CN105966818A - Embedded automated guided vehicle - Google Patents
Embedded automated guided vehicle Download PDFInfo
- Publication number
- CN105966818A CN105966818A CN201610525364.0A CN201610525364A CN105966818A CN 105966818 A CN105966818 A CN 105966818A CN 201610525364 A CN201610525364 A CN 201610525364A CN 105966818 A CN105966818 A CN 105966818A
- Authority
- CN
- China
- Prior art keywords
- chassis
- transportation vehicle
- wheel
- automatical pilot
- pilot transportation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
- B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/30—Modular constructions
Abstract
The invention relates to an embedded automated guided vehicle which comprises a movable chassis device, wherein a lifting mechanism is mounted at the middle of the movable chassis device; and a shell is mounted on the movable chassis device in a buckled manner; the lifting mechanism is exposed from a window formed in the middle of the shell; a top plate positioned right over the shell is mounted at the top of the lifting mechanism; the movable chassis device comprises a chassis; a lug boss is arranged at the middle of the chassis; driving mechanisms are respectively mounted on two sides of the middle of the chassis; the lifting mechanism is fixedly mounted on the lug boss; shock-absorbing universal wheels are mounted at four corners of the chassis; the lifting mechanism comprises a lead screw, and further comprises two four-link bars and a driver; the lead screw is fixedly mounted on the lug boss through bearing seats at the two ends and equipped with a nut; connecting blocks are fixedly connected with two sides of the nut; bottom bar bodies of the two four-link bars are fixedly connected with the two connecting blocks respectively; a lifting plate is fixedly mounted between top bar bodies of the two four-link bars; the driver is used for driving the lead screw; a code scanner is mounted at the front of the chassis; and a charging assembly is mounted at the rear of the chassis.
Description
Technical field
The present invention relates to a kind of shallow enter formula automatical pilot transportation vehicle.
Background technology
Along with the progress of technology, polytype industrial robot gradually instead of the specific manual operation of tradition, raw in industry
The lifting aspect producing efficiency plays the most important effect.In warehouse logistics field, traditional tally row's goods and picking dress
The operation such as goods is generally by being accomplished manually, i.e. workman shuttles back and forth between the shelf of storehouse, picks and places the kinds of goods on shelf.Can
To infer, there is many shortcomings in aforesaid way: is first that operating efficiency is low, for the circulation of lot cargo,
Manually-operated efficiency becomes bottleneck operation；Next to that labor intensity is big, in the picking and placeing of a large amount of kinds of goods, workman needs row
Walk larger distance；Furthermore, in order to workman's reserved passageway, need to leave enough channel spaces between shelf, this causes goods
Frame arrangement is loose, takes up room.
In order to solve above-mentioned problems, there is the transport vehicle robot that shelf select with transportation function and be developed and put into
Application.By building above-mentioned shelf induction system, reach following effect: picking workman only need to carry out kinds of goods in fixed position
Pick and place, and walk about without shuttling back and forth in warehouse.Shelf robot by shelf according to the sequentially-fed of picking to picking position, work
The position that after people's picking, current shelf are transported in situ or reassign by robot.
In prior art, above-mentioned shelf transport vehicle robot architecture is relatively complicated, generally includes the hydraulic pressure for providing lifting force
System, causes whole transport vehicle cost high, and the most complicated structure causes again maintenance maintenance cost.
Summary of the invention
The present invention solves technical problem present in known technology and provide that a kind of structure design is the compactest, cost is low, dimension
Repair maintenance cost low shallow enter formula automatical pilot transportation vehicle.
The present invention solves that technical problem is adopted the technical scheme that present in known technology: a kind of shallow enter formula homing guidance
Transport vehicle includes mobile chassis device, is provided with elevating mechanism at the middle part of mobile chassis device, on mobile chassis device also
Button sets and is provided with housing, and elevating mechanism is exposed by the window being opened in housing central section, is provided with at the top of elevating mechanism and is positioned at
Top board directly over housing；Mobile chassis device includes that middle part is provided with boss and is mounted on the end of drive mechanism in both sides, middle part
Dish, elevating mechanism is fixedly mounted on boss, is mounted on damping universal wheels at the corner on chassis；Elevating mechanism includes leading to
The bearing block crossing two ends is fixedly mounted on leading screw on boss, with screw, is all connected with contiguous block in the both sides of screw；
Also including point double leval jib being positioned at both sides, the body of rod bottom two double leval jib is fixing with two contiguous blocks respectively to be connected, at two
It is installed with lifter plate between the body of rod at double leval jib top, also includes the driving machine driving leading screw；Anterior installation on chassis
There are code reader, rear portion that charging assembly is installed；Chassis is provided with control circuit plate and accumulator.
Advantages of the present invention and good effect be: the invention provides the design of a kind of structure the compactest shallow enter formula homing guidance
Transport vehicle, compared with existing transport vehicle structure, by optimizing the structure of mobile chassis device in the technical program, for controlling
The structures such as circuit board, accumulator, code reader and charging assembly provide the space of installation, make whole transport vehicle possess more
Compact layout and higher structural strength, simultaneously by reducing the height on chassis, reduce the center of gravity of entirety, and order runs
More steady.Constituted by arranging elevating mechanism by parts such as leading screw, double leval jib, lifter plate, contiguous blocks and driving machine is set
Leading screw is driven, it is achieved that to top board elevating control easily, movement range is little, noise is low and energy consumption is low.By setting
Encloser body, has carried out packaging protection to internal structure.This most shallow enter formula automatical pilot transportation vehicle cost is low and maintenance maintenance becomes
This is low, is suitable for industrial application.
Preferably: chassis includes being positioned at top, H-shaped installing plate and being fixed in installing plate front and rear, U-shaped
The base plate of longitudinal section, the front and rear on chassis forms two storage tanks；Code reader be arranged on front floor edge,
Charging assembly is arranged at the trailing edge of heel slab.
Preferably: control circuit plate is positioned at the storage tank of front portion, accumulator is positioned at the storage tank at rear portion；The end at base plate
Air vent is all offered on wall.
Preferably: between the bottom of installing plate, the base plate of front and rear, form the accommodating groove of lateral direction penetrating, drive mechanism
Being made up of driving wheel, wheel carrier and movable motor, wheel carrier is fixedly mounted on the lower surface in the middle part of installing plate, and movable motor is positioned at
In accommodating groove.
Preferably: between the base plate of front and rear, be installed with bottom, accommodating groove is closed.
Preferably: the driving machine driving leading screw is the lifting motor using motor cabinet to be fixedly mounted on chassis, at the end of leading screw
Portion is provided with driven pulley, is provided with the drivewheel driving driven pulley to rotate on the motor shaft of lifting motor；Drivewheel and driven pulley
Belt is used to connect transmission.
Preferably: housing includes fore shell and back cover, being equipped with breach in both relative inside edges, window is by two breach pair
Connect formation；All offer access panel at the top of fore shell and back cover, access panel is equipped with buckle closure.
Preferably: damping universal wheels includes the pedestal that is fixedly mounted on chassis and vertical limiting plate, anterior following table is also included
Face is provided with universal wheel, middle part upper surface installs standoff wheel seat, and the end of wheel seat is articulated and connected with pedestal；On support
Offer screwed hole, in this screwed hole, be provided with the stop screw coordinated with limiting plate；The upper surface anterior at wheel seat is the most affixed
Having vertical center-pole, be provided with spring and pad on center-pole, the upper end of center-pole is positioned at the rod aperture being opened on chassis.
Preferably: on chassis, above code reader, be also equipped with photographic head.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of the present invention, removes top board；
Fig. 3 is the internal structure schematic diagram of the present invention, removes top board and housing；
Fig. 4 is the internal structure schematic diagram of the present invention, removes top board and housing；
Fig. 5 is the structural representation of mobile chassis device in the present invention；
Fig. 6 is the structural representation of mobile chassis device in the present invention, visual angle, bottom；
Fig. 7 is the structural representation of mobile chassis device in the present invention, visual angle, bottom, removes bottom；
Fig. 8 is the structural representation of damping universal wheels in Fig. 1.
In figure: 1, top board；2, housing；3, mobile chassis device；3-1, base plate；3-2, installing plate；3-3、
Boss；3-4, bottom；4, drive mechanism；4-1, driving wheel；4-2, wheel carrier；4-3, movable motor；
5, damping universal wheels；5-1, spring；5-2, center-pole；5-3, stop screw；5-4, limiting plate；5-5、
Pedestal；5-6, wheel seat；5-7, support；5-8, universal wheel；6, code reader；7, photographic head；8、
Elevating mechanism；8-1, double leval jib；8-2, lifter plate；8-3, leading screw；8-4, bearing block；8-5, connection
Block；9, access panel；10, charging assembly；11, lifting motor.
Detailed description of the invention
For the summary of the invention of the present invention, feature and effect can be further appreciated that, hereby lift following example and describe in detail as follows:
Refer to Fig. 1 and Fig. 2, the present invention shallow enter formula automatical pilot transportation vehicle include mobile chassis device 3, at the mobile end
The middle part of dish device 3 is provided with elevating mechanism 8, and on mobile chassis device 3, also button sets and is provided with housing 2, elevating mechanism
8 are exposed by the window being opened in the middle part of housing 2, are provided with the top board being positioned at directly over housing 2 at the top of elevating mechanism 8
1。
Work process: realize the control to movement by mobile chassis device 3, when this transport vehicle moves to the lower section of shelf,
By control elevating mechanism 8 drive top board 1 to rise certain altitude, top board 1 by shelf integral jacking certain altitude to depart from ground
Face, is moved integrally by mobile chassis device 3 afterwards, is put down by shelf to correct position.
Referring to Fig. 3 and Fig. 4, mobile chassis device 3 includes that middle part is provided with boss 3-3 and is mounted on driving in both sides, middle part
The chassis of motivation structure 4, elevating mechanism 8 is fixedly mounted on boss 3-3, is mounted on damping universal at the corner on chassis
Wheel 5.
Elevating mechanism 8 includes that the bearing block 8-4 by two ends is fixedly mounted on leading screw 8-3 on boss 3-3, with screw,
Contiguous block 8-5 all it is connected with in the both sides of screw.Also include point double leval jib 8-1 being positioned at both sides, bottom two double leval jib 8-1
The body of rod fixing with two contiguous block 8-5 be respectively connected, between the body of rod at two double leval jib 8-1 tops, be installed with liter
Fall plate 8-2, also includes the driving machine driving leading screw 8-3.
Referring to Fig. 5 to Fig. 7, the driving machine driving leading screw 8-3 is the lifting electricity using motor cabinet to be fixedly mounted on chassis
Machine 11, is provided with driven pulley in the end of leading screw 8-3, is provided with driving driven pulley and rotates on the motor shaft of lifting motor 11
Drivewheel；Drivewheel uses belt to be connected transmission with driven pulley.
Be provided with code reader 6 in the front portion on chassis, rear portion is provided with charging assembly 10；Chassis is provided with control circuit plate
And accumulator.Photographic head 7 it is also equipped with on chassis, above code reader 6.
In the present embodiment, chassis include being positioned at top, H-shaped installing plate 3-2 and be fixed in installing plate 3-2 anterior and
Rear portion, U-shaped longitudinal section base plate 3-1, the front and rear on chassis forms two storage tanks.Code reader 6 is arranged on
The edge of front floor 3-1, charging assembly 10 are arranged at the trailing edge of heel slab 3-1.Control circuit plate is positioned at front portion
Storage tank in, accumulator be positioned at the storage tank at rear portion；The diapire of base plate all offers air vent.
In the present embodiment, the bottom of installing plate 3-2, front and rear base plate 3-1 between form the storage of lateral direction penetrating
Groove, drive mechanism 4 is made up of driving wheel 4-1, wheel carrier 4-2 and movable motor 4-3, and wheel carrier 4-2 is fixedly mounted on installing plate
On lower surface in the middle part of 3-2, movable motor 4-3 is positioned at accommodating groove.Further, at the base plate 3-1 of front and rear
Between be installed with bottom 3-4, by accommodating groove close.
Housing 2 includes fore shell and back cover, is equipped with breach in both relative inside edges, and window is formed by two breach docking；
All offer access panel 9 at the top of fore shell and back cover, access panel 9 is equipped with buckle closure.
Referring to Fig. 8, damping universal wheels 5 includes the pedestal 5-5 that is fixedly mounted on chassis and vertical limiting plate 5-4, also
Be provided with universal wheel 5-8 including front lower surface, middle part upper surface is provided with the wheel seat 5-6 of support 5-7, the end of wheel seat 5-6
Portion is articulated and connected with pedestal 5-5.Support 5-7 offers screwed hole, is provided with in this screwed hole and joins with limiting plate 5-4
The stop screw 5-3 closed；The upper surface anterior at wheel seat 5-6 is also connected with vertical center-pole 5-2, on center-pole 5-2
Being provided with spring 5-1 and pad, the upper end of center-pole 5-2 is positioned at the rod aperture being opened on chassis, is i.e. positioned at and is opened in installation
In rod aperture on plate 3-2.
Assembling mode: first processing prepares chassis, and the both sides in the middle part of the installing plate 3-2 on chassis are fixedly mounted by multiple bolts
Two drive mechanisms 4 being made up of driving wheel 4-1, wheel carrier 4-2 and movable motor 4-3, fixedly mount bottom 3-4 in bottom；
Corner location at installing plate 3-2 fixedly mounts four damping universal wheels 5 by multiple bolts；Before front floor 3-1
Fixedly mounting code reader 6 and photographic head 7 at edge, fixed installation charging assembly 10 at the trailing edge of heel slab 3-1, the end of at
Lifting motor 11 is installed on dish and uses belt to be attached with the driven pulley on leading screw 8-3 by drivewheel；At former and later two
Be respectively mounted control circuit plate and accumulator in storage tank, by each electric elements with；The boss 3-3 on chassis installs and rises
Descending mechanism 8；Fore shell is installed afterwards and back cover constitutes housing 2 (reserved code reader 6, photographic head 7, charging on fore shell and back cover
The window of assembly 10)；Top board 1 is fixedly mounted afterwards on the lifter plate 8-2 of elevating mechanism 8.
Claims (9)
1. shallow enter a formula automatical pilot transportation vehicle, it is characterized in that: include mobile chassis device (3), mobile chassis fill
The middle part putting (3) is provided with elevating mechanism (8), and on mobile chassis device (3), also button sets and is provided with housing (2),
Elevating mechanism (8) is exposed by the window being opened in housing (2) middle part, is provided with at the top of elevating mechanism (8) and is positioned at
Top board (1) directly over housing (2)；
Mobile chassis device (3) includes that middle part is provided with boss (3-3) and is mounted on drive mechanism (4) in both sides, middle part
Chassis, elevating mechanism (8) is fixedly mounted on boss (3-3), is mounted on damping universal at the corner on chassis
Wheel (5)；
It is on boss (3-3), with silk that elevating mechanism (8) includes that the bearing block (8-4) by two ends is fixedly mounted on
Female leading screw (8-3), is all connected with contiguous block (8-5) in the both sides of screw；Also include point double leval jib being positioned at both sides (8-1),
The body of rod of two double leval jib (8-1) bottoms is fixing with two contiguous blocks (8-5) respectively to be connected, two double leval jib (8-1)
It is installed with lifter plate (8-2) between the body of rod at top, also includes the driving machine driving leading screw (8-3)；
Be provided with code reader (6) in the front portion on chassis, rear portion is provided with charging assembly (10)；Chassis is provided with control
Circuit board processed and accumulator.
The most shallow enter formula automatical pilot transportation vehicle, it is characterized in that: chassis include being positioned at top,
The installing plate (3-2) of H-shaped and be fixed in installing plate (3-2) front and rear, U-shaped longitudinal section base plate (3-1),
Front and rear on chassis forms two storage tanks；Code reader (6) be arranged on front floor (3-1) edge,
Charging assembly (10) is arranged at the trailing edge of heel slab (3-1).
The most shallow enter formula automatical pilot transportation vehicle, it is characterized in that: control circuit plate be positioned at front portion
In storage tank, accumulator be positioned at the storage tank at rear portion；The diapire of base plate (3-1) all offers air vent.
The most shallow enter formula automatical pilot transportation vehicle, it is characterized in that: in the bottom of installing plate (3-2),
Form the accommodating groove of lateral direction penetrating between the base plate (3-1) of front and rear, drive mechanism (4) by driving wheel (4-1),
Wheel carrier (4-2) and movable motor (4-3) are constituted, and wheel carrier (4-2) is fixedly mounted on the following table at installing plate (3-2) middle part
On face, movable motor (4-3) is positioned at accommodating groove.
The most shallow enter formula automatical pilot transportation vehicle, it is characterized in that: at the base plate of front and rear
(3-1) it is installed with bottom (3-4) between, accommodating groove is closed.
6. as described in any one of claim 1 to 5 shallow enter formula automatical pilot transportation vehicle, it is characterized in that: drive leading screw (8-3)
Driving machine be to use the lifting motor (11) that is fixedly mounted on chassis of motor cabinet, be provided with in the end of leading screw (8-3)
Driven pulley, is provided with the drivewheel driving driven pulley to rotate on the motor shaft of lifting motor (11)；Drivewheel is with driven
Wheel uses belt to connect transmission.
7. as described in any one of claim 1 to 5 shallow enter formula automatical pilot transportation vehicle, it is characterized in that: housing (2) wrap
Including fore shell and back cover, be equipped with breach in both relative inside edges, window is formed by two breach docking；At fore shell and
The top of back cover all offers access panel (9), is equipped with buckle closure on access panel (9).
8. as described in any one of claim 1 to 5 shallow enter formula automatical pilot transportation vehicle, it is characterized in that: damping universal wheels
(5) include the pedestal (5-5) that is fixedly mounted on chassis and vertical limiting plate (5-4), also include front lower surface
Be provided with universal wheel (5-8), middle part upper surface is provided with the wheel seat (5-6) of support (5-7), the end of wheel seat (5-6)
Portion is articulated and connected with pedestal (5-5)；Support (5-7) offers screwed hole, is provided with and limiting plate in this screwed hole
(5-4) stop screw (5-3) coordinated；The upper surface anterior at wheel seat (5-6) is also connected with vertical center-pole (5-2),
Being provided with spring (5-1) and pad on center-pole (5-2), the upper end of center-pole (5-2) is positioned at and is opened on chassis
In rod aperture.
9. as described in any one of claim 1 to 5 shallow enter formula automatical pilot transportation vehicle, it is characterized in that: on chassis,
The top of code reader (6) is also equipped with photographic head (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610525364.0A CN105966818B (en) | 2016-07-06 | 2016-07-06 | It is a kind of it is shallow enter formula automatical pilot transportation vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610525364.0A CN105966818B (en) | 2016-07-06 | 2016-07-06 | It is a kind of it is shallow enter formula automatical pilot transportation vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105966818A true CN105966818A (en) | 2016-09-28 |
| CN105966818B CN105966818B (en) | 2017-12-22 |
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ID=56954050
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610525364.0A Active CN105966818B (en) | 2016-07-06 | 2016-07-06 | It is a kind of it is shallow enter formula automatical pilot transportation vehicle |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107054964A (en) * | 2017-06-25 | 2017-08-18 | 天津市山石机器人有限责任公司 | Underbody seat jacking apparatus is carried in a kind of submersible homing guidance |
| CN109018047A (en) * | 2018-07-24 | 2018-12-18 | 安徽信息工程学院 | Hoisting machine people chassis |
| CN109129416A (en) * | 2018-07-24 | 2019-01-04 | 安徽信息工程学院 | robot chassis |
| CN109318203A (en) * | 2018-10-09 | 2019-02-12 | 张彦頔 | Robot chassis movable linearly |
| CN109515555A (en) * | 2018-12-27 | 2019-03-26 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of drum-type automated guided vehicle |
| CN114771690A (en) * | 2022-04-12 | 2022-07-22 | 恒达富士电梯有限公司 | Material transfer trolley for elevator cooperative flexible production line |
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| CN202518714U (en) * | 2012-04-15 | 2012-11-07 | 昆明新高原电子信息有限公司 | Automatic handling trolley for carrying goods |
| WO2014159770A1 (en) * | 2013-03-14 | 2014-10-02 | Illinois Tool Works Inc. | Storage carts |
| CN105314343A (en) * | 2014-07-10 | 2016-02-10 | (株)新盛Fa | Conveyor trolley for storage device |
| CN205891859U (en) * | 2016-07-06 | 2017-01-18 | 天津市山石机器人有限责任公司 | Shallow income formula automated guided transporting vehicle |
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| DE20307005U1 (en) * | 2002-05-30 | 2003-08-21 | Manitec Consulting Ag Horw | Powered pallet trolley for automated warehouse has a lever-operated gear also linked to the motor and lifting platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107054964A (en) * | 2017-06-25 | 2017-08-18 | 天津市山石机器人有限责任公司 | Underbody seat jacking apparatus is carried in a kind of submersible homing guidance |
| CN109018047A (en) * | 2018-07-24 | 2018-12-18 | 安徽信息工程学院 | Hoisting machine people chassis |
| CN109129416A (en) * | 2018-07-24 | 2019-01-04 | 安徽信息工程学院 | robot chassis |
| CN109318203A (en) * | 2018-10-09 | 2019-02-12 | 张彦頔 | Robot chassis movable linearly |
| CN109515555A (en) * | 2018-12-27 | 2019-03-26 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of drum-type automated guided vehicle |
| CN114771690A (en) * | 2022-04-12 | 2022-07-22 | 恒达富士电梯有限公司 | Material transfer trolley for elevator cooperative flexible production line |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105966818B (en) | 2017-12-22 |
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