an automatic guided vehicle, a loading mechanism is arranged on the automatic guided vehicle and comprises a frame and a second sliding groove, the frame is fixedly arranged on the front side of the automatic guided vehicle, a lifting plate is arranged on the inner wall of the frame in a sliding mode, and two first sliding grooves are formed in the front side of the lifting plate. By arranging the loading mechanism, when materials are cylindrical materials, four loading plates are located at the 45-degree position, the 135-degree position, the 225-degree position and the 335-degree position of the cylindrical materials correspondingly, so that the device can automatically and adaptively load the rectangular materials and the cylindrical materials with the maximum proportion, and the loading efficiency is improved. Compared with the prior art, a rectangular special loading mechanism and a cylindrical special loading mechanism do not need to be manually and frequently disassembled and assembled, the loading time is greatly shortened, and the material carrying efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of AGV transportation, in particular to an AGV transportation connection and loading equipment. BACKGROUND

[0002] AGV is an intelligent transportation device that realizes unmanned driving through an automatic navigation system, also known as an automatic guided vehicle, which is used for efficient transportation of materials in factory, warehouse, logistics center and other scenes, and its characteristics are that it can move according to the preset path or dynamic planning path without human intervention, and can carry roller, belt, forklift and other mechanisms to adapt to different material forms.

[0003] The automatic guided vehicle in the prior art needs to repeatedly switch and disassemble two loading mechanisms to stably fix the materials during transportation when the materials to be transported are mostly rectangular or cylindrical, which wastes a lot of transportation time and slows down the production efficiency. SUMMARY

[0004] In order to make up for the above shortcomings, the present application provides an AGV transportation connection and loading equipment which overcomes the above technical problems or at least partially solves the above problems.

[0005] The present application is implemented as follows: The present application provides an AGV transportation connection and loading equipment, which comprises an automatic guided vehicle, a loading mechanism is arranged on the automatic guided vehicle, and the loading mechanism comprises, a frame, the frame is fixedly arranged on the front side of the automatic guided vehicle, a lifting plate is slidably arranged on the inner wall of the frame, two first sliding grooves are formed in the front side of the lifting plate, a first limiting rod is fixedly arranged in one of the first sliding grooves, two H-shaped plates are slidably arranged on the surface of the first limiting rod, and the two H-shaped plates are symmetrically arranged along the vertical center axis of the lifting plate; a second sliding groove is formed in the front side of the H-shaped plate, a second limiting rod is fixedly arranged in the second sliding groove, two sliding blocks are slidably arranged on the surface of the second limiting rod, the two sliding blocks are symmetrically arranged along the horizontal center axis of the lifting plate, a loading plate is rotatably arranged on the front side of the sliding block, a plurality of first rolling balls are rotatably arranged on the loading plate, and the plurality of first rolling balls are arranged in a linear array.

[0006] In a preferred scheme, the inner rotation of the other first chute is provided with a first bidirectional screw rod, two said L-shaped plates are respectively threaded on the surfaces of the two ends of the first bidirectional screw rod, the inner rotation of the second chute is provided with a second bidirectional screw rod, two said sliding blocks are respectively threaded on the surfaces of the two ends of the second bidirectional screw rod, the top of the lifting plate is fixedly provided with a first motor, the output end of the first motor is fixedly provided with a first bevel gear, the inner rotation of the lifting plate is provided with a second bevel gear, the first bevel gear and the second bevel gear are meshingly connected, and the second bevel gear and the first bidirectional screw rod are coaxially fixedly connected.

[0007] In a preferred scheme, the front side of the lifting plate is fixedly provided with two mounting seats, a spline shaft is rotatably arranged between the two mounting seats, the inner rotation of the L-shaped plate is provided with a third bevel gear and a fourth bevel gear, the third bevel gear and the fourth bevel gear are meshingly connected, the inner coaxial of the third bevel gear is fixedly provided with a spline sleeve, the spline sleeve is slidably arranged on the surface of the spline shaft, and the fourth bevel gear and the second bidirectional screw rod are coaxially fixedly connected. One of the mounting seats is fixedly provided with a second motor, and the output end of the second motor is fixedly connected with the spline shaft.

[0008] In a preferred scheme, the front side of the sliding block is fixedly provided with a loading block, a circular groove is formed in the front side of the loading block, a rotating rod is rotatably arranged in the circular groove, the front side of the rotating rod is fixedly connected with the rear side of the loading plate, a torsional spring is arranged between the rotating rod and the inner wall of the circular groove, and a limiting block is integrally formed on the front side of the loading block.

[0009] In a preferred scheme, the lifting plate is provided with a feeding mechanism, the feeding mechanism comprises a sliding rail, the sliding rail is fixedly arranged on the front side of the lifting plate, a sliding plate is slidably arranged on the sliding rail, a positioning plate is vertically fixedly arranged on the front side of the sliding plate, a third sliding groove is formed in the front side of the positioning plate, a feeding plate is slidably arranged in the third sliding groove, and the feeding plate is in the shape of L.

[0010] In a preferred scheme, a third limiting rod is fixedly arranged in the third sliding groove, a first driving screw rod is rotatably arranged in the third sliding groove, the feeding plate is sleeved on the surfaces of the third limiting rod and the first driving screw rod, the feeding plate and the third limiting rod are slidably connected, the feeding plate and the first driving screw rod are threadedly connected, a fifth bevel gear and a sixth bevel gear are rotatably arranged in the inner portion of the positioning plate, the fifth bevel gear and the sixth bevel gear are meshingly connected, a third motor is fixedly arranged on the positioning plate, the output end of the third motor is fixedly connected with the fifth bevel gear, and the sixth bevel gear and the first driving screw rod are coaxially fixedly connected.

[0011] In a preferred scheme, the front side of the lifting plate is hingedly connected with two first connecting rods, the inside of the L-shaped plate is hingedly connected with a second connecting rod, and the inside of the sliding plate is hingedly connected with a third connecting rod, and the two ends of the second connecting rod are respectively hingedly connected with the ends of the first connecting rods and the ends of the third connecting rod.

[0012] In a preferred scheme, the loading plate is provided with a ball self-adjusting mechanism, the ball self-adjusting mechanism comprises a plurality of second balls, the second balls are rotationally arranged on one side of the loading plate close to the horizontal center axis of the lifting plate, and the plurality of second balls are symmetrically arranged in two rows with the first ball as an axis.

[0013] In a preferred scheme, the inside of the loading plate is provided with two limiting grooves, the inside of the limiting grooves is fixedly provided with a first limiting rod and a second limiting rod, the surface of the first limiting rod is slidably sleeved with an adjusting plate, the adjusting plate is in the shape of a concave letter, the second ball is rotationally arranged on the adjusting plate, the inside wall of the adjusting plate is provided with a plurality of direction changing grooves, the surface of the second limiting rod is slidably provided with a sleeve, the surface of the sleeve is fixedly provided with a plurality of direction changing shafts, the number of the direction changing shafts is consistent with the number of the direction changing grooves, and the direction changing shafts are slidably arranged in the direction changing grooves.

[0014] In a preferred scheme, the front side of the loading block is fixedly provided with a gear ring, the gear ring and the rotating rod are coaxially arranged, two driving gears are rotationally arranged on the loading plate, the two driving gears are engaged with the gear ring, a second driving lead screw is coaxially fixedly arranged in the inside of the driving gear, and the second driving lead screw is threadedly sleeved in the inside of the sleeve.

[0015] The AGV carrying connection and loading equipment has the following beneficial effects. 1. When the material is a cylindrical material, four loading plates are located at positions of forty-five degrees, one hundred thirty-five degrees, two hundred twenty-five degrees and three hundred fifteen degrees of the cylindrical material, so that the device can automatically adapt to loading when facing the rectangular material and the cylindrical material with the largest proportion, and compared with the prior art, the device does not need manual frequent disassembly and assembly of the rectangular special loading mechanism and the cylindrical special loading mechanism, greatly reduces the loading time and improves the material carrying efficiency.

[0016] 2. The horizontal end of the loading plate pushes the material to move towards the lifting plate, and the first ball and the second ball can reduce the friction force when the material is loaded, until the material abuts against the abutting block, so that the user can conveniently load the material, and the loading plate can also play an auxiliary positioning effect, improving the loading stability during transportation.

[0017] 3. By setting the ball self-adjusting mechanism, when the loaded material is cylindrical, the loading plate rotates, and at the same time, the two rows of second balls on the same loading plate move away from the loading plate, so that the distance between the second balls and the loading plate is farther than that between the first balls and the loading plate, so that the cross section composed of the two rows of second balls and the first balls becomes arc-shaped, so as to better fit the outer surface of the cylindrical material, avoiding the problem that only the first balls are in contact with the cylindrical material during loading, resulting in poor friction reduction effect. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0019] Figure 1 is a schematic diagram of the overall three-dimensional structure provided by the embodiment of the present application; Figure 2 is a schematic diagram of the overall three-dimensional structure provided by the embodiment of the present application; Figure 3 is a partial cross-sectional view of the lifting plate provided by the embodiment of the present application; Figure 4 is a schematic diagram of the structure of the first connecting rod, the second connecting rod and the third connecting rod provided by the embodiment of the present application; Figure 5 is a partial cross-sectional view of the positioning plate provided by the embodiment of the present application; Figure 6 is a schematic diagram of the structure of the H-shaped plate provided by the embodiment of the present application; Figure 7 is a partial cross-sectional view of the H-shaped plate provided by the embodiment of the present application; Figure 8 is a schematic diagram of the structure of the rotating rod provided by the embodiment of the present application; Figure 9 is a partial cross-sectional view of the loading plate provided by the embodiment of the present application; Figure 10 is a schematic diagram of the structure of the direction-changing groove provided by the embodiment of the present application.

[0020] In the figure: 1, automatic guided vehicle; 201, frame; 202, lifting plate; 203, first sliding groove; 204, first limiting rod; 205, Z-shaped plate; 206, second sliding groove; 207, second limiting rod; 208, sliding block; 209, loading plate; 210, first ball; 211, first bidirectional screw rod; 212, second bidirectional screw rod; 213, first motor; 214, first bevel gear; 215, second bevel gear; 216, mounting seat; 217, spline shaft; 218, third bevel gear; 219, fourth bevel gear; 220, spline sleeve; 221, second motor; 222, loading block; 223, circular groove; 224, rotating rod; 225, torsional spring; 226, limiting block; 301, sliding rail; 302, sliding plate; 303, positioning plate; 304, third sliding groove; 305, feeding plate; 306, third limiting rod; 307, first driving screw rod; 308, fifth bevel gear; 309, sixth bevel gear; 310, third motor; 311, first connecting rod; 312, second connecting rod; 313, third connecting rod; 401, second ball; 402, limiting groove; 403, first limiting rod; 404, second limiting rod; 405, adjusting plate; 406, direction-changing groove; 407, sleeve; 408, direction-changing shaft; 409, gear ring; 410, driving gear; 411, second driving screw rod. DETAILED DESCRIPTION

[0021] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0022] REFERENCE Figures 1-10The application provides a technical scheme: an AGV carrying, connecting, and feeding equipment, which comprises an automatic guided vehicle 1, wherein the automatic guided vehicle 1 is provided with a loading mechanism; the loading mechanism comprises a frame 201 and a second sliding groove 206; the frame 201 is fixedly arranged on the front side of the automatic guided vehicle 1 through bolts; a lifting plate 202 is slidably arranged on the inner wall of the frame 201; two first sliding grooves 203 are formed in the front side of the lifting plate 202; a first limiting rod 204 is fixedly arranged in one of the first sliding grooves 203; two H-shaped plates 205 are slidably arranged on the surface of the first limiting rod 204; the two H-shaped plates 205 are symmetrically arranged along the vertical central axis of the lifting plate 202; the second sliding groove 206 is formed in the front side of the H-shaped plate 205; a second limiting rod 207 is fixedly arranged in the second sliding groove 206; two sliding blocks 208 are slidably arranged on the surface of the second limiting rod 207; the two sliding blocks 208 are symmetrically arranged along the horizontal central axis of the lifting plate 202; a loading plate 209 is rotatably arranged on the front side of the sliding block 208; a plurality of first rolling balls 210 are rotatably arranged on the loading plate 209; the plurality of first rolling balls 210 are arranged in a linear array; a cylinder is arranged in the automatic guided vehicle 1; the output end of the cylinder is fixedly connected with the lifting plate 202; through the loading mechanism, a user drives the automatic guided vehicle 1 to move to a preset position, starts the cylinder, moves the lifting plate 202 to the preset position, simultaneously moves the two H-shaped plates 205 in the first sliding grooves 203 in opposite directions, makes the two H-shaped plates 205 close to each other, and then moves the loading plate 209 in the direction close to the horizontal central axis of the lifting plate 202; when the material is a rectangular material, the lower loading plate 209 remains in a horizontal state until the rolling balls on the lower loading plate 209 are in contact with the bottom of the material; the material is pulled between the two loading plates 209 through a feeding plate 305; the rectangular material is loaded through the two feeding plates 305, the two positioning plates 303, and the four loading plates 209; when the material is a cylindrical material, the loading plate 209 rotates in the moving process through the extrusion of the outer surface of the cylindrical material, until the loading plate 209 is limited by a limiting block 226; at this time, the loading plate 209 is turned by forty-five degrees; the four loading plates 209 are respectively located at the positions of forty-five degrees, one hundred thirty-five degrees, two hundred twenty-five degrees, and three hundred fifteen degrees of the cylindrical material; the cylindrical material is loaded through the cooperation of the two feeding plates 305 and the two positioning plates 303; then the material carrying work is automatically completed through a preset route, so that the device can automatically adapt when facing the rectangular material and the cylindrical material with the largest proportion; compared with the prior art, the device does not need to frequently disassemble and assemble the rectangular special loading mechanism and the cylindrical special loading mechanism, greatly reduces the loading time, and improves the material carrying efficiency. Reference Figures 1-10The interior of the other first sliding groove 203 is rotatably provided with a first bidirectional screw rod 211, two Chinese character-shaped plates 205 are respectively threadedly sleeved on the surfaces of the two ends of the first bidirectional screw rod 211, the interior of the second sliding groove 206 is rotatably provided with a second bidirectional screw rod 212, two sliding blocks 208 are respectively threadedly sleeved on the surfaces of the two ends of the second bidirectional screw rod 212, the top of the lifting plate 202 is fixedly provided with a first motor 213 through bolts and mounting plates, the output end of the first motor 213 is fixedly provided with a first bevel gear 214 through a shaft coupling, the interior of the lifting plate 202 is rotatably provided with a second bevel gear 215, the first bevel gear 214 and the second bevel gear 215 are in meshing connection, the second bevel gear 215 is coaxially fixedly connected with the first bidirectional screw rod 211 through a first transmission rod, the front side of the lifting plate 202 is fixedly provided with two mounting seats 216 through bolts, the two mounting seats 216 are rotatably provided with a spline shaft 217 between them, the interior of the Chinese character-shaped plate 205 is rotatably provided with a third bevel gear 218 and a fourth bevel gear 219, the third bevel gear 218 and the fourth bevel gear 219 are in meshing connection, the interior of the third bevel gear 218 is coaxially fixedly provided with a spline sleeve 220, the spline sleeve 220 is slidably sleeved on the surface of the spline shaft 217, the fourth bevel gear 219 is coaxially fixedly connected with the second bidirectional screw rod 212 through a second transmission rod, one of the two mounting seats 216 is fixedly provided with a second motor 221 through bolts and mounting plates, the output end of the second motor 221 is fixedly connected with the spline shaft 217 through a shaft coupling, by arranging the first bidirectional screw rod 211 and the second bidirectional screw rod 212, the user starts the first motor 213, drives the first bevel gear 214 to rotate, through the meshing connection of the first bevel gear 214 and the second bevel gear 215, the second bevel gear 215 drives the first bidirectional screw rod 211 to rotate through the first transmission rod, through the threaded connection of the first bidirectional screw rod 211 and the two Chinese character-shaped plates 205 and the limiting cooperation of the first limiting rod 204, the two Chinese character-shaped plates 205 move in opposite directions, when it is needed to move the loading plate 209, the second motor 221 is started, the spline shaft 217 is driven to rotate, through the meshing of the spline teeth of the spline shaft 217 and the spline teeth of the spline sleeve 220, the spline sleeve 220 drives the third bevel gear 218 to rotate, through the meshing connection of the third bevel gear 218 and the fourth bevel gear 219, the fourth bevel gear 219 drives the second bidirectional screw rod 212 to rotate, through the threaded connection of the second bidirectional screw rod 212 and the two sliding blocks 208 and the limiting cooperation of the second limiting rod 207, the four sliding blocks 208 simultaneously drive the loading block 222 and the loading plate 209 to move in the direction of approaching the horizontal central shaft of the lifting plate 202; Referring to Figures 1-10The front side of the sliding block 208 is fixed with a loading block 222, the front side of the loading block 222 is provided with a circular groove 223, the inside of the circular groove 223 is rotatably provided with a rotating rod 224, the front side of the rotating rod 224 is fixedly connected with the rear side of the loading plate 209, the rotating rod 224 and the inner wall of the circular groove 223 are provided with a torsional spring 225, the front side of the loading block 222 is integrally provided with a limiting block 226, under the limiting cooperation of the limiting block 226, the overturning limit of the loading plate 209 is forty-five degrees, through the setting of the rotating rod 224 and the torsional spring 225, when the loading plate 209 is extruded by the cylindrical material, the loading plate 209 can rotate, and at the same time, the torsional spring 225 can accumulate elastic potential energy, after losing the extrusion, the loading plate 209 returns to the original position through the rebound force of the torsional spring 225; With reference to Figures 1-10The feeding mechanism is arranged on the lifting plate 202, and the feeding mechanism comprises a sliding rail 301 which is fixed on the front side of the lifting plate 202 through bolts, a sliding plate 302 which is slidably arranged on the sliding rail 301, a positioning plate 303 which is vertically fixed on the front side of the sliding plate 302, a plurality of first rolling balls 210 which are also rotatably arranged on the positioning plate 303, a third sliding groove 304 which is formed on the front side of the positioning plate 303, a feeding plate 305 which is slidably arranged in the third sliding groove 304, the feeding plate 305 being in the shape of L, a third limiting rod 306 which is fixed in the third sliding groove 304, a first driving lead screw 307 which is rotatably arranged in the third sliding groove 304, the feeding plate 305 being sleeved on the surfaces of the third limiting rod 306 and the first driving lead screw 307, the feeding plate 305 and the third limiting rod 306 being slidably connected, the feeding plate 305 and the first driving lead screw 307 being threadedly connected, a fifth bevel gear 308 and a sixth bevel gear 309 which are rotatably arranged in the positioning plate 303 and are in meshing connection, a third motor 310 which is fixed on the positioning plate 303 through bolts and mounting plates, the output end of the third motor 310 being fixedly connected with the fifth bevel gear 308 through a shaft coupling, the sixth bevel gear 309 being coaxially fixedly connected with the first driving lead screw 307 through a third transmission rod, when the feeding mechanism is arranged, the user starts the cylinder to move the lifting plate 202 upward, until the positioning plate 303 and the horizontal center axis position of the material coincide, the third motor 310 is started to drive the fifth bevel gear 308 to rotate, the sixth bevel gear 309 is driven to rotate through the third transmission rod, the feeding plate 305 is moved away from the lifting plate 202 through the thread connection between the first driving lead screw 307 and the feeding plate 305 and the limiting cooperation of the third limiting rod 306, until the horizontal end of the feeding plate 305 exceeds the end surface of the material, the sliding plates 302 on both sides are simultaneously moved toward the vertical center axis of the lifting plate 202, until the two positioning plates 303 respectively contact the two sides of the material, the third motor 310 is reversely started to move the material toward the lifting plate 202 through the horizontal end of the feeding plate 305, so that the material is extended outward from the shelf, at this time, the user starts the second motor 221, until the first rolling ball 210 and the second rolling ball 401 on the top of the lower loading plate 209 contact the material, the horizontal end of the feeding plate 305 continues to move the material toward the lifting plate 202, in this process, the first rolling ball 210 and the second rolling ball 401 can reduce the friction when the material is fed, until the material abuts against the abutting block, so that the user can conveniently feed the material, and the feeding plate 305 can also have the effect of auxiliary positioning, improving the loading stability in the transportation process; Referring to Figures 1-10The front side of the lifting plate 202 is hingedly connected with two first connecting rods 311 through pivots, the inside of the Z-shaped plate 205 is hingedly connected with a second connecting rod 312 through a pivot, the inside of the sliding plate 302 is hingedly connected with a third connecting rod 313 through a pivot, the two ends of the second connecting rod 312 are respectively hingedly connected with the end of the first connecting rod 311 and the end of the third connecting rod 313 through pivots, the hinge point of the second connecting rod 312 and the Z-shaped plate 205 is located at the central axis of the second connecting rod 312, the length of the first connecting rod 311 and the length of the third connecting rod 313 are the same, and the length of the second connecting rod 312 is the sum of the lengths of the first connecting rod 311 and the third connecting rod 313. By arranging the first connecting rod 311, the second connecting rod 312 and the third connecting rod 313, when the user starts the first motor 213 to drive the Z-shaped plate 205 to move, the second connecting rod 312 rotates around the hinge point of the Z-shaped plate 205 due to the hinged connection of one end of the second connecting rod 312 and the first connecting rod 311, and the third connecting rod 313 rotates at the same time due to the hinged connection of the other end of the second connecting rod 312 and the third connecting rod 313, so as to drive the sliding plate 302 and the positioning plate 303 to slide along the sliding rail 301, and the distance between the positioning plate 303 and the Z-shaped plate 205 is always the same as the distance between the Z-shaped plate 205 and the center point of the lifting plate 202, thereby improving the stability of the four loading plates 209 when loading materials, especially when facing cylindrical materials, so that the four loading plates 209 are always located at forty-five degrees, one hundred thirty-five degrees, two hundred twenty-five degrees and three hundred fifteen degrees of the cylindrical materials, respectively; With reference to Figures 1-10 The loading plate 209 is provided with a ball self-adjusting mechanism, the ball self-adjusting mechanism comprises a plurality of second balls 401, the second balls 401 are rotationally arranged on one side of the loading plate 209 close to the horizontal center axis of the lifting plate 202, and the plurality of second balls 401 are symmetrically arranged in two rows with the first ball 210 as an axis. In the initial state, the height of the first ball 210 is the same as that of the second ball 401. By arranging the ball self-adjusting mechanism, when the loaded material is cylindrical, the loading plate 209 rotates, and at the same time, the two rows of second balls 401 on the same loading plate 209 move away from the loading plate 209, so that the distance between the second balls 401 and the loading plate 209 is farther than that between the first ball 210 and the loading plate 209, thereby making the cross section composed of the two rows of second balls 401 and the first ball 210 become arc-shaped, so as to better fit the outer surface of the cylindrical material, and avoid the problem that only the first ball 210 is in contact with the cylindrical material during loading, which leads to poor friction reduction effect; With reference to Figures 1-10The interior of the loading plate 209 is provided with two limiting grooves 402, the interior of the limiting groove 402 is fixedly provided with a first limiting rod 403 and a second limiting rod 404, the surface of the first limiting rod 403 is slidably sleeved with an adjusting plate 405, the shape of the adjusting plate 405 is provided as a concave shape, the second ball 401 is rotationally arranged on the adjusting plate 405, the inner wall of the adjusting plate 405 is provided with a plurality of direction changing grooves 406, the shape of the direction changing groove 406 is provided as an inclined shape, the surface of the second limiting rod 404 is slidably provided with a sleeve 407, the surface of the sleeve 407 is fixedly provided with a plurality of direction changing shafts 408, the number of the direction changing shaft 408 is consistent with the number of the direction changing groove 406, the direction changing shaft 408 is slidably arranged in the interior of the direction changing groove 406, by arranging the adjusting plate 405, when the loading plate 209 rotates, the sleeve 407 moves away from the loading block 222, so that the sleeve 407 drives the direction changing shaft 408 to extrude the inner wall of the direction changing groove 406, so that the adjusting plate 405 slides along the first limiting rod 403, so that the adjusting plate 405 drives the second ball 401 to move; With reference to Figures 1-10 The front side of the loading block 222 is fixedly provided with a gear ring 409, the gear ring 409 and the rotating rod 224 are coaxially arranged, two driving gears 410 are rotationally arranged on the loading plate 209, the two driving gears 410 are all engaged with the gear ring 409, the interior of the driving gear 410 is coaxially fixedly provided with a second driving lead screw 411, the second driving lead screw 411 is threadedly sleeved in the interior of the sleeve 407, the gear ring 409 is provided with a through groove penetrating front and back, the rotating rod 224 is sleeved in the interior of the through groove, the rotating rod 224 and the gear ring 409 are not in contact, by arranging the second driving lead screw 411, when the loading plate 209 rotates, the driving gear 410 rotates with the gear ring 409 as the center, through the engagement of the driving gear 410 and the gear ring 409, the driving gear 410 drives the second driving lead screw 411 to rotate, through the threaded connection of the second driving lead screw 411 and the sleeve 407, and the limiting cooperation of the second limiting rod 404, the sleeve 407 moves.

[0023] Specifically, the working process or working principle of the AGV carrying, connecting, and feeding equipment is as follows: in use, the user drives the automatic guided vehicle 1 to move to a preset position, starts the cylinder to move the lifting plate 202 upward, and when the positioning plates 303 and the horizontal center axis of the material coincide, starts the third motor 310 to drive the fifth bevel gear 308 to rotate, through the meshing connection of the fifth bevel gear 308 and the sixth bevel gear 309, drives the sixth bevel gear 309 to rotate through the third transmission rod, through the threaded connection of the first driving lead screw 307 and the feeding plate 305, and the limiting cooperation of the third limiting rod 306, moves the feeding plate 305 away from the lifting plate 202, until the horizontal end of the feeding plate 305 exceeds the end surface of the material, the user starts the first motor 213 to drive the first bevel gear 214 to rotate, through the meshing connection of the first bevel gear 214 and the second bevel gear 215, drives the second bevel gear 215 to rotate through the first transmission rod, through the threaded connection of the first bidirectional lead screw 211 and the two Z-shaped plates 205, and the limiting cooperation of the first limiting rod 204, moves the two Z-shaped plates 205 in opposite directions, since one end of the second connecting rod 312 is hinged to the first connecting rod 311, the second connecting rod 312 rotates around the hinge point of the Z-shaped plate 205, since the other end of the second connecting rod 312 is hinged to the third connecting rod 313, the third connecting rod 313 rotates simultaneously, thereby driving the sliding plate 302 and the positioning plate 303 to slide along the sliding rail 301, until the two positioning plates 303 respectively contact the two sides of the material, reversely starts the third motor 310 to push the material away from the lifting plate 202, so that the material extends outward from the shelf, at this time, the user starts the second motor 221 to drive the spline shaft 217 to rotate, through the meshing of the spline shaft 217 and the spline sleeve 220, drives the third bevel gear 218 to rotate through the spline sleeve 220, through the meshing connection of the third bevel gear 218 and the fourth bevel gear 219, drives the fourth bevel gear 219 to rotate through the second bidirectional lead screw 212, through the threaded connection of the second bidirectional lead screw 212 and the two sliding blocks 208, and the limiting cooperation of the second limiting rod 207, simultaneously drives the four sliding blocks 208, the loading block 222, and the loading plate 209 to move towards the horizontal center axis of the lifting plate 202, when the material is a rectangular material, the lower loading plate 209 remains horizontal until the lower loading plate 209 contacts the bottom of the material, continues to push the material towards the lifting plate 202, through the two feeding plates 305, the two positioning plates 303, and the four loading plates 209 to complete the loading of the rectangular material, when the material is a cylindrical material, the loading plate 209 rotates during the movement process through the extrusion of the outer surface of the cylindrical material,Until the loading plate 209 is limited by the limiting block 226, at this time the loading plate 209 is turned over forty-five degrees, four loading plates 209 are located at forty-five degrees, one hundred thirty-five degrees, two hundred twenty-five degrees, three hundred fifteen degrees positions of the cylindrical material respectively, the cylindrical material is completed loading through the cooperation of the two feeding plates 305 and the two positioning plates 303, when the loading plate 209 rotates, the driving gear 410 rotates with the gear ring 409 as the center, through the meshing of the driving gear 410 and the gear ring 409, the driving gear 410 drives the second driving lead screw 411 to rotate, through the threaded connection of the second driving lead screw 411 and the sleeve 407, and the limiting cooperation of the second limiting rod 404, the sleeve 407 moves away from the loading block 222, the sleeve 407 drives the direction changing shaft 408 to extrude the inner wall of the direction changing groove 406, so that the adjusting plate 405 slides along the first limiting rod 403, so that the adjusting plate 405 drives the second ball 401 to move, so that the distance between the second ball 401 and the loading plate 209 is farther than that of the first ball 210, so that the cross section composed of the two rows of second balls 401 and the first ball 210 becomes arc-shaped, so as to better fit the outer surface of the cylindrical material, avoid the problem that only the first ball 210 is in contact with the cylindrical material in the feeding process, which leads to poor friction reduction effect.

Claims

1. An AGV handling and feeding device, comprising an automated guided vehicle (1), characterized in that: The automated guided vehicle (1) is equipped with a loading mechanism, which includes, A frame (201) is fixed to the front side of the automated guided vehicle (1). A lifting plate (202) is slidably provided on the inner wall of the frame (201). Two first sliding grooves (203) are opened on the front side of the lifting plate (202). A first limiting rod (204) is fixed inside one of the first sliding grooves (203). Two U-shaped plates (205) are slidably sleeved on the surface of the first limiting rod (204). The two U-shaped plates (205) are symmetrically arranged along the vertical central axis of the lifting plate (202). The second slide groove (206) is opened on the front side of the U-shaped plate (205). The second slide groove (206) is fixedly provided with a second limiting rod (207). Two sliders (208) are slidably sleeved on the surface of the second limiting rod (207). The two sliders (208) are symmetrically arranged along the horizontal central axis of the lifting plate (202). A loading plate (209) is rotatably arranged on the front side of the sliders (208). A plurality of first balls (210) are rotatably arranged on the loading plate (209). The plurality of first balls (210) are arranged in a linear array.

2. The AGV handling and feeding equipment according to claim 1, characterized in that, The first slide groove (203) is rotatably provided with a first bidirectional lead screw (211), and the two C-shaped plates (205) are respectively threaded onto the surfaces at both ends of the first bidirectional lead screw (211). The second slide groove (206) is rotatably provided with a second bidirectional lead screw (212), and the two sliders (208) are respectively threaded onto the surfaces at both ends of the second bidirectional lead screw (212). The top of the lifting plate (202) is fixedly provided with a first motor (213), and the output end of the first motor (213) is fixedly provided with a first bevel gear (214). The lifting plate (202) is rotatably provided with a second bevel gear (215). The first bevel gear (214) and the second bevel gear (215) are meshed and connected. The second bevel gear (215) and the first bidirectional lead screw (211) are coaxially fixedly connected.

3. The AGV handling and feeding equipment according to claim 2, characterized in that, Two mounting seats (216) are fixedly provided on the front side of the lifting plate (202). A spline shaft (217) is rotatably arranged between the two mounting seats (216). A third bevel gear (218) and a fourth bevel gear (219) are rotatably arranged inside the U-shaped plate (205). The third bevel gear (218) and the fourth bevel gear (219) are meshed and connected. A spline sleeve (220) is coaxially fixed inside the third bevel gear (218). The spline sleeve (220) is slidably sleeved on the surface of the spline shaft (217). The fourth bevel gear (219) is coaxially fixedly connected to the second double-acting screw (212). A second motor (221) is fixedly provided on one of the mounting seats (216). The output end of the second motor (221) is fixedly connected to the spline shaft (217).

4. The AGV handling and feeding equipment according to claim 3, characterized in that, A loading block (222) is fixedly arranged on the front side of the slider (208). A circular groove (223) is formed on the front side of the loading block (222). A rotating rod (224) is rotatably arranged inside the circular groove (223). The front side of the rotating rod (224) is fixedly connected to the rear side of the loading plate (209). A torsion spring (225) is arranged between the rotating rod (224) and the inner wall of the circular groove (223). A limiting block (226) is integrally formed on the front side of the loading block (222).

5. The AGV handling and feeding equipment according to claim 4, characterized in that, A feeding mechanism is arranged on the lifting plate (202). The feeding mechanism includes a slide rail (301). The slide rail (301) is fixedly arranged on the front side of the lifting plate (202). A slide plate (302) is slidably arranged on the slide rail (301). A positioning plate (303) is vertically fixedly arranged on the front side of the slide plate (302). A third chute (304) is formed on the front side of the positioning plate (303). A feeding plate (305) is slidably arranged inside the third chute (304). The shape of the feeding plate (305) is L-shaped.

6. The AGV handling and feeding equipment according to claim 5, characterized in that, A third limiting rod (306) is fixedly arranged inside the third chute (304). A first driving screw rod (307) is rotatably arranged inside the third chute (304). The feeding plate (305) is sleeved on the surfaces of the third limiting rod (306) and the first driving screw rod (307). The feeding plate (305) is slidably connected to the third limiting rod (306). The feeding plate (305) is threadedly connected to the first driving screw rod (307). A fifth bevel gear (308) and a sixth bevel gear (309) are rotatably arranged inside the positioning plate (303). The fifth bevel gear (308) and the sixth bevel gear (309) are meshed and connected. A third motor (310) is fixedly arranged on the positioning plate (303). The output end of the third motor (310) is fixedly connected to the fifth bevel gear (308). The sixth bevel gear (309) is coaxially fixedly connected to the first driving screw rod (307).

7. The AGV handling and feeding equipment according to claim 6, characterized in that, Two first connecting rods (311) are hinged to the front side of the lifting plate (202). A second connecting rod (312) is hinged inside the U-shaped plate (205). A third connecting rod (313) is hinged inside the slide plate (302). The two ends of the second connecting rod (312) are respectively hinged to the end of the first connecting rod (311) and the end of the third connecting rod (313).

8. The AGV handling and feeding equipment according to claim 7, characterized in that, A ball self-adjusting mechanism is arranged on the loading plate (209). The ball self-adjusting mechanism includes a plurality of second balls (401). The second balls (401) are rotatably arranged on one side of the loading plate (209) close to the horizontal central axis of the lifting plate (202). The plurality of second balls (401) are symmetrically arranged in two rows with the first ball (210) as the axis.

9. An AGV handling and feeding device according to claim 8, characterized in that, The loading plate (209) has two limiting grooves (402) inside. A first limiting rod (403) and a second limiting rod (404) are fixed inside the limiting grooves (402). An adjusting plate (405) is slidably sleeved on the surface of the first limiting rod (403). The adjusting plate (405) is U-shaped. The second ball (401) is rotatably mounted on the adjusting plate (405). The inner wall of the adjusting plate (405) has several reversing grooves (406). A sleeve (407) is slidably mounted on the surface of the second limiting rod (404). Several reversing shafts (408) are fixed on the surface of the sleeve (407). The number of reversing shafts (408) is the same as the number of reversing grooves (406). The reversing shafts (408) are slidably mounted inside the reversing grooves (406).

10. An AGV handling and feeding device according to claim 9, characterized in that, A gear ring (409) is fixedly provided on the front side of the loading block (222). The gear ring (409) and the rotating rod (224) are coaxially arranged. Two drive gears (410) are rotatably arranged on the loading plate (209). Both drive gears (410) mesh with the gear ring (409). A second drive screw (411) is coaxially fixed inside the drive gear (410). The second drive screw (411) is threaded inside the sleeve (407).

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