CN108909881A - Holding type AGV - Google Patents

Abstract

The invention relates to the technical field of AGV, in particular to a clasping type AGV which comprises a base arranged on a vehicle head and a clasping device arranged on a vehicle tail, wherein the clasping device comprises a clamping part and a first driving device for driving the clamping part to move, power devices and connecting rod devices arranged on the power devices are arranged on two sides of the base, each connecting rod device comprises a first connecting rod and a second connecting rod, two ends of each connecting rod are respectively hinged with the base and the power devices, a telescopic rod, two ends of each telescopic rod are respectively hinged with the base and the second connecting rod, and an elastic piece sleeved on the telescopic rod. The clamping device drives the clamping part to clamp or release materials through the first driving device, then the materials are transported through the AGV, and the power device and the clamping device are respectively arranged on the head and the tail of the vehicle, so that when the clamping device works, the power device has enough power to drive the AGV to run; the power devices on the left side and the right side of the base are provided with independent connecting rod devices, and when the vehicle travels to a complex bumpy road surface, the aim of damping the power devices is fulfilled through deformation of the elastic pieces.

Description

A hug type AGV

technical field

The invention relates to the field of AGV technology, in particular to a hugging type AGV.

Background technique

AGV is the abbreviation of (Automated Guided Vehicle), which means "automatically guided transport vehicle". Transporter with load function.

At present, the clamping device is widely used, but in practical application, the clamping device is fixed on the production line, and the material is clamped and moved to another position. If the position of the clamping device needs to be changed, the staff is required To operate, but the weight of the equipment is large, and it takes multiple workers to complete it, thereby greatly increasing the labor intensity of the workers and also causing waste of human resources.

Contents of the invention

The technical problem to be solved by the present invention is to provide a hugging AGV with a gripping device.

In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions: a hugging type AGV, including a front and a rear, each of which is provided with at least one universal wheel, and also includes a base on the front and a The clamping device at the rear of the vehicle, the clamping device includes a clamping part and a first driving device that drives the clamping part to move back and forth, and a power device and a connecting rod device arranged on the power device are provided on both sides of the base , the connecting rod device includes a first connecting rod and a second connecting rod whose two ends are respectively hinged to the base and the power unit, a telescopic rod whose two ends are respectively hinged to the base and the second connecting rod, and an elastic rod sleeved on the telescopic rod. The second connecting rod is arranged on the first connecting rod.

Preferably, the clamping device further includes a mounting base plate installed at the rear of the vehicle, a slide rail mounted on the mounting base plate, a slider movable on the slide rail, and a slide guide plate mounted on the slide block installed in the slide guide plate The rack on the end face and the transmission gear engaged with the rack, the first driving device is in transmission connection with the transmission gear, and the clamping part is installed on the sliding guide plate.

Preferably, the power device includes a fixed seat, a driving wheel disposed on the fixed seat, and a second driving device for driving the driving wheel to rotate.

Preferably, one end of the first connecting rod is hinged to the lower end on one side of the base, the other end of the first connecting rod is hinged to the lower end of the fixing seat; one end of the second connecting rod is hinged to the upper end on one side of the base , the other end of the second connecting rod is hinged with the upper end of the fixing seat.

Preferably, the first connecting rod is equipped with a first hinged seat, the base is equipped with a second hinged seat, and the two ends of the telescopic rod are respectively hinged with the first hinged seat and the second hinged seat.

Preferably, one end of the first connecting rod is provided with a first limiting part, and the base is provided with a second limiting part used in cooperation with the first limiting part.

Preferably, the connecting rod device further includes a connecting piece, the two ends of the connecting piece are fixedly installed on the other end of the first connecting rod and the other end of the second connecting rod.

Preferably, both ends of the base are provided with navigation elements.

Preferably, the front of the vehicle is provided with an anti-collision part.

Preferably, the vehicle head is provided with an obstacle sensing element.

The beneficial effect of the present invention is that: the present invention provides a clamping AGV, the clamping device drives the clamping part to move through the first drive device to clamp or loosen the material, and then transports the material to the handling place through the AGV. There is no need for manual operation, which effectively reduces the labor intensity of the staff, and the clamping device is installed at the rear of the vehicle, and the power device is located at the front of the vehicle. This layout design ensures that the power device has sufficient power when the clamping device clamps materials. The power drives the AGV to drive; the power devices on the left and right sides of the base are equipped with independent connecting rod devices. When walking on bumpy and complicated roads, the connecting rod devices will move with the base as the base point according to the moving direction of the power device. The purpose of damping the shock of the power unit is achieved through the deformation of the elastic parts. In this process, the connecting rod devices of the power units on the left and right sides of the base are independent of each other and do not affect each other. Make the load distribution among the power devices even, the driving is stable, and the shock absorption effect is remarkable; through the use of the power devices on both sides of the base and the universal wheels, the AGV can realize the forward and backward, steering, translation and other specific trajectory. Movement to meet the needs of different production.

Description of drawings

Fig. 1 is a schematic diagram of the three-dimensional structure of the hugging AGV of the present invention.

Fig. 2 is a three-dimensional structural schematic diagram of another viewing angle of the hugging AGV of the present invention.

Fig. 3 is an exploded schematic diagram of the three-dimensional structure of the gripping device in the gripping AGV of the present invention.

Fig. 4 is an exploded perspective view of the three-dimensional structure of the clinging device in the clinging AGV of the present invention from another perspective.

Fig. 5 is a three-dimensional structural schematic diagram of the power device and the connecting rod device in the hugging AGV of the present invention.

Detailed ways

In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the examples, and the contents mentioned in the embodiments are not intended to limit the present invention.

As shown in Figures 1 to 5, a hugging AGV includes a front 1 and a rear 2, the front 1 and the rear 2 are each provided with at least one universal wheel 3, and also includes a base on the front 1 4 and the clamping device 5 arranged at the rear of the vehicle 2, the clamping device 5 includes a clamping part 50 and a first driving device 51 that drives the clamping part 50 to move back and forth, and both sides of the base 4 are provided with power The device 6 and the connecting rod device 7 located on the power device 6, the connecting rod device 7 includes a first connecting rod 70 and a second connecting rod 71 whose two ends are respectively hinged to the base 4 and the power device 6, and the two ends are respectively connected to the base Seat 4 and the second connecting rod 71 hinged telescopic rod 72 and the elastic member 73 sleeved on the telescopic rod 72, the second connecting rod 71 is located on the first connecting rod 70; the first connecting rod 70 is equipped with The first hinged seat 74 and the base 4 are equipped with a second hinged seat 75 , and the two ends of the telescopic rod 72 are respectively hinged with the first hinged seat 74 and the second hinged seat 75 .

Preferably, the front 1 is provided with two universal wheels 3, and the two universal wheels 3 are respectively arranged on both sides of the front 1, and the rear 2 is provided with two universal wheels 3, and the two universal wheels 3 The wheels 3 are respectively arranged on both sides of the rear 2, which not only play the role of carrying the AGV, maintain the stability of the AGV, but also effectively ensure the stability of the steering of the AGV; when working, according to the set position, the power device 6 drives the AGV to move to the set position. position, and then the first driving device 51 drives the clamping part 50 to clamp the material, the power device 6 drives the AGV to move to the delivery location, and the first driving device 51 drives the clamping part 50 to loosen the material, thereby completing the material When the AGV walks on a bumpy and complicated road surface, the power unit 6 will be affected by the raised road surface or the concave road surface, causing the power unit 6 to move in the direction of rising or falling. 6 The direction of movement is stretched, and at the same time, the elastic member 73 is stretched or compressed according to the stretching direction of the telescopic rod 72, so as to achieve the effect of shock absorption. When the bumpy and complicated road has passed, the elastic member 73 will drive the connecting rod device 7 resets, and then drives the power unit 6 to reset, and the connecting rod devices 7 of the two power units 6 are independent of each other. The device 7 damps the power unit 6, while the other power unit 6 ensures that the power unit 6 is not affected by one of the power unit 6 through its connecting rod device 7, so as to ensure its driving stability. When the two power units 6 are simultaneously When driving on a bumpy and complicated road surface, the connecting rod devices 7 of the two power units 6 will simultaneously dampen the vibration to ensure that the driving is stable.

The clamping device 5 drives the clamping part 50 to move through the first driving device 51 to clamp or loosen the material, and then transports it to the delivery site through the AGV. There is no need for manual operation during the process, which effectively reduces the labor intensity of the staff, and Set the clamping device 5 at the rear of the vehicle 2, and the power unit 6 at the front of the vehicle 1. Such a layout design ensures that the power device 6 has enough power to drive the AGV to drive when the clamping device 5 clamps materials; the base 4 The power units 6 on the left and right sides are all equipped with independent link devices 7. When walking on bumpy and complicated roads, the link devices 7 will move along with the base 4 according to the moving direction of the power unit 6. 73 to achieve the purpose of damping the power unit 6, and during this process, the connecting rod devices 7 of the power unit 6 on the left and right sides of the base 4 are independent of each other and do not affect each other, which avoids the suspension caused by the tilt of the power unit 6 The phenomenon occurs, so that the load distribution among the power devices 6 is even, the driving is stable, and the shock absorption effect is remarkable; through the cooperation of the power devices 6 on both sides of the base 4 and the universal wheels 3, the AGV can realize the forward, backward, and steering , translation and other specific track movements to meet the needs of different production.

In this embodiment, the clamping device 5 also includes a mounting substrate 52 mounted on the rear of the vehicle 2, a slide rail 53 mounted on the mounting substrate 52, a slider 54 movable on the slide rail 53, and a sliding block mounted on the slider. The sliding guide plate 55 of 54 is installed on the rack 56 on the inner end surface of the sliding guide plate 55 and the transmission gear 57 meshed with the rack 56, the first driving device 51 is connected with the transmission gear 57, and the clamping part 50 is installed Set on the sliding guide plate 55 . When working, the first driving device 51 drives the transmission gear 57 to rotate, thereby driving the rack 56 meshed with the transmission gear 57 to move, that is, driving the movement of the sliding guide plate 55, and then driving the clamping part 50 through the movement of the sliding guide plate 55 The movement of the clamping part 50 realizes the loosening or clamping of the clamping part 50. The connection structure is simple, the stability is high, and the transmission mode of the meshing connection is adopted, the transmission accuracy is high, and the material is clamped more firmly.

In this embodiment, the power device 6 includes a fixed seat 60, a driving wheel 61 disposed on the fixed seat 60, and a second driving device 62 for driving the driving wheel 61 to rotate; one end of the first connecting rod 70 is connected to the base 4 The lower end of one side is hinged, and the other end of the first connecting rod 70 is hinged with the lower end of the fixed seat 60; one end of the second connecting rod 71 is hinged with the upper end of the base 4 side, and the other end of the second connecting rod 71 is connected with the upper end of the base 4. The upper end of the fixing seat 60 is hinged. When working, the drive wheel 61 is used to drive the rotating drive device to rotate, so that the drive wheel 61 drives the AGV to travel, and the connection structure is simple and the stability is high; the second drive device 62 is fixed by the fixing seat 60 to avoid it during use. Movement occurs, strong stability.

In this embodiment, one end of the first connecting rod 70 is provided with a first limiting portion 76 , and the base 4 is provided with a second limiting portion 77 used in conjunction with the first limiting portion 76 . The first limiting portion 76 and the second limiting portion 77 are used together to ensure the reset accuracy of the link device 7 , thereby ensuring the reset accuracy of the power unit 6 and further ensuring the stability of the AGV running.

In this embodiment, the connecting rod device 7 further includes a connecting piece 78 , the two ends of the connecting piece 78 are fixedly installed on the other end of the first connecting rod 70 and the other end of the second connecting rod 71 . The design of the connecting piece 78 can drive the first connecting rod 70 and the second connecting rod 71 to move at the same time, thereby ensuring the synchronization of the movement of the first connecting rod 70 and the second connecting rod 71, thereby ensuring the shock absorption of the power unit 6 Effect.

In this embodiment, navigation elements 40 are provided at both ends of the base 4 . The walking track route attached to the ground is identified by the navigation element 40, thereby improving the accuracy of the AGV walking route, thereby ensuring the accuracy of the AGV transportation.

In this embodiment, the vehicle head 1 is provided with an anti-collision portion 8 . If the AGV collides, the anti-collision part 8 is used to slow down the damage caused by the collision to the AGV, and has strong practicability.

In this embodiment, the vehicle head 1 is provided with an obstacle sensing element 9 . The obstacle sensing element 9 is used to sense obstacles on the AGV's walking track, so as to avoid collision between the AGV and the obstacles, and has strong practicability.

In the description of the present invention, it should be noted that for orientation words, such as the term "center", "horizontal (X)", "longitudinal (Y)", "vertical (Z)", "length", "width ", "Thickness", "Top", "Down", "Front", "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner" , "Outside", "Clockwise", "Counterclockwise", etc. indicating orientation and positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying The devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the specific protection scope of the present invention.

In addition, terms such as "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of technical features. Therefore, the definition of "first" and "second" features may explicitly or implicitly include one or more of these features. In the description of the present invention, "several" means two or more, unless otherwise stated. There are clear and specific limitations.

In the present invention, unless otherwise clearly specified and limited, if there are terms "assembled", "connected" and "connected", the terms should be interpreted in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral ground connection; it can also be a mechanical connection; it can be directly connected, or connected through an intermediary, or two components can be connected internally. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

The above-mentioned embodiments only express some implementations of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (10)

1. a kind of holding type AGV, including headstock（1）With the tailstock（2）, the headstock（1）With the tailstock（2）It is universal to be equipped at least one Wheel（3）, it is characterised in that：It further include being set to headstock（1）Pedestal（4）And it is set to the tailstock（2）Embrace clamp device（5）, this armful Clamp device（5）Including clamping part（50）And driving clamping part（50）The first driving device moved back and forth（51）, the pedestal （4）Two sides be equipped with power device（6）And it is set to power device（6）Linkage（7）, the linkage（7）Including Both ends respectively with pedestal（4）And power device（6）Hinged first connecting rod（70）With second connecting rod（71）, both ends respectively with pedestal （4）And second connecting rod（71）Hinged telescopic rod（72）And it is sheathed on telescopic rod（72）Elastic component（73）, described second connects Bar（71）Set on first connecting rod（70）.

2. holding type AGV according to claim 1, it is characterised in that：Described armful of clamp device（5）It further include being installed in the tailstock （2）Installation base plate（52）, be installed in installation base plate（52）Sliding rail（53）, be active in sliding rail（53）Sliding block（54）, installing In sliding block（54）Cunning guide plate（55）It is installed in sliding guide plate（55）The rack gear of inner face（56）And and rack gear（56）Engagement connection Transmission gear（57）, the first driving device（51）With transmission gear（57）Transmission connection, the clamping part（50）Installing In the sliding guide plate（55）.

3. holding type AGV according to claim 1, it is characterised in that：The power device（6）Including fixing seat（60）, Set on fixing seat（60）Driving wheel（61）And driving driving wheel（61）Second driving device of rotation（62）.

4. holding type AGV according to claim 3, it is characterised in that：The first connecting rod（70）One end and pedestal（4） The lower end of side is hinged, first connecting rod（70）The other end and fixing seat（60）Lower end it is hinged；The second connecting rod（71）'s One end and pedestal（4）The upper end of side is hinged, second connecting rod（71）The other end and fixing seat（60）Upper end it is hinged.

5. holding type AGV according to claim 1, it is characterised in that：The first connecting rod（70）It is hinged to be installed with first Seat（74）, the pedestal（4）It is installed with the second hinged seat（75）, the telescopic rod（72）Both ends respectively with the first hinged seat （74）And second hinged seat（75）Hingedly.

6. holding type AGV according to claim 1, it is characterised in that：The first connecting rod（70）One end be equipped with first Limiting section（76）, the pedestal（4）Equipped with the first limiting section（76）The second limiting section being used cooperatively（77）.

7. holding type AGV according to claim 1, it is characterised in that：The linkage（7）It further include connection sheet （78）, the connection sheet（78）Both ends be fixedly installed in first connecting rod（70）The other end and second connecting rod（71）The other end.

8. holding type AGV according to claim 1, it is characterised in that：The pedestal（4）Both ends be equipped with navigation element （40）.

9. holding type AGV according to claim 1, it is characterised in that：The headstock（1）Equipped with anticollision portion（8）.

10. holding type AGV according to claim 1, it is characterised in that：The headstock（1）Equipped with barrier sensing element （9）.