AGV (Automatic Guided Vehicle) and transportation device

Abstract

The utility model discloses an AGV trolley and a transportation device, the AGV trolley has a first direction and a second direction which are intersected, the AGV trolley comprises a trolley body, and the trolley body is provided with a bearing surface perpendicular to the first direction; the positioning piece is movably arranged on the vehicle body in the second direction; the driving mechanism is arranged on the vehicle body, and the driving mechanism is used for driving the positioning piece to move to form a locking position and an unlocking position; at the locking position, at least part of the projection, on the bearing face, of the positioning piece is located outside the projection, on the bearing face, of the vehicle body. The positioning piece moving in the second direction and the driving mechanism used for driving the positioning piece to move are arranged on the vehicle body, transverse matching of the AGV and the goods shelf can be achieved, and the adaptability of the AGV and the goods shelf is effectively improved. And in some use scenes, the bearing surface in the second direction can be matched with the goods shelf to realize longitudinal matching, so that the matching stability of the AGV trolley and the goods shelf can be effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of automatic transport equipment, and in particular to an AGV vehicle and a transport device. Background Art

[0002] AGV stands for Automated Guided Vehicle, also known as automatic guided vehicle or automatic guided vehicle.

[0003] AGVs are generally divided into backpack and traction types according to their functions. The backpack type refers to the AGV itself having a surface that can carry materials and can directly drive the transfer of products or materials. The traction type refers to the AGV connected to the shelf, driving the shelf to move, placing materials on the shelf to increase the load capacity.

[0004] In the existing related technology, a traction AGV is provided with a connection structure between its top surface and the shelf to achieve the connection between the AGV and the shelf. However, the types and sizes of the shelves are various. When the height dimension of the shelf is large, the connection structure is difficult to adapt to the connection requirements and has certain limitations. Utility Model Content

[0005] The present application provides an AGV trolley and a transport device to solve the problem of adapting the AGV trolley to the shelf.

[0006] In a first aspect, the present application provides an AGV vehicle having a first direction and a second direction intersecting each other, the AGV vehicle comprising:

[0007] a vehicle body having a bearing surface perpendicular to the first direction;

[0008] A positioning member, movably disposed on the vehicle body along the second direction;

[0009] A driving mechanism, disposed on the vehicle body, the driving mechanism being in transmission connection with the positioning member to drive the positioning member to move to form a locked position and an unlocked position;

[0010] Wherein, in the locking position, the projection of the positioning member on the bearing surface is at least partially located outside the projection of the vehicle body on the bearing surface.

[0011] The embodiments of the present application have the following technical effects: a positioning member that moves along the second direction and a driving mechanism for driving the positioning member to move are provided on the vehicle body, and a structure that cooperates with the positioning member is provided on the shelf to achieve the cooperation between the AGV trolley and the shelf. Considering the size of the moving path of the shelf, the size of the shelf in the second direction is generally not designed to be relatively large, so the use of the matching structure in this solution can effectively improve the adaptability of the AGV trolley and the shelf. In some usage scenarios, the cooperation between the positioning member and the shelf in the first direction is achieved in a horizontal manner, and the bearing surface in the second direction can also cooperate with the shelf to achieve a longitudinal cooperation, which can effectively improve the stability of the cooperation between the AGV trolley and the shelf.

[0012] In a second aspect, the present application further provides a transport device, comprising:

[0013] AGV car;

[0014] Frame;

[0015] A supporting plate, placed on the frame for placing materials;

[0016] The frame is formed with a matching space for accommodating the AGV trolley, and a matching groove facing the positioning piece is opened on the frame, and the matching groove is plugged and matched with the positioning piece to realize the matching connection between the shelf and the AGV trolley.

[0017] The embodiments of the present application have the following technical effects: a positioning member that moves along the second direction and a driving mechanism for driving the positioning member to move are arranged on the vehicle body, and a structure that cooperates with the positioning member is arranged on the shelf to achieve the cooperation between the AGV trolley and the shelf. Considering the factor of the size of the moving path of the shelf, the size of the shelf in the second direction is generally not designed to be relatively large. Therefore, the use of the cooperation structure in this scheme can effectively improve the adaptability of the AGV trolley and the shelf, and in some usage scenarios, the cooperation between the positioning member and the shelf in the first direction is realized in lateral cooperation, and the load-bearing surface in the second direction can also cooperate with the shelf to realize longitudinal cooperation, which can effectively improve the stability of the cooperation between the AGV trolley and the shelf. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The technical solution and other beneficial effects of the present application will be made apparent by describing in detail the specific implementation methods of the present application in conjunction with the accompanying drawings.

[0019] Figure 1 This is the overall structural diagram of the AGV car provided in Example 1 of the present application;

[0020] Figure 2 This is an exploded view of the AGV provided in Example 1 of the present application exploding the fixed plate;

[0021] Figure 3It is a schematic diagram provided in Example 1 of the present application and mainly used to show the bearing surface and the structure on the bearing surface;

[0022] Figure 4 It is a schematic diagram provided in Example 1 of the present application mainly for showing the driving mechanism;

[0023] Figure 5 This is a structural diagram mainly used to display the guide component provided in Example 1 of the present application;

[0024] Figure 6 It is an exploded view provided in Example 1 of the present application and mainly used to show the structure of the first connecting rod and the second connecting rod;

[0025] Figure 7 It is a schematic diagram provided in Example 1 of the present application and mainly used to show the structure of the driving member;

[0026] Figure 8 It is a front view of the cooperation between the shelf and the AGV trolley provided in Example 2 of the present application;

[0027] Fig. 9 It is an overall structural diagram mainly used to represent the shelf provided in Example 2 of the present application;

[0028] Fig.10 It is a schematic diagram provided in Example 2 of the present application for representing the mating groove structure.

[0029] Reference numerals: 1, vehicle body; 11, vehicle frame; 12, load-bearing plate; 121, load-bearing surface;

[0030] 2. Positioning parts;

[0031] 3. Driving mechanism; 31. Reference axis; 311. Fixed block; 32. First connecting rod; 33. Second connecting rod; 3233. Strip hole; 34. Matching protrusion; 35. Driving member; 351. First transition rod; 352. Second transition rod; 353. Driving electric cylinder;

[0032] 4. Fixed plate; 41. Support column;

[0033] 5. Installation space;

[0034] 6. Enclosing frame; 61. Avoidance hole;

[0035] 7. Guide assembly; 71. Guide bracket; 72. Guide sleeve;

[0036] 8. Limit block;

[0037] 91. slide rail; 92. slide block;

[0038] 10. guide rod; 101. middle rod; 102. middle block;

[0039] 100, frame; 1001, matching space; 200, supporting plate; 300, matching block; 301, matching groove;

[0040] Z, first direction; X, second direction. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with 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 of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0042] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article, unless otherwise specified, generally indicates that the associated objects before and after are in an "or" relationship.

[0043] The following is combined with Figure 1-10 Further explanation of this application.

[0044] First embodiment

[0045] Reference Figures 1 to 4 , an embodiment of the present application provides an AGV trolley having a first direction Z and a second direction X intersecting each other. The AGV trolley comprises a body 1, a positioning member 2 and a driving mechanism 3 arranged on the body 1. Among them, the AGV trolley has a bearing surface 121 perpendicular to the first direction Z, the first direction Z generally refers to the gravity direction in actual application scenarios, the second direction X intersects with the first direction Z, and in this embodiment, the second direction X is arranged parallel to the bearing surface 121. More specifically, the body 1 comprises a frame 11 and a bearing plate 12 arranged on the body. The bearing plate 12 forms a bearing surface 121 for bearing on the top surface of the first direction Z. The positioning member 2 is arranged on the body 1 along the second direction X, and the driving mechanism 3 is connected to the positioning member 2 in a transmission manner to drive the positioning member 2 to move to form a locked position and an unlocked position; wherein, in the locked position, the projection of the positioning member 2 on the bearing surface 121 is at least partially located outside the projection of the body 1 on the bearing surface 121.

[0046] The above setting makes it possible to set a positioning member 2 that moves along the second direction X and a driving mechanism 3 for driving the positioning member 2 to move on the vehicle body 1. The coordination between the AGV trolley and the shelf can be achieved by setting a structure that cooperates with the positioning member 2 on the shelf. Considering the size of the moving path of the shelf, the size of the shelf in the second direction X is generally not designed to be relatively large. Therefore, the use of the coordination structure in this solution can effectively improve the compatibility between the AGV trolley and the shelf. In some usage scenarios, the AGV trolley can not only achieve lateral coordination in the second direction X by using the coordination between the positioning member 2 and the shelf, but also achieve longitudinal coordination in the first direction Z by using the contact coordination between the bearing surface 121 and the shelf, thereby effectively improving the stability of the coordination between the AGV trolley and the shelf.

[0047] In some optional examples, refer to Figures 2 to 4 The vehicle body 1 includes a frame 11 and a load-bearing plate 12 that is lifted and lowered on the body along a first direction Z. The load-bearing plate 12 forms a load-bearing surface 121 on the top surface in the first direction Z. The positioning member 2 and the driving mechanism 3 are both arranged on the load-bearing surface 121. The lifting design of the load-bearing plate 12 can adapt to the matching requirements of shelves of different heights and sizes in the first direction Z, and the positioning member 2 and the shelf are further matched and connected in the second direction X, further improving the possibility and reliability of matching between the AGV trolley and the shelf.

[0048] Among them, the structural design of the load-bearing plate 12 rising and falling on the frame 11 along the first direction Z is relatively existing, for example, a screw lifting mechanism or an electric cylinder structure is set in the frame 11, so it is not repeated in this embodiment. In addition, the load-bearing surface 121 here refers to a plane that can play a load-bearing role, and does not explicitly refer to a plane that must be used to carry materials or products. For example, in this embodiment, the load-bearing surface 121 is only used to carry and install the positioning member 2 and the driving mechanism 3. The positioning member 2 is set as a positioning pin in this embodiment, which does not exclude that in other optional embodiments, the positioning member 2 is set in other shapes such as a rectangular block or a long strip.

[0049] It should be noted that, in this embodiment, the positioning member 2 and the driving mechanism 3 are arranged on the bearing surface 121, but it is not excluded that in some other optional embodiments, the positioning member 2 and the driving mechanism 3 are arranged on the side of the frame 11 in the second direction X, as long as the positioning member 2 can move along the second direction X. It should also be supplemented that, in this embodiment, the second direction X is parallel to the bearing surface 121, but it is not excluded that in other optional embodiments, the second direction X and the bearing surface 121 form a certain angle, as long as the second direction X intersects with the first direction Z.

[0050] In some optional examples, refer to Figure 2The AGV trolley also includes a fixed plate 4 and an enclosure frame 6. The fixed plate 4 is fixed on the load-bearing plate 12, and the fixed plate 4 and the load-bearing plate 12 are spaced apart in the first direction Z to leave an installation space 5 for the installation of the positioning member 2 and the drive mechanism 3. Specifically, four T-shaped support columns 41 are arranged in a rectangular shape on the load-bearing surface 121, and the support columns 41 are bolted to the load-bearing plate 12, and the fixed plate 4 is fixedly connected to the four support columns 41 at the same time. The enclosure frame 6 is arranged between the fixed plate 4 and the load-bearing plate 12, and the two sides of the enclosure frame 6 in the first direction Z are respectively connected to the fixed plate 4 and the load-bearing plate 12, and an avoidance hole 61 for the positioning member 2 to pass through is opened on the enclosure frame 6.

[0051] The above settings make it possible that, on the first hand, sufficient installation space 5 is reserved between the fixed plate 4 and the load-bearing plate 12 to facilitate the installation design of the positioning member 2 and the driving mechanism 3, thereby reducing the difficulty of processing design and economic costs; on the second hand, the fixed plate 4 can also realize the function of carrying materials on the side away from the load-bearing plate 12 in the second direction X. In summary, the basic functions of the AGV trolley are retained and the design and installation of the positioning member 2 and the driving mechanism 3 can be carried out more conveniently. In some scenarios, for example, when two materials of different materials need to be transported, and the two materials are not suitable for stacking in adjacent spaces, the two materials can be placed on the surface of the fixed plate 4 and the surface of the shelf respectively for separate transportation. The enclosure frame 6 closes the installation space 5, protects the positioning member 2 and the driving mechanism 3 on the load-bearing surface 121, improves the safety of use, and also makes the AGV trolley beautiful and reliable.

[0052] Reference Figure 3 and Figure 5 The positioning member 2 is configured as a positioning pin. Four positioning members 2 are provided and arranged in a rectangular shape on the bearing surface 121. The bearing surface 121 is provided with four guide assemblies 7 corresponding to the positioning members 2 one by one. Each guide assembly 7 includes a guide bracket 71 and a guide sleeve 72 fixed on the guide bracket 71. The guide bracket 71 is bolted to the bearing surface 121. The positioning member 2 is slidably arranged in the guide sleeve 72. The positioning member 2 passes through the guide sleeve 72 and moves along the axial direction of the guide sleeve 72. A stop block 8 is provided at one end of the positioning member 2 close to the center of the bearing surface 121.

[0053] The above setting discloses a structure for moving the positioning member 2. The design of the guide sleeve 72 makes the movement of the positioning member 2 accurate and reliable to improve the accuracy of the cooperation between the AGV trolley and the shelf. The limit block 8 prevents the positioning member 2 from slipping out of the guide sleeve 72 to ensure the reliability of the entire device.

[0054] Reference Figure 5The bearing surface 121 is also provided with a slide rail 91 corresponding to the limit block 8, and each limit block 8 is provided with a sliding block 92, and the sliding block 92 is slidably matched on the slide rail 91. The positioning member 2 is slidably matched with the guide sleeve 72, and the limit block 8 is slidably matched with the slide rail 91 through the sliding block 92, which further strictly limits the accuracy of the movement of the positioning member 2, so as to improve the accuracy of the matching between the positioning member 2 and the shelf.

[0055] The following focuses on the specific details of the driving mechanism 3.

[0056] Reference Figures 4 to 6 The driving mechanism 3 includes a reference shaft 31, which is arranged on the bearing surface 121, and the axis of the reference shaft 31 is parallel to the first direction Z. Specifically, a fixed block 311 is fixedly arranged at the middle position of the rectangular area formed by the plurality of guide components 7 on the bearing surface 121, and the reference shaft 31 is fixedly connected to the fixed block 311. It also includes a first connecting rod 32 and a second connecting rod 33, which are both rotatably arranged on the reference shaft 31 and rotate around the axis of the reference shaft 31; it also includes a matching protrusion 34, which corresponds to the positioning member 2 one by one and is arranged on the positioning member 2, specifically, the matching protrusion 34 is fixedly arranged on the sliding block 92 one by one. It also includes a driving member 35 for driving the first connecting rod 32 and the second connecting rod 33 to rotate. The first connecting rod 32 and the second connecting rod 33 are both provided with strip holes 3233 along their length direction, and the matching protrusions 34 are slidably arranged in the strip holes, so that when the driving member 35 drives the first connecting rod 32 and the second connecting rod 33 to rotate, the positioning member 2 is driven to move.

[0057] In an alternative example, refer to Figure 4 and Figure 7 The driving member 35 includes a first transition rod 351 and a second transition rod 352, which are respectively hinged to the first connecting rod 32 and the second connecting rod 33, and the other ends of the first transition rod 351 and the second transition rod 352 are hinged to each other to form a scissor arm frame; and also includes a driving electric cylinder 353, the piston rod end of the driving electric cylinder 353 is hinged to the scissor arm frame. Specifically, a guide rod 10 is provided on the bearing surface 121, and an intermediate rod 101 is fixedly connected between the piston rod end of the driving electric cylinder 353 and the guide rod 10, and an intermediate block 102 is also hinged at one end where the first transition rod 351 and the second transition rod 352 are hinged, and the intermediate rod 101 is bolted to the intermediate block 102. When the driving electric cylinder 353 works, it drives the intermediate rod 101 and the intermediate block 102 to move, thereby driving the hinged ends of the first transition rod 351 and the second transition rod 352 to move, and finally drives the first connecting rod 32 and the second connecting rod 33 to rotate, and finally drives the sliding block 92 to move through the cooperation of the strip hole 3233 and the matching protrusion 34, so as to drive the positioning member 2 to move along the second direction X.

[0058] The above setting uses one driving electric cylinder 353 to drive multiple positioning members 2 to move synchronously at the same time, which has high synchronization and is conducive to the smooth cooperation between the positioning members 2 and the shelf. In addition, the cooperation between the middle block 102 and the middle rod 101 can avoid the phenomenon of the piston rod of the driving electric cylinder 353 being blocked.

[0059] Furthermore, the cylinder body of the driving electric cylinder 353 is hingedly disposed on the carrying plate 12 .

[0060] Second embodiment

[0061] Reference Figures 8 to 10 The present application also provides a transport device, including an AGV trolley and a shelf used in conjunction with the AGV trolley. The shelf includes a frame 100 and a support plate 200. The support plate 200 is placed on the frame 100 for placing materials. A matching space 1001 for accommodating the AGV trolley is formed on the frame 100. Among them, the frame 100 is provided with a matching block 300 corresponding to the positioning member 2 one by one, and the matching block 300 is provided with a matching groove 301 facing the positioning member 2. The matching groove 301 is plugged and matched with the positioning member 2 to realize the matching connection between the shelf and the AGV trolley.

[0062] When the frame 100 needs to be towed, the AGV moves into the matching space 1001, and the driving mechanism 3 drives the positioning member 2 to move along the second direction X, so that the positioning member 2 is plugged into the matching groove 301 to achieve the matching connection between the shelf and the AGV.

[0063] In an optional example, the matching groove 301 passes through the matching block 300 in the first direction Z, and when the positioning member 2 is plugged into the matching groove 301, a margin gap is left between the inner wall of the matching groove 301 and the positioning member 2. And the side of the matching groove 301 facing the positioning member 2 is designed to be flared. The above design of the matching groove 301 can reduce the matching errors caused by the matching accuracy when the AGV trolley is connected to the shelf, and improve the smoothness of the AGV trolley and the shelf when they are connected.

[0064] The above description is only a partial implementation method of the embodiments of the present application and does not constitute any form of limitation on the application. The protection scope of the embodiments of the present application is not limited thereto. Any simple modifications, equivalent changes and modifications that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the embodiments of the present application should be covered within the protection scope of the embodiments of the present application.

Claims

1. An AGV vehicle having a first direction (Z) and a second direction (X) intersecting each other, characterized in that: The AGV vehicle includes: A vehicle body (1) having a bearing surface (121) perpendicular to the first direction (Z); A positioning member (2) is arranged on the vehicle body (1) so as to be movable along the second direction (X); A driving mechanism (3) is arranged on the vehicle body (1), and the driving mechanism (3) is transmission-connected with the positioning member (2) so as to drive the positioning member (2) to move to form a locked position and an unlocked position; Wherein, in the locking position, the projection of the positioning member (2) on the bearing surface (121) is at least partially located outside the projection of the vehicle body (1) on the bearing surface (121).

2. The AGV vehicle according to claim 1, characterized in that: The vehicle body (1) comprises a vehicle frame (11) and a bearing plate (12) which is arranged on the vehicle body (1) in a manner of being lifted and lowered along the first direction (Z); a side of the bearing plate (12) in the first direction (Z) used for bearing forms the bearing surface (121).

3. The AGV vehicle as claimed in claim 2, characterized in that: The positioning member (2) and the driving mechanism (3) are both arranged on the bearing surface (121).

4. The AGV vehicle according to claim 2 or 3, characterized in that: Also includes: A fixing plate (4), wherein the fixing plate (4) is fixed on the carrying plate (12), and the fixing plate (4) and the carrying plate (12) are spaced apart in the first direction (Z) to reserve an installation space (5) for installing the positioning member (2) and the driving mechanism (3).

5. The AGV vehicle according to claim 4, characterized in that: Also includes: An enclosing frame (6) is arranged between the fixing plate (4) and the carrying plate (12); the two sides of the enclosing frame (6) in the first direction (Z) are respectively connected to the fixing plate (4) and the carrying plate (12); and an avoidance hole (61) for the positioning member (2) to pass through is provided on the enclosing frame (6).

6. The AGV vehicle according to claim 1, characterized in that: The bearing surface (121) is provided with guide assemblies (7) corresponding one to one with the positioning members (2), each of the guide assemblies (7) comprises a guide bracket (71) and a guide sleeve (72) fixed on the guide bracket (71), the positioning member (2) is slidably arranged in the guide sleeve (72), and the driving mechanism (3) is transmission-connected with the positioning member (2) to drive the positioning member (2) to reciprocate along the second direction (X).

7. The AGV vehicle according to claim 6, characterized in that: The positioning member (2) is configured as a positioning pin. The positioning member (2) passes through the guide sleeve (72) and moves along the axial direction of the guide sleeve (72). A limit block (8) is provided at one end of the positioning member (2) close to the center of the bearing surface (121).

8. The AGV vehicle according to claim 7, characterized in that: The bearing surface (121) is also provided with a slide rail (91) corresponding to the limit blocks (8) one by one, and each limit block (8) is provided with a sliding block (92), and the sliding block (92) is slidably fitted on the slide rail (91).

9. The AGV as claimed in any one of claims 1, 6, 7 and 8, characterized in that: The driving mechanism (3) comprises: A reference axis (31) is arranged on the bearing surface (121), and the axis of the reference axis (31) is parallel to the first direction (Z); The first connecting rod (32) and the second connecting rod (33) are both rotatably arranged on the reference shaft (31) and rotate around the axis of the reference shaft (31); Matching protrusions (34), the matching protrusions (34) corresponding one to one with the positioning members (2) and arranged on the positioning members (2); and a driving member (35) for driving the first connecting rod (32) and the second connecting rod (33) to rotate; Wherein, the first connecting rod (32) and the second connecting rod (33) are each provided with a strip hole (3233) along their length direction, and the matching protrusion (34) is slidably arranged in the strip hole (3233), so that when the driving member (35) drives the first connecting rod (32) and the second connecting rod (33) to rotate, the positioning member (2) is driven to move.

10. The AGV vehicle according to claim 9, characterized in that: The driving member (35) comprises: A first transition rod (351) and a second transition rod (352), wherein the first transition rod (351) and the second transition rod (352) are hinged to the first connecting rod (32) and the second connecting rod (33) respectively, and the other ends of the first transition rod (351) and the second transition rod (352) are hinged to each other to form a scissor arm frame; A driving electric cylinder (353), the piston rod end of the driving electric cylinder (353) is hinged to the scissor arm frame.

11. A transport device, characterized in that: include: The AGV vehicle as described in any one of claims 1 to 10; A frame (100); A supporting plate (200) is placed on the frame (100) for placing materials; The frame (100) is provided with a matching space (1001) for accommodating the AGV trolley, and the frame (100) is provided with a matching groove (301) facing the positioning member (2), and the matching groove (301) is plugged into and matched with the positioning member (2) to realize the matching connection between the shelf and the AGV trolley.

12. A transport device according to claim 11, characterized in that: The frame (100) is provided with matching blocks (300) corresponding one to one with the positioning members (2), and the matching blocks (300) are all provided with matching grooves (301).

13. A transport device according to claim 12, characterized in that: The matching groove (301) passes through the matching block (300) in the first direction (Z), and when the positioning member (2) is plugged into the matching groove (301), a residual gap is left between the inner wall of the matching groove (301) and the positioning member (2).

Images