CN105966818B - It is a kind of it is shallow enter formula automatical pilot transportation vehicle - Google Patents
It is a kind of it is shallow enter formula automatical pilot transportation vehicle Download PDFInfo
- Publication number
- CN105966818B CN105966818B CN201610525364.0A CN201610525364A CN105966818B CN 105966818 B CN105966818 B CN 105966818B CN 201610525364 A CN201610525364 A CN 201610525364A CN 105966818 B CN105966818 B CN 105966818B
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- Prior art keywords
- chassis
- elevating mechanism
- transportation vehicle
- enter formula
- automatical pilot
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Classifications
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The present invention relates to it is a kind of it is shallow enter formula automatical pilot transportation vehicle.Including mobile chassis device, elevating mechanism is installed in the middle, also button is set and is provided with housing on mobile chassis device, and elevating mechanism is exposed by the window for being opened in housing central section, the top plate being provided with the top of elevating mechanism directly over housing；Mobile chassis device includes middle part and is provided with boss and is mounted on the chassis of drive mechanism on both sides of the middle, and elevating mechanism is fixedly mounted on boss, and damping universal wheels are mounted at the corner on chassis；Elevating mechanism includes being fixedly mounted on leading screw on boss, with screw by the bearing block at both ends, and contiguous block is connected with the both sides of screw；Also include point double leval jib for being located at both sides, the body of rod of two double leval jib bottoms is fixedly connected with two contiguous blocks respectively, and lifter plate is installed between the body of rod at the top of two double leval jibs, includes the driving machine of driving leading screw；Code reader is installed in the front portion on chassis, rear portion is provided with charging assembly.
Description
Technical field
The present invention relates to it is a kind of it is shallow enter formula automatical pilot transportation vehicle.
Background technology
With advances in technology, polytype industrial robot gradually instead of the specific manual operation of tradition, in work
More and more important effect is play in terms of the lifting of industry production efficiency.In warehouse logisticses field, traditional tally is arranged goods and taken
Generally by being accomplished manually, i.e., worker is shuttled between the shelf of storehouse, and the kinds of goods on shelf are picked and placeed for the operations such as goods loading.
It will be appreciated that there is the shortcomings that many in aforesaid way：It is that operating efficiency is low first, for the circulation of lot cargo,
Manually-operated efficiency becomes bottleneck process；Next to that labor intensity is big, in the picking and placeing of a large amount of kinds of goods, worker needs to walk
Larger distance；Furthermore in order to give worker's reserved passageway, need to leave enough channel spaces between shelf, this causes shelf to be arranged
Arrange loose, space-consuming.
In order to solve above-mentioned problems, there are shelf to select and be developed simultaneously with the transport vehicle robot of transportation function
Input application.By building above-mentioned shelf induction system, reach following effect：Picking worker only need to carry out kinds of goods in fixed position
Pick and place, walked about without being shuttled in warehouse.Shelf robot is by shelf according to the sequentially-fed of picking to picking position, work
The position that current shelf are transported to original position or reassigned by robot after people's picking.
In the prior art, above-mentioned shelf transport vehicle robot architecture is relatively complicated, generally includes for providing lifting force
Hydraulic system, cause whole transport vehicle cost high, while complicated structure causes maintenance maintenance cost again.
The content of the invention
The present invention provides a kind of structure design simple and compact, cost to solve technical problem present in known technology
Low, maintenance maintenance cost it is low it is shallow enter formula automatical pilot transportation vehicle.
The present invention is adopted the technical scheme that to solve technical problem present in known technology：It is a kind of it is shallow enter formula it is automatic
Guide transport lorry includes mobile chassis device, elevating mechanism is provided with the middle part of mobile chassis device, in mobile chassis device
On also button set housing be installed, elevating mechanism is exposed by the window for being opened in housing central section, is provided with the top of elevating mechanism
Top plate directly over housing；Mobile chassis device includes middle part and is provided with boss and is mounted on drive mechanism on both sides of the middle
Chassis, elevating mechanism is fixedly mounted on boss, and damping universal wheels are mounted at the corner on chassis；Elevating mechanism includes
Leading screw on boss, with screw is fixedly mounted on by the bearing block at both ends, contiguous block is connected with the both sides of screw；
Also include point double leval jib for being located at both sides, the body of rod of two double leval jib bottoms is fixedly connected with two contiguous blocks respectively, at two
Lifter plate is installed between the body of rod at the top of double leval jib, includes the driving machine of driving leading screw；Front portion installation on chassis
There are code reader, rear portion that charging assembly is installed；Control board and battery are installed on chassis.
The advantages and positive effects of the present invention are：The invention provides a kind of structure design simple and compact it is shallow enter formula it is automatic
Guide transport lorry, compared with existing transport bassinet structure, by optimizing the structure of mobile chassis device in the technical program, for control
The structures such as circuit board, battery, code reader and charging assembly processed provide the space of installation, make whole transport vehicle possess more
Compact layout and higher structural strength, while by reducing the height on chassis, overall center of gravity is reduced, order operation is more
Add steady.By setting elevating mechanism to be made up of parts such as leading screw, double leval jib, lifter plate, contiguous blocks and setting driving machine to silk
Thick stick is driven, and is realized to top plate easily elevating control, movement range is small, noise is low and energy consumption is low.By setting housing,
Packaging protection has been carried out to the structure of inside.This it is shallow enter formula automatical pilot transportation vehicle low cost and maintenance maintenance cost it is low, fit
Close industrial application.
Preferably：Chassis includes positioned at top, H-shaped installing plate and is fixed in installing plate front and rear, U-shaped
The bottom plate of longitudinal section, the front and rear on chassis form two storage tanks；Code reader is arranged on the edge of front floor, filled
Electric assembly is arranged at the trailing edge of heel slab.
Preferably：Control board is in anterior storage tank, battery is located in the storage tank at rear portion；In bottom plate
Air vent is offered on bottom wall.
Preferably：The bottom of installing plate, front and rear bottom plate between formed lateral direction penetrating accommodating groove, driving machine
Structure is made up of driving wheel, wheel carrier and movable motor, and wheel carrier is fixedly mounted on the lower surface in the middle part of installing plate, and movable motor is located at
In accommodating groove.
Preferably：Bottom is installed between the bottom plate of front and rear, accommodating groove is closed.
Preferably：The driving machine of driving leading screw is the lifting motor being fixedly mounted on using motor cabinet on chassis, in leading screw
End be provided with driven pulley, be provided with the motor shaft of lifting motor driving driven pulley rotate driving wheel；Driving wheel with from
Driving wheel is using belt connection transmission.
Preferably：Housing includes fore shell and rear shell, is all provided with both relative inside edges jagged, and window is by two breach
Docking is formed；Access panel is offered at the top of fore shell and rear shell, buckle closure is equipped with access panel.
Preferably：Damping universal wheels include pedestal and the vertical limiting plate being fixedly mounted on chassis, in addition to anterior
Lower surface is provided with universal wheel, standoff wheel seat is installed in middle part upper surface, and end and the pedestal of wheel seat are articulated and connected；In support
On offer screwed hole, in the screwed hole be provided with limiting plate coordinate stop screw；It is also solid in the anterior upper surface of wheel seat
Vertical center-pole is connected to, spring and pad are provided with center-pole, the upper end of center-pole is located at the rod aperture being opened on chassis
It is interior.
Preferably：On chassis, camera is also equipped with above code reader.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of the present invention, removes top plate；
Fig. 3 is the internal structure schematic diagram of the present invention, removes top plate and housing；
Fig. 4 is the internal structure schematic diagram of the present invention, removes top plate 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, bottom visual angle；
Fig. 7 is the structural representation of mobile chassis device in the present invention, bottom visual angle, removes bottom；
Fig. 8 is the structural representation of damping universal wheels in Fig. 1.
In figure：1st, top plate；2nd, housing；3rd, mobile chassis device；3-1, bottom plate；3-2, installing plate；3-3, boss；3-4, bottom
Lid；4th, drive mechanism；4-1, driving wheel；4-2, wheel carrier；4-3, movable motor；5th, damping universal wheels；5-1, spring；5-2, center
Bar；5-3, stop screw；5-4, limiting plate；5-5, pedestal；5-6, wheel seat；5-7, support；5-8, universal wheel；6th, code reader；7、
Camera；8th, elevating mechanism；8-1, double leval jib；8-2, lifter plate；8-3, leading screw；8-4, bearing block；8-5, contiguous block；9th, overhaul
Window；10th, charge assembly；11st, lifting motor.
Embodiment
In order to further understand the content, features and effects of the present invention, it is as follows hereby to lift following examples detailed description：
Refer to Fig. 1 and Fig. 2, it is of the invention it is shallow enter formula automatical pilot transportation vehicle include mobile chassis device 3, at mobile bottom
The middle part of disk device 3 is provided with elevating mechanism 8, and also button sets and is provided with housing 2 on mobile chassis device 3, and elevating mechanism 8 is by opening
The window for being located at the middle part of housing 2 exposes, the top plate 1 being provided with the top of elevating mechanism 8 directly over housing 2.
The course of work：Realized by mobile chassis device 3 to mobile control, when this transport vehicle is moved to the lower section of shelf
When, by controlling elevating mechanism 8 to drive top plate 1 to rise certain altitude, top plate 1 is by shelf integral jacking certain altitude to depart from ground
Face, moved integrally afterwards by mobile chassis device 3, to correct position after shelf are put down.
Fig. 3 and Fig. 4 are referred to, mobile chassis device 3 includes middle part and is provided with boss 3-3 and is mounted on driving on both sides of the middle
The chassis of motivation structure 4, elevating mechanism 8 are fixedly mounted on boss 3-3, and damping universal wheels 5 are mounted at the corner on chassis.
Elevating mechanism 8 includes being fixedly mounted on leading screw on boss 3-3, with screw by the bearing block 8-4 at both ends
8-3, contiguous block 8-5 is connected with the both sides of screw.Also include point double leval jib 8-1 for being located at both sides, two double leval jib 8-1 bottoms
The body of rod in portion is fixedly connected with two contiguous block 8-5 respectively, and liter is installed between the body of rod at the top of two double leval jib 8-1
Plate 8-2 is dropped, includes driving leading screw 8-3 driving machine.
Fig. 5 to Fig. 7 is referred to, driving leading screw 8-3 driving machine is the lifting being fixedly mounted on using motor cabinet on chassis
Motor 11, driven pulley is provided with leading screw 8-3 end, is provided with what driving driven pulley rotated on the motor shaft of lifting motor 11
Driving wheel；Driving wheel is connected transmission with driven pulley using belt.
Code reader 6 is installed in the front portion on chassis, rear portion is provided with charging assembly 10；Control circuit is installed on chassis
Plate and battery.On chassis, the top of code reader 6 be also equipped with camera 7.
In the present embodiment, chassis include positioned at top, H-shaped installing plate 3-2 and be fixed in installing plate 3-2 it is anterior and
Rear portion, U-shaped longitudinal section bottom plate 3-1, the front and rear on chassis form two storage tanks.Code reader 6 is arranged on front portion
Bottom plate 3-1 edge, charging assembly 10 is arranged at heel slab 3-1 trailing edge.Control board houses positioned at anterior
Groove is interior, battery is located in the storage tank at rear portion；Air vent is offered on the bottom wall of bottom plate.
In the present embodiment, installing plate 3-2 bottom, front and rear bottom plate 3-1 between formed lateral direction penetrating receipts
Receive 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 3-2
On the lower surface at middle part, movable motor 4-3 is located in accommodating groove.Further, it is fixed between the bottom plate 3-1 of front and rear
Bottom 3-4 is installed, accommodating groove is closed.
Housing 2 includes fore shell and rear shell, be all provided with both relative inside edges it is jagged, window by two breach dock shape
Into；Access panel 9 is offered at the top of fore shell and rear shell, buckle closure is equipped with access panel 9.
Fig. 8 is referred to, damping universal wheels 5 include pedestal 5-5 and the vertical limiting plate 5-4 being fixedly mounted on chassis,
Also include that front lower surface is provided with universal wheel 5-8, middle part upper surface is provided with support 5-7 wheel seat 5-6, wheel seat 5-6 end
Portion is articulated and connected with pedestal 5-5.Screwed hole is offered on support 5-7, is provided with what is coordinated with limiting plate 5-4 in the screwed hole
Stop screw 5-3；Vertical center-pole 5-2 is also connected with the anterior upper surfaces of wheel seat 5-6, bullet is provided with center-pole 5-2
Spring 5-1 and pad, center-pole 5-2 upper end are located at and are opened on installing plate 3-2 positioned at being opened in the rod aperture on chassis
In rod aperture.
Assembling mode：First process and chassis is made, the both sides in the middle part of the installing plate 3-2 on chassis are fixed by multiple bolts pacifies
Two drive mechanisms 4 being made up of driving wheel 4-1, wheel carrier 4-2 and movable motor 4-3 are filled, bottom 3-4 is fixedly mounted in bottom；
Four damping universal wheels 5 are fixedly mounted by multiple bolts in installing plate 3-2 corner location；In front floor 3-1 leading edge
Code reader 6 and camera 7 is fixedly mounted in place, and charging assembly 10 is fixedly mounted at heel slab 3-1 trailing edge, pacifies on chassis
Driving wheel and the driven pulley on leading screw 8-3 are simultaneously attached by dress lifting motor 11 using belt；In former and later two storage tanks
Control board and battery are installed respectively, by each electric elements with；Elevating mechanism 8 is installed on the boss 3-3 on chassis；It
Fore shell is installed afterwards and rear shell forms housing 2 (code reader 6, camera 7, the window for the assembly 10 that charges are reserved on fore shell and rear shell)；
Top plate 1 is fixedly mounted on the lifter plate 8-2 of elevating mechanism 8 afterwards.
Claims (9)
1. it is a kind of it is shallow enter formula automatical pilot transportation vehicle, it is characterized in that：Including mobile chassis device (3), in mobile chassis device (3)
Middle part elevating mechanism (8) is installed, also button sets and is provided with housing (2) on mobile chassis device (3), elevating mechanism (8) by
It is opened in the window in the middle part of housing (2) to expose, the top plate being provided with the top of elevating mechanism (8) directly over housing (2)
(1)；
Mobile chassis device (3) includes middle part and is provided with boss (3-3) and is mounted on the bottom of drive mechanism (4) on both sides of the middle
Disk, elevating mechanism (8) are fixedly mounted on boss (3-3), and damping universal wheels (5) are mounted at the corner on chassis；
Elevating mechanism (8) includes being fixedly mounted on silk on boss (3-3), with screw by the bearing block (8-4) at both ends
Thick stick (8-3), contiguous block (8-5) is connected with the both sides of screw；Also include point positioned at both sides a double leval jib (8-1), two four
The body of rod of connecting rod (8-1) bottom is fixedly connected with two contiguous blocks (8-5) respectively, the body of rod at the top of two double leval jibs (8-1)
Between be installed with lifter plate (8-2), include the driving machine of driving leading screw (8-3)；
Code reader (6) is installed in the front portion on chassis, rear portion is provided with charging assembly (10)；Control circuit is installed on chassis
Plate and battery.
2. it is as claimed in claim 1 it is shallow enter formula automatical pilot transportation vehicle, it is characterized in that：Chassis is included positioned at top, H-shaped
Installing plate (3-2) and installing plate (3-2) front and rear, U-shaped longitudinal section bottom plate (3-1) is fixed in, before chassis
Portion and rear portion form two storage tanks；Code reader (6) is arranged on the edge of front floor (3-1), charging assembly (10) installation
At heel slab (3-1) trailing edge.
3. it is as claimed in claim 2 it is shallow enter formula automatical pilot transportation vehicle, it is characterized in that：Control board houses positioned at anterior
Groove is interior, battery is located in the storage tank at rear portion；Air vent is offered on bottom plate (3-1) bottom wall.
4. it is as claimed in claim 3 it is shallow enter formula automatical pilot transportation vehicle, it is characterized in that：In installing plate (3-2) bottom, front portion
The accommodating groove of lateral direction penetrating is formed between the bottom plate (3-1) at rear portion, drive mechanism (4) is by driving wheel (4-1), wheel carrier (4-2)
Formed with movable motor (4-3), wheel carrier (4-2) is fixedly mounted on the lower surface in the middle part of installing plate (3-2), movable motor (4-
3) in accommodating groove.
5. it is as claimed in claim 4 it is shallow enter formula automatical pilot transportation vehicle, it is characterized in that：In the bottom plate (3-1) of front and rear
Between be installed with bottom (3-4), accommodating groove is closed.
6. as described in any one of claim 1 to 5 it is shallow enter formula automatical pilot transportation vehicle, it is characterized in that：Drive leading screw (8-3)
Driving machine is the lifting motor (11) being fixedly mounted on using motor cabinet on chassis, and driven pulley is provided with the end of leading screw (8-3),
The driving wheel that driving driven pulley rotates is installed on the motor shaft of lifting motor (11)；Driving wheel is connected with driven pulley using belt
Connect transmission.
7. as described in any one of claim 1 to 5 it is shallow enter formula automatical pilot transportation vehicle, it is characterized in that：Housing (2) includes fore shell
And rear shell, it is all provided with both relative inside edges jagged, window is docked by two breach and formed；In fore shell and the top of rear shell
Access panel (9) is offered, buckle closure is equipped with access panel (9).
8. as described in any one of claim 1 to 5 it is shallow enter formula automatical pilot transportation vehicle, it is characterized in that：Damping universal wheels (5) wrap
The pedestal (5-5) and vertical limiting plate (5-4) being fixedly mounted on chassis are included, in addition to front lower surface is provided with universal wheel
(5-8), middle part upper surface are provided with support (5-7) wheel seat (5-6), end and the be hinged company of pedestal (5-5) of wheel seat (5-6)
Connect；Screwed hole is offered on support (5-7), the stop screw (5- coordinated with limiting plate (5-4) is provided with the screwed hole
3)；Vertical center-pole (5-2) is also connected with the anterior upper surface of wheel seat (5-6), spring is provided with center-pole (5-2)
(5-1) and pad, the upper end of center-pole (5-2), which is located at, to be opened in the rod aperture on chassis.
9. as described in any one of claim 1 to 5 it is shallow enter formula automatical pilot transportation vehicle, it is characterized in that：On chassis, code reader
(6) camera (7) is also equipped with above.
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 CN105966818A (en) | 2016-09-28 |
| CN105966818B true CN105966818B (en) | 2017-12-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| 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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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107054964B (en) * | 2017-06-25 | 2020-12-22 | 天津市山石机器人有限责任公司 | Base jacking device of submerged automatic guided carrier |
| 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 |
| CN114771690B (en) * | 2022-04-12 | 2023-08-01 | 恒达富士电梯有限公司 | Material transfer trolley of elevator cooperative flexible production line |
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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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Also Published As
| Publication number | Publication date |
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| CN105966818A (en) | 2016-09-28 |
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