Stereoscopic carrying AGV (Automatic Guided Vehicle)

Abstract

A three-dimensional carrying AGV trolley comprises a shell provided with a top cover shell, guide wheels, a lifting mechanism and an electric push rod providing power for the lifting mechanism, the lifting mechanism comprises a fixed sliding rail, a sliding block, a fixed support, a movable support, a scissor fork mechanism, a bearing and a lifting top plate, the fixed sliding rail and the fixed support are fixed to the top cover shell, and the sliding block is fixed to the fixed support. The sliding block is installed on the fixed sliding rail in a sliding mode, the movable support is fixed to the sliding block, two supporting points on the lower portion of the shear fork mechanism are hinged to the fixed support and the movable support respectively, one of the two supporting points on the upper portion of the shear fork mechanism is hinged to the lifting top plate, and the other supporting point is provided with a bearing and can slide at the bottom of the lifting top plate along with lifting of the shear fork mechanism. The electric push rod is used for pushing the slider to move. The trolley is accurate in positioning, can greatly improve the labor efficiency in the planting process, and has the advantages of being high in intelligent degree, convenient to use and efficient.

Description

Technical Field

[0001] The utility model belongs to the field of facility agricultural equipment, and particularly relates to a three-dimensional handling AGV (Automated Guided Vehicle) trolley. Background Art

[0002] At present, the types of three-dimensional cultivation mechanisms in leafy vegetable plant factories are emerging in an endless stream. Correspondingly, it is necessary to solve the problems of how to conveniently and efficiently achieve the fixed-point transportation and placement of leafy vegetable cultivation trays and improve the working accuracy. Content of the Utility Model

[0003] The purpose of the utility model is to provide a three-dimensional handling AGV trolley, which can realize the fixed-point transportation and placement of the trolley for leafy vegetable cultivation trays, greatly improve the working accuracy of the leafy vegetable plant factory, and has the advantages of high intelligence, convenience and high efficiency.

[0004] To achieve the above purpose, the utility model adopts the following technical solutions: A three-dimensional handling AGV trolley includes: a housing with a top cover, guide wheels, a lifting mechanism, and an electric push rod for providing power to the lifting mechanism. Among them, the lifting mechanism includes: a fixed slide rail, a slider, a fixed support, a moving support, a scissor mechanism, a bearing, and a lifting top plate. The fixed slide rail and the fixed support are fixed to the top cover. The slider is slidably installed on the fixed slide rail. The moving support is fixed to the slider. The two fulcrums at the lower part of the scissor mechanism are respectively hinged to the fixed support and the moving support. One of the two fulcrums at the upper part is hinged to the lifting top plate, and the other is installed with a bearing and can slide along with the lifting and lowering of the scissor mechanism at the bottom of the lifting top plate. The electric push rod is used to push the slider to move.

[0005] Preferably, the electric push rod pushes a plurality of lifting mechanisms through a pushing link, and the link is connected to the moving supports of each lifting mechanism.

[0006] Preferably, the electric push rod pushes a pair of symmetrically arranged lifting mechanisms on the left and right sides through a pushing link.

[0007] Preferably, the electric push rod pushes one lifting mechanism through a pushing link, and the link is connected to the moving support of the lifting mechanism.

[0008] Preferably, the three-dimensional handling AGV trolley further includes: a chassis frame and a traveling mechanism, and the chassis frame is used to fix the traveling mechanism and the housing.

[0009] Preferably, the traveling mechanism includes a servo motor, a central reducer, a front wheel axle reducer, a rear wheel axle reducer, an intermediate transmission shaft, a drive wheel axle, a coupling, a drive wheel axle support seat, and drive wheels. The servo motor transmits power to the front wheel axle reducer and the rear wheel axle reducer respectively through the central reducer and the intermediate transmission shaft, and the front wheel axle reducer and the rear wheel axle reducer transmit power to the drive wheels through the drive wheel axles respectively.

[0010] Preferably, the central reducer is a hole output reducer, and the front wheel axle reducer and the rear wheel axle reducer are shaft output reducers.

[0011] Preferably, the three-dimensional handling AGV also includes an electric control mechanism, and the electric control mechanism includes a battery and a control box.

[0012] Preferably, the housing further includes a bottom plate, and the battery and the control box are fixed on the bottom plate.

[0013] Preferably, the three-dimensional handling AGV also includes guide wheels, and the guide wheels are installed at the four corners of the top cover, and the outer edge of the wheels protrudes from the side of the top cover.

[0014] The beneficial effects of the present utility model: For example, by constructing a track for the trolley to travel, the AGV trolley involved in the present utility model can be adopted, which can greatly improve the labor efficiency in the planting process and has the advantages of high intelligence, precise positioning, convenience and high efficiency. Description of the Drawings

[0015] In order to more clearly illustrate the embodiments of the present utility model, the following will describe the embodiments in conjunction with the drawings.

[0016] Figure 1 is a schematic diagram of the external structure of the present utility model.

[0017] Figure 2 is a schematic diagram of the bottom perspective effect of the present utility model.

[0018] Figure 3 is a schematic diagram of the traveling mechanism of the present utility model.

[0019] Figure 4 is a schematic diagram of the lifting mechanism of the present utility model. Detailed Embodiments

[0020] The exemplary embodiments of the present utility model will be described in detail below with reference to the accompanying drawings. The exemplary embodiments described below and shown in the drawings are intended to teach the principles of the present utility model so that those skilled in the art can implement and use the present utility model in several different environments and for several different applications. Therefore, the protection scope of the present utility model is defined by the appended claims, and the exemplary embodiments are not intended to, and should not be considered as, a restrictive description of the protection scope of the present utility model. Moreover, for ease of description, the dimensions of the various parts shown in the drawings are not necessarily drawn in actual proportional relationships. Regarding the orientation description, such as the orientation or positional relationships indicated by front, rear, up, down, left, right, top, bottom, etc., are all based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation to the present utility model. Throughout the drawings, the same elements are represented by the same or similar reference numerals. When it may cause confusion or difficulty in observing and understanding the present disclosure, the conventional structures or local configurations will be omitted. Unless otherwise specifically stated, the order of the components and the assembly steps and the numerical values set forth in the embodiments do not limit the scope of the present utility model.

[0021] As Figures 1 to 3 shown, the three-dimensional handling AGV cart according to the embodiment of the present utility model includes a chassis frame 1, a housing 2, guide wheels 3, a traveling mechanism 4, a lifting mechanism 5, and an electric control mechanism 6.

[0022] The chassis frame 1 is used to fix the traveling mechanism 4 and the housing 2. The housing 2 includes a top cover 21 and a bottom plate 22. The guide wheels 3 are installed at the four corners of the top cover 21, and the outer edge of the wheels protrudes 10 mm from the side surface of the top cover 21.

[0023] The traveling mechanism 4 includes a servo motor 41, a T-shaped planetary gear type in-mid reducer 42, a T-shaped planetary gear type front wheel axle reducer 43, a T-shaped planetary gear type rear wheel axle reducer 44, an intermediate transmission shaft 45, a drive wheel axle 46, a coupling 47, a drive wheel axle support seat 48, and drive wheels 49. The servo motor 41 transmits power to the T-shaped planetary gear type front wheel axle reducer 43 and the T-shaped planetary gear type rear wheel axle reducer 44 respectively through the T-shaped planetary gear type in-mid reducer 42 and the intermediate transmission shaft 45, and then the T-shaped planetary gear type front wheel axle reducer 43 and the T-shaped planetary gear type rear wheel axle reducer 44 transmit power to the drive wheels 49 respectively through the drive wheel axle 46, so as to realize the driving and traveling of the cart.

[0024] The lifting mechanism 5 includes a fixed slide rail 51, a slider 52, a fixed support 53, a moving support 54, a scissor mechanism 55, a bearing 56, and a lifting top plate 57. As Figure 4Shown in the figure is a pair of lifting mechanisms 5 symmetrically arranged on the left and right sides and pushed by an electric push rod 59. However, it is not limited thereto, and more lifting mechanisms 5 can also be provided, or one or more lifting mechanisms 5 directly connected and pushed by the electric push rod 59 to move the moving support 54. For example, in the scenario where only one lifting mechanism 5 is provided, the lifting top plate 57 is not limited to the long strip shape shown in the figure, and can also be a cross shape or other shapes adapted to the lifting object.

[0025] In this example, the fixed slide rail 51 and the fixed support 53 are fixed above the top cover 21. The slider 52 is installed on the fixed slide rail 51 and can slide arbitrarily within the length range. The moving support 54 is fixed on the slider 52 and moves with the slider 52. The two fulcrums at the lower part of the scissors mechanism 55 are respectively hinged to the fixed support 53 and the moving support 54. One of the two fulcrums at the upper part is hinged to the lifting top plate 57, and the other is installed with a bearing 56 and can slide along the bottom of the lifting top plate 57, such as in the side chute, as the scissors mechanism 55 rises and falls. Both ends of the connecting rod 58 are connected to the moving support 54 by bolts. The electric push rod 59 is installed on the upper part of the top cover 21 and pushes the slider 52 to move by pushing the connecting rod 58, providing power for the lifting mechanism 5.

[0026] The electric control mechanism 6 includes a battery 61 and a control box 62, and the battery 61 and the control box 62 are fixed on the bottom plate 22.

[0027] In one embodiment, the chassis frame 1, the top cover 21 and the bottom plate 22 are all made of aluminum alloy. The servo motor 41 is a 200w, 60 flange servo motor. The T-shaped planetary gear type in-line reducer 42 is a hole output reducer, and the T-shaped planetary gear type front wheel shaft reducer 43 and the T-shaped planetary gear type rear wheel shaft reducer 44 are shaft output reducers. The stroke of the electric push rod 59 is 10mm, and the maximum thrust is 2000N. The minimum thrust transmitted upward through the scissors mechanism 55 composed of rods that can be relatively rotatably connected (such as pinned or hinged) at the intersection is 350N. The battery of the electric control mechanism 6 is a lithium battery, and the control method is PLC control. The rated speed of the servo motor 41 of the traveling mechanism 4 is 3000rpm. The reduction ratios of the three reducers are all 5. After being output by the reducer, the speed is 120rpm. The diameter of the driving wheel 49 is 100mm, and the maximum traveling speed is 0.63m / s.

[0028] As described above, according to the three-dimensional handling AGV cart of the present invention, the positioning is accurate, and it can provide an efficient cultivation tray handling carrier for the leafy vegetable production field, greatly improving the space utilization rate, scientifically managing agricultural affairs, and having the characteristics of automation and high efficiency.

[0029] In the description of the present application, the meaning of "a plurality of" is two or more than two, unless otherwise specifically defined. Unless otherwise clearly stipulated and defined, terms such as "installed", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances. Although the present invention has been described with reference to various specific embodiments, it should be understood that modifications can be made within the spirit and scope of the described inventive concept. Therefore, it is intended that the present invention is not limited to the described embodiments, but will have the full scope defined by the language of the appended claims.

Claims

1. A three-dimensional transport AGV vehicle, characterized in that: include: A housing (2) having a top cover (21), a lifting mechanism (5), and an electric push rod (59) for providing power to the lifting mechanism (5), wherein the lifting mechanism (5) comprises: a fixed slide rail (51), a slider (52), a fixed support (53), a movable support (54), a scissor mechanism (55), a bearing (56), and a lifting top plate (57), wherein the fixed slide rail (51) and the fixed support (53) are fixed to the top cover (21), and the slider (52) can be The scissor mechanism (55) is slidably mounted on a fixed slide rail (51), a movable support (54) is fixed to a slider (52), two supporting points at the bottom of the scissor mechanism (55) are respectively hinged to the fixed support (53) and the movable support (54), one of the two supporting points at the top is hinged to a lifting top plate (57), and the other is provided with a bearing (56) and can slide at the bottom of the lifting top plate (57) as the scissor mechanism (55) rises and falls, and an electric push rod (59) is used to push the slider (52) to move.

2. The three-dimensional transport AGV trolley according to claim 1 is characterized in that: The electric push rod (59) pushes the plurality of lifting mechanisms (5) by pushing the connecting rod (58), wherein the connecting rod (58) is connected to the movable support (54) of each lifting mechanism (5).

3. The three-dimensional transport AGV trolley according to claim 2 is characterized in that: The electric push rod (59) pushes a pair of lifting mechanisms (5) symmetrically arranged on the left and right sides by pushing the connecting rod (58).

4. The three-dimensional transport AGV trolley according to claim 1 is characterized in that: The electric push rod (59) pushes a lifting mechanism (5) by pushing a connecting rod (58), wherein the connecting rod (58) is connected to a movable support (54) of the lifting mechanism (5).

5. The three-dimensional transport AGV trolley according to claim 1 is characterized in that: Also includes: A chassis frame (1) and a running mechanism (4), wherein the chassis frame (1) is used to fix the running mechanism (4) and the housing (2).

6. The three-dimensional transport AGV trolley according to claim 1, characterized in that: The walking mechanism (4) comprises a servo motor (41), a middle speed reducer (42), a front wheel axle speed reducer (43), a rear wheel axle speed reducer (44), an intermediate transmission shaft (45), a driving wheel axle (46), a coupling (47), a driving wheel axle support seat (48) and a driving wheel (49). The servo motor (41) transmits power to the front wheel axle speed reducer (43) and the rear wheel axle speed reducer (44) respectively through the middle speed reducer (42) and the middle transmission shaft (45), and the front wheel axle speed reducer (43) and the rear wheel axle speed reducer (44) transmit power to the driving wheel (49) respectively through the driving wheel axle (46).

7. The three-dimensional transport AGV according to claim 6, characterized in that: The center reducer (42) is a bore output reducer, and the front wheel axle reducer (43) and the rear wheel axle reducer (44) are shaft output reducers.

8. The three-dimensional transport AGV according to claim 1, characterized in that: It also includes an electric control mechanism (6), which includes a battery (61) and a control box (62).

9. The three-dimensional transport AGV according to claim 8, characterized in that: The housing (2) further comprises a bottom plate (22), and the battery (61) and the control box (62) are fixed on the bottom plate (22).

10. The three-dimensional transport AGV according to claim 1, characterized in that: It also includes guide wheels (3), which are mounted at four corners of the top cover shell (21), with the outer edges of the wheels protruding out of the side surfaces of the top cover shell (21).

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