Automatic loading and unloading equipment for AGV (Automatic Guided Vehicle)

Abstract

The utility model discloses an automatic guided vehicle (AGV) automatic feeding and discharging device which comprises an AGV, the AGV is stopped at the end of a full box discharging conveying line, an empty box feeding conveying line is installed on the side face of the full box discharging conveying line, a servo lifting mechanism is installed at the end of the empty box feeding conveying line, and the servo lifting mechanism is connected with the full box discharging conveying line. And a servo transplanting mechanism is mounted above the servo lifting mechanism. The AGV is arranged to convey empty boxes, the empty boxes pass through the empty box feeding conveying line, the servo lifting mechanism conveys the empty boxes to the second-layer working position, the shifting fork mechanism separates the boxes and places the boxes on the servo transplanting mechanism, the manipulator assembly grabs the boxes and places the boxes in the empty boxes, and when the boxes are full, the servo transplanting mechanism conveys the boxes to the discharging position, and the empty boxes are conveyed to the second-layer working position. The shifting fork mechanism separates the boxes from the servo transplanting mechanism, the servo lifting mechanism receives the full boxes and conveys the full boxes to the first layer, the full boxes pass through the full box discharging conveying line and are received away through an AGV trolley, and therefore automatic feeding and discharging can be achieved, and manual stacking and boxing are avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to a feeding and discharging equipment technical field especially relates to a kind of AGV automatic feeding and discharging equipment. BACKGROUND

[0002] AGV is also called automatic guided vehicle, automatic guided vehicle, is loaded with goods by automatic or manual mode, automatically travels or drags the load platform truck to specified place according to the set route, and then unloads goods by automatic or manual mode.

[0003] But the goods on AGV need to be manually loaded and unloaded when feeding and discharging, which reduces the carrying efficiency of AGV, so we propose an AGV automatic feeding and discharging equipment to solve the above problems. UTILITY MODEL CONTENT

[0004] The utility model aims at solving the shortcomings in the prior art and provides an AGV automatic feeding and discharging equipment.

[0005] To achieve the above object, the utility model adopts the following technical scheme:

[0006] An AGV automatic feeding and discharging equipment includes an AGV trolley, which is parked at the end of a full-box discharging conveying line, the side of the full-box discharging conveying line is provided with an empty-box feeding conveying line, the end of the empty-box feeding conveying line is provided with a servo lifting mechanism, a servo transplanting mechanism is installed above the servo lifting mechanism, a yoke mechanism is installed on the surface of the servo transplanting mechanism, and a mechanical hand assembly is installed on the outside of the servo transplanting mechanism.

[0007] Preferably, the mechanical hand assembly includes a mounting base, a mechanical arm is installed above the mounting base, and a gripper is installed at the end of the mechanical arm.

[0008] Preferably, the yoke mechanism includes a vertical air cylinder, a fixed frame is connected below the vertical air cylinder, a horizontal air cylinder is installed in the fixed frame, and two yoke heads are symmetrically installed on the surface of the fixed frame.

[0009] Preferably, the servo transplanting mechanism includes a first servo motor, the first servo motor is installed on a fixed partition, and the first servo motor is connected with one side of a carrier plate through a first ball screw.

[0010] Preferably, guide rail sliders are slidably connected below both ends of the carrier plate, and a through hole is formed in the carrier plate.

[0011] Preferably, the servo lifting mechanism comprises a second servo motor, the second servo motor is connected with a synchronous belt conveying line through a second ball screw, and the second servo motor and the second ball screw are both installed on the surface of the fixed back plate.

[0012] Compared with the prior art, the utility model has the advantages that:

[0013] The device is provided with an AGV trolley, an empty box is conveyed through the empty box loading conveying line, the servo lifting mechanism carries the empty box to the second layer working position, the fork mechanism separates the box from the servo transplanting mechanism, the mechanical hand assembly places the empty box, when the box is full, the servo transplanting mechanism is transported to the discharging position, the fork mechanism separates the box from the servo transplanting mechanism, the servo lifting mechanism holds the full box and transports to the first layer, and the full box is conveyed through the full box discharging conveying line and is taken away by the AGV trolley, so that automatic feeding and discharging can be realized, and manual feeding and discharging are avoided. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a top view schematic diagram of the AGV automatic feeding and discharging equipment;

[0015] Figure 2 It is a front view schematic diagram of the AGV automatic feeding and discharging equipment;

[0016] Figure 3 It is a front view schematic diagram of the mechanical arm and the clamping jaw structure in the AGV automatic feeding and discharging equipment; Figure 1

[0017] It is a front view schematic diagram of the fork head and the vertical air cylinder structure in the AGV automatic feeding and discharging equipment; Figure 4 Figure 1 It is a front view schematic diagram of the first ball screw and the guide rail sliding block structure in the AGV automatic feeding and discharging equipment;

[0018] Figure 5 Figure 1 It is a front view schematic diagram of the second ball screw and the synchronous belt conveying line structure in the AGV automatic feeding and discharging equipment.

[0019] Figure 6 It is a front view schematic diagram of the second ball screw and the synchronous belt conveying line structure in the AGV automatic feeding and discharging equipment. Figure 1 In the drawing: 1, AGV trolley; 2, full box discharging conveying line; 3, empty box loading conveying line;

[0020] 4, mechanical hand assembly; 41, mounting base; 42, mechanical arm; 43, clamping jaw;

[0021] 5, fork mechanism; 51, fork head; 52, horizontal air cylinder; 53, vertical air cylinder;

[0022] 6, servo transplanting mechanism; 61, first servo motor; 62, first ball screw; 63, guide rail sliding block;

[0023] ​​​

[0024] 7, servo lifting mechanism; 71, second servo motor; 72, second ball screw; 73, synchronous belt conveying line. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the utility model will be apparently and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments.

[0026] Referring to Figures 1-4 An AGV automatic feeding and discharging equipment, comprising an AGV trolley 1, the AGV trolley 1 is parked at the end of a full-box discharging conveying line 2, a side of the full-box discharging conveying line 2 is provided with a empty-box feeding conveying line 3, a servo lifting mechanism 7 is installed at the end of the empty-box feeding conveying line 3, a servo transplanting mechanism 6 is installed above the servo lifting mechanism 7, a yoke mechanism 5 is installed on the surface of the servo transplanting mechanism 6, and a mechanical hand assembly 4 is installed on the outer side of the servo transplanting mechanism 6, wherein the full-box discharging conveying line 2, the empty-box feeding conveying line 3, the yoke mechanism 5, the servo transplanting mechanism 6 and the servo lifting mechanism 7 are all installed in the equipment frame, and the height of the full-box discharging conveying line 2 and the empty-box feeding conveying line 3 is adapted to the height of the AGV trolley 1.

[0027] Further, referring to Figure 1 and Figure 3 It can be known that the mechanical hand assembly 4 comprises a mounting base 41, a mechanical arm 42 is installed above the mounting base 41, and a clamping jaw 43 is installed at the end of the mechanical arm 42, the overall height of the mechanical arm 42 and the clamping jaw 43 can be raised through the mounting base 41, and the mounting base 41 can be installed.

[0028] Further, referring to Figure 1 and Figure 4 It can be known that the yoke mechanism 5 comprises a vertical air cylinder 53, a fixed frame is connected below the vertical air cylinder 53, a horizontal air cylinder 52 is installed in the fixed frame, two yoke heads 51 are symmetrically installed on the surface of the fixed frame, the height of the horizontal air cylinder 52 can be adjusted through the vertical air cylinder 53, the box between the two groups of yoke heads 51 can be conveniently pushed through the horizontal air cylinder 52, and the inner side of the yoke head 51 is provided as an inclined surface, so that the box can be guided into the two groups of yoke heads 51.

[0029] Further, referring to Figure 1 and Figure 5 It can be known that the servo transplanting mechanism 6 comprises a first servo motor 61, the first servo motor 61 is installed on a fixed partition plate, the first servo motor 61 is connected with one side of a carrier plate through a first ball screw 62, the first ball screw 62 can be rotated through the first servo motor 61, so as to conveniently drive the carrier plate to move, and facilitate the conveying of the box.

[0030] Further, referring to Figure 1 and Figure 5 It can be known that the guide rail slider 63 is slidably connected below both ends of the carrier plate, and a through hole is formed in the carrier plate, so that the movement of the carrier plate can be guided through the guide rail slider 63, and the box can pass through the through hole formed in the carrier plate.

[0031] Further, referring to Figure 2 and Figure 6 It can be known that the servo lifting mechanism 7 comprises a second servo motor 71, the second servo motor 71 is connected with a synchronous belt conveying line 73 through a second ball screw 72, the second servo motor 71 and the second ball screw 72 are both installed on the surface of the fixed back plate, the second ball screw 72 can be rotated through the second servo motor 71, the synchronous belt conveying line 73 can move up and down along the surface of the second ball screw 72, and the second servo motor 71 and the synchronous belt conveying line 73 can be conveniently fixed and installed through the fixed back plate.

[0032] Working principle: when the AGV trolley 1 is used, according to the attached Figure 1 , the attached Figure 2 , the attached Figure 3 and the attached Figure 4 , the empty box can be transported to the AGV trolley 1, at this time, the empty box can be moved to the surface of the synchronous belt conveying line 73 through the empty box feeding conveying line 3, so that the second ball screw 72 can drive the synchronous belt conveying line 73 to transport the empty box to the second layer working position through the second servo motor 71, at this time, the fork head 51 separates the box and places it on the carrier plate above the guide rail slider 63, the first ball screw 62 can drive the carrier plate to move along the surface of the guide rail slider 63 through the first servo motor 61, and the object can be placed in the empty box through the mechanical arm 42 controlling the gripper 43, when the box is full, the carrier plate is transported to the discharging position, the fork head 51 separates the box from the carrier plate, the full box is caught on the surface of the synchronous belt conveying line 73, the synchronous belt conveying line 73 can move along the surface of the second ball screw 72 through the second servo motor 71, and is transported to the first layer and is conveyed to the AGV trolley 1 through the flat belt conveying line full box discharging conveying line 2.

[0033] The above is the whole working principle of the utility model.

[0034] In the utility model, the installation mode, connection mode or setting mode of all the components described above are common mechanical modes, and the specific structure, model and coefficient index of all the components are self-contained technologies, as long as the beneficial effects can be achieved, implementation can be carried out, so no more description is made.

[0035] The above embodiment is a preferred embodiment of the present application, but the embodiment of the present application is not limited by the above embodiment, and any change, modification, replacement, combination, simplification made without departing from the spirit and principle of the present application should be an equivalent replacement mode, which is included in the protection scope of the present application.

[0036] In the present application, under the condition of no opposite description, the orientation words contained in the terms such as "up, down, left, right, front, back, inside, outside and vertical and horizontal" only represent the orientation of the terms in the conventional use state, or the common name understood by the person skilled in the art, and should not be regarded as the limitation of the terms, at the same time, the serial nouns such as "first", "second" and "third" do not represent the specific quantity and order, but are only used for the differentiation of the name, and the terms "include", "contain" or any other variant thereof is intended to cover the non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes the elements inherent in such process, method, article or equipment.

Claims

1. An AGV automatic loading and unloading equipment, comprising an AGV trolley (1), characterized in that, The AGV (1) is parked at the end of the full box unloading conveying line (2), the side of the full box unloading conveying line (2) is provided with an empty box loading conveying line (3), the end of the empty box loading conveying line (3) is provided with a servo lifting mechanism (7), the servo lifting mechanism (7) is provided with a servo transplanting mechanism (6) above, the surface of the servo transplanting mechanism (6) is provided with a fork mechanism (5), and the outer side of the servo transplanting mechanism (6) is provided with a mechanical hand assembly (4).

2. The AGV automatic loading and unloading equipment according to claim 1, characterized in that, The mechanical hand assembly (4) comprises a mounting base (41), a mechanical arm (42) is mounted above the mounting base (41), and a clamping jaw (43) is mounted at the end of the mechanical arm (42).

3. The AGV automatic loading and unloading equipment according to claim 1, characterized in that, The fork mechanism (5) comprises a vertical air cylinder (53), a fixed frame is connected below the vertical air cylinder (53), a horizontal air cylinder (52) is mounted in the fixed frame, and two fork heads (51) are symmetrically mounted on the surface of the fixed frame.

4. The AGV automatic loading and unloading equipment according to claim 1, characterized in that, The servo transplanting mechanism (6) comprises a first servo motor (61), the first servo motor (61) is mounted on a fixed partition plate, and the first servo motor (61) is connected with one side of a carrier plate through a first ball screw (62).

5. The AGV automatic loading and unloading equipment according to claim 4, characterized in that, Both ends of the carrier plate are slidably connected with guide rail sliding blocks (63), and a through hole is formed in the carrier plate.

6. The AGV automatic loading and unloading equipment according to claim 1, characterized in that, The servo lifting mechanism (7) comprises a second servo motor (71), the second servo motor (71) is connected with a synchronous belt conveying line (73) through a second ball screw (72), and the second servo motor (71) and the second ball screw (72) are both mounted on the surface of a fixed back plate.

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