Photovoltaic glass AGV transportation system

Abstract

The utility model discloses a photovoltaic glass AGV transportation system which comprises an AGV trolley, a transportation frame used for transporting photovoltaic glass and a loading and unloading platform used for placing the transportation frame, a fork tooth fixing frame is arranged at the front end of the AGV trolley, fork teeth are installed on the fork tooth fixing frame, and inserting grooves matched with the fork teeth are formed in the bottom of the transportation frame. The fork tooth fixing frame is provided with a collision plate mechanism used for detecting the full fork state of the forklift, and the fork teeth are provided with elastic assemblies used for preventing the transportation frame from shaking when the collision plate mechanism detects a full fork signal of the forklift. According to the utility model, the collision plate mechanism is arranged on the AGV fork tooth fixing frame, the elastic component in the synchronous fork tooth and the linkage design of mechanical detection and pneumatic locking are adopted, so that the stable transportation of photovoltaic glass is realized, and the problem of vibration fragmentation in the transportation of the photovoltaic glass is solved by virtue of strong adaptability and low cost of the AGV.

Description

TECHNICAL FIELD

[0001] The utility model relates to photovoltaic glass transportation equipment technical field especially relates to a photovoltaic glass AGV transportation system. BACKGROUND

[0002] Photovoltaic glass is a key base material of solar power generation assembly, and is a typical brittle material, and the stability requirement is extremely strict in the production line transfer process. The traditional transportation mode relies on manual operation forklift or fixed type conveying line, the former is low in efficiency and has the risk of glass collision and breakage caused by human error, and the latter is difficult to adapt to the flexible production demand due to the rigidity of layout. With the upgrading of intelligent manufacturing, AGV automatic guided vehicle gradually becomes the mainstream handling tool, but the existing AGV transportation system still has significant defects when the fork tooth inserts the photovoltaic glass transportation frame: the butt joint of the fork tooth and the transportation frame slot depends on pure mechanical positioning, is affected by AGV navigation error, ground unevenness or slight deformation of the transportation frame, and the phenomenon of incomplete insertion or insufficient contact of the fork tooth is prone to occur, so that there is a millimeter level gap between the transportation frame and the fork tooth. The inertial force generated by AGV during starting, turning or emergency stop can enlarge the gap, cause the transportation frame to shake violently or even slip, and cause the photovoltaic glass to break. Although the industry tries to detect the fork tooth insertion state by infrared, laser or contact switch, and uses rubber pad buffer or hydraulic clamping device to reinforce, these schemes are misjudged due to environmental interference, and the gap cannot be eliminated synchronously due to complex structure and response delay. Therefore, a photovoltaic glass AGV transportation system is proposed, which sets up a baffle mechanism on the fork tooth fixing frame and combines the elastic component on the fork tooth, triggers the torsional spring type baffle by using the physical thrust when the transportation frame is inserted, synchronously drives the clamping block controlled by the cylinder to lock the slot instantly, realizes the integrated control of full fork state detection and dynamic gap elimination, and fundamentally solves the photovoltaic glass transportation stability problem. SUMMARY

[0003] The utility model aims at providing a photovoltaic glass AGV transportation system.

[0004] The utility model discloses the innovation lies in setting up the baffle mechanism on the AGV fork tooth fixing frame, synchronizing the elastic component in the fork tooth, the linkage design of mechanical detection and pneumatic locking, realizing the stable transportation of photovoltaic glass, and solving the vibration and breakage problem in the photovoltaic glass transportation by virtue of strong adaptability and low cost.

[0005] To achieve the above-mentioned utility model purposes, the technical scheme of the utility model is: a photovoltaic glass AGV transportation system, characterized in that the AGV transportation system comprises an AGV, a transportation frame for transporting photovoltaic glass and a loading and unloading platform for placing the transportation frame, a fork fixing frame is arranged at the front end of the AGV, forks are arranged on the fork fixing frame, the bottom of the transportation frame is provided with a slot matched with the forks, a baffle mechanism for detecting the full-fork state of the forklift is arranged on the fork fixing frame, and an elastic component for preventing the transportation frame from shaking when the baffle mechanism detects the full-fork signal of the forklift is arranged on the forks. The full-fork state of the forklift is detected by the baffle mechanism, and the elastic component is triggered, thereby effectively preventing the transportation frame from shaking, improving the stability of photovoltaic glass transportation and reducing the risk of glass breakage.

[0006] Further, the baffle mechanism comprises a baffle hinged to the fork fixing frame, the baffle and the fork fixing frame are hinged through a rotating shaft, a torsional spring is further sleeved on the rotating shaft, one leg of the torsional spring abuts against the fork fixing frame, and the other leg abuts against the baffle, and a proximity switch for detecting the approach of the baffle is further arranged on the fork fixing frame. The torsional spring and the contact switch are used in cooperation to ensure that the baffle sensitively responds to the fork insertion state, to transmit the full-fork signal in real time and to avoid loading and unloading failure caused by misjudgment, and the structure is simple and reliable, thereby improving the system response efficiency.

[0007] Further, a plurality of mounting grooves for mounting the elastic component are arranged on the top surface of the fork, the elastic component comprises a clamping block for clamping the slot after the fork enters the slot of the transportation frame and a No. 1 air cylinder for driving the clamping block to ascend and descend, and the clamping block and the No. 1 air cylinder are linked in movement. After receiving the proximity switch signal, the elastic component accurately locks the slot through the linkage of the clamping block and the No. 1 air cylinder, thereby preventing the displacement of the transportation frame, and the elastic fixing and automatic control are combined to reduce the demand for manual intervention and improve the loading and unloading efficiency.

[0008] Further, a plurality of stop blocks for limiting the transportation frame are arranged on the upper surface of the loading and unloading platform, when the loading and unloading platform places the transportation frame, one group of stop blocks is symmetrically arranged on the two sides of the transportation frame, and the other group of stop blocks is arranged at the end of the feeding direction of the transportation frame and abuts against the transportation frame. The stop blocks are used in cooperation to ensure that the transportation frame can be accurately positioned according to the size of the transportation frame when the transportation frame is placed on the loading and unloading platform, to avoid deviation or sliding and to improve the stacking stability of photovoltaic glass.

[0009] Further, an adjusting mechanism for adjusting the position of the stop block is arranged on the loading and unloading platform, the adjusting mechanism comprises a No. 2 air cylinder for driving the stop block to abut against the transportation frame when the loading and unloading platform places the transportation frame or driving the stop block to move away from the transportation frame when the transportation frame leaves the loading and unloading platform, and a lead screw mechanism arranged below the No. 2 air cylinder is used for adjusting the position of the No. 2 air cylinder on the loading and unloading platform. The position of the stop block is self-adaptively adjusted through the linkage of the lead screw mechanism and the No. 2 air cylinder, different sizes of transportation frames are compatible, the system flexibility is enhanced, the automatic adjustment shortens the preparation time and improves the operation efficiency in the multi-specification transportation scene.

[0010] Further, the side surface of the block towards the side of the transport frame is a downwardly arranged slope. The design of the downwardly arranged slope of the side surface of the block ensures stable limiting when the transport frame is placed on the loading and unloading platform, and improves the safety of the whole system.

[0011] Further, the fork fixing frame is provided with an anti-toppling assembly for preventing glass on the transport frame from toppling, the anti-toppling assembly is a telescopic device, the telescopic device is fixed above the fork fixing frame, the telescopic device comprises a No. 3 air cylinder and a telescopic rod arranged in the No. 3 air cylinder, and the telescopic rod is connected with a buffer plate at a side close to the fork. The telescopic device and the buffer plate form a dynamic anti-toppling barrier, which abuts against the edge of the glass in real time during transportation, buffers vibration impact, is suitable for high-speed or emergency stop scenes, and significantly reduces the risk of glass toppling.

[0012] Further, the fork end is provided with a movable tip for detecting external collision force and triggering emergency stop, the fork end is axially provided with a guide groove, a pressure spring is embedded in the guide groove, one end of the pressure spring is fixed to the bottom of the guide groove, the other end of the pressure spring is connected to the tail of the movable tip, the tail of the movable tip is inserted into the guide groove, a limiting piece limiting the tail of the movable tip from sliding out is arranged at the opening end of the guide groove, and a pressure sensor is embedded in the guide groove. The movable tip triggers an emergency stop protection mechanism by real-time sensing of collision through the pressure spring and the pressure sensor, avoids damage to the equipment and goods, and improves the adaptability of the AGV car in complex environments.

[0013] Further, the transport frame bottom is provided with a plurality of supporting legs, and the loading and unloading platform upper surface is provided with a positioning groove matched with the supporting legs of the transport frame. The supporting legs and the positioning groove cooperate to realize rapid and accurate preliminary positioning of the transport frame, reduce loading and unloading adjustment time, and enhance the stability of the connection between the loading and unloading platform and the transport frame, prevent sliding deviation, and improve the reliability of the automatic process.

[0014] Further, the AGV car is provided with a plurality of laser assemblies for monitoring whether the AGV car is safe during travel. The laser assemblies monitor obstacles in the AGV travel path in real time, dynamically adjust the travel strategy, avoid collision or deviation from the route, and improve the safety of the system.

[0015] The beneficial effects of the utility model are:

[0016] 1. The utility model discloses a full fork state of forklift is detected through the baffle mechanism and triggers the elastic component, effectively prevent the transport frame from shaking, improve the stability of photovoltaic glass transportation, reduce the glass breakage risk. Utilize the synergies of multiple stoppers, ensure that the transport frame can be adaptively and accurately positioned according to the size of the transport frame when being placed on the loading and unloading platform, avoid deviation or sliding, improve the photovoltaic glass stacking stability; the foot and the positioning groove cooperate to realize the rapid and accurate preliminary positioning of the transport frame, reduce the loading and unloading adjustment time, the physical limiting enhances the connection stability of the loading and unloading platform and the transport frame, prevents the sliding deviation, improves the reliability of the automatic process.

[0017] 2, the utility model discloses a torsion spring and contact switch cooperation, ensure that the baffle sensitive response fork tooth insertion state, real-time transmission full fork signal, avoid the loading failure caused by misjudgment, simple and reliable structure, improve the system response efficiency;Through the linkage of the clamping block and the first air cylinder, after receiving the proximity switch signal, the elastic component accurately locks the slot, prevents the transport frame displacement, the elastic fixing is combined with the automatic control, reduces the artificial intervention demand, improves the loading efficiency;Through the linkage of the screw rod mechanism and the second air cylinder, realize the self -adaptation adjustment of the stopper position, compatible with different size transport frame, enhance the system flexibility, the automatic regulation shortens the preparation time, improves the operation efficiency under the multi -specification transportation scene.

[0018] 3, the utility model discloses a slope surface design that the side of the stopper is set down to ensure that the transport frame is placed on the loading and unloading platform and is limited stably, improve the safety of the system as a whole;Through the telescopic device and the buffer plate form dynamic anti -toppling barrier, in real time abuts the glass edge in transportation, buffers the shock impact, applicable to high -speed or emergency stop scene, significantly reduce the glass dumping risk;Movable tip triggers the emergency stop protection mechanism through the pressure spring and the pressure sensor real -time sensing collision, avoid the equipment and goods damage, improve the AGV car complex environment adaptability;Laser assembly real -time monitoring AGV travel path barrier, dynamically adjust the driving strategy, avoid the collision or deviation, improve the safety of the system. ACCURACY

[0019] Figure 1 It is the overall structure schematic diagram of the AGV car of the utility model.

[0020] Figure 2 It is the overall structure schematic diagram of the transport frame and the loading and unloading platform of the utility model.

[0021] Figure 3 It is the baffle mechanism schematic diagram of the utility model.

[0022] In the drawing:

[0023] 1, AGV car; 2, transport frame; 3, loading and unloading platform; 4, fork tooth fixing frame; 5, fork tooth; 6, slot; 7, bump plate mechanism; 8, elastic component; 9, bump plate; 10, rotating shaft; 11, torsional spring; 12, proximity switch; 13, mounting groove; 14, clamping block; 15, No. 1 cylinder; 16, stop block; 17, No. 2 cylinder; 18, screw mechanism; 19, telescopic device; 20, No. 3 cylinder; 21, buffer plate; 22, movable tip; 23, guide groove; 24, pressure spring; 25, limiting piece; 26, pressure sensor; 27, supporting leg; 28, positioning groove; 29, laser assembly. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings.

[0025] Example 1: as Figure 1 , 2The application discloses a photovoltaic glass AGV transportation system, as shown in claim 1, 2 and 3, comprising an AGV 1, a transportation frame 2 for transporting photovoltaic glass and a loading and unloading platform 3 for placing the transportation frame 2, the AGV 1 is provided with a fork tooth fixing frame 4 at the front end, the fork tooth fixing frame 4 is provided with a fork tooth 5, the bottom of the transportation frame 2 is provided with a slot 6 matched with the fork tooth 5, the fork tooth fixing frame 4 is provided with a baffle mechanism 7 for detecting the full-fork state of the forklift, the fork tooth 5 is provided with an elastic component 8 for preventing the transportation frame 2 from shaking when the full-fork signal of the forklift is detected by the baffle mechanism 7. The baffle mechanism 7 comprises a baffle 9 hinged to the fork tooth fixing frame 4, the baffle 9 and the fork tooth fixing frame 4 are hinged through a rotating shaft 10, a torsional spring 11 is further sleeved on the rotating shaft 10, one leg of the torsional spring 11 abuts against the fork tooth fixing frame 4, the other leg abuts against the baffle 9, the fork tooth fixing frame 4 is further provided with a proximity switch 12 for detecting the approach of the baffle 9. The top surface of the fork tooth 5 is provided with a plurality of mounting grooves 13 for mounting the elastic component 8, the elastic component 8 comprises a clamping block 14 for clamping the slot 6 after the fork tooth 5 enters the slot 6 and a No. 1 air cylinder 15 for driving the clamping block 14 to rise and fall. The upper surface of the loading and unloading platform 3 is provided with a plurality of stop blocks 16 for limiting the transportation frame 2, when the transportation frame 2 is placed on the loading and unloading platform 3, a group of stop blocks 16 are symmetrically arranged on both sides of the transportation frame 2, and another group of stop blocks 16 are arranged at the end of the feeding direction of the transportation frame 2 and abut against the transportation frame 2. The loading and unloading platform 3 is provided with an adjusting mechanism for adjusting the position of the stop block 16, the adjusting mechanism comprises a No. 2 air cylinder 17 for driving the stop block 16 to abut against the transportation frame 2 when the loading and unloading platform 3 places the transportation frame 2 or driving the stop block 16 to move away from the transportation frame when the transportation frame 2 leaves the loading and unloading platform 3, and a lead screw mechanism 18 arranged below the No. 2 air cylinder 17 for adjusting the position of the No. 2 air cylinder 17 on the loading and unloading platform 3. The side surface of the stop block 16 towards the transportation frame 2 is a downwardly arranged slope surface. The fork tooth fixing frame 4 is provided with an anti-toppling component for preventing the photovoltaic glass on the transportation frame 2 from toppling, the anti-toppling component is a telescopic device 19, the telescopic device 19 is fixed above the fork tooth fixing frame 4, the telescopic device 19 comprises a No. 3 air cylinder 20 and a telescopic rod arranged in the No. 3 air cylinder 20, and the end of the telescopic rod close to the fork tooth 5 is connected with a buffer plate 21. The end of the fork tooth 5 is provided with a movable tip 22 for triggering emergency stop after detecting external impact force, the end of the fork tooth 5 is axially provided with a guide groove 23, the guide groove 23 is embedded with a pressure spring 24, one end of the pressure spring 24 is fixed to the bottom of the guide groove 23, and the other end is connected with the tail of the movable tip 22, the tail of the movable tip 22 is inserted into the guide groove 23, the opening end of the guide groove 23 is provided with a limiting piece 25 for limiting the tail of the movable tip 22 from sliding out, and the guide groove 23 is embedded with a pressure sensor 26. The bottom of the transportation frame 2 is provided with a plurality of legs 27, and the upper surface of the loading and unloading platform 3 is provided with positioning grooves 28 matched with the legs 27 of the transportation frame 2. The AGV 1 is provided with a plurality of laser components 29 for monitoring whether the AGV 1 is safe during the running process.

[0026] The utility model discloses a working principle as follows: loading stage, AGV dolly 1 drives near transport frame 2, fork tooth 5 inserts the slot 6 of transport frame 2 bottom, when fork tooth 5 is inserted completely, namely full fork state, baffle 9 is pressed and triggers torsion spring 11 deformation, proximity switch 12 sends signal to the No. 1 cylinder 15 in mounting groove 13, and No. 1 cylinder 15 drives the clamping block 14 to be inserted groove 6 from mounting groove 13 and be pressed up tightly, ensure that transport frame 2 and fork tooth 5 rigid connection, eliminate the risk of shaking;Dynamic transport protection: during the transportation, the buffer plate 21 of telescopic link front end of No. 3 cylinder 20 is pressed against the photovoltaic glass on transport frame 2, and forms the flexible anti-toppling barrier;If the movable tip 22 of fork tooth 5 front end collides with the obstacle, pressure spring 24 compression triggers the pressure sensor 26 in guide slot 23, and AGV dolly 1 immediately stops;The laser assembly 29 scans the path in real time simultaneously, and dynamic obstacles are avoided, and double protection is transported safely;When the transport frame 2 is placed in the loading and unloading platform 3, the stopper 16 is adaptively positioned, when AGV dolly 1 transports transport frame 1 to the loading and unloading platform 3, the position of No. 2 cylinder 17 is adjusted by screw rod mechanism 18, so that each group of stoppers 16 is matched with the size of transport frame 2, and the positioning groove 28 on the loading and unloading platform 3 is positioned to the transport frame 2 during the descending of transport frame 2, and then the downwardly arranged slope surface of stopper 16 is pushed by No. 2 cylinder 17 and is close to both sides and the end of transport frame 2, and physical limiting is completed, and then the clamping block 14 is retracted, and fork tooth 5 is withdrawn, and unloading is completed;After unloading is finished, the stopper 16 is retreated to the initial position under the action of No. 2 cylinder 17, and transport frame 2 is removed by AGV dolly 1;For the transport frame 2 of different sizes, the position of stopper 16 is adjusted by screw rod mechanism 18 in combination with No. 2 cylinder 17 to adapt to the transport frame 2 placed on the loading and unloading platform 3.

[0027] In summary, the described embodiments are only a part of the embodiments of the utility model, and are not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without making creative labor belong to the range of protection of the utility model.

Claims

1. A photovoltaic glass AGV transport system, characterized in that, The utility model provides an AGV car, a transport frame for transporting photovoltaic glass and a loading and unloading platform for placing the transport frame, the AGV car is provided with a fork fixing frame at the front end, the fork fixing frame is provided with a fork, the bottom of the transport frame is provided with a slot matched with the fork, the fork fixing frame is provided with a baffle mechanism for detecting the full fork state of the forklift, and the fork is provided with an elastic component for preventing the transport frame from shaking when the full fork signal of the forklift is detected by the baffle mechanism.

2. The photovoltaic glass AGV transport system of claim 1, wherein, The baffle mechanism comprises a baffle hinged to the fork fixing frame, the baffle and the fork fixing frame are hinged through a rotating shaft, a torsional spring is further sleeved on the rotating shaft, one leg of the torsional spring abuts against the fork fixing frame, and the other leg abuts against the baffle, and the fork fixing frame is further provided with a proximity switch for detecting the approach of the baffle.

3. The photovoltaic glass AGV transport system of claim 2, wherein, A plurality of mounting grooves for mounting the elastic component are arranged on the top surface of the fork, and the elastic component comprises a clamping block for clamping the slot after the fork enters the slot of the transport frame and a No.

4. The photovoltaic glass AGV transport system of claim 1, wherein, A plurality of stop blocks for limiting the transport frame are arranged on the upper surface of the loading and unloading platform, when the loading and unloading platform is placed on the transport frame, a group of stop blocks is symmetrically arranged on both sides of the transport frame, and the other group of stop blocks is arranged at the end of the feeding direction of the transport frame and abuts against the transport frame.

5. The photovoltaic glass AGV transport system of claim 4, wherein, An adjusting mechanism for adjusting the position of the stop block is arranged on the loading and unloading platform, the adjusting mechanism comprises a No.

6. The photovoltaic glass AGV transport system of claim 5, wherein, The side surface of the stop block towards the transport frame is a downwardly arranged slope.

7. The photovoltaic glass AGV transport system of claim 1, wherein, A anti-toppling component for preventing the glass on the transport frame from toppling is arranged on the fork fixing frame, the anti-toppling component is a telescopic device, the telescopic device is fixed above the fork fixing frame, the telescopic device comprises a No.

8. The photovoltaic glass AGV transport system of claim 1, wherein, An active tip for triggering emergency stop after detecting external collision force is arranged at the end of the fork, an axial guide groove is arranged in the end of the fork, a pressure spring is embedded in the guide groove, one end of the pressure spring is fixed to the bottom of the guide groove, the other end is connected to the tail of the active tip, the tail of the active tip is inserted into the guide groove, a limiting piece is arranged at the opening end of the guide groove to limit the sliding of the tail of the active tip, and a pressure sensor is embedded in the guide groove.

9. The photovoltaic glass AGV transport system of claim 1, wherein, A plurality of supporting legs are arranged on the bottom of the transport frame, and the upper surface of the loading and unloading platform is provided with positioning grooves matched with the supporting legs of the transport frame.

10. The photovoltaic glass AGV transport system of claim 1, wherein, A plurality of laser components for monitoring whether the AGV car is safe during travel are arranged on the AGV car.

Images