Sucker type material taking device of AGV (Automatic Guided Vehicle)

Abstract

The utility model discloses a sucking disc type material taking device of an AGV (automatic guided vehicle), which comprises a mounting plate, a stock bin bottom plate capable of sliding back and forth is arranged on the mounting plate, and a sucking disc assembly capable of sliding back and forth is arranged on the stock bin bottom plate; a telescopic spring for driving the stock bin bottom plate to move forwards is arranged between the mounting plate and the stock bin bottom plate; the suction cup assembly is provided with a push plate used for pushing the stock bin bottom plate to retreat. During material taking, the stock bin bottom plate can slide relative to the mounting plate, so that the stock bin bottom plate is in seamless butt joint with a goods shelf, and a material box is convenient to move; the moving stroke of the stock bin bottom plate can be automatically adjusted along with the distance between the AGV and the goods shelf, the stock bin bottom plate can automatically stretch out in the material taking process and automatically retract in the material collecting process, and the material taking stability is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of AGV (Automatic Guided Vehicle), in particular to a suction cup type material taking device of AGV. Background Art

[0002] The invention patent with patent number 202222972984.2 discloses a material transfer AGV, including a pick-and-place module, a rotation module, a flip module, a lifting module and an AGV body. The lifting module is fixed to the AGV body and drives the flip module to move up and down relative to the ground. The flip module is fixed to the lifting module and drives the rotation module to flip around the first axis. The rotation module is connected to the pick-and-place module and drives the pick-and-place module to rotate around the second axis. The first axis is parallel to the ground, and the second axis is perpendicular to the first axis. The pick-and-place module is used to pick and place materials. There are certain defects in the content disclosed in this patent. When the AGV approaches the shelf to transport the material box, the AGV and the shelf usually maintain a distance. The telescopic fork of the AGV extends to the shelf to bring the material box back, or the telescopic fork places the material box on the shelf. This distance will cause the material box to get stuck or interfere with the movement of the material box, affecting the stability of the AGV in picking and placing materials. Summary of the invention

[0003] In view of the above-mentioned technical problems, the utility model provides a suction cup material picking device for AGV. When the AGV is close to the material picking box or the material placing box of the shelf, the bottom plate of the AGV's material bin can automatically extend to fill the gap between the AGV and the shelf. At the same time, a suction cup component is used to suck the material to improve the stability of picking and placing the material.

[0004] The technical solution adopted by the utility model to solve the above technical problems is: a suction cup type material picking device of an AGV, comprising a mounting plate, a silo bottom plate that can slide back and forth is provided on the mounting plate, and the silo bottom plate is provided with a suction cup assembly that can slide back and forth; a telescopic spring for driving the silo bottom plate to move forward is provided between the mounting plate and the silo bottom plate; the suction cup assembly is provided with a push plate for pushing the silo bottom plate backward.

[0005] In order to optimize the above technical solution, the utility model also includes the following improved technical solution.

[0006] The suction cup assembly comprises a suction cup mounting plate, a suction cup fixing plate, an air suction vacuum box and a cargo suction cup which are mounted on the push plate.

[0007] The above-mentioned mounting plate is provided with a first fixed synchronous wheel, a second fixed synchronous wheel and a third fixed synchronous wheel; the bottom plate of the silo is provided with a first follower synchronous wheel, a second follower synchronous wheel and a third follower synchronous wheel; the first fixed synchronous wheel, the second fixed synchronous wheel, the third fixed synchronous wheel and the first follower synchronous wheel, the second follower synchronous wheel and the third follower synchronous wheel are surrounded by a synchronous belt for driving the material grabbing assembly to move.

[0008] The mounting plate is provided with a telescopic stepping motor, and a power output shaft of the telescopic stepping motor is connected with an active synchronous wheel for driving the synchronous belt to rotate.

[0009] A material grabbing guide track is installed at the bottom of the silo bottom plate, and the material grabbing assembly is slidably installed on the guide track. The material grabbing assembly is connected to the synchronous belt through the material grabbing driving plate and the synchronous belt connecting block.

[0010] The above-mentioned active synchronous wheel is located at the rear end of the mounting plate and on one side of the material grabbing guide track, the first fixed synchronous wheel is located at the rear end of the mounting plate and on the other side of the material grabbing guide track; the second fixed synchronous wheel is located at the front end of the mounting plate and on the same side as the active synchronous wheel; the third fixed synchronous wheel is located between the active synchronous wheel and the second fixed synchronous wheel and close to one side of the active synchronous wheel.

[0011] The first follower synchronous wheel and the second follower synchronous wheel are located at the front end of the bottom of the silo bottom plate, the first follower synchronous wheel and the first fixed synchronous wheel are located on the same side, and the second follower synchronous wheel and the second fixed synchronous wheel are located on the same side; the third follower synchronous wheel is located between the second follower synchronous wheel and the second fixed synchronous wheel and is in the middle of the bottom of the silo bottom plate.

[0012] The above-mentioned mounting plate is equipped with a second spring fixing block, and the bottom surface of the silo bottom plate is equipped with a first spring fixing block; one end of the telescopic spring is connected to the first spring fixing block, and the other end is connected to the second spring fixing block.

[0013] Compared with the prior art, the suction cup material picking device for AGV of the utility model can slide the bottom plate of the silo relative to the mounting plate when picking up materials, so that the bottom plate of the silo and the shelf are seamlessly connected, which is convenient for the movement of the material box; the moving stroke of the silo bottom plate can be automatically adjusted with the distance between the AGV and the shelf, and can automatically extend when picking up materials and automatically retract when collecting materials, thereby improving the stability of material picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the embodiment.

[0015] Figure 2 yes Figure 1 Schematic diagram of the internal structure.

[0016] Figure 3 yes Figure 1 Schematic diagram of the three-dimensional structure explosion.

[0017] Figure 4 yes Figure 1 Exploded view of the middle suction cup assembly. DETAILED DESCRIPTION

[0018] The embodiments of the present invention are described in further detail below in conjunction with the accompanying drawings.

[0019] Figures 1 to 4 Shown is a schematic structural diagram of the utility model.

[0020] The accompanying drawings are marked as follows: active synchronous wheel 1, suction cup limit block 2, first fixed synchronous wheel 3, in-position sensor 4, material grabbing drive plate 5, synchronous belt connecting block 6, first spring fixed block 7, telescopic spring 8, third follower synchronous wheel 9, second spring fixed block 10, telescopic limit block 11, first follower synchronous wheel 12, second follower synchronous wheel 13, second fixed synchronous wheel 14, third fixed synchronous wheel 15, limit part 16, silo bottom plate 17, material grabbing guide rail 18, synchronous belt 19, guide mounting plate 20, mounting plate 21, telescopic guide rail 22, rotating chain 23, rotating gear 24, fixed bottom plate 25, rotating stepping motor 26, telescopic stepping motor 27, suction cup assembly 28, push plate 29, suction cup mounting plate 30, suction cup fixing plate 31, suction vacuum box 32, cargo suction cup 33, bearing 34.

[0021] The suction cup type material picking device for AGV of the utility model comprises a mounting plate 21, a telescopic stepping motor 27, a synchronous belt 19, a telescopic spring 8, a silo bottom plate 17, and a material grabbing assembly. When the trolley picks up materials, the telescopic stepping motor 27 drives the material grabbing assembly to move forward through the synchronous belt 19. After the material grabbing assembly moves, the telescopic spring 8 pulls the silo bottom plate 17 and the suction cup assembly 28 to move in the same direction. The silo bottom plate 17 stops after touching the shelf, and the material grabbing assembly continues to move forward until the material grabbing assembly grabs the material box. When retracting, the telescopic stepping motor 27 reverses to drive the material grabbing assembly to retract. After the push plate 29 of the material grabbing assembly touches the limiting part 16 of the silo bottom plate 17, the material grabbing assembly drives the silo bottom plate 17 to retract back to the original position together. The in-place sensor 4 sends a signal, and the telescopic stepping motor 27 stops running, completing the material picking function.

[0022] like Figure 4The material grabbing assembly shown in the embodiment is a suction cup assembly 28, which includes a cargo suction cup 33, a suction vacuum box 32, a suction cup fixing plate 31, a suction cup mounting plate 30, and a push plate 29. The suction cup fixing plate 31 is fixedly connected to the suction cup mounting plate 30, the suction vacuum box 32 is mounted on the suction cup mounting plate 30, the cargo suction cup 33 passes through the suction cup fixing plate 31 and is mounted on the suction vacuum box 32, the suction vacuum box 32 is installed between the suction cup mounting plate 30 and the suction cup fixing plate 31, and the rear end of the suction cup mounting plate 30 is fixedly connected to the push plate 29. The suction vacuum box 32 has an air pipe, which is connected to a vacuum pressure switch and a vacuum pump. When the cargo suction cup 33 is about to contact the material box, the air pipe of the suction vacuum box 32 starts to pump air, and the vacuum pressure switch detects the change in air pressure and executes the next step. In addition to the suction cup assembly 28, the material grabbing assembly can also use a cylinder-driven clamp assembly or other well-known AGV material retrieving assembly.

[0023] like Figures 1 to 3 As shown, two telescopic guide rails 22 are respectively installed in parallel on both sides of the mounting plate 21. The silo bottom plate 17 is slidably installed on the telescopic guide rails 22 through the guide mounting plate 20. The installation space between the silo bottom plate 17 and the mounting plate 21 can be increased by installing the silo bottom plate 17 through the guide mounting plate 20.

[0024] A material grabbing guide track 18 is provided below the silo bottom plate 17 .

[0025] The telescopic stepper motor 27 is installed at the rear end of the mounting plate 21 and is located on one side of the material grabbing guide track 18. The telescopic stepper motor 27 is equipped with a driving synchronous wheel 1 through a power output shaft. The mounting plate 21 is fixedly equipped with a first fixed synchronous wheel 3, a second fixed synchronous wheel 14 and a third fixed synchronous wheel 15. The first fixed synchronous wheel 3 is located at the rear end of the mounting plate 21 and on the other side of the material grabbing guide track 18. The second fixed synchronous wheel 14 is located at the front end of the mounting plate 21 and on the same side as the telescopic stepper motor 27. The third fixed synchronous wheel 15 is located between the telescopic stepper motor 27 and the second fixed synchronous wheel 14 and close to the telescopic stepper motor 27.

[0026] The first follower synchronous wheel 12, the second follower synchronous wheel 13 and the third follower synchronous wheel 9 are installed below the silo bottom plate 17. When the silo bottom plate 17 is at the initial position, the first follower synchronous wheel 12 is located at the front end of the material grabbing guide track 18 and on the same side as the first fixed synchronous wheel 3, and the first follower synchronous wheel 12 and the first fixed synchronous wheel 3 have the same lateral distance to the material grabbing guide track 18. The second follower synchronous wheel 13 is located at the front end of the material grabbing guide track 18 and on the same side as the telescopic stepping motor 27. The third follower synchronous wheel 9 is located in the middle of the second fixed synchronous wheel 14 and the telescopic stepping motor 27 in the longitudinal direction, and in the middle of the second fixed synchronous wheel 14 and the second follower synchronous wheel 13 in the lateral direction.

[0027] The synchronous belt 19 passes through the active synchronous wheel 1, the first fixed synchronous wheel 3, the first follower synchronous wheel 12, the second follower synchronous wheel 13, the third follower synchronous wheel 9, the second fixed synchronous wheel 14, the third fixed synchronous wheel 15 in sequence and finally returns to the active synchronous wheel 1, and the synchronous belt 19 is driven to move by the power output shaft of the telescopic stepping motor 27.

[0028] When the silo bottom plate 17 is extended, the first follower synchronous wheel 12, the second follower synchronous wheel 13 and the third follower synchronous wheel 9 are driven to move, and the distance between the third follower synchronous wheel 9 and the second fixed synchronous wheel 14 is reduced; the distance between the first follower synchronous wheel 12 and the first fixed synchronous wheel 3 is lengthened, so that the suction cup assembly 28 has a sufficient moving distance.

[0029] When the silo bottom plate 17 is retracted, the first follower synchronous wheel 12, the second follower synchronous wheel 13 and the third follower synchronous wheel 9 are driven to move, and the distance between the third follower synchronous wheel 9 and the second fixed synchronous wheel 14 increases; the distance between the first follower synchronous wheel 12 and the first fixed synchronous wheel 3 decreases.

[0030] The material grabbing guide track 18 is slidably provided with a material grabbing driving plate 5. A synchronous belt connecting block 6 is provided on the synchronous belt 19 between the first follower synchronous wheel 12 and the first fixed synchronous wheel 3, and the material grabbing driving plate 5 is fixedly connected to the synchronous belt connecting block 6. The movement of the synchronous belt 19 can drive the material grabbing driving plate 5 to move. The initial position of the material grabbing driving plate 5 matches the suction cup limit block 2 at the rear end of the material grabbing guide track 18 at the rear end of the mounting plate 21.

[0031] The limiting part 16 is a plate body protruding from the rear of the silo bottom plate 17. The silo bottom plate 17 has two hollow long grooves, which correspond to the sliders of the material grabbing guide track 18. The suction cup assembly 28 is located above the silo bottom plate 17. The push plate 29 of the suction cup assembly 28 cooperates with the limiting part 16 of the silo bottom plate 17. The suction cup assembly 28 passes through the long groove and is slidably connected to the material grabbing guide track 18. When the suction cup assembly 28 slides, the material grabbing driving plate 5 drives the suction cup assembly 28 to slide together. When the suction cup assembly 28 is in place, the push plate 29 of the suction cup assembly 28 limits the sliding of the silo bottom plate 17 through the limiting part 16.

[0032] The rear end of the mounting plate 21 is provided with an in-position sensor 4 for sensing whether the silo bottom plate 17 has returned to its original position.

[0033] The mounting plate 21 is provided with a second spring fixing block 10, and the bottom surface of the silo bottom plate 17 is provided with a first spring fixing block 7. One end of the telescopic spring 8 is fixed on the first spring fixing block 7, and the other end is fixed on the second spring fixing block 10. In the initial state, the telescopic spring 8 is in the longest stretched state.

[0034] When the suction cup assembly 28 slides forward, the limit portion 16 of the silo bottom plate 17 is not restricted by the resistance of the push plate 29, and the telescopic spring 8 contracts to drive the silo bottom plate 17 to move forward. After the silo bottom plate 17 hits the shelf, the telescopic spring 8 stops contracting, the silo bottom plate 17 stops moving, and the silo bottom plate 17 is seamlessly connected to the shelf, which facilitates the movement of the material box from the shelf to the silo bottom plate 17. The suction cup assembly 28 continues to slide to the set distance. After the suction cup assembly 28 is located in front of the material box, the air is sucked by the air pipe of the suction vacuum box 32 to suck the material box. When the suction cup assembly 28 is recovered, the telescopic stepper motor 27 reverses, and the suction cup assembly 28 drives the material box to retreat together, so that the material box is completely placed on the silo bottom plate 17. After the push plate 29 of the suction cup assembly 28 contacts the limiting part 16 of the silo bottom plate 17, the suction cup assembly 28 drives the silo bottom plate 17 to be retracted through the limiting part 16, and the telescopic spring 8 is stretched and returns to the initial position. The in-position sensor 4 sends a signal to stop the output shaft of the telescopic stepper motor 27 from rotating. At this time, the telescopic spring 8 is in the longest stretched state.

[0035] A telescopic limit block 11 is installed at the end of the telescopic guide rail 22 to limit the activity space of the silo bottom plate 17 so that it slides within a safe range to increase the stability of the machine.

[0036] The mounting plate 21 is fixedly provided with a rotating stepper motor 26, the fixed base plate 25 is fixedly provided with a bearing 34 and a rotating gear 24, the mounting plate 21 is rotatably mounted on the fixed base plate 25 via the bearing 34, and the driving gear on the rotating stepper motor 26 and the rotating gear 24 are sleeved with a rotating chain 23. The power output shaft of the rotating stepper motor 26 drives the rotating chain 23 to rotate via the driving gear, so that the mounting plate 21 rotates around the central axis of the bearing 34.

[0037] The best embodiment of the present invention has been explained, and various changes or modifications made by ordinary technicians in this field will not depart from the scope of the present invention.

Claims

1. A suction cup material taking device for an AGV, comprising a mounting plate (21), characterized in that: A silo bottom plate (17) capable of sliding forward and backward is provided on the mounting plate (21), and a suction cup assembly (28) capable of sliding forward and backward is provided on the silo bottom plate (17); a telescopic spring (8) for driving the silo bottom plate (17) to move forward is provided between the mounting plate (21) and the silo bottom plate (17); and the suction cup assembly (28) is provided with a push plate (29) for pushing the silo bottom plate (17) backward.

2. The suction cup type material taking device according to claim 1 is characterized in that: The suction cup assembly (28) comprises a suction cup mounting plate (30) mounted on the push plate (29), a suction cup fixing plate (31), an air suction vacuum box (32) and a cargo suction cup (33).

3. The suction cup material taking device according to claim 2 is characterized in that: The mounting plate (21) is provided with a first fixed synchronous wheel (3), a second fixed synchronous wheel (14) and a third fixed synchronous wheel (15); the silo bottom plate (17) is provided with a first follower synchronous wheel (12), a second follower synchronous wheel (13) and a third follower synchronous wheel (9); the first fixed synchronous wheel (3), the second fixed synchronous wheel (14), the third fixed synchronous wheel (15) and the first follower synchronous wheel (12), the second follower synchronous wheel (13) and the third follower synchronous wheel (9) are wound with a synchronous belt (19) for driving the material grabbing assembly to move.

4. The suction cup material taking device according to claim 3 is characterized in that: The mounting plate (21) is mounted with a telescopic stepping motor (27), and the power output shaft of the telescopic stepping motor (27) is connected with an active synchronous wheel (1) for driving the synchronous belt (19) to rotate.

5. The suction cup material taking device according to claim 4 is characterized in that: A material grabbing guide rail (18) is installed at the bottom of the silo bottom plate (17), and the material grabbing assembly is slidably installed on the guide rail (18). The material grabbing assembly is connected to the synchronous belt (19) through a material grabbing driving plate (5) and a synchronous belt connecting block (6).

6. The suction cup material taking device according to claim 5 is characterized in that: The active synchronous wheel (1) is located at the rear end of the mounting plate (21) and on one side of the material grabbing guide track (18); the first fixed synchronous wheel (3) is located at the rear end of the mounting plate (21) and on the other side of the material grabbing guide track (18); the second fixed synchronous wheel (14) is located at the front end of the mounting plate (21) and on the same side as the active synchronous wheel (1); the third fixed synchronous wheel (15) is located between the active synchronous wheel (1) and the second fixed synchronous wheel (14) and close to one side of the active synchronous wheel (1).

7. The suction cup material taking device according to claim 6 is characterized in that: The first follower synchronous wheel (12) and the second follower synchronous wheel (13) are located at the front end of the bottom of the silo bottom plate (17), the first follower synchronous wheel (12) and the first fixed synchronous wheel (3) are located on the same side, and the second follower synchronous wheel (13) and the second fixed synchronous wheel (14) are located on the same side; the third follower synchronous wheel (9) is located between the second follower synchronous wheel (13) and the second fixed synchronous wheel (14) and is located in the middle of the bottom of the silo bottom plate (17).

8. The suction cup material taking device according to claim 1 is characterized in that: The mounting plate (21) is provided with a second spring fixing block (10), and the bottom surface of the silo bottom plate (17) is provided with a first spring fixing block (7); one end of the telescopic spring (8) is connected to the first spring fixing block (7), and the other end is connected to the second spring fixing block (10).

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