CN208616889U - Automatic guided vehicle - Google Patents
Automatic guided vehicle Download PDFInfo
- Publication number
- CN208616889U CN208616889U CN201821334778.6U CN201821334778U CN208616889U CN 208616889 U CN208616889 U CN 208616889U CN 201821334778 U CN201821334778 U CN 201821334778U CN 208616889 U CN208616889 U CN 208616889U
- Authority
- CN
- China
- Prior art keywords
- objective table
- automatic guided
- storage
- guided vehicle
- frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Warehouses Or Storage Devices (AREA)
Abstract
This application discloses a kind of automatic guided vehicles, including car body, shifting apparatus, manipulator, sorting frame and storage rack；Shifting apparatus, manipulator, sorting frame and storage rack are respectively provided on the car body, and storage rack includes storage unit, and shifting apparatus is arranged on storage rack, and side of the shifting apparatus along first direction far from storage rack is arranged in sorting frame；Shifting apparatus has operating position, storage position, sort positions and obtains position, storage position is located in storage unit, sort positions are located in sorting frame, operating position, storage position and sort positions are successively arranged along first direction, it arranges in a second direction with position is obtained operating position, shifting apparatus can shift body feed tank between storage position, operating position, sort positions and acquisition position, and manipulator can carry out goods sorting between the body feed tank of operating position and the body feed tank on sorting frame.Automatic guided vehicle provided by the present embodiment has saved manpower, and efficiency is higher.
Description
Technical field
This application involves warehouse logistics technical field more particularly to a kind of automatic guided vehicles.
Background technique
As the improvement of people's living standards, warehouse logistics industry is more flourishing, quantity of goods to be treated is in a times increase,
Therefore higher requirement logistic efficiency proposed.It is (English using AGV successively in industry with the development of artificial intelligence
Full name: Automated Guided Vehicle, Chinese: automatic guided vehicle) carry out cargo carrying.
However, including often different types of cargo in same order, due to these with the development of fining buying
Cargo would generally be separately stored in by type in the body feed tank of different location, therefore can only be removed by AGV after body feed tank again by people
Work carries out the sorting of cargo, and efficiency is very low.
Utility model content
The embodiment of the present application provides a kind of automatic guided vehicle, to solve the above problems.
The embodiment of the present application adopts the following technical solutions:
The embodiment of the present application provides a kind of automatic guided vehicle, including car body, shifting apparatus, manipulator, sorting frame and
Storage rack；
The shifting apparatus, the manipulator, the sorting frame and the storage rack are arranged on the car body, institute
Stating storage rack includes storage unit, and the storage unit has opening, and the shifting apparatus is arranged on the storage rack, with institute
That states opening is oriented first direction, to be parallel to horizontal plane and perpendicular to the direction of the first direction as second direction, institute
It states sorting frame and side of the shifting apparatus along the first direction far from the storage rack is set；
The shifting apparatus has operating position, storage position, sort positions and obtains position, the storage position set
In in the storage unit, the sort positions are located in the sorting frame, the operating position, the storage position and institute
It states sort positions successively to arrange along the first direction, the operating position and the acquisition position are arranged along the second direction
Cloth, the shifting apparatus in the storage position, the operating position, the sort positions and described can obtain body feed tank
Fetch bit is shifted between setting；
The manipulator can be in the body feed tank positioned at the operating position and positioned at the sorting frame of the sort positions
On body feed tank between carry out goods sorting.
Preferably, in above-mentioned automatic guided vehicle, the shifting apparatus include transfer frame, pan carriage, horizontal mobile mechanism,
Tractor, objective table and the first transfer mechanism, the tractor are arranged in the pan carriage；
The horizontal mobile mechanism is arranged between the transfer frame and the pan carriage and is able to drive the pan carriage
It is moved between the operating position and the acquisition position along the second direction, the tractor can make body feed tank edge
The second direction is mobile；
First transfer mechanism is arranged between the objective table and the transfer frame and is able to drive the objective table
It is moved between the operating position, the storage position and the sort positions along the first direction and body feed tank exists
It is shifted between the objective table and the storage unit or the sorting frame.
Preferably, in above-mentioned automatic guided vehicle, the tractor includes first motor and eccentric fixture block, it is described partially
Heart fixture block, which has, releases position and dragging position, wherein the eccentric fixture block positioned at the dragging position being capable of limiter
Hopper is moved along the second direction, the first motor be able to drive the eccentric fixture block the releasing position with it is described
Dragging rotates between position.
Preferably, in above-mentioned automatic guided vehicle, the horizontal mobile mechanism includes the second motor, the first slideway, sliding
Component, the first rack gear, the second rack gear, first gear, sliding part and screw structure；
Second motor, the screw structure, first rack gear and first slideway are arranged at the shifting
On pivoted frame, second rack gear is arranged in the pan carriage, passes through the sliding between the pan carriage and the transfer frame
Component slippage connection, the screw structure, first slideway, the slide assemblies, first rack gear and described second
Rack gear extends along the second direction, and the sliding part and first slideway are slidably matched and connect with the screw structure
It connects, second motor drives the screw structure to rotate and drives the sliding part mobile, the first gear and the cunning
Moving part is also engaged with first rack gear and second rack gear while rotation connection.
Preferably, in above-mentioned automatic guided vehicle, first transfer mechanism includes third motor and moving assembly, institute
It states third motor and drives the objective table mobile by the moving assembly.
Preferably, in above-mentioned automatic guided vehicle, the first guide part, the objective table and institute are provided on the transfer frame
Stating the first guide part and being slidably matched move the objective table can only along the first direction.
Preferably, in above-mentioned automatic guided vehicle, the moving assembly include second gear, arc-shaped rack, rotating bar with
And second slideway；
The arc-shaped rack is arranged on the transfer frame, and second slideway is arranged on the objective table and along described
Second direction extends, and one end of the rotating bar connects with the transfer frame rotation connection other end and second slideway sliding
It connects, the third motor is arranged in the rotating bar and drives the second gear rotation, the second gear and the arc
The engagement of shape rack gear；
The rotating bar passes through the engagement rotation of the second gear and the arc-shaped rack and drives the objective table edge
The first direction is mobile.
Preferably, in above-mentioned automatic guided vehicle, the shifting apparatus includes transfer frame, objective table, the second transfer mechanism
And steering mechanism；
In second transfer mechanism, second transfer mechanism is able to drive the objective table for the objective table setting
By the operating position along linear expansion, steering mechanism's setting transfer between mechanism in the transfer frame and described second and
Can rotate changes the telescopic direction of the objective table between the first direction and the second direction；
When the telescopic direction of the objective table is along the first direction, the objective table can along the first direction by
The operating position extend out to the storage position or the sort positions and by body feed tank in the objective table and the storage
It is shifted between unit or the sorting frame, when the telescopic direction of the objective table is along the second direction, the objective table
It can be extend out to along the second direction and obtain position and shift body feed tank between the objective table and the acquisition position.
Preferably, in above-mentioned automatic guided vehicle, second transfer mechanism is able to drive the objective table by the work
Make position to stretch out to opposite two sides.
Preferably, in above-mentioned automatic guided vehicle, second transfer mechanism includes power source and telescopic component, described
Power source drives the objective table flexible by the telescopic component.
Preferably, in above-mentioned automatic guided vehicle, the shifting apparatus further includes vertical shift mechanism, the vertical shift
Mechanism is arranged between the storage rack and the transfer frame and is able to drive the transfer frame to be moved along the vertical direction.
Preferably, in above-mentioned automatic guided vehicle, the vertical shift mechanism includes the 4th motor, driving wheel and traction
Band, the rotation of driving wheel described in the 4th motor driven, the leash are fixed around the driving wheel and with the transfer frame
Connection.
Preferably, in above-mentioned automatic guided vehicle, the vertical shift mechanism further includes deceleration mechanism, the 4th motor
It is connect with the driving wheel by the deceleration mechanism.
Preferably, in above-mentioned automatic guided vehicle, the storage unit includes symmetrically arranged two rows of storage trays, two rows of
Interval region between the storage tray protrudes into area for first, and the objective table can extend into described first and protrude into area；
And/or
The symmetrically arranged two rows of sorting brackets of the sorting frame, two rows of interval regions sorted between brackets are second
Area is protruded into, the objective table can extend into described second and protrude into area.
Preferably, in above-mentioned automatic guided vehicle, the storage rack includes multiple storage units, multiple storages
Unit is arranged along the vertical direction.
Preferably, in above-mentioned automatic guided vehicle, the storage rack, the shifting apparatus, the sorting frame and described
Manipulator is successively arranged along the first direction.
The embodiment of the present application use at least one above-mentioned technical solution can reach it is following the utility model has the advantages that
Body feed tank on shelf can be transferred to operating position and divided by automatic guided vehicle disclosed in the embodiment of the present application
It picks position and by manipulator in the sorting for carrying out cargo between operating position and the body feed tank of sort positions, saves
Manpower, efficiency are higher.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 is the overall co-ordination topology view of automatic guided vehicle and shelf disclosed in the application one embodiment；
Fig. 2 is the side view structure view of automatic guided vehicle shown in FIG. 1；
Fig. 3 is the side view structure view of the transfer device of automatic guided vehicle shown in FIG. 1；
Fig. 4 is the facing structure view of the transfer device of automatic guided vehicle shown in FIG. 1；
Fig. 5 is that the transfer device of automatic guided vehicle shown in FIG. 1 looks up topology view；
Fig. 6 is the plan structure view of automatic guided vehicle shown in FIG. 1；
Fig. 7 is the overall structure view of automatic guided vehicle disclosed in another embodiment of the application；
Fig. 8 is a kind of adoptable topology view of shifting apparatus of automatic guided vehicle shown in Fig. 7；
Fig. 9 is the topology view of the adoptable another shifting apparatus of automatic guided vehicle shown in Fig. 7；
Figure 10 is the plan structure view of vertical shift mechanism disclosed in the embodiment of the present application.
Description of symbols:
1- car body, 2- shifting apparatus, 20- transfer frame, the first guide part of 200-, 21- pan carriage, 22- tractor, 220-
First motor, 222- bias fixture block, 23- horizontal mobile mechanism, the second motor of 230-, the first slideway of 231-, the first rack gear of 232-,
The second rack gear of 233-, 234- first gear, 235- slide assemblies, 236- sliding part, 237- screw structure, 24- objective table, 25-
First transfer mechanism, 250- third motor, the second slideway of 251-, 252- second gear, 253- arc-shaped rack, 254- rotating bar,
26- vertical shift mechanism, the 4th motor of 260-, 261- driving wheel, 262- leash, 263- deceleration mechanism, 264- directive wheel,
265- counterweight, 27- drag chain, 28- second transfer mechanism, 280- sliding rail, 281- slide bar, 29- steering mechanism, 3- manipulator, 4- points
It picks frame, 40- sorting bracket, 42- second and protrudes into area, 5- storage rack, 50- storage unit, 500- opening, 502- storage tray, 6-
Body feed tank, 7- shelf, 70- overhead baggage rack unit.
Specific embodiment
To keep the purposes, technical schemes and advantages of the application clearer, below in conjunction with the application specific embodiment and
Technical scheme is clearly and completely described in corresponding attached drawing.Obviously, described embodiment is only the application one
Section Example, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall in the protection scope of this application.
Below in conjunction with attached drawing, the technical scheme provided by various embodiments of the present application will be described in detail.
The embodiment of the present application discloses a kind of automatic guided vehicle, as shown in Figures 1 to 10, including car body 1, shifting apparatus 2,
Manipulator 3, sorting frame 4 and storage rack 5.Car body 1 is the main body of automatic guided vehicle, is responsible for needed for being moved to automatic guided vehicle
Position.Shifting apparatus 2, manipulator 3, sorting frame 4 and storage rack 5, which are arranged on car body 1, follows car body 1 to move together.
Storage rack 5 in the present embodiment includes the storage unit 50 for storing body feed tank 6, and storage unit 50 has opening
500, in the present embodiment for ease of description, the direction of the opening 500 of storage unit 50 is defined as first direction a, simultaneously will
It is parallel to horizontal plane and is second direction b perpendicular to the direction definition of first direction a.Shifting apparatus 2 is arranged on storage rack 5,
Side of the shifting apparatus 3 along first direction a far from storage rack 5 is arranged in sorting frame 4, i.e. storage rack 5 and sorting frame 4 is in first party
The two sides of shifting apparatus 2 are separated on a.Shifting apparatus 2 in the present embodiment is for driving body feed tank 6 in storage position, work
Make position, sort positions and obtain to be shifted between position.Specifically, 4 present position of sorting frame in the present embodiment is
Sort positions, storage rack 5 are used to store the body feed tank 6 that sorting finishes, and 50 present position of storage unit thereon is storage position.
Storage position, operating position and sort positions are successively arranged along first direction a, and operating position and sort positions are for sorting
Body feed tank 6 is placed in the process.In addition to this, b arranges in a second direction for operating position and acquisition position, when automatic guided vehicle is close to
When shelf 7, which is corresponding overhead baggage rack unit 70 on shelf 7.
In order to enable the automatic guided vehicle in the present embodiment to complete sorting work, shifting apparatus 2 is required to material
Case shifts between storage position, operating position, sort positions and acquisition position.It, can be first before carrying out sorting operation
An empty body feed tank 6 is moved on sorting frame 4 using shifting apparatus 2, shifting apparatus 2 is again by the material on shelf 7 later
Case 6 is moved to operating position.Manipulator 3 can be from the body feed tank 6 being located on operating position after body feed tank 6 is moved to operating position
In sort out required cargo and be put into the body feed tank 6 of sort positions.Or it can also be first before carrying out sorting operation
The body feed tank 6 of a fully loaded different type cargo is moved on sorting frame 4 first with shifting apparatus 2, then shifting apparatus 2 is again
Empty body feed tank 6 is moved to operating position, manipulator 3 is out of body feed tank 6 on sorting frame 4 by the goods sorting of required type
To the body feed tank 6 in operating position.Manipulator 3 can be by means such as bar code, two dimensional codes to different types of cargo
Identified, and by crawl, the means such as draw and obtain cargo, these are more universal cargo identification and obtaining means,
It is repeated no more in the present embodiment.After the completion of entire cargo sorting, shifting apparatus 2 can will be on sorting frame 4 or operating position
Body feed tank 6 is transferred in the storage unit 50 in storage rack 5.Without human intervention, therefore efficiency is higher for sort process.
In the present embodiment, shifting apparatus 2 can be realized by various structures, be carried out in the present embodiment to two kinds therein detailed
It describes in detail bright.
As shown in Figures 1 to 6, in one embodiment of the application, shifting apparatus 2 may include transfer frame 20, pan carriage
21, tractor 22, horizontal mobile mechanism 23, objective table 24 and the first transfer mechanism 25.Wherein, transfer frame 20 is transfer dress
The main body supporting structure set, the setting of horizontal mobile mechanism 23 is between transfer frame 20 and pan carriage 21, for driving pan carriage 21
It is mobile relative to transfer frame 20；First transfer mechanism 25 setting is between objective table 24 and transfer frame 20, for band dynamic object stage
24 is mobile relative to transfer frame 25.Tractor 22 is then arranged follows pan carriage 21 to move together in pan carriage 21.Below will
The concrete function of each structure is described in detail.
In the present embodiment, horizontal mobile mechanism 23 needs to drive pan carriage 21 and the tractor being disposed thereon 22
B, which is extend out to, in a second direction obtains position, it is generally the case that tractor 22 can be located at the object in the overhead baggage rack unit 70 at this time
The top of hopper 6, but the other positions such as side that tractor 22 at this time is located at body feed tank 6 is also not excluded in the present embodiment.
The movement of the b in a second direction of body feed tank 6 can be limited after tractor 22, which reaches, obtains position, that is,
Say that body feed tank 6 is just merely able to as b is mobile in a second direction together for tractor 22 at this time.In order to realize the purpose, it drags
The adoptable structure of mechanism 22 is varied, such as provides b in a second direction to body feed tank 6 by setting block or baffle and push away
Power, or setting sucker etc. improve the stiction etc. between body feed tank 6 and tractor 22.The present embodiment is directed to body feed tank
6 structure devises a kind of simple tractor 22 of structure.
As shown in Figure 3 and Figure 4, tractor 22 includes that first motor 220 and eccentric fixture block 222, eccentric fixture block 222 have
Have and release position and dragging position, first motor 220 is able to drive eccentric fixture block 222 and is releasing between position and dragging position
Rotation.Wherein, the movement of the b in a second direction of body feed tank 6 can be limited when eccentric fixture block 222 is located at dragging position.Specifically,
Eccentric fixture block 222 can reach body feed tank 6 perpendicular to the side of second direction b by rotation at this time, to apply to body feed tank 6
The active force of b in a second direction.And position Shi Zeyu body feed tank 6 is released in a second direction not when eccentric fixture block 222 turns to
It interferes.Since body feed tank 6 is usually open top, the eccentric fixture block 222 in the present embodiment turns to dragging position
When can be located at open top outside or inside.In order to enhance stationarity when dragging and realize two-way dragging, pull-over gear
Can eccentric fixture block 222 be respectively set perpendicular to the two sides opposite direction of second direction b to body feed tank 6 simultaneously in structure 22.Two sides
Eccentric fixture block 222 can be rotated together by a connecting rod drive, can also be driven respectively by different first motors 220.This reality
Drag chain can be arranged between transfer frame 20 and pan carriage 21 to be the power supply of tractor 22 by applying in example.
After tractor 22 limits body feed tank 6, the automatic guided vehicle in the present embodiment is just again by moving horizontally
Mechanism 23 moves tractor 22, makes it that body feed tank 6 be driven to be moved to operating position by obtaining position.
The structure of horizontal mobile mechanism 23 is not particularly limited in the present embodiment, such as it can use and pneumatically or hydraulically move
Power drive telescopic rod, or screw structure is used, it can also be using rack-and-pinion cooperation drive mechanism etc..In order to improve pan carriage
21 mobile stationarity, horizontal mobile mechanism 23 as shown in Figure 3 and Figure 4 may include the second motor 230, the first slideway 231,
First rack gear 232, the second rack gear 233, first gear 234, slide assemblies 235, sliding part 236 and screw structure 237.Its
In, the second motor 230, screw structure 237, the first rack gear 232 and the first slideway 231 are arranged on transfer frame 20, and second
Both rack gear 233 is then arranged in pan carriage 21, and the setting of slide assemblies 235 makes between pan carriage 21 and transfer frame 20 sliding connects
It connects, slide assemblies 235 can be using any sliding connection structure including the second slideway sliding block fit structure.Screw structure
237, the first slideway 231, the first rack gear 232, the second rack gear 233 and the in a second direction b of slide assemblies 235 extend.
Sliding part 236 is slidably matched with the first slideway 231 and connect with the nut of screw structure 237,230 energy of the second motor
The screw rod rotation of screw structure 237 is enough driven, and drives the b movement in a second direction together of sliding part 236.First gear 234 with
Sliding part 236 is rotatablely connected, and is also engaged simultaneously with the first rack gear 232 and the second rack gear 233.
Therefore first gear can be driven by screw structure 237 and sliding part 236 when the rotation of the second motor 230
234 is mobile, and since first gear 234 is engaged with the first rack gear 231, first gear 234 is moved along the first rack gear 231
While will do it rotation, and since first gear 234 is engaged with the second rack gear 232, the rotation of first gear 234 is again
It will drive the second rack gear 233 to move at faster speed.The movement of second rack gear 233 will drive pan carriage 21 and transfer frame 20 again
Between produce relative sliding, and finally change tractor 22 position.This structure is not only able to make the movement of pan carriage 21
Process is more steady, while can also play the role of speed changer, has faster under the premise of 230 revolving speed of the second motor is inconvenient
Movement speed.
Objective table 24 in the present embodiment can wait body feed tank 6 at operating position, be moved into work to body feed tank 6
Behind position, objective table 24 can drive the body feed tank 6 mobile.The moving process of objective table 24 according to rest on objective table 24 and transfer
The first transfer mechanism 25 between frame 20 realizes.First transfer mechanism 25 is able to drive objective table 24 along first direction a by working
Position is moved to sort positions and body feed tank 6 is placed on sorting frame 4, and in addition to this, the first transfer mechanism 25 can also band
Dynamic object stage 24 is moved to the storage position for protruding into opening 500 along first direction a and stores body feed tank 6 to storage unit 50
It is interior.
In the present embodiment, the first transfer mechanism 25 can also use such as same or similar structure of horizontal mobile mechanism 23,
Such as it can be using pneumatically or hydraulically power drive telescopic rod, or uses screw structure, can also be matched using rack-and-pinion
Drive mechanism etc. is closed, still there is no limit in the present embodiment.For example, the first transfer mechanism 25 may include third motor 250 with
And moving assembly, third motor 250 is by moving assembly band dynamic object stage 24 along first direction a in operating position, sort positions
And it is moved between position.In order to promote the stability that objective table 24 is moved along first direction a, can also be set on transfer frame 20
The first guide part 200 is set, objective table 24, which makes objective table 24 only with the cooperation of the first guide part 200, to be moved along first direction a.The
One guide part 200 can also be can be set and 200 phase of the first guide part using structures such as guide groove, guide rails on objective table 24
The guidance aids such as the sliding block, the directive wheel that mutually cooperate can also be not provided with individual guidance aid, but use the knot of itself
Structure edge directly cooperates with the first guide part 200.
As shown in Figures 4 to 6, in the embodiment for having the first guide part 200, moving assembly may include the second slideway
251, second gear 252, arc-shaped rack 253 and rotating bar 254.Arc-shaped rack 253 is arranged on transfer frame 20 and its own
Arc-shaped extension, the second slideway 251 is arranged on objective table 24 and b extends in a second direction, one end of rotating bar 254 and transfer
Frame 20 is rotatablely connected and the other end is slidably connected with the second slideway 251, and third motor 250 is arranged in rotating bar 254 and drives
Second gear 252 rotates, and second gear 252 is engaged with arc-shaped rack 253 again.In said structure, rotating bar 254 can pass through
Second gear 252 realizes own rotation with engaging for arc-shaped rack 253, and rotating bar 254 can generate while rotation along first
The mobile component of direction a and second direction b, wherein the mobile component along first direction a will drive objective table 24 along first party
It is mobile to a, for the mobile component of second direction b can then be absorbed by the second slideway 251.
As shown in Figure 7 to 9, the shifting apparatus 2 in another embodiment of the application may include transfer frame 20, objective table
24, the second transfer mechanism 28 and steering mechanism 29.The setting of objective table 24 is in the second transfer mechanism 28, the second transfer mechanism 28
Objective table 24 is able to drive by operating position along linear expansion.The setting of steering mechanism 29 is in transfer frame 20 and the second transfer mechanism 28
Between and can rotate changes the telescopic direction of objective table 24 between a and second direction b in a first direction, i.e., in steering mechanism
29 rotation adjustment is lower can to change the direction of the second transfer mechanism 28 and objective table 24, thus change its telescopic direction,
It is flexible along first direction a or second direction b objective table 24 can be controlled by steering mechanism 29 when needing.
When the telescopic direction of objective table is along first direction a, objective table 24 can be stretched out along first direction a by operating position
It shifts, and works as between objective table 24 and storage unit 50 or sorting frame 4 to storage position or sort positions and by body feed tank 6
The telescopic direction of objective table 24 in a second direction b when, objective table 24 b can extend out in a second direction and obtain position and by material
Case 6 shifts between objective table 24 and the overhead baggage rack unit 70 of acquisition position.It can also guarantee body feed tank 6 in work by above structure
Make to be shifted between position, storage position, sort positions and acquisition position.
Also, in the present embodiment, due to that can adjust the telescopic direction of objective table 24 by steering mechanism 29, the
Two transfer mechanisms 28 can be stretched out with dynamic object stage 24 only along a direction.At this time if necessary by body feed tank 6 by sorting position
It sets and is transferred to storage unit, then need that the stretching direction of objective table 24 is first directed at sort positions, the second transfer mechanism 28 drives
Objective table 24 by operating position extend out to sort positions and by removing body feed tank 6 on sorting frame 4.Second transfer 28 band of mechanism later
Dynamic object stage 24 and body feed tank 6 return to operating position.It then turns to mechanism 29 and drives the second transfer mechanism 28 and objective table
24 180 ° of rotations are directed at storage position to direction is stretched out, then are stretched with dynamic object stage 24 by operating position by the second transfer mechanism 28
Out to storage position, body feed tank 6 is transferred in storage unit 50, completes transfer process.
Although the above process can complete the transfer process of body feed tank 6, need that steering mechanism 29 is waited to rotate 180 °, because
This takes a long time.And if the second transfer mechanism 28 can be stretched out with dynamic object stage 24 from operating position to opposite two sides,
Transfer process of the body feed tank 6 between storage position and sort positions can not need driving steering mechanism 29, directly control
Depositing for body feed tank 6 can be completed by reversely extending out to storage position after sort positions acquirement body feed tank 6 in second transfer mechanism 28
It puts, efficiency greatly improves.
The second transfer mechanism 28 in the present embodiment can transfer the same or similar structure of mechanism 25, example using with first
As it can use telescopic rod, or screw structure is used, it can also be using rack-and-pinion cooperation drive mechanism etc., the present embodiment
In still there is no limit.Such as Fig. 8 and the second transfer shown in Fig. 9 mechanism 28 just cooperate the composition of slide bar 281 to stretch using sliding rail 280
Contracting component.The quantity of telescopic component can be only one, can also have simultaneously several.The power source of telescopic component is (in figure not
Show) it can be using any available power sources such as cylinder, hydraulic cylinder, motors.Also, the objective table 24 in the present embodiment can
To be in an entirety (referring to Fig. 8), also it is segmented into several parts and is cooperatively connected (referring to Fig. 9) with each telescopic component respectively.
The structure of steering mechanism 29 is not particularly limited in the present embodiment, is existed as long as can be realized the second transfer mechanism 28
It is rotated between first direction a and second direction b.The structure that can be realized the function has very much, such as is driven by motor
Bearing block etc., this embodiment is not repeated.
Body feed tank 6 in the present embodiment need objective table 24 and sorting frame 4, storage unit 50 even overhead baggage rack unit 70 it
Between shifted, and the transfer of body feed tank 6 can be accomplished in several ways, such as objective table 24 can pass through magnetic or negative pressure
Absorption body feed tank 6 enables body feed tank 6 to follow itself movement, can remove adsorption capacity again when needing body feed tank 6 to be detached from.But this
Kind the mode meeting of body feed tank 6 and former supporting body friction in transfer hopper 6, therefore body feed tank 6 is be easy to cause to wear.
Recommend that vertical shift mechanism 26 is arranged in shifting apparatus 2 as shown in Fig. 1,2,7,10, in the present embodiment, it is vertical to move
Motivation structure 26 setting storage rack 5 and transfer frame 20 between and be able to drive transfer frame 20 and objective table 24 move along the vertical direction
It is dynamic.When objective table 24 needs for the body feed tank 6 for being located at operating position to be moved to storage position or the sorting frame 4 of storage unit 50
When sort positions, objective table 24 can be moved to corresponding position, vertical shift mechanism 26 is then driven to drive transfer frame 20
And objective table 24 moves down, and body feed tank 6 can be placed on corresponding position.When needs are by sort positions or storage position
It can be reversed operation when taking out body feed tank 6.Body feed tank 6 therefore will not can reduce in transfer process with former supporting body friction
The abrasion of body feed tank 6.
Vertical shift mechanism 26 in the present embodiment, which can also use, includes pneumatically or hydraulically power drive telescopic rod, screw rod
Any structure moved along the vertical direction for transfer frame 20 including the structures such as structure gear rack gear cooperation drive mechanism.Such as
Vertical shift mechanism 26 may include the 4th motor 260, driving wheel 261 and leash 262, and the 4th motor 260 drives driving wheel
261 rotations, leash 262 are fixedly connected around driving wheel 261 and with transfer frame 20.It may be implemented by the rotation of driving wheel 261
The folding and unfolding of leash 262, to control the movement of transfer frame 20 in the vertical direction.One end can be fixed on by leash 262
On driving wheel 261, leash 262 is wound by the rotation of driving wheel 261.It in addition to this can also be by one end of leash 262
A counterweight 265 is hung, counterweight 265 and transfer frame 20 are located at the two sides of driving wheel 261, with the rotation of driving wheel 261
Counterweight 265 can be changed and transfer the height of frame 20.In order to improve mobile efficiency, vertical shift mechanism 26 can also include slowing down
Mechanism 263, the 4th motor 260 is connect with driving wheel 261 by deceleration mechanism 263 at this time.It further, can also be in driving wheel
261 front setting directive wheel 264 is oriented to leash 262, keeps its folding and unfolding more steady.
In addition to this it is possible to which the second guide part (not shown) is arranged on storage rack 5, transfer frame 20 is led with second
Transfer frame 20 is moved can only along the vertical direction to part cooperation.Second guide part can use the structures such as guide groove, guide rail,
It can be set and the guidance aids such as the mutually matched sliding block of the second guide part, directive wheel on transfer frame 20.
In order to enable objective table 24 to pick and place body feed tank 6 by way of moving in the vertical direction, in the present embodiment
The structure that body feed tank 6 is fixed on storage unit 50 and sorting frame 4 cannot be interfered with objective table 24.For this purpose, can will store
Unit 50 and sorting frame 4 and objective table 24 form staggered structure on second direction b.For example, can in storage unit 50
To include symmetrically arranged two rows of storage trays 502, the interval region between two rows of storage trays 502, which protrudes into area for first, (schemes
In be not shown), objective table 24 can extend into first and protrude into area.On sorting frame 4 can using with storage unit 50 it is identical or
Similar structure, such as two rows of sorting brackets 40 are symmetrical arranged on sorting frame 4, the interval region between two rows sorting bracket 40
Area 42 is protruded into for second, objective table 24 can extend into second and protrude into area 42.
Before carrying out sorting operation, an empty body feed tank 6 can be moved to sorting frame 4 first with objective table 24
On, objective table 24 is retracted to operating position later.Wait tractor 22, horizontal mobile mechanism 23 and pan carriage 21 by shelf
On body feed tank 6 be moved to operating position.Manipulator 3 can be from operating position after body feed tank 6 is moved to operating position
Body feed tank 6 in sort out required cargo and be put into the body feed tank 6 of sort positions.Band entire cargo sorting is completed
Afterwards, the body feed tank 6 on sorting frame 4 can be transferred in the storage unit 50 in storage rack 5 by objective table 24.
Under normal conditions, the shelf in warehouse are one layer more than, therefore automatic guided vehicle may face needs by upper layer goods
Frame obtains the case where body feed tank 6.Frame 20 can will be transferred using vertical shift mechanism 26 at this time and associated components are promoted to together
Corresponding height, then control the operation that shifting apparatus 2 obtain body feed tank 6.Body feed tank 6 can be again by vertical after the completion of obtaining
Mobile mechanism 26 will transfer frame 20 and associated components move together to sorting frame 4 and are in sustained height, so as to the progress of manipulator 3
Sort operation.
Also, transport is also a vital task of automatic guided vehicle, in the present embodiment in order to enable automatic guided vehicle
Enough while more body feed tanks 6 are conveyed, storage rack 5 can include multiple storage units 50 simultaneously, these storage units 50 are along perpendicular
For histogram to arrangement, the access of the body feed tank 6 in these storage units 50 still can will transfer frame by vertical shift mechanism 26
20 and associated components be promoted to the storage unit 50 of corresponding height together and realize.Automatic guided vehicle usually require shelf 7 it
Between walk, therefore to reserve the channel passed through for automatic guided vehicle between adjacent two rows of shelf 7.And for a warehouse,
Channel between adjacent two rows shelf 7 is wider, then the quantity for the shelf 7 that can be placed is just fewer, corresponding cargo storage amount
With regard to smaller.Just because of this, the local width of automatic guided vehicle the narrow more is conducive to the increase of articles from the storeroom storage capacity.And in order to
The local width of automatic guided vehicle is minimized, it can be by storage rack 5, shifting apparatus 2, sorting frame 4 and machine in the present embodiment
Tool hand 3 is successively arranged (referring to Fig. 6) along first direction a, to minimize the width of automatic guided vehicle.
Automatic guided vehicle provided by the present embodiment has saved manpower, and efficiency is higher.
Emphasis describes the difference between each embodiment, difference between each embodiment in the application foregoing embodiments
As long as optimization feature non-contradiction, can combine to form more preferably embodiment, it is contemplated that style of writing is succinct, then no longer superfluous at this
It states.
The above description is only an example of the present application, is not intended to limit this application.For those skilled in the art
For, various changes and changes are possible in this application.All any modifications made within the spirit and principles of the present application are equal
Replacement, improvement etc., should be included within the scope of the claims of this application.
Claims (16)
1. a kind of automatic guided vehicle, which is characterized in that including car body, shifting apparatus, manipulator, sorting frame and storage rack；
The shifting apparatus, the manipulator, the sorting frame and the storage rack are arranged on the car body, described to deposit
Putting frame includes storage unit, and the storage unit has opening, and the shifting apparatus is arranged on the storage rack, is opened with described
Mouth is oriented first direction, to be parallel to horizontal plane and perpendicular to the direction of the first direction as second direction, described point
It picks frame and side of the shifting apparatus along the first direction far from the storage rack is set；
The shifting apparatus can shift body feed tank between storage position, operating position, sort positions and acquisition position；
Wherein, the storage position is located in the storage unit, and the sort positions are located in the sorting frame, the working position
It sets, the storage position and the sort positions are successively arranged along the first direction, the operating position and the acquisition
It arranges along the second direction position；
The manipulator can be in the body feed tank positioned at the operating position and on the sorting frame of the sort positions
Goods sorting is carried out between body feed tank.
2. automatic guided vehicle according to claim 1, which is characterized in that the shifting apparatus include transfer frame, pan carriage,
Horizontal mobile mechanism, tractor, objective table and the first transfer mechanism, the tractor are arranged in the pan carriage；
The horizontal mobile mechanism is arranged between the transfer frame and the pan carriage and is able to drive the pan carriage along institute
It states second direction and is moved between the operating position and the acquisition position, the tractor can make body feed tank described in
Second direction is mobile；
First transfer mechanism is arranged between the objective table and the transfer frame and is able to drive the objective table along institute
First direction is stated to move and by body feed tank between the operating position, the storage position and the sort positions described
It is shifted between objective table and the storage unit or the sorting frame.
3. automatic guided vehicle according to claim 2, which is characterized in that the tractor include first motor and partially
Heart fixture block, the bias fixture block, which has, releases position and dragging position, wherein the eccentric card positioned at the dragging position
Block can limit body feed tank moving along the second direction, and the first motor is able to drive the eccentric fixture block in the solution
Except being rotated between position and the dragging position.
4. automatic guided vehicle according to claim 2, which is characterized in that the horizontal mobile mechanism include the second motor,
First slideway, slide assemblies, the first rack gear, the second rack gear, first gear, sliding part and screw structure；
Second motor, the screw structure, first rack gear and first slideway are arranged at the transfer frame
On, second rack gear is arranged in the pan carriage, passes through the slide assemblies between the pan carriage and the transfer frame
It is slidably connected, the screw structure, first slideway, the slide assemblies, first rack gear and second rack gear
Extend along the second direction, the sliding part is slidably matched with first slideway and connect with the screw structure, institute
It states the second motor to drive the screw structure to rotate and drive the sliding part mobile, the first gear and the sliding part turn
It is also engaged with first rack gear and second rack gear while dynamic connection.
5. automatic guided vehicle according to claim 2, which is characterized in that first transfer mechanism include third motor with
And moving assembly, the third motor drive the objective table mobile by the moving assembly.
6. automatic guided vehicle according to claim 5, which is characterized in that it is provided with the first guide part on the transfer frame,
The objective table is slidably matched with first guide part move the objective table can only along the first direction.
7. automatic guided vehicle according to claim 6, which is characterized in that the moving assembly includes second gear, arc
Rack gear, rotating bar and the second slideway；
The arc-shaped rack is arranged on the transfer frame, and second slideway is arranged on the objective table and along described second
Direction extends, and one end of the rotating bar is slidably connected with the transfer frame rotation connection other end with second slideway, institute
Third motor is stated to be arranged in the rotating bar and drive the second gear rotation, the second gear and the arc-shaped rack
Engagement；
The rotating bar passes through the engagement rotation of the second gear and the arc-shaped rack and drives the objective table described in
First direction is mobile.
8. automatic guided vehicle according to claim 1, which is characterized in that the shifting apparatus include transfer frame, objective table,
Second transfer mechanism and steering mechanism；
In second transfer mechanism, second transfer mechanism is able to drive the objective table by institute for the objective table setting
Operating position is stated along linear expansion, the steering mechanism is arranged between the transfer frame and second transfer mechanism and can
Rotation changes the telescopic direction of the objective table between the first direction and the second direction；
When the telescopic direction of the objective table is along the first direction, the objective table can be along the first direction by described
Operating position extend out to the storage position or the sort positions and by body feed tank in the objective table and the storage unit
Or shifted between the sorting frame, when the telescopic direction of the objective table is along the second direction, the objective table can
It is extend out to along the second direction and obtains position and shift body feed tank between the objective table and the acquisition position.
9. automatic guided vehicle according to claim 8, which is characterized in that second transfer mechanism is able to drive the load
Object platform is stretched out from the operating position to opposite two sides.
10. automatic guided vehicle according to claim 8, which is characterized in that second transfer mechanism include power source with
And telescopic component, the power source drive the objective table flexible by the telescopic component.
11. according to the described in any item automatic guided vehicles of claim 2 to 10, which is characterized in that the shifting apparatus further includes
Vertical shift mechanism, the vertical shift mechanism are arranged between the storage rack and the transfer frame and are able to drive the shifting
Pivoted frame moves along the vertical direction.
12. automatic guided vehicle according to claim 11, which is characterized in that the vertical shift mechanism includes the 4th electricity
Machine, driving wheel and leash, the rotation of driving wheel described in the 4th motor driven, the leash around the driving wheel and
It is fixedly connected with the transfer frame.
13. automatic guided vehicle according to claim 12, which is characterized in that the vertical shift mechanism further includes speed reducer
Structure, the 4th motor are connect with the driving wheel by the deceleration mechanism.
14. automatic guided vehicle according to claim 11, which is characterized in that the storage unit includes symmetrically arranged two
Storage tray is arranged, the interval region between two rows of storage trays protrudes into area for first, and the objective table can extend into described
First protrudes into area；
And/or
The symmetrically arranged two rows of sorting brackets of the sorting frame, two rows of interval regions sorted between brackets protrude into for second
Area, the objective table can extend into described second and protrude into area.
15. automatic guided vehicle according to claim 11, which is characterized in that the storage rack includes that multiple storages are single
Member, multiple storage units are arranged along the vertical direction.
16. the automatic guided vehicle according to any of claims 1 to 10, which is characterized in that the storage rack, the transfer
Device, the sorting frame and the manipulator are successively arranged along the first direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821334778.6U CN208616889U (en) | 2018-08-17 | 2018-08-17 | Automatic guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821334778.6U CN208616889U (en) | 2018-08-17 | 2018-08-17 | Automatic guided vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208616889U true CN208616889U (en) | 2019-03-19 |
Family
ID=65715830
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821334778.6U Active CN208616889U (en) | 2018-08-17 | 2018-08-17 | Automatic guided vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208616889U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112455275A (en) * | 2019-09-06 | 2021-03-09 | 杭州海康机器人技术有限公司 | AGV positioning mechanism and positioning method |
| CN112573060A (en) * | 2019-09-30 | 2021-03-30 | 深圳市海柔创新科技有限公司 | Transfer robot |
| CN112824278A (en) * | 2019-11-20 | 2021-05-21 | 汉朔科技股份有限公司 | Goods picking system and goods picking method |
| CN112824064A (en) * | 2019-11-20 | 2021-05-21 | 汉朔科技股份有限公司 | Mechanical arm |
| CN112824260A (en) * | 2019-11-20 | 2021-05-21 | 汉朔科技股份有限公司 | Goods picking system and goods picking method |
| US12017854B2 (en) | 2019-09-30 | 2024-06-25 | Hai Robotics Co., Ltd. | Handling robot, material fetching method, material replenishing or returning method, intelligent warehousing system |
-
2018
- 2018-08-17 CN CN201821334778.6U patent/CN208616889U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112455275A (en) * | 2019-09-06 | 2021-03-09 | 杭州海康机器人技术有限公司 | AGV positioning mechanism and positioning method |
| CN112573060A (en) * | 2019-09-30 | 2021-03-30 | 深圳市海柔创新科技有限公司 | Transfer robot |
| CN112573060B (en) * | 2019-09-30 | 2024-01-09 | 深圳市海柔创新科技有限公司 | Transfer robot |
| US12017854B2 (en) | 2019-09-30 | 2024-06-25 | Hai Robotics Co., Ltd. | Handling robot, material fetching method, material replenishing or returning method, intelligent warehousing system |
| CN112824278A (en) * | 2019-11-20 | 2021-05-21 | 汉朔科技股份有限公司 | Goods picking system and goods picking method |
| CN112824064A (en) * | 2019-11-20 | 2021-05-21 | 汉朔科技股份有限公司 | Mechanical arm |
| CN112824260A (en) * | 2019-11-20 | 2021-05-21 | 汉朔科技股份有限公司 | Goods picking system and goods picking method |
| WO2021098006A1 (en) * | 2019-11-20 | 2021-05-27 | 浙江汉朔电子科技有限公司 | Picking system and picking method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208616889U (en) | Automatic guided vehicle | |
| CN104724431B (en) | Inner-outer-vehicle-embedded three-dimensional walking rail guided vehicle | |
| CN208761426U (en) | Cargo movement system | |
| CN108778980A (en) | Telescopic driver, the stacking machine and its operating method containing telescopic driver and use | |
| CN106335042B (en) | A kind of storage picking robot and its application method carrying lifting type manipulator | |
| CN105800215A (en) | Intelligent sorting system for logistics | |
| CN109761040A (en) | It is a kind of can automatic stored and multifunction logistics machinery arm device | |
| CN105059807A (en) | Intelligent stereoscopic warehouse | |
| CN107826580A (en) | A kind of shuttle vehicle type storage and climb type shuttle | |
| CN107378924A (en) | Planer-type scissor catching robot | |
| CN107298272A (en) | A kind of handler of logistics code fetch system | |
| CN106313014B (en) | A kind of storage picking robot and its application method carrying clamping type manipulator | |
| CN207684278U (en) | A kind of storage of shuttle vehicle type and climb type shuttle | |
| CN110271802A (en) | A kind of automatic stereowarehouse outfit | |
| CN108820668A (en) | A kind of storage automatic material fetching machine | |
| CN204624475U (en) | Pallet assembly | |
| CN208761427U (en) | Commodity shelf system | |
| CN208731819U (en) | A kind of novel clamp for order sorting equipment of storing in a warehouse | |
| CN208882640U (en) | A kind of automated warehouse piler with cleaning function | |
| CN206406043U (en) | A kind of storage picking robot for carrying lifting type manipulator | |
| CN202643233U (en) | Intelligent conveyor vehicle | |
| CN209321816U (en) | Shuttle and logistics system | |
| CN208585658U (en) | A kind of storage automatic material fetching machine | |
| CN207226417U (en) | A kind of roller type turns to transfer machine | |
| CN208119978U (en) | A kind of electric business shelf sorting mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 310051 room 304, B / F, building 2, 399 Danfeng Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Hikvision Robot Co.,Ltd. Address before: 310052 5 / F, building 1, building 2, no.700 Dongliu Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU HIKROBOT TECHNOLOGY Co.,Ltd. |
|
| CP03 | Change of name, title or address |