Butt joint mechanism applied to cylindrical carrier and automatic guide transport vehicle

Abstract

The utility model discloses a butt joint mechanism applied to a cylindrical carrier. The butt joint mechanism comprises a carrying assembly. The driving assembly is arranged on the carrying assembly; the two telescopic pallet fork assemblies are symmetrically arranged on the carrying assembly in a telescopic mode and are in transmission connection with the driving assembly; the stop lever assemblies are movably arranged at the tail ends of the two telescopic pallet fork assemblies; the telescopic fork assembly comprises a first transmission belt mechanism which is movably arranged on the carrying assembly and is in transmission connection with the driving assembly; the first telescopic rod is in transmission connection with the first transmission belt mechanism and is slidably arranged on the carrying assembly; the second transmission belt mechanism is arranged on the first telescopic rod and connected with the carrying assembly; and the second telescopic rod is slidably arranged on the first telescopic rod and is in transmission connection with the second transmission belt mechanism. According to the utility model, the two telescopic fork assemblies and the stop lever assembly are matched to transfer a plurality of cylindrical carriers, so that the problem that the existing cylindrical carriers are inconvenient to be butted with a traction AGV (Automatic Guided Vehicle) is effectively solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to butt joint mechanism technical field, especially the butt joint mechanism and automatic guide transport vehicle for cylindrical carrier. BACKGROUND

[0002] Automated Guided Vehicle (AGV) is powered by a single or multiple rudders for transfer operation; the rudder is a power module with driving forward and backward and active steering capability, and the driving motor thereon is only responsible for driving walking, and the steering motor is only responsible for steering.

[0003] In many production workshops, material transportation relies on manpower, and materials are generally loaded on corresponding carriers and moved by manual pushing and pulling. In order to improve efficiency, automated equipment is often introduced, and AGV is thus born. However, the current AGV cannot directly butt joint the existing carriers in the production workshop, and the carriers need to be modified to increase the automatic butt joint device. The modification cost of the workshop with a large number of existing carriers is very high, especially the cylindrical carrier, which is generally a molded plastic product, and is more difficult to modify than the general metal material carrier. Therefore, the butt joint mechanism and automatic guide transport vehicle applied to the cylindrical carrier are provided to solve the above problems. SUMMARY

[0004] One of the purposes of the utility model is to provide a butt joint mechanism and automatic guide transport vehicle applied to a cylindrical carrier, so as to solve the problem that the existing cylindrical carrier is not convenient for butt joint with the AGV.

[0005] The butt joint mechanism and automatic guide transport vehicle applied to the cylindrical carrier can be realized by the following technical solutions:

[0006] The butt joint mechanism applied to the cylindrical carrier comprises a carrying assembly which is a hollow cavity with one end open; a driving assembly arranged on the carrying assembly; two telescopic fork assemblies symmetrically arranged on the carrying assembly and respectively connected with the driving assembly; and a stop rod assembly movably arranged at the tail end of the two telescopic fork assemblies, wherein the stop rod assembly and the carrying assembly form a closed cavity.

[0007] The telescopic fork assembly comprises a first transmission belt mechanism movably arranged on the carrying assembly and connected with the driving assembly; a first telescopic rod connected with the first transmission belt mechanism and slidably arranged on the carrying assembly; a second transmission belt mechanism arranged on the first telescopic rod and connected with the carrying assembly; and a second telescopic rod slidably arranged on the first telescopic rod and connected with the second transmission belt mechanism.

[0008] In one of the embodiments, the carrying assembly comprises a carrying bracket which is a hollow U-shaped cavity, the inner cavity of the carrying bracket is matched with the size of the cylindrical carrier; a plurality of first sliding wheels are rotatably arranged at the bottom of the carrying bracket respectively.

[0009] In one of the embodiments, a first guide rail is fixedly arranged on the opposite inner side of the carrying bracket respectively, and two first transmission belt mechanisms are slidingly arranged on the two first guide rails respectively.

[0010] In one of the embodiments, a material sensor is arranged at the front end of the inner side of the carrying bracket; a first and a second arrival sensors are further arranged on the carrying bracket respectively.

[0011] In one of the embodiments, the driving assembly comprises a fixed seat which is fixedly arranged on the carrying bracket; a first driving motor which is fixedly arranged on the fixed seat and can be forward and reverse rotated; a transmission shaft which is rotatably arranged on the carrying bracket and is in driving connection with the two telescopic fork assemblies respectively; a first transmission belt which is arranged between the first driving motor and the transmission shaft.

[0012] In one of the embodiments, the first transmission belt mechanism comprises a driving wheel which is fixedly arranged on the transmission shaft; a driven wheel which is rotatably arranged on the carrying bracket; a second transmission belt which is movably arranged between the driving wheel and the driven wheel, and the first telescopic rod is fixedly connected with the second transmission belt.

[0013] In one of the embodiments, the second transmission belt mechanism comprises a first and a second rotating wheels which are rotatably arranged on the first telescopic rod respectively; a third transmission belt which is movably arranged between the first and the second rotating wheels and is connected with the carrying bracket.

[0014] In one of the embodiments, the stop rod assembly comprises a second driving motor which is fixedly arranged on one of the second telescopic rods; a stop rod body which is in driving connection with the second driving motor; a clamping groove which is fixedly arranged on the other second telescopic rod opposite to the second driving motor, and the stop rod body can be detachably clamped on the clamping groove; a first stop rod sensor which is fixedly arranged on the second telescopic rod on the same side of the second driving motor and is arranged at the side edge of the stop rod body; a second stop rod sensor which is fixedly arranged on the side edge of the clamping groove.

[0015] In one of the embodiments, at least one laser radar is arranged on the carrying assembly or the telescopic fork assembly.

[0016] The utility model relates to an automatic guided vehicle applied to cylindrical carriers, which comprises the butt joint mechanism and the AGV main body according to any one of the above.

[0017] Compared with the prior art, the butt joint mechanism and the automatic guided vehicle applied to cylindrical carriers have the following advantages:

[0018] The butt joint mechanism and the automatic guided vehicle applied to cylindrical carriers drive the two telescopic fork assemblies to extend synchronously through the driving assembly, wrap the multiple cylindrical carriers arranged in sequence, and then perform the surrounding operation on the multiple cylindrical carriers through the cooperation of the blocking rod assembly and the two telescopic fork assemblies, so that the multiple cylindrical carriers can be conveniently transferred without the need of modifying the cylindrical carriers, effectively solving the problem that the cylindrical carriers are inconvenient to butt joint with the traction AGV. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the following will briefly introduce the drawings needed to be used in the embodiments, and it should be understood that the following drawings only show some embodiments of the utility model, and therefore should not be regarded as a limitation to the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0020] Figure 1 is the structural schematic diagram of the utility model's butt joint mechanism in the contracted state applied to cylindrical carriers;

[0021] Figure 2 is the structural schematic diagram of the utility model's butt joint mechanism in the extended state applied to cylindrical carriers;

[0022] Figure 3 is the structural schematic diagram of the utility model's butt joint mechanism in another view in the extended state applied to cylindrical carriers;

[0023] Figure 4 is the structural schematic diagram of the utility model's butt joint mechanism in the extended state applied to cylindrical carriers;

[0024] Figure 5 is the structural schematic diagram of the utility model's automatic guided vehicle applied to cylindrical carriers;

[0025] Figure 6It is a side structure schematic diagram of an automatic guided transport vehicle applied to a cylindrical carrier.

[0026] Figure 7 It is a process schematic diagram of the automatic guided transport vehicle applied to the cylindrical carrier loading the cylindrical carrier.

[0027] In the figure, 10 is a docking mechanism, 11 is a carrying assembly, 111 is a carrying support, 1111 is a first guide rail, 1112 is a material sensor, 1113 is a first in-place sensor, 1114 is a second in-place sensor, 112 is a first sliding wheel, 12 is a driving assembly, 121 is a fixed seat, 122 is a first driving motor, 123 is a first transmission belt, 124 is a transmission shaft, 13 is a telescopic fork assembly, 131 is a first transmission belt mechanism, 132 is a first telescopic rod, 1321 is a second guide rail, 133 is a second transmission belt mechanism, 134 is a second telescopic rod, 1341 is an overrun sensor, 14 is a blocking rod assembly, 141 is a second driving motor, 142 is a blocking rod main body, 143 is a clamping groove, 144 is a first blocking rod sensor, 145 is a second blocking rod sensor, 15 is a laser radar, 20 is an AGV main body, 21 is a connecting plate, 30 is a cylindrical carrier, 31 is a carrier main body, and 32 is a second sliding wheel. DETAILED DESCRIPTION

[0028] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the 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 the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present application.

[0030] Please refer to Figures 1-4As shown in the figure, the utility model relates to a kind of butt joint mechanism 10 applied to cylindrical carrier mainly includes carrying assembly 11, drive assembly 12, two telescopic fork assemblies 13, baffle rod assembly 14 and at least one laser radar 15;Carrying assembly 11 is butt joint main body, it is the hollow cavity of one end opening;Drive assembly 12 is set on carrying assembly 11;Two telescopic fork assemblies 13 are symmetrically set on carrying assembly 11 and are respectively with drive assembly 12 transmission connection, drive assembly 12 synchronously drives two telescopic fork assemblies 13 to retract or expand operation, to facilitate the carrying operation to multiple cylindrical carriers 30;Baffle rod assembly 14 movably set in the tail end of two telescopic fork assemblies 13 and can be enclosed with carrying assembly 11 as closed cavity, it carries out blocking operation to multiple cylindrical carriers 30, prevent cylindrical carrier 30 from separating from butt joint mechanism 10;At least one laser radar 15 is set on carrying assembly 11 or telescopic fork assembly 13, whether there is obstacle in the vicinity is detected in real time by laser radar 15 to avoid collision.In this embodiment, two laser radars 15 are respectively set on telescopic fork assembly 13;In other embodiments, the number of laser radars 15 can be one, three or other multiple, and the number is set according to actual demand.

[0031] Please refer to Figures 1-4 As shown in the figure, carrying assembly 11 includes carrying support 111 and multiple first sliding wheels 112;Carrying support 111 is hollow U-shaped cavity, and the size of the inner cavity is matched with cylindrical carrier 30;Multiple first sliding wheels 112 are respectively rotationally arranged at the bottom of carrying support 111, and the carrying support 111 is conveniently towed and transported by the multiple first sliding wheels 112.Detailedly, first guide rails 1111 are respectively fixedly arranged on the opposite inner sides of carrying support 111, and two telescopic fork assemblies 13 are respectively slidably arranged on the two first guide rails 1111, so as to guide and limit the telescopic fork assemblies 13;A material sensor 1112 is arranged at the inner front end of carrying support 111, to sense whether the cylindrical carrier 30 enters the carrying support 111 in real time;First and second position sensors 1113 and 1114 are respectively arranged on the carrying support 111, to respectively sense whether the telescopic fork assemblies 13 retract and extend in place in real time.In this embodiment, two first sliding wheels 112 are respectively rotationally arranged at the bottom of carrying support 111;In other embodiments, the number of first sliding wheels 112 can be three, four or other multiple, and the number is set according to actual demand.

[0032] Please refer to Figures 1-4As shown, in the embodiment, the driving assembly 12 comprises a fixing base 121, a first driving motor 122, a first transmission belt 123 and a transmission shaft 124; the fixing base 121 is fixedly arranged on the carrying support 111; the first driving motor 122 is fixedly arranged on the fixing base 121 and can be reversely rotated; the two ends of the transmission shaft 124 are rotatably arranged on the carrying support 111 and are respectively in transmission connection with the two telescopic fork assemblies 13; the first transmission belt 123 is arranged between the first driving motor 122 and the transmission shaft 124, and the first driving motor 122 drives the transmission shaft 124 to rotate through the first transmission belt 123, thereby synchronously driving the two telescopic fork assemblies 13 to retract or extend.

[0033] Please refer to Figures 1-4As shown, in the embodiment, the telescopic fork assembly 13 comprises a first transmission belt mechanism 131, a first telescopic rod 132, a second transmission belt mechanism 133 and a second telescopic rod 134; the first transmission belt mechanism 131 is movably arranged on the carrying support 111 and is in transmission connection with the transmission shaft 124, the first driving motor 122 drives the first transmission belt mechanism 131 to rotate through the first transmission belt 123 and the transmission shaft 124 in sequence; the first telescopic rod 132 is in transmission connection with the first transmission belt mechanism 131 and is slidably arranged on the first guide rail 1111, the first transmission belt mechanism 131 drives the first telescopic rod 132 to reciprocate on the first guide rail 1111, thereby realizing the retracting or extending operation of the first telescopic rod 132; the second transmission belt mechanism 133 is arranged on the first telescopic rod 132 and is connected with the carrying support 111; the second telescopic rod 134 is slidably arranged on the first telescopic rod 132 and is in transmission connection with the second transmission belt mechanism 133, the second transmission belt mechanism 133 drives the second telescopic rod 134 to reciprocate on the first telescopic rod 132, thereby realizing the retracting or extending operation of the second telescopic rod 134. Specifically, the first transmission belt mechanism 131 comprises a driving wheel, a driven wheel and a second transmission belt; the driving wheel is fixedly arranged on the transmission shaft 124 and rotates with the transmission shaft 124; the driven wheel is rotatably arranged on the carrying support 111; the second transmission belt is movably arranged between the driving wheel and the driven wheel, the first telescopic rod 132 is fixedly connected with the second transmission belt, and the second transmission belt drives the first telescopic rod 132 to reciprocate on the first guide rail 1111. Specifically, the side of the first telescopic rod 132 is provided with a second guide rail 1321, and the second telescopic rod 134 is slidably arranged on the second guide rail 1321. Specifically, the second transmission belt mechanism 133 comprises a first rotating wheel, a second rotating wheel and a third transmission belt; the first rotating wheel and the second rotating wheel are oppositely rotatably arranged on the first telescopic rod 132; the third transmission belt is movably arranged between the first rotating wheel and the second rotating wheel and is connected with the carrying support 111; when the first telescopic rod 132 moves relative to the carrying support 111, the second telescopic rod 134 is synchronously driven to move by the second transmission belt mechanism 133. Specifically, the tail end of the second telescopic rod 134 is fixedly provided with an over-limit sensor 1341, which senses whether the cylindrical carrier 30 exceeds the second telescopic rod 134 in real time.

[0034] Please refer to Figures 1-4As shown in the embodiment, the stop lever assembly 14 comprises a second driving motor 141, a stop lever body 142, a clamping groove 143, a first stop lever sensor 144 and a second stop lever sensor 145; the second driving motor 141 is fixedly arranged on one of the second telescopic rods 134; the stop lever body 142 is in transmission connection with the second driving motor 141, and the second driving motor 141 drives the stop lever body 142 to rotate; the clamping groove 143 is fixedly arranged on the other second telescopic rod 134 opposite to the second driving motor 141, and the second driving motor 141 drives the stop lever body 142 to be detachably clamped on the clamping groove 143, so as to close the tail ends of the two second telescopic rods 134; the first stop lever sensor 144 is fixedly arranged on the second telescopic rod 134 on the same side of the second driving motor 141 and on the side of the stop lever body 142, and it performs real-time sensing operation on the vertical state of the stop lever body 142; the second stop lever sensor 145 is fixedly arranged on the side of the clamping groove 143, and it performs real-time sensing operation on the horizontal clamping state of the stop lever body 142.

[0035] Please refer to Figure 5 and Figure 6 As shown in the embodiment, the utility model relates to a kind of automatic guided vehicle applied to cylindrical carrier, and it includes the butt joint mechanism 10 and AGV main body 20 of any one of the above;AGV main body 20 is in transmission connection with butt joint mechanism 10, and AGV main body 20 drags butt joint mechanism 10 to move, and multiple cylindrical carriers 30 are sequentially arranged in butt joint mechanism 10.Specifically, connecting plate 21 is arranged on AGV main body 20, and AGV main body 20 is in transmission connection with butt joint mechanism 10 by connecting plate 21;Cylindrical carrier 30 includes carrier main body 31 and multiple second sliding wheels 32, carrier main body 31 is hollow cavity, and multiple second sliding wheels 32 are movably arranged at the bottom of carrier main body 31, and it is convenient to transfer carrier main body 31 by multiple second sliding wheels 32.Specifically, AGV main body 20 uses prior art, so its specific structure and working process are not described here, as long as it meets the present application.

[0036] It should be noted that, please refer to Figure 7As shown, the specific working process of the butt joint mechanism applied to the cylindrical carrier and the automatic guided transport vehicle is as follows: when the automatic guided transport vehicle needs to transfer the plurality of cylindrical carriers 30, the AGV main body 20 autonomously moves to the storage position of the plurality of cylindrical carriers 30 through the planned path and starts to reverse, the U-shaped carrying support 111 matched with the size of the cylindrical carrier 30 moves close to the plurality of cylindrical carriers 30, until the material sensor 1112 is triggered by the cylindrical carrier 30, and the AGV main body 20 stops the reverse operation; then the first driving motor 122 rotates forward to drive the transmission shaft 124 to rotate through the first transmission belt 123, the transmission shaft 124 synchronously drives the two first transmission belt mechanisms 131 to rotate, the two first transmission belt mechanisms 131 drive the first telescopic rods 132 to extend respectively, since the second transmission belt mechanism 133 is connected with the carrying support 111 on one side, the first telescopic rods 132 extend while driving the second transmission belt mechanism 133 to move, the second transmission belt mechanism 133 drives the corresponding second telescopic rods 134 to synchronously extend, when the first telescopic rods 132 extend to the position of the second position sensor 1114, the first driving motor 122 is triggered and stopped; at this time, the middle space of the two telescopic fork assemblies 13 in the extended state has completely wrapped the plurality of cylindrical carriers 30, when the over-limit sensor 1341 is not blocked and triggered by the cylindrical carrier 30, the second driving motor 141 starts to work, the second driving motor 141 drives the stop lever main body 142 to rotate from the vertical state to the horizontal state, the first stop lever sensor 144 is in the untriggered state, until the stop lever main body 142 is clamped into the clamping groove 143 and the second stop lever sensor 145 is triggered, the second driving motor 141 stops working, at this time, the stop lever main body 142 is clamped in the clamping groove 143, thereby completing the closed wrapping of the plurality of cylindrical carriers 30, and then the AGV main body 20 transfers the plurality of cylindrical carriers 30 to the preset position through the planned path. Generally, the telescopic fork assembly 13 is in the retracted state, and the first position sensor 1113 is in the triggered state, at this time, the volume of the automatic guided transport vehicle is small and the movement is more convenient.

[0037] The technical features of the above-described embodiments can be combined in any manner, and to make the description concise, all possible combinations of the technical features in the embodiments are not described, but as long as the combinations of the technical features do not exist, they should be considered as the scope of the description.

[0038] The above-described embodiments only express several implementation manners of the utility model, the description is more specific and detailed, but it should not be understood as the limitation of the scope of the utility model patent. It should be pointed out that for ordinary skilled persons in the art, on the premise of not departing from the concept of the utility model, a number of modifications and improvements can be made, which belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent should be subject to the appended claims.

Claims

1. A docking mechanism for a cylindrical carrier, characterized by, The utility model provides a kind of AGV docking mechanism, including: Carrying assembly, which is a hollow cavity with one end open; Drive assembly, which is provided on the carrying assembly; Two telescopic fork assemblies, which are symmetrically provided on the carrying assembly and respectively connected with the drive assembly; Stop lever assembly, which is movably provided at the tail end of the two telescopic fork assemblies, and the stop lever assembly and the carrying assembly form a closed cavity; Wherein, the telescopic fork assembly includes a first transmission belt mechanism, which is movably provided on the carrying assembly and connected with the drive assembly; a first telescopic rod connected with the first transmission belt mechanism and slidably provided on the carrying assembly; a second transmission belt mechanism provided on the first telescopic rod and connected with the carrying assembly; a second telescopic rod slidably provided on the first telescopic rod and connected with the second transmission belt mechanism.

2. A docking mechanism for a cylindrical carrier according to claim 1, wherein, The carrying assembly includes a carrying support, which is a hollow U-shaped cavity, and the inner cavity of the carrying support matches the size of the cylindrical carrier; a plurality of first sliding wheels are rotatably provided at the bottom of the carrying support, respectively.

3. A docking mechanism for a cylindrical carrier according to claim 2, wherein, First guide rails are fixedly provided on the opposite inner sides of the carrying support, and the two first transmission belt mechanisms are slidably provided on the two first guide rails, respectively.

4. The docking mechanism for a cylindrical carrier according to claim 2, wherein A material sensor is provided at the front end of the inner side of the carrying support; a first and a second arrival sensors are also provided on the carrying support, respectively.

5. A docking mechanism for a cylindrical carrier according to claim 2, wherein The drive assembly includes a fixed seat fixedly provided on the carrying support; a first drive motor fixedly provided on the fixed seat, which can be forward or reverse rotated; A transmission shaft rotatably provided on the carrying support and connected with the two telescopic fork assemblies, respectively; a first transmission belt provided between the first drive motor and the transmission shaft.

6. A docking mechanism for a cylindrical carrier according to claim 5, wherein, The first transmission belt mechanism includes a driving wheel fixedly provided on the transmission shaft; a driven wheel rotatably provided on the carrying support; a second transmission belt movably provided between the driving wheel and the driven wheel, and the first telescopic rod is fixedly connected with the second transmission belt.

7. A docking mechanism for a cylindrical carrier according to claim 2, wherein The second transmission belt mechanism includes a first and a second rotating wheels rotatably provided on the first telescopic rod; a third transmission belt movably provided between the first and the second rotating wheels and connected with the carrying support.

8. The docking mechanism for a cylindrical carrier of claim 1, wherein, The stop lever assembly includes a second drive motor fixedly provided on one of the second telescopic rods; A stop lever body connected with the second drive motor; a clamping groove fixedly provided on the other second telescopic rod opposite to the second drive motor, and the stop lever body can be detachably clamped on the clamping groove; a first stop lever sensor fixedly provided on the second telescopic rod on the same side of the second drive motor and on the side edge of the stop lever body; a second stop lever sensor fixedly provided on the side edge of the clamping groove.

9. The docking mechanism for a cylindrical carrier of claim 1, wherein, At least one laser radar is provided on the carrying assembly or the telescopic fork assembly.

10. An automated guided vehicle (AGV) for use with cylindrical vehicles, characterized in that, The utility model provides a kind of AGV docking mechanism and AGV body, and the AGV body is connected with the docking mechanism.

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