CN216737453U - Double-portal balance weight type AGV - Google Patents

Abstract

The utility model relates to a double-portal balance weight formula AGV, it can include the automobile body and arrange respectively first portal and second portal on the front and back side of automobile body, first portal with the second portal is equipped with corresponding sensor respectively, the sensor is used for detecting first portal with whether the second portal has the goods. The utility model discloses a balance weight formula AGV fork truck can be guaranteed to the double portal at the brake performance of the in-process of traveling, stability when having improved the fork truck stack has also improved fork truck's stack efficiency simultaneously.

Description

Double-portal balance weight type AGV

Technical Field

The utility model relates to a AGV field specifically relates to a two portal balance weight formula AGV.

Background

Currently, industrial vehicles have an increasing number of Automatic Guided Vehicles (AGVs). Most AGV all develops based on original hand fork truck at present, and hand fork truck is because need the manual work to operate, so need have operating personnel's position and handle. When present single portal balance weight formula AGV car fork goods, because the unable counter weight that increases of drive side, drive wheel axle load can sharply reduce, leads to the brake distance increase, has the potential safety hazard.

Disclosure of Invention

The utility model aims at providing a two portal balance weight formula AGV to solve above-mentioned problem. Therefore, the utility model discloses a specific technical scheme as follows:

the utility model provides a double-gantry counter-weight AGV, it can include the automobile body and arrange respectively first portal and second portal on the front and back side of automobile body, first portal with the second portal is equipped with corresponding sensor respectively, the sensor is used for detecting first portal with whether the second portal has the goods.

Further, the sensor is a pressure sensor.

Further, first portal with the second portal structure is the same, all includes portal shaped steel, fork mounting bracket and fork, the fork is fixed on the fork mounting bracket, install fork mounting bracket liftable on the portal shaped steel and install the goods detection device that targets in place, whether the goods targets in place when the goods detection device that targets in place is used for detecting fork goods.

Furthermore, the goods in-place detection device comprises a pressure plate, a return spring, an induction sheet and an in-place sensor, wherein the upper end of the pressure plate is rotatably arranged on the fork installation frame, and the lower end of the pressure plate is suspended; the sensing piece is fixed on the pressing plate, and the in-place sensor is arranged on the fork mounting frame and is used for being matched with the sensing piece to detect whether goods are in place; the reset spring is installed between the pressing plate and the fork mounting frame.

Further, the platen is offset from the fork mount by an angle of between 10-20 degrees in the initial position.

Further, the fork mounting frame comprises a left side plate, a right side plate, an upper transverse plate and a lower transverse plate, the upper end of the pressing plate is mounted on the upper transverse plate, the lower end of the pressing plate spans across the lower transverse plate and extends to the plane of the fork, the upper end of the return spring is fixed on the back face close to the upper end of the pressing plate, the lower end of the return spring is fixed on the back face of the lower transverse plate, the in-place sensor is mounted on the left side plate or the right side plate, and the sensing piece is fixed on the back face of the pressing plate through an L-shaped support.

Further, the in-place sensor is a Hall proximity switch, and the sensing piece is a steel piece.

Further, the return spring comprises two tension springs arranged side by side.

Further, the pressure plate is centrally located between the forks.

Further, the pressing plate is made of a steel plate.

Further, the vehicle body is provided with a driving wheel in the middle and a driven wheel at the installation position of the first portal frame and the second portal frame.

The utility model adopts the above technical scheme, the beneficial effect who has is:

1. because the goods of the portal on the other side are used as the counter weight, the counter weight on the side of the vehicle body can be removed to reduce the wheel base of the vehicle body;

2. the goods on the two sides are mutually used as counter weights, so that the axle load of the driving wheel can be increased, and the braking distance is reduced;

3. when two gantries all had the goods, can promote the goods of the heavier side gantry of goods to higher height, promote the goods of the less side gantry of goods weight to lower height again, increase stack efficiency.

Drawings

To further illustrate the embodiments, the present invention provides the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. With these references, one of ordinary skill in the art will appreciate other possible embodiments and advantages of the present invention. Elements in the figures are not drawn to scale and like reference numerals are generally used to indicate like elements.

FIG. 1 is a perspective view of a dual gantry counterweight AGV of the present invention;

fig. 2 is a perspective view of a mounting structure of a load-in-position detecting device of the double-gantry counterweight AGV shown in fig. 1.

Detailed Description

It is to be noted that the experimental methods described in the following embodiments are all conventional methods unless otherwise specified, and the reagents and materials, if not otherwise specified, are commercially available; in the description of the present application, the terms "lateral," "longitudinal," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present application, it should also be noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and can include, for example, fixed connections, detachable connections, or integral connections; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

The present invention will now be further described with reference to the accompanying drawings and detailed description.

As shown in fig. 1 and 2, a double-gantry counterbalanced AGV may include a vehicle body 1 and first and second gantries 2 and 3 disposed on front and rear sides of the vehicle body 1, respectively. Wherein, the vehicle body 1 is provided with a central control unit, a walking steering system, a gantry hydraulic system, a navigation system and the like. The walking steering system comprises a driving wheel 51 mounted in the middle of the vehicle body 1 and a driven wheel 52 mounted at the mounting of the first and second door frames 2, 3 of the vehicle body. The navigation system includes a radar 6 mounted on the roof of the vehicle body 1. The first portal 2 and the second portal 3 are respectively provided with a corresponding pressure sensor (not shown) for detecting whether the first portal 2 and the second portal 3 have goods. It should be understood that the pressure sensor may be replaced by various types of weight-sensing sensors commonly used in forklifts.

The first portal 2 and said second portal 3 are structurally identical. The first gantry 2 will be described as an example. The first mast 2 may include a mast section steel 21, a fork mount 22, and a fork 23, wherein the fork 23 is secured (e.g., by welding or bolting) to the fork mount 22. The fork mount 22 is liftably mounted (e.g., by a chain) on the mast section steel 21. Thus, the forks 23 can be raised and lowered. The fork mounting frame 22 is provided with a cargo in-place detection device 4, and the cargo in-place detection device 4 is used for detecting whether the cargo is in place or not when the fork is in place. Specifically, as shown in fig. 2, the cargo-in-position detecting device 4 includes a pressure plate 41, a return spring 42, a sensing piece 43, and a position sensor 44. The pressure plate 41 is a generally rectangular steel plate with an upper end rotatably mounted on the fork mount 22 and a lower end suspended. In this embodiment, the lower end of the pressing plate 41 is fixed to the pressing plate 41 toward the sensing piece 43, and the positioning sensor 44 is fixed to the fork mounting frame 22 for detecting whether the goods are positioned in cooperation with the sensing piece 43. The return spring 42 is installed between the pressing plate 41 and the fork mount 22. When the fork 23 forks, the goods is pressed on the pressure plate 41, the sensing piece 43 is driven to approach the in-position sensor 44, and the return spring 42 is compressed or stretched, when the in-position sensor 44 has a signal, the goods is in position, otherwise, the goods are not in position. When the goods leave the pressing plate 41, the pressing plate 41 and the sensing piece 43 return to the initial position under the action of the return spring 42. In the initial position, the pressure plate 41 is offset from the fork mount 22 by an angle of between 10-20 degrees.

With continued reference to fig. 2, the fork mount 22 may include a left side panel 221, a right side panel 222, an upper cross panel 223, and a lower cross panel 224. The left side plate 221 and the right side plate 222 are installed in the gantry section steel 21 in a liftable manner, the back surfaces of the upper cross plate 223 and the lower cross plate 224 are fixed (for example, by welding) to the left side plate 221 and the right side plate 222, and the forks 23 are fixedly installed on the upper cross plate 223 and the lower cross plate 224. The upper end of the pressure plate 41 may be mounted on the upper cross plate 223 by pins and sleeves and the lower end extends across the lower cross plate 224 to the plane of the forks 23, which ensures that the pressure plate 41 is acted upon regardless of the height of the load. The hold down plate 41 is generally located at a position intermediate the two forks 23 to ensure uniform contact of the load onto the hold down plate 41. The upper end of the return spring 42 is fixed (e.g., by an upper bracket 421 (U-shaped channel)) on the back surface near the upper end of the pressure plate 41, and the lower end is fixed (e.g., by a U-shaped lower bracket 422) on the back surface of the lower cross plate 224. That is, the upper bracket 421 and the lower bracket 422 are fixed on the pressing plate 41 and the lower cross plate 224, respectively, and two upper bolts and two lower bolts are respectively provided on the upper bracket 421 and the lower bracket 422, and two ends of the return spring are fixed on the upper bolts and the lower bolts, respectively. In this case, the return spring 42 is a tension spring; when the pressing plate 41 is pressed by the load, the return spring 42 is stretched. In the illustrated embodiment, the return spring 42 includes two side-by-side, which may improve service life. The in-position sensor 44 is mounted (e.g., via bracket 441) on the right side plate 222. The sensing piece 43 is fixed on the back surface of the pressing plate 41 by an L-shaped bracket 431, and its initial position is away from the position sensor 44. The position sensor 44 may be a proximity switch, such as a hall-type proximity switch, and accordingly the sensing plate 43 is a steel plate. Of course, the position sensor 44 and the sensing strip 43 may be of a construction known in the art.

The following describes the usage of the present invention: supposing that two goods need to be picked to a goods shelf, wherein the weight of one goods is 1600kg, and the lifting height is 4 m; the other cargo weight is 1000kg and the lifting height is 2 m. When the AGV forks the goods, the heavy goods are forked through the first portal 2, and at the moment, the pressure sensor on the first portal 2 sends a signal to the central control unit of the AGV to confirm that the fork on the first portal 2 forks the goods. The central control unit of the AGV controls the forklift to fork another piece of goods through the second portal 3 after rotating, and at the moment, the pressure sensor on the second portal 3 sends a signal to the central control unit of the AGV to confirm that the fork frame of the second portal 3 forks the goods. Because two gantries all have the goods, consequently compare in single portal balance weight car, the drive wheel axle load does not have the precipitous decline, can not influence the drive wheel braking of the in-process of traveling. After entering the goods shelf, the first door frame 2 is lifted to 4m, and the goods are placed in the high goods position. At this moment, the second portal frame 3 is not lifted, and the goods of the second portal frame 3 can be used as a balance weight to ensure the stability of the vehicle during stacking of heavy and high goods. After the goods on the first portal 2 are placed in the goods position, the pressure sensor on the first portal 2 sends a signal to a central control unit of the AGV to confirm that the goods on the first portal 2 are placed completely. AGV's well accuse unit control fork truck is rotatory, carries out the goods stack on the second portal 3, because the goods weight is lighter on the second portal 3, and the stack height is lower, consequently need not the counter weight and guarantees stability.

Compare in single portal frame AGV, this double portal frame counter balance formula AGV has following advantage:

1. because the goods of the portal on the other side are used as the counter weight, the counter weight on the side of the vehicle body can be removed to reduce the wheel base of the vehicle body;

2. the goods on the two sides are mutually used as counter weights, so that the axle load of the driving wheel can be increased, and the braking distance is reduced;

3. when the two door frames are provided with cargos, the cargos of the door frame on the heavy side can be lifted to a higher height, and the cargos of the door frame on the small side are lifted to a lower height, so that the stacking efficiency is increased.

While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. The utility model provides a double-gantry counterweight type AGV which characterized in that includes the automobile body and arranges respectively first portal and second portal on the front and back side of automobile body, first portal with the second portal is equipped with corresponding sensor respectively, the sensor is used for detecting first portal with whether the second portal has the goods.

2. The dual gantry counterweight AGV of claim 1 wherein said sensor is a pressure sensor.

3. The AGV of claim 1, wherein the first portal and the second portal are identical in structure and each comprise a portal section steel, a fork mounting rack and a fork, the fork is fixed on the fork mounting rack, the fork mounting rack is liftably mounted on the portal section steel and is provided with a goods in-position detection device, and the goods in-position detection device is used for detecting whether goods are in place when the fork is used for goods fork.

4. A dual gantry counterbalanced AGV as recited in claim 3, wherein said load in-position detection device comprises a pressure plate, a return spring, a sensing tab and an in-position sensor, said pressure plate being rotatably mounted at an upper end to said fork mount and suspended at a lower end; the sensing piece is fixed on the pressing plate, and the in-place sensor is arranged on the fork mounting frame and is used for being matched with the sensing piece to detect whether goods are in place; the reset spring is installed between the pressing plate and the fork mounting frame.

5. The double gantry counterbalanced AGV of claim 4, wherein said platen is offset from said fork mount at an angle between 10-20 degrees in an initial position.

6. The double bay counterbalanced AGV as in claim 4, wherein said fork mounting bracket includes a left side plate, a right side plate, an upper cross plate and a lower cross plate, said pressure plate having an upper end mounted on said upper cross plate and a lower end extending across said lower cross plate to the plane of said fork, said return spring having an upper end secured to the back adjacent to said upper end of said pressure plate and a lower end secured to the back of said lower cross plate, said position sensor mounted on said left side plate or said right side plate, said sensing tab secured to the back of said pressure plate by an L-shaped bracket.

7. The dual gantry counterbalanced AGV of claim 6, wherein said in-position sensor is a hall type proximity switch and said sensing plate is a steel plate.

8. A double gantry counterweight AGV according to claim 6 wherein said return spring includes two side-by-side tension springs.

9. A double gantry counterbalanced AGV as in any of claims 4-8, wherein said platen is centered between said forks.

10. A double gantry counterbalanced AGV as recited in claim 1, wherein said vehicle body has a drive wheel mounted in the middle and a driven wheel mounted at the mounting of said first and second gantries.

Images