Working principle The AGV's transfer system consists of a push-pull mechanism 5, a displacement mechanism 4 and a roller table 9. The basic function of the displacement mechanism is that whenever the electromagnet 6 is actuated once, the lift rod 3 changes the high and low positions once, and the pallets can be pulled into or out of the AGV along with the left and right telescopic of the fork 8 to complete the loading and unloading task. .
Structural Features As shown, the displacement mechanism is mainly composed of an electromagnet 5, a high and low position sleeve 3, a lifting rod 4, a rotation shaft 1, a stopper pin 2, and a spring not shown. The electromagnet is fixed on the body of the AGV, and the rotation shaft and the stop pin are fixed on both ends of the fork of the push-pull mechanism. The high and low positions can be rotated about a certain angle around the rotation axis, and the lifting rod slides up and down in the high and low positions, and its position is Changes are assigned to the role of the electromagnet directly below.
The role of the stop pin is to limit the vertical position can only be turned in one direction. Each AGV requires two sets (4 sets) of displacement mechanisms. As shown, A and B displacement mechanisms are a group, and C and D are another group.
The displacement mechanism indicates (a) that the lifting rod is at a high position (b) The lifting rod is sucked back 1. The shaft is rotated 2. The stopper pin 3. The high and low positions 4. The lifting rod 5. The electromagnet l Lift rod stroke process (1) As shown in a, the initial state, ie before the AGV is put into operation or during maintenance, the displacement mechanism 1 is in the low position. (2) Working status As shown in b, the AGV is ready for loading and the displacement mechanism is in a high position.
Position of the displacement mechanism is as viewed from above 1. Fork A, B, C, D Displacement Mechanism P Pallet Position Displacement Mechanism State Schematic (a) Initial State (b) Operational State 1. Displacement Mechanism 2. Fork shown in a When the fork 2 moves to the left and enters below the tray 1, the left high and low positions 3 have been deflected by the tray, and the top is turned low. When the fork passes through the bottom of the tray, the high and low positions naturally return due to gravity, and the tray is limited to the middle of the fork (eg, b). When the fork moves to the right and back, the tray is pushed by the lifting rod to move rightwards due to the action of the stop pin to complete the loading operation. Conversely, working the fork to the right can also accomplish the same function.
Left-hand loading process (a) When the pallet has just entered the fork (b) The pallet has entered the fork 1. Tray 2. Fork 3. High and low position (3) When the AGV is loaded, the displacement mechanism moves up and down The pole is in high position. Since the position of the stop pin at the two ends of the fork just blocks the rotation of the high and low positions, the pallet is limited to the middle position of the fork regardless of the direction in which the pallet moves, and no slip occurs.
When the AGV is ready to discharge to the left, the control system first moves the left electromagnet and the left displacement mechanism is in the low position. When the fork 2 is extended to the left, the displacement mechanism on the right side is still pushing the pallet to the platform. When the fork is retracted, the left-shift mechanism is at a low position, so that the pallet can be parked on the platform to complete the unloading. Conversely, when unloading to the right, the electromagnet at the right end can be operated. Left side unloading status 1. Pallet 2. Fork 3. Electromagnet 4. High and low positions Whether to unload cargo to the left or to the right, the displacement mechanism must return to high position after unloading to carry out the next loading.
Summary (1) The semi-mechanical displacement mechanism consisting of an electromagnet, a high and low position sleeve, and a lifting rod is designed with a reasonable logic design and meets the requirements of the push-pull AGV for loading and unloading and transportation.
(2) The outstanding feature is that the electromagnet is fixed on the body of the AGV, and is separated from other moving mechanisms, so as to avoid the inconvenience of connecting the wires when the push-pull mechanism is stretched.
(3) The technical performance of the high and low positions and lifting rods is the key to the design, and it must be able to ensure reliable and flexible high- and low-level repeated transformation.
(4) When designing, the stroke of the lift rod and the clearance of the fork with respect to the tray, the spacing between the tray and the two ends, and the pull-in stroke of the electromagnet should be considered together.
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