CN110775886B - Explosion-proof full-automatic intelligent control AGV fork truck of accurate positioning - Google Patents
Explosion-proof full-automatic intelligent control AGV fork truck of accurate positioning Download PDFInfo
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- CN110775886B CN110775886B CN201911142696.0A CN201911142696A CN110775886B CN 110775886 B CN110775886 B CN 110775886B CN 201911142696 A CN201911142696 A CN 201911142696A CN 110775886 B CN110775886 B CN 110775886B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses an explosion-proof full-automatic intelligent control AGV fork truck of accurate positioning, including: the steering wheel driving device comprises a frame body, a support frame connected with the frame body, a fork arm support arranged on the outer side of the frame body, a driving steering wheel arranged at the bottom of the frame body, a first driving device connected with the frame body and the support frame respectively, and a second driving device connected with the fork arm support; the fork arm support is provided with a laser sensor; the support frame is provided with a ball screw and a screw nut, the screw nut is sleeved at one end of the ball screw, and the other end of the ball screw is connected with the output end of the second driving device; at least one side of the second driving device is provided with a sliding rail, a sliding block is arranged on the sliding rail, and the sliding block is connected with the fork arm support. The invention can directly convey articles to the appointed station without manual work or other equipment for putting again, thereby reducing the investment of manpower or putting equipment and lowering the production cost.
Description
Technical Field
The invention relates to the field of AGV forklifts, in particular to an explosion-proof full-automatic intelligent control AGV forklift with accurate positioning.
Background
An AGV forklift is a transport vehicle equipped with an automatic guide device, capable of traveling along a predetermined guide path, having safety protection and various transplanting functions, and is widely used in places such as workshops, warehouses, airports, logistics, and the like because of its advantages such as rapidness and convenience. An AGV fork truck in the prior art generally only can travel along a specified guide route to transport articles from a position A to a position B, generally, after the articles are transported to the position B, the articles must be placed and positioned again through manual work or other equipment when entering the next process, and the articles cannot be directly conveyed to a fixed station through the AGV fork truck, so that the conveying efficiency is reduced, a large amount of manpower is wasted, and the production cost is increased; on the other hand, current AGV fork truck is owing to only one end has the yoke, and in handling, owing to get reasons such as the difference of putting the position direction, need the turn round just can accomplish to get and put the operation, needs great transportation space, just can satisfy AGV fork truck's turn round, reduces the convenience of carrying, increases production space, further increases manufacturing cost.
Accordingly, the prior art is deficient and needs improvement.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides an accurate-positioning explosion-proof full-automatic intelligent control AGV forklift, and solves the problem that in the prior art, articles cannot be directly conveyed to a fixed station through the AGV forklift, so that conveying efficiency is reduced; meanwhile, the problems that an AGV forklift needs to turn around in the conveying process, conveying convenience is reduced, and production space and cost are increased are solved.
The technical scheme of the invention is as follows: the utility model provides an explosion-proof full-automatic intelligent control AGV fork truck of accurate positioning, includes: the steering wheel driving device comprises a frame body, a support frame connected with the frame body, a fork arm support arranged on the outer side of the frame body, a driving steering wheel arranged at the bottom of the frame body, a first driving device connected with the frame body and the support frame respectively, and a second driving device connected with the fork arm support; the laser sensor is arranged on the fork arm support, and a fork arm component is arranged on at least one side of the fork arm support; the output end of the first driving device is connected with the supporting frame; the support frame is provided with a ball screw and a screw nut, the screw nut is sleeved at one end of the ball screw, and the other end of the ball screw is connected with the output end of the second driving device; at least one side of the second driving device is provided with a sliding rail, the sliding rail is installed on the supporting frame, a sliding block is arranged on the sliding rail, and the sliding block is connected with the fork arm support. The fork arm component forks an article to be transported, the laser sensor drives the steering wheel to drive the frame body, the support frame and the fork arm support to move according to the distance between the article on the fork arm component and the designated station in the X direction, the Y direction and the Z direction, which are measured by the laser sensor, and the distance between the article on the fork arm component and the designated station in the X direction, the second driving device drives the ball screw to rotate on the screw nut according to the distance between the article on the fork arm component and the designated station in the Y direction, the second driving device drives the fork arm support and the slide block to move leftwards or rightwards on the slide rail to reach the corresponding position in the Y direction, the first driving device drives the support frame to move upwards or downwards according to the distance between the article on the fork arm component and the designated station in the Z direction, which are measured by the laser sensor, the supporting frame further drives the fork arm support to move upwards or downwards to reach a corresponding position in the Z direction to finish the movement in the X direction, the Y direction and the Z direction, and the articles on the fork arm assembly reach an appointed station to finish the conveying of the articles and directly convey the articles to the appointed station, so that the conveying efficiency is improved, the articles do not need to be put again through manpower or other equipment, the investment of manpower or putting equipment is reduced, and the production cost is effectively reduced; the laser sensor is used for positioning in the X direction, the Y direction and the Z direction, so that the positioning is quick and accurate, and the transportation efficiency is improved; at least one side of yoke support is provided with the yoke subassembly, can set up a set of or two sets of yoke supports as required, satisfies different demands in the production process.
Furthermore, a first cover plate and a second cover plate are respectively arranged on the outer sides of the fork arm supports; the two sides of the fork arm support are provided with the fork arm components. The fork arm components are arranged on the two sides of the fork arm support, so that the steering is not needed in the conveying process, the influence of the production environment is avoided, the production space is saved, and the production cost is further reduced.
Furthermore, four groups of laser sensors are arranged on the fork arm support, and the four groups of laser sensors are respectively arranged at four corners of the fork arm support. All be provided with laser sensor on four angles of yoke, can carry out the survey of each angular position for the location of X direction, Y direction, Z direction is more accurate.
Further, the frame body includes: the device comprises a base, wheels connected with the bottom of the base and a shock absorber arranged on the base, wherein a universal ball is arranged on one side of the base; the driving steering wheel is connected with the base through the shock absorber.
Furthermore, two electrical appliance explosion-proof boxes are mounted on the base, and a battery explosion-proof box is arranged between the two electrical appliance explosion-proof boxes; the first driving device is arranged between the electrical appliance explosion-proof box and the battery explosion-proof box.
Furthermore, a guide bearing is further arranged on the base, a guide rod is arranged on one side of the support frame, and one end of the guide rod is connected with the guide bearing. The guide rod and the guide bearing are arranged, so that the support frame can be conveniently reset after moving in the Z direction.
Further, the feed screw nut is a kidney-shaped nut, and the first driving device is an electric cylinder.
Further, the first cover plate is arranged on one side, close to the fork arm assembly, of the fork arm support; and the second cover plate is provided with an indicator lamp, a radar probe and a display.
Further, the yoke assembly comprises: the two fork plates are fixed blocks connected with one ends of the fork plates; and the fixed block is provided with an anti-collision sensor. Set up collision avoidance sensor, can prevent effectively that the yoke subassembly from hitting other equipment in the workshop, improve the security among the transportation process.
Further, the second driving device is a motor, and an output end of the motor is connected with the ball screw through a coupler. After the motor is started, the ball screw is driven to rotate in the screw nut, so that the distance between the motor and the screw nut is adjusted, the motor drives the fork arm support and the sliding block to move on the sliding rail, and the movement in the Y direction is achieved.
By adopting the scheme, the invention provides an accurately-positioned explosion-proof full-automatic intelligent control AGV fork truck, an article to be transported is fork-lifted by a fork arm assembly, after a laser sensor measures the distances in the X direction, the Y direction and the Z direction between the article on the fork arm assembly and a designated station, a steering wheel is driven to drive a truck frame body, a support frame and a fork arm support to move according to the distance between the article on the fork arm assembly and the X direction of the designated station measured by the laser sensor and reach the corresponding position in the X direction, a second driving device drives a ball screw to rotate on a screw rod nut according to the distance between the article on the fork arm assembly and the Y direction of the designated station measured by the laser sensor, the second driving device drives the fork arm support and a sliding block to move leftwards or rightwards on a sliding rail and reach the corresponding position in the Y direction, the first driving device drives the fork arm support and the article on the fork arm assembly and the Z direction of the designated, the supporting frame is driven to move upwards or downwards, the supporting frame further drives the fork arm support to move upwards or downwards to reach the corresponding position in the Z direction, the movement in the X direction, the Y direction and the Z direction is completed, the articles on the fork arm assembly reach the designated station to complete the conveying of the articles, and the articles are directly conveyed to the designated station, so that the conveying efficiency is improved, the articles do not need to be placed again through manpower or other equipment, the investment of manpower or placing equipment is reduced, and the production cost is effectively reduced; the laser sensor is used for positioning in the X direction, the Y direction and the Z direction, so that the positioning is quick and accurate, and the transportation efficiency is improved; at least one side of yoke support is provided with the yoke subassembly, can set up a set of or two sets of yoke supports as required, satisfies different demands in the production process.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an exploded view of the present invention;
FIG. 3 is a schematic structural view of a front view of the present invention;
FIG. 4 is a schematic top view of the present invention;
fig. 5 is a schematic structural diagram of the frame body, the support frame, the first driving device, the electrical appliance explosion-proof box, the battery explosion-proof box and the like.
Wherein: the vehicle frame comprises a vehicle frame body 1, a support frame 2, a fork arm support 3, a fork arm assembly 4, a laser sensor 5, a driving steering wheel 6, a first driving device 7, a second driving device 8, a screw nut 9, a sliding rail 10, a sliding block 11, a first cover plate 12, a second cover plate 13, an indicator lamp 14, a radar probe 15, a display 16, a base 17, a shock absorber 18, an electric appliance explosion-proof box 19, a battery explosion-proof box 20, a guide bearing 21, a guide rod 22, a fork plate 23, a fixing block 24, an anti-collision sensor 25, a vehicle wheel 26, a universal ball 27 and a ball screw 28.
Detailed Description
The invention is described in detail below with reference to the figures and the specific embodiments.
Referring to fig. 1 to 5, the present invention provides an explosion-proof full-automatic intelligent control AGV forklift with precise positioning, comprising: the frame comprises a frame body 1, a support frame 2 connected with the frame body 1, a fork arm support 3 arranged on the outer side of the frame body 1, a driving steering wheel 6 arranged at the bottom of the frame body 1, a first driving device 7 respectively connected with the frame body 1 and the support frame 2, and a second driving device 8 connected with the fork arm support 3; the fork arm support 3 is provided with a laser sensor 5, and at least one side of the fork arm support 3 is provided with a fork arm component 4; the output end of the first driving device 7 is connected with the support frame 2; a ball screw 28 and a screw nut 9 are arranged on the support frame 2, the screw nut 9 is sleeved at one end of the ball screw 28, and the other end of the ball screw 28 is connected with the output end of the second driving device 8; at least one side of the second driving device 8 is provided with a slide rail 10, the slide rail 10 is installed on the support frame 2, a slide block 11 is arranged on the slide rail 10, and the slide block 10 is connected with the fork arm support 3. The fork arm component 4 forks an article to be transported, after the laser sensor 5 measures the distances between the article on the fork arm component 4 and the designated station in the X direction, the Y direction and the Z direction, the driving steering wheel 6 drives the frame body 1, the support frame 2 and the fork arm support 3 to move according to the distance between the article on the fork arm component 4 and the designated station in the X direction measured by the laser sensor 5, the second driving device 8 drives the ball screw 28 to rotate on the screw nut 9 according to the distance between the article on the fork arm component 4 and the designated station in the Y direction measured by the laser sensor 5, the second driving device 8 drives the fork arm support 3 and the slide block 11 to move leftwards or rightwards on the slide rail 10 to reach the corresponding position in the Y direction, the first driving device 7 drives the fork arm component 4 to move to the designated station in the Z direction measured by the laser sensor 5, the supporting frame 2 is driven to move upwards or downwards, the supporting frame 2 further drives the fork arm support 3 to move upwards or downwards to reach the corresponding position in the Z direction, the movement in the X direction, the Y direction and the Z direction is completed, the articles on the fork arm assembly 4 reach the appointed station, the article conveying is completed, the articles are directly conveyed to the appointed station, the conveying efficiency is improved, the articles do not need to be placed again through manpower or other equipment, the investment of manpower or placing equipment is reduced, and the production cost is effectively reduced; the laser sensor 5 is used for positioning in the X direction, the Y direction and the Z direction, so that the method is quick and accurate and the transportation efficiency is improved; at least one side of yoke support 3 is provided with yoke subassembly 4, can set up a set of or two sets of yoke support 3 as required, satisfies different demands in the production process.
A first cover plate 12 and a second cover plate 13 are respectively arranged on the outer side of the fork arm support 3; the two sides of the fork arm support 3 are provided with the fork arm components 4. The two sides of the fork arm support 3 are provided with the fork arm assemblies 4, so that the steering is not needed in the conveying process, the influence of the production environment is avoided, the production space is saved, and the production cost is further reduced.
Four groups of laser sensors 5 are arranged on the fork arm support 3, and the four groups of laser sensors 5 are respectively arranged at four corners of the fork arm support 3. All be provided with laser sensor 5 on four angles of yoke, can carry out the survey of each angular position for the location of X direction, Y direction, Z direction is more accurate.
The frame body 1 includes: the device comprises a base 17, wheels connected with the bottom of the base 17, and a shock absorber 18 arranged on the base 17, wherein a universal ball 27 is arranged on one side of the base 17; the driving steering wheel 6 is connected with the base 17 through the shock absorber 18.
Two electrical appliance explosion-proof boxes 19 are arranged on the base 17, and a battery explosion-proof box 20 is arranged between the two electrical appliance explosion-proof boxes 19; the first driving device 7 is disposed between the electrical instrument explosion-proof box 20 and the battery explosion-proof box 20.
The base 17 is further provided with a guide bearing 21, one side of the support frame 2 is provided with a guide rod 22, and one end of the guide rod 22 is connected with the guide bearing 21. The guide rod 22 and the guide bearing 21 are arranged, so that the support frame 2 can be conveniently reset after moving in the Z direction.
The feed screw nut 9 is a kidney-shaped nut, and the first driving device 7 is an electric cylinder.
The first cover plate 12 is arranged on one side of the yoke bracket 3 close to the yoke assembly 4; the second cover plate 13 is provided with an indicator lamp 14, a radar probe 15 and a display 16.
The yoke assembly 4 comprises: the two fork plates 23 and a fixed block 24 connected with one end of each fork plate 23; and the fixed block 24 is provided with an anti-collision sensor 25. The anti-collision sensor 25 is arranged, so that the fork arm assembly 4 can be effectively prevented from colliding with other equipment in a workshop, and the safety in the conveying process is improved.
The second driving device 8 is a motor, and the output end of the motor is connected with the ball screw 28 through a coupler. After the motor is started, the ball screw 28 is driven to rotate in the screw nut 9, so that the distance between the motor and the screw nut 9 is adjusted, and the motor drives the yoke bracket 3 and the sliding block 11 to move on the sliding rail 10, so that the movement in the Y direction is realized.
In conclusion, the invention provides an accurately-positioned explosion-proof full-automatic intelligent control AGV forklift, which forks an article to be transported through a fork arm assembly, drives a steering wheel to drive a frame body, a support frame and a fork arm support to move according to the distance between the article on the fork arm assembly and a designated station in the X direction, the Y direction and the Z direction measured by a laser sensor after the distance between the article on the fork arm assembly and the designated station in the X direction measured by the laser sensor is measured by the laser sensor, drives a ball screw to rotate on a screw nut according to the distance between the article on the fork arm assembly and the designated station in the Y direction measured by the laser sensor, drives the fork arm support and a slide block to move leftwards or rightwards on a slide rail to reach the corresponding position in the Y direction by the second driving device, and drives the first driving device to fork arm support and slide block to move leftwards or rightwards according to the distance between the article on the fork arm assembly and the designated station in, the supporting frame is driven to move upwards or downwards, the supporting frame further drives the fork arm support to move upwards or downwards to reach the corresponding position in the Z direction, the movement in the X direction, the Y direction and the Z direction is completed, the articles on the fork arm assembly reach the designated station to complete the conveying of the articles, and the articles are directly conveyed to the designated station, so that the conveying efficiency is improved, the articles do not need to be placed again through manpower or other equipment, the investment of manpower or placing equipment is reduced, and the production cost is effectively reduced; the laser sensor is used for positioning in the X direction, the Y direction and the Z direction, so that the positioning is quick and accurate, and the transportation efficiency is improved; at least one side of yoke support is provided with the yoke subassembly, can set up a set of or two sets of yoke supports as required, satisfies different demands in the production process.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides an explosion-proof full-automatic intelligent control AGV fork truck of accurate positioning which characterized in that includes: the steering wheel driving device comprises a frame body, a support frame connected with the frame body, a fork arm support arranged on the outer side of the frame body, a driving steering wheel arranged at the bottom of the frame body, a first driving device connected with the frame body and the support frame respectively, and a second driving device connected with the fork arm support; the laser sensor is arranged on the fork arm support, a fork arm component is arranged on at least one side of the fork arm support, and the output end of the first driving device is connected with the supporting frame; the support frame is provided with a ball screw and a screw nut, the screw nut is sleeved at one end of the ball screw, and the other end of the ball screw is connected with the output end of the second driving device; at least one side of the second driving device is provided with a slide rail, the slide rail is installed on the support frame, a slide block is arranged on the slide rail, and the slide block is connected with the fork arm support; the frame body includes: the device comprises a base, wheels connected with the bottom of the base and a shock absorber arranged on the base, wherein a universal ball is arranged on one side of the base; the driving steering wheel is connected with the base through the shock absorber, a guide bearing is further arranged on the base, a guide rod is arranged on one side of the supporting frame, and one end of the guide rod is connected with the guide bearing.
2. The accurately-positioned explosion-proof full-automatic intelligent control AGV fork truck according to claim 1, wherein a first cover plate and a second cover plate are respectively arranged on the outer sides of the fork arm supports; the two sides of the fork arm support are provided with the fork arm components.
3. An explosion-proof full-automatic intelligent control AGV fork truck of accurate positioning according to claim 1, characterized in that four sets of laser sensors are arranged on said fork arm support, and four sets of said laser sensors are respectively arranged on four corners of said fork arm support.
4. The accurately-positioned explosion-proof full-automatic intelligent control AGV fork truck according to claim 1, characterized in that two electrical appliance explosion-proof boxes are mounted on the base, and a battery explosion-proof box is arranged between the two electrical appliance explosion-proof boxes; the first driving device is arranged between the electric appliance explosion-proof box and the battery explosion-proof box, and one end of the first driving device is connected with the frame body through a hinge.
5. The accurate-positioning explosion-proof full-automatic intelligent control AGV fork truck according to claim 1, characterized in that a guide bearing is further arranged on the base, a guide rod is arranged on one side of the support frame, and one end of the guide rod is connected with the guide bearing.
6. The accurate-positioning explosion-proof full-automatic intelligent control AGV fork truck according to claim 1, characterized in that the feed screw nut is a waist nut, and the first driving device is an electric cylinder.
7. An accurately positioned explosion proof fully automatic intelligent controlled AGV fork lift according to claim 2, wherein said first cover is disposed on a side of said yoke bracket adjacent to said yoke assembly; and the second cover plate is provided with an indicator lamp, a radar probe and a display.
8. An explosion proof fully automatic intelligent control AGV fork truck of accurate positioning according to claim 1, characterized in that said yoke assembly comprises: the two fork plates are fixed blocks connected with one ends of the fork plates; and the fixed block is provided with an anti-collision sensor.
9. An explosion-proof full-automatic intelligent control AGV fork truck of accurate positioning according to claim 1, characterized in that, the second drive arrangement is the motor, the output of motor through the shaft coupling with ball screw is connected.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911142696.0A CN110775886B (en) | 2019-11-20 | 2019-11-20 | Explosion-proof full-automatic intelligent control AGV fork truck of accurate positioning |
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| CN201911142696.0A CN110775886B (en) | 2019-11-20 | 2019-11-20 | Explosion-proof full-automatic intelligent control AGV fork truck of accurate positioning |
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| CN110775886B true CN110775886B (en) | 2021-03-26 |
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| CN112125227B (en) * | 2020-09-23 | 2022-04-15 | 中国兵器装备集团自动化研究所有限公司 | Double-fork AGV control system and control method |
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| US5367458A (en) * | 1993-08-10 | 1994-11-22 | Caterpillar Industrial Inc. | Apparatus and method for identifying scanned reflective anonymous targets |
| CN206735136U (en) * | 2017-03-31 | 2017-12-12 | 深圳怡丰机器人科技有限公司 | A kind of error dumping device of carrying fork truck pallet and its electronic warehousing system |
| CN108639185A (en) * | 2018-05-24 | 2018-10-12 | 汇专科技集团股份有限公司 | A kind of single driving steering wheel type omnidirectional AGV vehicles |
| CN208882767U (en) * | 2018-10-05 | 2019-05-21 | 佛山市鑫浩航自动化科技有限公司 | A kind of bathroom form wire mould vehicle AGV transfer car(buggy) |
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