Working principle The transfer system of AGV is composed of push-pull mechanism 5, displacement mechanism 4 and roller table 9. The basic function of the displacement mechanism is that every time the electromagnet 6 moves, the lifting rod 3 changes its high and low position. With the left and right expansion and contraction of the fork 8, the pallet can be pulled in or pushed out of the AGV from both sides of the AGV to complete the task of loading and unloading. .
The structural features are as shown, the displacement mechanism is mainly composed of electromagnet 5, high and low position sleeve 3, lifting rod 4, rotating shaft 1, stop pin 2 and spring not shown. The electromagnet is fixed on the AGV body, the rotating shaft and the stop pin are fixed at both ends of the fork of the push-pull mechanism. The change is ordered by the action of the electromagnet directly below.
The function of the stop pin is to restrict the high and low position sleeves to only rotate in one direction in the vertical state. Each AGV needs two groups (4 sets) of displacement mechanisms. As shown, A and B displacement mechanisms are one group, and C and D are another group.
The displacement mechanism indicates (a) the lifting rod is in the high position (b) the lifting rod is sucked back 1. Rotating shaft 2. Stop pin 3. High and low position sleeve 4. Lifting rod 5. Electromagnet l Lifting rod stroke working process (1) As shown in a, the initial state, that is, before the AGV is put into work or during maintenance, the displacement mechanism 1 is in the low position. (2) The working status is shown in b, the AGV is empty and ready to load, and the displacement mechanism is in a high position.
Top view of the layout of the displacement mechanism 1. Fork A, B, C, D displacement mechanism P Pallet position displacement mechanism state diagram (a) Initial state (b) Working state 1. Displacement mechanism 2. Fork as shown in a , When the fork 2 moves to the left and enters under the pallet 1, the left end high and low position sleeve 3 has been knocked and deflected by the pallet, and the top end turns lower. After the fork passes under the pallet, the high and low position sleeves return naturally due to gravity, and the pallet is restricted in the middle of the fork (such as b). When the fork is moved to the right and retracted, the pallet is pushed by the lifting rod and moved to the right due to the action of the stop pin, and the loading operation is completed. Conversely, the same function can be achieved when the forks work to the right.
Left-hand loading work process (a) when the pallet just enters the fork (b) the pallet has entered the fork 1. pallet 2. fork 3. high and low position sleeve (3) when the AGV is loaded with goods, the displacement mechanism lifts The lever is in the high position, because the stop pins at both ends of the fork just block the rotation of the high and low sleeves, no matter which direction the pallet moves in, it is limited to the middle range of the fork and will not slip off.
When the AGV is ready to unload to the left, the control system first activates the electromagnet at the left end, and the displacement mechanism on the left is in the low position. When the fork 2 extends to the left, the displacement mechanism on the right side is still in the high position to push the pallet to the platform. When the fork is retracted, the displacement mechanism on the left side is already in the low position, so that the pallet can be stopped on the platform to complete unloading. Conversely, when unloading to the right side, the electromagnet on the right end will act. Left unloading state 1. Pallet 2. Fork 3. Electromagnet 4. High and low position sets Whether unloading to the left or right, the displacement mechanism must be restored to the high position after unloading to proceed to the next loading.
Summary (1) The design scheme of the semi-mechanical displacement mechanism composed of electromagnets, high and low position sleeves and lifting rods is reasonable and logical, and meets the requirements of push-pull AGV loading and unloading and transportation.
(2) The outstanding feature is that the electromagnet is fixed on the AGV body and separated from other motion mechanisms, which avoids the inconvenience of wire connection when the push-pull mechanism moves left and right.
(3) The technical performance of the high and low position sleeves and the lifting rod is the key to the design, and it must be able to ensure that it can reliably and flexibly realize the repeated high and low positions.
(4) When designing, the lift rod stroke and the clearance between the fork and the pallet, the distance between the pallet and the two ends of the thrust, and the electromagnet pull-in stroke must be considered together.
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