Transfer type AGV with automatic docking function

Abstract

The utility model belongs to the technical field of warehouse logistics, and particularly discloses a transfer type AGV with an automatic butt-joint function, which comprises a trolley body and a butt-joint unit, the butt-joint unit comprises a first butt-joint mechanism and a second butt-joint mechanism, the first butt-joint mechanism is mounted on the trolley body, and the second butt-joint mechanism is mounted below a roller conveyor; the first butt joint mechanism comprises a supporting structure, a first butt joint piece and a fixing piece, the supporting structure comprises a rotating piece, a rotating rod, a rotating disc and a supporting part, a mounting cavity is formed in the trolley body, the rotating rod is rotationally connected into the mounting cavity and connected with the rotating piece, and the upper side of the rotating rod is fixed to the rotating disc; the two sides of the supporting part are connected with the rotating disc and the first butt joint piece correspondingly. The second butt-joint mechanism comprises a second butt-joint piece, and the fixing piece is used for fixing the first butt-joint piece and the second butt-joint piece. By arranging the rotating piece, the first butt joint piece can be driven to rotate, and automatic butt joint of the first butt joint piece and the second butt joint piece is achieved on the premise that the trolley body is not controlled.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the warehousing and logistics technical field especially, relate to a kind of automatic docking function's removal type AGV. BACKGROUND

[0002] In the rapidly developing industrial automation and warehousing and logistics field, automated guided vehicle (AGV, Automated Guided Vehicle) as an important part of intelligent logistics solution, is gradually replacing traditional manpower and semi-automated equipment, and becomes the key tool for improving production efficiency and reducing operating costs. AGV, with its flexible navigation capability, efficient operation efficiency and good environmental adaptability, plays an indispensable role in warehouse management, production line distribution, material handling and other scenes.

[0003] However, the current removal type AGV and the roller conveyor are often connected manually. After the removal type AGV moves under the roller conveyor and the lifting roller is lifted, the lifting roller and the roller of the roller conveyor need to be manually calibrated, which is more troublesome. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of removal type AGV with automatic docking function, which does not need to rotate the trolley body to adjust the direction, but directly adjusts the direction of the docking roller.

[0005] To achieve the above purpose, the technical scheme of the utility model is as follows: a removal type AGV with automatic docking function, comprising a trolley body and a docking unit, the docking unit comprising a first docking mechanism and a second docking mechanism, the first docking mechanism being installed on the trolley body, the second docking mechanism being installed below the roller conveyor, the first docking mechanism and the second docking mechanism being capable of docking; the first docking mechanism comprising a support structure, a first docking piece and a fixing piece, the support structure being used to support the first docking piece; the support structure comprising a rotating piece, a rotating rod, a turntable and a support part, the inside of the trolley body being provided with a mounting cavity, the rotating rod being rotatably connected in the mounting cavity, the rotating rod being connected with the rotating piece, the rotating piece being used to drive the rotating rod to rotate, the upper side of the rotating rod extending out of the trolley body and being fixed with the turntable; the two sides of the support part being connected with the turntable and the first docking piece respectively, the support part being capable of vertical movement; the second docking mechanism comprising a second docking piece, the second docking piece being installed below the roller conveyor; the fixing piece being used to fix the first docking piece and the second docking piece.

[0006] Further, one of the first and second connectors is provided with a groove, and the other is provided with a column body matched with the groove; the fixing member comprises an electromagnet fixed in the groove or on the side of the column body close to the groove; the main body or the groove is made of iron; the electromagnet is connected with a power supply installed on the first connector or the second connector.

[0007] Further, the support part is a linear driver, and the driving direction of the linear driver is vertical, and the linear driver is used to drive the first connector to move vertically.

[0008] Further, the first connector is provided with a groove, and the second connector is provided with a column body, and the column body is made of iron; the electromagnet is fixed on the inner bottom side of the groove; the column body can slide in the groove, and the sliding direction is the length direction of the groove; the two sides of the length direction of the groove are provided with self-stop reinforcing mechanisms, and the self-stop reinforcing mechanisms on the two sides are used to clamp the two sides of the column body.

[0009] Further, the automatic reinforcing mechanism comprises a driving member, a limiting sleeve, a stop button, a pressing plate, a reset member, a connecting rod and an abutting plate, the stop button is connected with the driving member and used to close the starting member; the driving member is installed on the first connector, and is used to drive the limiting sleeve to move transversely; the stop button, the reset member and the pressing plate are installed in the limiting sleeve, the stop button is located on the side close to the driving member, the pressing plate is used to press the stop button, and the pressing plate can move along the axial direction of the limiting sleeve; the reset member is used to reset the pressing plate; the side of the limiting sleeve away from the driving member is provided with a through hole, the connecting rod is slidably connected in the through hole, one side of the connecting rod is connected with the pressing plate, and the other side is connected with the abutting plate, and the abutting plate is used to abut against the second connector.

[0010] The working principle of the technical solution is that after the trolley body drives into the lower side of the drum conveyor, the linear driver drives the first connector to realize the butt joint with the second connector. When the positions of the first connector and the second connector do not match, the rotating member is started, the rotating member drives the rotating rod, the rotating disc, the support part and the first connector to rotate, so as to adjust the position of the first connector, until the positions of the first connector and the second connector match, and then the linear driver is started, the linear driver drives the first connector to realize the butt joint with the second connector. The first connector and the second connector are matched in structure, and are fixed by the magnetic force between the electromagnet and the iron block.

[0011] Because fixed by magnetic force between electromagnet and iron block, magnetic force deficiency is likely to occur, causing relative displacement between the two, and a self-stopping reinforcing mechanism is arranged.After docking, the driving member is started, the driving member pushes the limiting sleeve to move towards the direction of approaching the second docking member, when the abutting plate contacts the second docking member, the limiting sleeve continues to move to make the stop button move towards the pressing plate, the pressing plate extrudes the stop button, so that the driving member is closed.

[0012] The beneficial effects of the technical solution are:

[0013] ①The magnetic force between the electromagnet and the iron block can realize the fixation of the transfer AGV and the drum of the drum conveyor.

[0014] ②By arranging the rotating member, the first docking member can be rotated, so that the automatic docking of the first docking member and the second docking member is realized without controlling the trolley body, and manual operation is not needed.

[0015] ③By arranging the automatic reinforcing mechanism, the fixation between the first docking member and the second docking member can be reinforced in the case of insufficient magnetic force between the electromagnet and the iron block, and by arranging the stop button, the extrusion of the second docking member can be automatically stopped after the abutting block abuts against the second docking member, without manual adjustment. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a structural schematic view of the transfer AGV with automatic docking function.

[0017] Figure 2 It is a sectional view of Figure 1 .

[0018] Figure 3 It is a sectional view of the self-stopping reinforcing mechanism.

[0019] Figure 4 It is an enlarged view of A in Figure 3 . DETAILED DESCRIPTION

[0020] The following will be further described in detail through specific embodiments:

[0021] The reference signs in the drawings of the specification include: trolley body 1, rotating member 2, rotating rod 3, rotating disc 4, supporting part 5, first docking member 6, power supply 7, electric wire 8, electromagnet 9, second docking member 10, docking seat 11, docking roller 12, self-stopping reinforcing mechanism 13, driving member 1301, connecting plate 1302, limiting sleeve 1303, stop button 1304, pressing plate 1305, reset member 1306, connecting rod 1307, abutting plate 1308.

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] The basic implementation examples are as follows: Figures 1-2 As shown: A transfer AGV with automatic docking function includes a trolley body 1 and a docking unit. The docking unit includes a first docking mechanism and a second docking mechanism. The first docking mechanism is mounted on the trolley body 1, and the second docking mechanism is mounted below a roller conveyor. The roller conveyor includes a docking roller 12 and a docking seat 11. The docking seat 11 has a mounting groove, and the docking roller 12 is mounted in the mounting groove. The second docking mechanism is mounted below the docking seat 11.

[0024] The first docking mechanism and the second docking mechanism are capable of docking. The first docking mechanism includes a support structure, a first docking member 6, and a fixing member. The support structure supports the first docking member 6. The support structure includes a rotating member 2, a rotating rod 3, a turntable 4, and a support part 5. The carriage body 1 has an internal mounting cavity, and the rotating member 2 is installed inside the carriage body 1. The rotating rod 3 is rotatably connected to the mounting cavity and is connected to the rotating member 2. The rotating member 2 drives the rotating rod 3 to rotate. The rotating member 2 can be a motor. The upper side of the rotating rod 3 extends out of the carriage body 1 and is fixed to the turntable 4. The two sides of the support part 5 are connected to the turntable 4 and the first docking member 6, respectively. The support part 5 is capable of vertical movement. Specifically, the support part 5 uses a linear actuator (specifically an electric push rod). The driving direction of the linear actuator is vertical, and the linear actuator drives the first docking member 6 to move vertically. The second docking mechanism includes a second docking member 10, which is installed below the docking seat 11. The fixing member is used to fix the first docking member 6 and the second docking member 10.

[0025] In the first docking member 6 and the second docking member 10, one has a groove, and the other is a column that matches the groove. The fixing component includes an electromagnet 9, which is fixed inside the groove or on the side of the column near the groove. The main body or the groove is made of iron. The electromagnet 9 is connected to a power supply 7, which is installed on the first docking member 6 or the second docking member 10. In this embodiment, the first docking member 6 is a groove, and the second docking member 10 is a column made of iron. The electromagnet 9 is fixed to the inner bottom side of the groove. The power supply 7 is located outside the first docking member 6, which has a through hole. The wire 8 of the power supply 7 passes through the through hole and connects to the electromagnet 9. The column can slide within the groove in the direction of its length.

[0026] like Figure 3、 4 As shown, the two sides of the groove length direction are provided with self-stop reinforcing mechanisms 13, and the two sides of the self-stop reinforcing mechanisms 13 are used for clamping the two sides of the second butt joint 10. The automatic reinforcing mechanism includes a driving member 1301 (specifically an electric push rod), a limiting sleeve 1303, a stop button 1304, a pressing plate 1305, a reset member 1306 (specifically a spring), a connecting rod 1307 and an abutting plate 1308, the stop button 1304 is electrically connected with the driving member 1301 and is used for closing the starting member. The driving member 1301 is installed on the first butt joint 6, and the driving member 1301 is used for driving the limiting sleeve 1303 to move laterally, and the output end of the driving member 1301 and the limiting sleeve 1303 are connected through a connecting plate 1302. The stop button 1304, the reset member 1306 and the pressing plate 1305 are installed in the limiting sleeve 1303, the stop button 1304 is located on the side close to the driving member 1301, the pressing plate 1305 is used for pressing the stop button 1304, and the pressing plate 1305 can move along the axial direction of the limiting sleeve 1303; the reset member 1306 is used for resetting the pressing plate 1305. The side of the limiting sleeve 1303 away from the driving member 1301 is provided with a through hole, the connecting rod 1307 is slidably connected in the through hole, one side of the connecting rod 1307 is connected with the pressing plate 1305, the other side is connected with the abutting plate 1308, and the abutting plate 1308 is used for abutting with the second butt joint 10.

[0027] The specific implementation process is as follows:

[0028] After the trolley body 1 drives into the under part of the roller conveyor, the linear driver drives the first butt joint 6 to realize butt joint with the second butt joint 10. When the positions of the first butt joint 6 and the second butt joint 10 are not matched, the rotating member 2 is started to drive the rotating rod 3, the rotating disc 4, the supporting part 5 and the first butt joint 6 to rotate, so as to adjust the position of the first butt joint 6, until the positions of the first butt joint 6 and the second butt joint 10 are matched, and then the linear driver is started to drive the first butt joint 6 to realize butt joint with the second butt joint 10. The first butt joint 6 and the second butt joint 10 are fixed by the magnetic force between the electromagnet 9 and the iron block.

[0029] Because the fixing is realized by the magnetic force between the electromagnet 9 and the iron block, it is likely that the magnetic force is insufficient, and the relative displacement between the two occurs. The self-stop reinforcing mechanism 13 is arranged. After butt joint, the driving member 1301 is started to drive the limiting sleeve 1303 to move towards the direction close to the second butt joint 10. When the abutting plate 1308 contacts the second butt joint 10, the continuous movement of the limiting sleeve 1303 will drive the stop button 1304 to move towards the pressing plate 1305, the pressing plate 1305 extrudes the stop button 1304, so that the driving member 1301 is closed.

[0030] It is to be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0031] The above is only the embodiment of the present application, and the common knowledge of the specific structure and characteristics in the scheme is not described in detail, the ordinary skilled in the art knows all the ordinary technical knowledge in the technical field of the present application before the application date or the priority date, can know all the prior art in the field and has the ability to apply the conventional experimental means before the date, the ordinary skilled in the art can improve and implement the present scheme under the inspiration given by the present application combined with their own ability, some typical known structure or known method should not be an obstacle for the ordinary skilled in the art to implement the present application. It should be pointed out that, for those skilled in the art, without departing from the structure of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application, which will not affect the effect and practicality of the present application. The protection scope of the present application should be subject to the content of its claims, and the specific implementation mode and the like in the specification can be used to explain the content of the claims.

Claims

1. A transfer AGV with automatic docking function, characterized in that: The utility model provides a trolley body (1) and butt joint unit, butt joint unit includes first butt joint mechanism and second butt joint mechanism, first butt joint mechanism is installed on trolley body (1), second butt joint mechanism is installed below roller conveyor, first butt joint mechanism and second butt joint mechanism can butt joint;First butt joint mechanism includes support structure, first butt joint piece (6) and fixed part, support structure is used to support first butt joint piece (6);Support structure includes rotating piece (2), rotating rod (3), turntable (4) and support part (5), the inside of trolley body (1) is equipped with installation cavity, rotating rod (3) is rotatably connected in installation cavity, rotating rod (3) is connected with rotating piece (2), rotating piece (2) is used to drive rotating rod (3) rotation, the upside of rotating rod (3) projects trolley body (1) and is fixed with turntable (4);The both sides of support part (5) are connected with turntable (4) and first butt joint piece (6) respectively, support part (5) can move vertically;Second butt joint mechanism includes second butt joint piece (10), and second butt joint piece (10) is installed below roller conveyor;Fixed part is used to fix first butt joint piece (6) and second butt joint piece (10).

2. The transfer AGV with automatic docking function according to claim 1, characterized in that: In first butt joint piece (6) and second butt joint piece (10), one is provided with a groove, and the other is provided as a column body matched with the groove;The fixed part includes an electromagnet (9), the electromagnet (9) is fixed in the groove or the side of the column body close to the groove, the column body or the groove adopts an iron block;The electromagnet (9) is connected with a power supply (7), and the power supply (7) is installed on the first butt joint piece (6) or the second butt joint piece (10).

3. The transfer AGV with automatic docking function according to claim 1, characterized in that: The support part (5) adopts a linear actuator, the driving direction of the linear actuator is vertical, and the linear actuator is used to drive the vertical movement of the first butt joint piece (6).

4. The transfer AGV with automatic docking function according to claim 2, characterized in that: The first butt joint piece (6) is provided as a groove, the second butt joint piece (10) is provided as a column body, the column body is an iron block;The electromagnet (9) is fixed on the inner bottom side of the groove;The column body can slide in the groove, and the sliding direction is the length direction of the groove;The both sides of the length direction of the groove are provided with self-stop reinforcing mechanisms (13), and the self-stop reinforcing mechanisms (13) on both sides are used to clamp the both sides of the column body.

5. The transfer AGV with automatic docking function according to claim 4, characterized in that: The self-stopping reinforcing mechanism (13) comprises a driving member (1301), a limiting sleeve (1303), a stopping button (1304), a pressing plate (1305), a reset member (1306), a connecting rod (1307) and an abutting plate (1308), the stopping button (1304) is connected with the driving member (1301) and is used for closing the starting member; the driving member (1301) is installed on the first docking member (6), the driving member (1301) is used for driving the limiting sleeve (1303) to move transversely, the stopping button (1304), the reset member (1306) and the pressing plate (1305) are installed in the limiting sleeve (1303), the stopping button (1304) is located on the side close to the driving member (1301), the pressing plate (1305) is used for pressing the stopping button (1304), and the pressing plate (1305) can move in the axial direction of the limiting sleeve (1303); the reset member (1306) is used for resetting the pressing plate (1305); the side, away from the driving member (1301), of the limiting sleeve (1303) is provided with a through hole, the connecting rod (1307) is slidably connected in the through hole, one side of the connecting rod (1307) is connected with the pressing plate (1305), the other side of the connecting rod (1307) is connected with the abutting plate (1308), and the abutting plate (1308) is used for abutting against the second docking member (10).

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