Double-layer seedling conveying tray AGV (Automatic Guided Vehicle)

Abstract

The utility model discloses a double-layer seedling transporting tray AGV in the field of AGVs, which comprises a vehicle body and a stand column, the stand column is vertically installed on the vehicle body, a first bracket and a second bracket which are parallel to each other in the horizontal direction are arranged on the stand column, and trays and feeding telescopic forks are arranged on the first bracket and the second bracket. The driving mechanism is used for driving the tray to move horizontally; and the lifting devices comprise the first lifting device and the second lifting device, the first lifting device is used for driving the feeding telescopic fork to ascend and descend in the vertical direction, and the second lifting device is used for driving the second bracket to ascend and descend in the vertical direction. The two layers of brackets are arranged, two layers of trays can be transported at a time, the trays on the first bracket are pushed out firstly, then the second bracket is lowered through the second lifting device, the trays on the second bracket are pushed, the transportation efficiency is improved, the height of the second bracket can be adjusted, goods transportation is adapted, and the stability in the transportation process is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of AGV, especially a double-layer seedling carrying tray AGV. BACKGROUND

[0002] The automatic navigation trolley (AGV) is a kind of intelligent logistics device that is loaded with goods by automatic or manual way, automatically travels to specified place, and then is unloaded by automatic or manual way.In the field of factory agriculture logistics, the size of tray is relatively large, and AGV trolley can only carry one tray each time, which affects the overall operation efficiency of the system. UTILITY MODEL CONTENTS

[0003] The utility model aims at providing a double-layer seedling carrying tray AGV, which is provided with two layers of brackets, can place two trays, and improves operation efficiency.

[0004] To solve the above technical problems, the following technical scheme is adopted:

[0005] The utility model provides a double-layer seedling carrying tray AGV, which comprises:

[0006] The car body and the stand column are vertically installed on the car body, the first bracket and the second bracket are horizontally parallel on the stand column, and the tray is arranged on the first bracket and the second bracket;

[0007] The feeding telescopic fork is used to drive the tray to move in the horizontal direction.

[0008] The lifting device comprises a first lifting device and a second lifting device, the first lifting device is used to drive the feeding telescopic fork to lift in the vertical direction, and the second lifting device is used to drive the second bracket to lift in the vertical direction.

[0009] Optionally, the first lifting device is installed on the car body, and the feeding telescopic fork is arranged on the first lifting device.

[0010] Optionally, the first bracket is provided with a first sensor for detecting whether the tray is arranged on the first bracket, and the second bracket is provided with a second sensor for detecting whether the tray is arranged on the second bracket.

[0011] Optionally, the second lifting device is installed on the stand column, and the second bracket is installed on the second lifting device.

[0012] Optionally, the first lifting device comprises a lifting motor, a lifting mechanism, a mounting platform and a lifting platform, the mounting platform is arranged on the car body, one end of the lifting mechanism is installed on the mounting platform, the other end is connected to the lifting platform, and the lifting mechanism is driven by the lifting motor.

[0013] Optionally, the lifting mechanism comprises any one of a worm screw lifting mechanism and a screw lifting mechanism.

[0014] Optionally, a guide device for guiding the lifting mechanism is arranged between the mounting platform and the lifting platform, the guide device comprises a guide sleeve and a guide column, the guide sleeve is mounted on the mounting platform, one end of the guide column is mounted on the bottom of the lifting platform, and the other end is movably connected with the guide sleeve.

[0015] Optionally, the second lifting device comprises a first linear module, a second linear module and a driving motor, the driving motor is connected with the second linear module through a first shaft coupling, the second linear module is connected with the first linear module through a second shaft coupling, a transmission shaft and a third shaft coupling, the transmission shaft is connected with the second linear module and the first linear module through the second shaft coupling and the third shaft coupling at both ends respectively, and the first linear module and the second linear module are mounted on the stand through a first fixed seat and a second fixed seat at both ends.

[0016] Optionally, a limiting sensor for preventing the sliders on the two linear modules from being separated from the slide rails is arranged on the second linear module, a sensor baffle is arranged on the slider on the second linear module, the sensor baffle is used for collecting the position of the slider by the sensor, and the sensor is provided with two sensor baffles and is mounted at both ends of the second linear module.

[0017] Optionally, the driving motor is connected with the second linear module through a speed reducer, and the speed reducer is mounted in the motor cage.

[0018] Compared with the prior art, the utility model has the advantages of:

[0019] 1、The utility model discloses two layers of carriers, can transport two layers of pallets at a time, and the pallets are pushed to the specified position through the feeding telescopic fork, the pallet on the first carrier is pushed out first, then the second carrier is lowered through the second lifting device, and the pallet on the second carrier is pushed, the transportation efficiency is improved, the height of the second carrier is adjustable, the height of the second carrier can be adjusted according to the weight and height of goods, the transportation of goods is adapted, and the stability during transportation is improved.

[0020] 2、The utility model discloses the up-and-down movement of the feeding telescopic fork is driven through the first lifting device, and the pallet is lifted off the carrier, the subsequent pushing of the feeding telescopic fork is convenient, the sensor for detecting whether there is a pallet on the carrier is arranged on the carrier, when there is no carrier on the first carrier, the pushing of the pallet on the second carrier can be carried out, and accurate transportation is realized. DRAWINGS

[0021] Figure 1This is a schematic diagram of the overall side view of the double-layer seedling transport tray AGV of this utility model;

[0022] Figure 2 This is a top view schematic diagram of the overall structure of the double-layer seedling transport tray AGV of this utility model;

[0023] Figure 3 This is a schematic diagram of the overall front view structure of the double-layer seedling transport tray AGV of this utility model;

[0024] Figure 4 This is a schematic diagram of the structure of the first lifting device in an embodiment of this utility model;

[0025] Figure 5 This is one of the schematic diagrams of the second lifting device in the embodiments of this utility model;

[0026] Figure 6 This is the second schematic diagram of the second lifting device in the embodiments of this utility model.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1. Vehicle body; 2. First lifting device; 201. Lifting motor; 202. Lifting mechanism; 203. Mounting platform; 204. Guide sleeve; 205. Guide column; 206. Moving platform; 3. Feeding telescopic fork; 4. First sensor; 5. First bracket; 6. Second sensor; 7. Second bracket; 8. Second lifting device; 801. First linear module; 802. Second linear module; 803. First coupling; 804. Reducer; 805. Drive motor; 806. Motor cage; 807. Second coupling; 808. Drive shaft; 809. Third coupling; 810. Second pallet; 811. Column; 812. First fixed seat; 813. Crossbeam; 814. Sensor baffle; 815. Upper limit sensor; 816. Lower limit sensor; 817. Second fixed seat; 9. First pallet. Detailed Implementation

[0029] The technical solutions of the present invention 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 invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use.

[0030] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more. In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. Example 1

[0031] This embodiment provides a double-layer seedling pallet AGV, with a vehicle body 1 and a column 811. The column 811 is vertically installed on the vehicle body 1, and a first bracket 5 and a second bracket 7 that are parallel to each other in the horizontal direction are provided on the column 811.

[0032] The feeding telescopic fork 3 is used to drive the first pallet 9 and the second pallet 810 to move in the horizontal direction;

[0033] The lifting device includes a first lifting device 2 and a second lifting device 8. The first lifting device 2 is used to drive the feeding telescopic fork 3 to rise and fall in the vertical direction, and the second lifting device 8 is used to drive the second bracket 7 to rise and fall in the vertical direction.

[0034] like Figure 1 , Figure 2As shown, the first bracket 5 is provided with a first tray 9, and the second bracket 7 is provided with a second tray 810. The first bracket 5 is mounted on the column 811 and cannot be moved. The second bracket 7 is mounted on the column 811 through a second telescopic device and can move up and down through the second telescopic device. Both the first bracket 5 and the second bracket 7 are composed of two parallel rectangular rod structures. The tray is placed on the two spaced rectangular rods, supporting the bottom sides of the tray. The tray is used to place goods. The feeding telescopic fork 3 is located in the center of the tray. The feeding telescopic fork 3 drives the tray to detach from the bracket and move in the horizontal direction.

[0035] In use, the second bracket 7 can be driven up and down by the second lifting device 8 to adjust the position of the second bracket, place the second pallet 810 on the second bracket 7 on the feeding telescopic fork 3 and send it to the designated position. It can also be adjusted to handle different goods during transportation. When transporting goods with a certain height, the height of the second bracket 7 can be increased to increase the distance between the two brackets. When transporting heavy goods, the height of the second bracket 7 can be lowered to lower the center of gravity and improve the stability during transportation.

[0036] When delivering goods on a pallet to a designated location, the first lifting device 2 first raises the feeding telescopic fork 3 so that it contacts the first pallet 9 on the first bracket 5. Then, the first lifting device 2 raises the first pallet 9 so that it detaches from the first bracket 5. The first pallet 9 is then pushed out to the designated location. The feeding telescopic fork 3 and the first telescopic device retract to their initial positions, the second bracket 7 is lowered, and the second pallet 810 on the second bracket 7 is pushed to the designated location as described above, thus completing the feeding process. Example 2

[0037] This embodiment provides a double-layer seedling pallet AGV based on Embodiment 1, with the following differences:

[0038] like Figure 1 , Figure 2 , Figure 3 As shown, there are two uprights 811 on the vehicle body 1, which are arranged parallel to each other and vertically spaced apart. The first lifting device 2 is installed on the vehicle body 1, and the second lifting device 8 is installed on the uprights 811. The feeding telescopic fork 3 is driven by the first lifting device 2 to move up and down, thereby realizing the ejection of the pallet on the bracket.

[0039] like Figure 4As shown, the first lifting device 2 includes a lifting motor 201, a lifting mechanism 202, a mounting platform 203, and a moving platform 206. The mounting platform 203 is mounted on the upper surface of the vehicle body 1. Both the lifting mechanism 202 and the lifting motor 201 are mounted on the mounting platform 203. The output end of the lifting mechanism 202 is connected to the lower surface of the moving platform 206. A worm gear type lifting mechanism 202 or a screw type lifting mechanism 202 can be used. The lifting mechanism 202 is driven to lift by the lifting motor 201.

[0040] Two sets of guiding devices are also provided between the installation platform 203 and the mobile platform 206, located on both sides of the installation platform 203 respectively. The guiding devices include guide posts 205 and guide sleeves 204. The guide sleeves 204 are set on the installation platform 203. One end of the guide post 205 is set on the lower surface of the mobile platform 206, and the other end extends into the guide sleeves 204 and extends into the interior of the installation platform 203.

[0041] The upper surface of the mobile platform 206 is equipped with a feeding telescopic fork 3, which can be composed of an existing motor and telescopic mechanism.

[0042] like Figure 5 , Figure 6 As shown, the second lifting device 8 includes a first linear module 801 and a second linear module 802. The first linear module 801 and the second linear module 802 are respectively mounted on two columns 811. The second linear module 802 is connected to a drive motor 805 through a first coupling 803 and a reducer 804, thereby driving the slider on the linear module to move on the slide rail. The reducer 804 is installed inside a motor cage 806. The drive motor 805 and the motor cage 806 are mounted on a mounting plate, which is installed on the upper end of the column where the second linear module 802 is located. Both ends of the first linear module 801 and the second linear module 802 are mounted on the two columns 811 through a first fixed seat 812 and a second fixed seat 817.

[0043] The second linear module 802 is connected to the first linear module 801 via a second coupling 807, a drive shaft 808, and a third coupling 809. Both ends of the drive shaft 808 are connected to the second linear module 802 and the first linear module 801 via the second coupling 807 and the third coupling 809, respectively. An upper limit sensor 815 and a lower limit sensor 816 are respectively installed at both ends of the second linear module 802. A sensor baffle 814 is provided on the slider of the second linear module 802. The upper limit sensor 815 and the lower limit sensor 816 detect the sensor baffle 814 to determine the position of the slider on the guide rail. The first linear module 801 and the second linear module 802 achieve synchronous movement through the connection of the drive shaft 808 and the two couplings. The second bracket 7 consists of two parallel crossbeams 813, one end of which is respectively connected to the sliders on the first linear module 801 and the second linear module 802. A second tray 810 is placed on the second bracket 7. The second bracket 7 moves up and down by moving a slider on the guide rail.

[0044] A first sensor 4 is provided on the first bracket 5 to detect whether there is a tray on the first bracket 5. A second sensor 6 is provided at the end of the second bracket 7 away from the second lifting device 8 to detect whether there is a tray on the second bracket 7.

[0045] In use, the first lifting device 2, the second lifting device 8, and the feeding telescopic fork 3 are controlled and driven by the control system. Data collected by sensors on these devices precisely controls the ejection of the pallet and the height and position of the second bracket 7. Specifically: when the trolley reaches the designated position during feeding, the feeding process begins. First, the status of the first sensor 4 determines whether the second pallet 810 is on the first bracket 5. If the second pallet 810 is present, the first lifting device 2 raises the feeding telescopic fork 3, causing the first pallet 9 to detach from the first bracket 5. The feeding telescopic fork 3 then ejects the first pallet 9. After the pallet is in place, the first lifting device 2 lowers and places the first pallet 9, completing the feeding process. The feeding telescopic fork 3 then returns to its initial position.

[0046] The second sensor 6 determines whether there is a second tray 810 on the second bracket 7. If there is a second tray 810, the second bracket 7 lowers to place the second tray 810 onto the feeding telescopic fork 3. After the first lifting device 2 raises and lifts the second tray 810, the feeding telescopic fork 3 moves forward to feed the second tray 810 to the elevator. After the tray is in place, the first lifting device 2 lowers and lowers the second tray 810, the feeding telescopic fork 3 returns to its initial position, and the second tray 810 lifting platform rises back to its initial position.

[0047] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A double-layer seedling pallet AGV, characterized in that, include: The vehicle body and the column are provided. The column is vertically installed on the vehicle body. The column is provided with a first bracket and a second bracket that are parallel to each other in the horizontal direction. Both the first bracket and the second bracket are provided with a tray. The feed telescopic fork is used to drive the pallet to move horizontally; The lifting device includes a first lifting device and a second lifting device. The first lifting device is used to drive the feeding telescopic fork to lift in the vertical direction, and the second lifting device is used to drive the second bracket to lift in the vertical direction.

2. The double-layer seedling pallet AGV according to claim 1, characterized in that, The first lifting device is mounted on the vehicle body, and the feeding telescopic fork is mounted on the first lifting device.

3. The double-layer seedling pallet AGV according to claim 2, characterized in that, The first tray is provided with a first sensor for detecting whether the tray is on the first tray, and the second tray is provided with a second sensor for detecting whether the tray is on the second tray.

4. The double-layer seedling pallet AGV according to claim 1, characterized in that, The second lifting device is installed on the column, and the second bracket is installed on the second lifting device.

5. The double-layer seedling pallet AGV according to claim 1, characterized in that, The first lifting mechanism includes a lifting motor, a lifting mechanism, an installation platform, and a lifting platform. The installation platform is mounted on the vehicle body. One end of the lifting mechanism is mounted on the installation platform, and the other end is connected to the lifting platform. The lifting mechanism is driven by the lifting motor.

6. The double-layer seedling pallet AGV according to claim 5, characterized in that, The lifting mechanism includes either a worm gear lifting mechanism or a screw lifting mechanism.

7. The double-layer seedling pallet AGV according to claim 5, characterized in that, A guiding device for guiding the lifting mechanism is provided between the installation platform and the lifting platform. The guiding device includes a guide sleeve and a guide column. The guide sleeve is installed on the installation platform, and one end of the guide column is installed at the bottom of the lifting platform, while the other end is movably connected to the guide sleeve.

8. The double-layer seedling pallet AGV according to claim 1, characterized in that, The second lifting device includes a first linear module, a second linear module, and a drive motor. The drive motor is connected to the second linear module via a first coupling. The second linear module is connected to the first linear module via a second coupling, a drive shaft, and a third coupling. The two ends of the drive shaft are connected to the second linear module and the first linear module via the second coupling and the third coupling, respectively. Both ends of the first linear module and the second linear module are mounted on a column via a first fixed base and a second fixed base.

9. The double-layer seedling pallet AGV according to claim 8, characterized in that, The second linear module is equipped with a limit sensor to prevent the sliders on the two linear modules from disengaging from the slide rail. The sliders on the second linear module are equipped with sensor baffles. The sensor baffles are used for the sensors to collect the position of the sliders. There are two sensors, which are respectively installed at both ends of the second linear module.

10. The double-layer seedling pallet AGV according to claim 8, characterized in that, The drive motor is connected to the second linear module via a reducer, which is installed inside the motor cage.

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