CN107364808A - A kind of automatic guided vehicle - Google Patents
A kind of automatic guided vehicle Download PDFInfo
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- CN107364808A CN107364808A CN201710652960.XA CN201710652960A CN107364808A CN 107364808 A CN107364808 A CN 107364808A CN 201710652960 A CN201710652960 A CN 201710652960A CN 107364808 A CN107364808 A CN 107364808A
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- framework
- drive mechanism
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- 230000007246 mechanism Effects 0.000 claims abstract description 140
- 238000001514 detection method Methods 0.000 claims description 41
- 230000005540 biological transmission Effects 0.000 claims description 28
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000000694 effects Effects 0.000 claims description 5
- 230000006872 improvement Effects 0.000 description 10
- 239000007787 solid Substances 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
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Classifications
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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
- B66F9/063—Automatically guided
-
- 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
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
-
- 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
-
- 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
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
- B66F9/142—Movements of forks either individually or relative to each other
- B66F9/143—Movements of forks relative to each other - symmetric
-
- 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
Abstract
The invention discloses a kind of automatic guided vehicle, and it includes homing guidance car body and hoisting mechanism, and hoisting mechanism is fixedly installed on the top surface of homing guidance car body；Hoisting mechanism includes the first framework, the second framework, holds pallet fork, at least two objective tables and drive component, first framework is vertical with the second framework and is relatively arranged on the top surface of homing guidance car body, at least two objective tables are stacked between the first framework and the second framework, pallet fork is held to be movably set between the first framework and the second framework, pallet fork is held to be electrically connected with drive component, drive component holds pallet fork for driving and clamps article to be handled, and drives and hold pallet fork by the goods transportation to be handled objective table idle at least two objective tables.The present invention sets at least two objective tables on hoisting mechanism, holds pallet fork and is positioned over goods on the objective table of free time so that automatic guided vehicle can single carry multiple goods, improve the operating efficiency of automatic guided vehicle.
Description
Technical field
The present invention relates to unmanned technical field of transportation, more particularly to a kind of automatic guided vehicle.
Background technology
Automatic guided vehicle (Automated Guided Vehicle) refers to magnetically or optically wait homing guidance equipped with electricity
Device, it can be travelled along defined guide path, the transport vehicle with safeguard protection and various transfer functions, homing guidance is small
Car belongs to wheeled mobile robot (WMR-- Wheeled Mobile Robot) category.
The distinguishing feature of automatic guided vehicle be it is unmanned, can with safeguards system do not need manual guidance in the case of
Automatic running, flexible, automation and intelligent level are high.Automatic guided vehicle can require according to storage goods yard, production work
The changes such as skill flow and flexible configuration, and the expense that operating path changes is compared with traditional conveyer belt or rigid transmission line
It is very cheap.If being furnished with charging crane, automatic guided vehicle can also with other logistics equipments from mobile interface, realize goods or
Material handling is with carrying full process automatization.In addition, automatic guided vehicle also has the characteristics of clean manufacturing, automatic guided vehicle
Power is provided by the battery carried, running noise is extremely low, pollution-free, can apply and require that working environment is clear many
Clean place.
Current automatic guided vehicle single can only carry a goods so that automatic guided vehicle operating efficiency is not high.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of automatic guided vehicle, to solve to lead automatically in the prior art
Drawing dolly single and can only carrying a goods causes ineffective problem.
In order to solve the above problems, the invention provides a kind of automatic guided vehicle, and it includes homing guidance car body and carried
Mechanism is risen, the hoisting mechanism is fixedly installed on the top surface of the homing guidance car body；
The hoisting mechanism includes the first framework, the second framework, holds pallet fork, at least two objective tables and drive component,
First framework is vertical with second framework and is relatively arranged on the top surface of the homing guidance car body, and described at least two
Individual objective table is stacked between first framework and second framework, and the pallet fork that holds is movably set in described
Between one framework and second framework, the pallet fork that holds is electrically connected with the drive component, and the drive component is used for
Pallet fork is held described in driving and clamps article to be handled, and hold described in driving pallet fork by the goods transportation to be handled to it is described extremely
Idle objective table in few two objective tables.
As a further improvement on the present invention, the drive component includes left drive mechanism and right drive mechanism, the folder
Embracing pallet fork includes that a left side holds portion and the right side holds portion, the left drive mechanism and the right drive mechanism for driving the left side to hold
Portion, the right side hold both portions relative motion or both move toward one another.
As a further improvement on the present invention, first framework includes first and fixes door frame, the first movable door frame and the
One drive mechanism, the first fixation door frame are vertically installed on the top surface of the homing guidance car body, first dodge gate
Frame is movably set in described first and fixed on door frame, and first drive mechanism is arranged at described first and fixes door frame bottom；
Second framework includes second and fixes door frame, the second movable door frame and transmission mechanism, and described second fixes door frame
It is vertically installed on the top surface of the homing guidance car body, and door frame is relative sets with the described first fixation for the second fixation door frame
Put, the second movable door frame is movably set in described second and fixed on door frame, and it is solid that the transmission mechanism is arranged at described second
Determine door frame bottom, the transmission mechanism is connected with the output end of first drive mechanism；
First drive mechanism is used to drive the transmission mechanism, and the transmission mechanism drives first door frame and institute
The second movable door frame is stated to move up and down.
As a further improvement on the present invention, the left side portion of holding includes the first fixed part, the first movable part and second drives
Motivation structure, first fixed part are connected with the described first movable door frame, and first movable part is movably set in described first
On on the inside of fixed part, second drive mechanism is arranged at the first fixed part bottom；
The right side portion of holding includes the second fixed part, the second movable part and the 3rd drive mechanism, second fixed part with
The second movable door frame connection, second movable part are movably set on the second fixed part inner side, and the described 3rd drives
Motivation structure is arranged at the second fixed part bottom,
Second drive mechanism and the 3rd drive mechanism are used to drive first movable part, second movable part to stretch
Go out or retract.
As a further improvement on the present invention, it is also vertical between the described first movable door frame and the described second movable door frame to set
It is equipped with multiple support beams.
As a further improvement on the present invention, the transmission mechanism includes drive link, the first chain and the second chain, described
Drive link is connected with the output end of first drive mechanism, and the first fixation door frame top is provided with the first drive sprocket,
The top of the first movable door frame is provided with the second drive sprocket；One end of first chain and the described first movable door frame
Bottom connection, the other end of first chain is connected around first drive sprocket with one end of the drive link；Institute
The one end for stating the second chain is connected with the left side portion of holding, the other end of second chain around second drive sprocket with
The first fixation door frame bottom is fixedly connected；
The transmission mechanism also includes the 3rd chain and the 4th chain, and the second fixation door frame top is provided with the 3rd biography
Movable sprocket, the top of the second movable door frame are provided with the 4th drive sprocket；One end and described second of 3rd chain
The bottom connection of movable door frame, the other end of the 3rd chain are another around the 3rd drive sprocket and the drive link
End connection；One end of 4th chain is connected with the right side portion of holding, and the other end of the 4th chain bypasses the described 4th
Drive sprocket is fixedly connected with the described second fixation door frame bottom.
As a further improvement on the present invention, the first chain tension component, institute are provided with below first drive sprocket
The first drive sprocket is stated to connect by first chain dislocation with the first chain tension component；
The second chain tension component, second drive sprocket and described second are provided with below second drive sprocket
Chain tension component is misplaced by second chain and connected；
The 3rd chain tension component, the 3rd drive sprocket and the described 3rd are provided with below 3rd drive sprocket
Chain tension component is misplaced by the 3rd chain and connected；
The 4th chain tension component, the 4th drive sprocket and the described 4th are provided with below 4th drive sprocket
Chain tension component is misplaced by the 4th chain and connected.
As a further improvement on the present invention, second chain and the left side hold the junction in portion and are additionally provided with first
Loose chain detection device, the first alarm and the first controller, first controller respectively with the first loose chain detection device,
First alarm is electrically connected with, and first controller is used for the first detection signal for obtaining the first loose chain detection device,
And first alarm is controlled according to the first detection signal；
The junction that 4th chain holds portion with the right side is additionally provided with the second loose chain detection device and the second alarm
Device, first controller are electrically connected with the second loose chain detection device, the second alarm respectively, first controller
For obtaining the second detection signal of the second loose chain detection device, and according to second detection signal control, second alarm
Device.
As a further improvement on the present invention, it is additionally provided with the first overturning-preventing machine on the outside of the first fixation door frame
Structure, first anti-tipping mechanism include first base, the 4th drive mechanism, second controller, the first front stretching bar and first
Rear telescopic rod, the first base are arranged at described first and fixed on the outside of door frame, the 4th drive mechanism and described the
Two controllers are arranged in the first base, and the second controller and the 4th drive mechanism are electrically connected with, and described the
One front stretching bar is arranged at one end of the first base, and the first front stretching bar connects with the 4th drive mechanism machinery
Connect, first rear telescopic rod is arranged at the other end of the first base, first rear telescopic rod and the described 4th driving
Mechanism is electrically connected with；
The second anti-tipping mechanism is additionally provided with the outside of the second fixation door frame, second anti-tipping mechanism includes
Second base, the 5th drive mechanism, the second front stretching bar and the second rear telescopic rod, it is solid that the second base is arranged at described second
Determine on the outside of door frame, the 5th drive mechanism is arranged in the second base, the second controller and the described 5th
Drive mechanism is electrically connected with, and the second front stretching bar is arranged at one end of the second base, the second front stretching bar with
5th drive mechanism mechanically connects, and second rear telescopic rod is arranged at the other end of the second base, and described second
Rear telescopic rod is electrically connected with the 5th drive mechanism.
As a further improvement on the present invention, the homing guidance car body includes bottom framework, the 3rd controller, driving rudder
Wheel, magnetic navigation device and multiple auxiliary wheels, the driving steering wheel are arranged on the bottom surface of the bottom framework, the magnetic navigation device
It is arranged on the bottom surface of the bottom framework, the multiple auxiliary wheel is uniformly arranged at the bottom framework bottom edge, and described
Three controllers are connected with the driving steering wheel, the magnetic navigation device electric respectively, and the 3rd controller is described for obtaining
The navigation signal of magnetic navigation device, and advanced according to the navigation signal control driving steering wheel.
Compared with prior art, automatic guided vehicle of the present invention sets at least two objective tables on hoisting mechanism, holds
Goods is positioned on the objective table of free time by pallet fork so that automatic guided vehicle can single carry multiple goods, improve automatic
The operating efficiency of guide trolleys.
Brief description of the drawings
Fig. 1 is a kind of structural representation of automatic guided vehicle one embodiment of the present invention.
Fig. 2 is a kind of structural representation of second embodiment of automatic guided vehicle of the present invention.
Fig. 3 is a kind of structural representation of the 3rd embodiment of automatic guided vehicle of the present invention.
Fig. 4 is a kind of structural representation of the 4th embodiment of automatic guided vehicle of the present invention.
Fig. 5 is a kind of structural representation of the 5th embodiment of automatic guided vehicle of the present invention.
Fig. 6 is a kind of structural representation of the 6th embodiment of automatic guided vehicle of the present invention.
Fig. 7 is a kind of structural representation of the 7th embodiment of automatic guided vehicle of the present invention.
Fig. 8 is a kind of structural representation of the 8th embodiment of automatic guided vehicle of the present invention.
Fig. 9 is a kind of structural representation of the 9th embodiment of automatic guided vehicle of the present invention.
Figure 10 is a kind of structural representation of the tenth embodiment of automatic guided vehicle of the present invention.
Figure 11 is a kind of structural representation of the one embodiment of automatic guided vehicle the tenth of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used to limit the present invention.
The invention discloses a kind of automatic guided vehicle, and in the present embodiment, referring to Fig. 1, automatic guided vehicle is included certainly
Dynamic guiding car body 1 and hoisting mechanism 2, hoisting mechanism 2 are fixedly installed on the top surface of homing guidance car body 1；
Referring to Fig. 1 and Fig. 2, hoisting mechanism 2 includes the first framework 21, the second framework 22, holds the load of pallet fork 23, at least two
Thing platform 24 and drive component 25, the first framework 21 and 22 top surface that is vertical and being relatively arranged on homing guidance car body 1 of the second framework
On, at least two objective tables 24 are stacked between the first framework 21 and the second framework 22, are held pallet fork 23 and are movably set in
Between first framework 21 and the second framework 22, hold pallet fork 23 and be electrically connected with drive component 25, drive component 25 is used to drive
Hold pallet fork 23 and clamp article to be handled, and drive and hold pallet fork 23 by goods transportation to be handled at least two objective tables 24
Idle objective table.
Specifically, the detection that idle condition whether is in for detecting objective table is additionally provided with least two objective tables 24
Device, such as infrared detecting device, pressure-detecting device.Hold pallet fork 23, drive component 25, detection means with a central controller
Part is electrically connected with, and detection means is used for the objective table for detecting the free time, and idle signal is transmitted to central controller part, central controller part root
Pallet fork 23 is held according to the idle signal control driving of drive component 25 to clamp article to be handled to the objective table of free time.
Further, hold pallet fork 23 horizontal between the first framework 21 and the second framework 22 to move up and down, will treat
Transport goods on clamping to different objective table.
The present embodiment is stacked at least two objective tables 24 between the first framework 21 and the second framework 22, holds pallet fork
Goods can be positioned at least two objective tables so that automatic guided vehicle can single carry multiple goods, improve automatic
The operating efficiency of guide trolleys.
On the basis of above-described embodiment, in the present embodiment, referring to Fig. 3, drive component 25 includes left drive mechanism 251
With right drive mechanism 252, hold pallet fork 23 and hold portion 231 and the right side including a left side and hold portion 232, left drive mechanism 251 and right driving
Mechanism 252 is for driving a left side to hold portion 231, the right side holds both relative motions of portion 232 or both move toward one another.
Specifically, when goods, which is put into, holds pallet fork 23, a left side holds portion 231 and holds portion 232 with the right side while do move toward one another；
When goods is put on shelf, a left side holds portion 231 and holds portion 232 with the right side while do relative motion.
Further, left drive mechanism 251 is additionally operable to a braking left side and holds portion 231；It is right that right drive mechanism 252 is additionally operable to braking
Hold portion 232.
Further, when holding goods, left drive mechanism 251 brakes a left side and holds portion 231, and right drive mechanism 252 is made
The dynamic right side holds portion 232.
The present embodiment holds pallet fork while motion and braking, can adapt to various sizes of goods, and can advise goods
It is whole to the effect in the middle part of objective table, having reached correction, have also been enlarged the use range of automatic guided vehicle, ensure that homing guidance
Dolly will not cause crank and turn on one's side because of goods is crooked.
On the basis of above-described embodiment, in the present embodiment, referring to Fig. 4, the first framework 21 includes first and fixes door frame
211st, the first movable drive mechanism 213 of door frame 212 and first, the first fixation door frame 211 are vertically installed in homing guidance car body 1
On top surface, the first movable door frame 212 is movably set on the first fixation door frame 211, and the first drive mechanism 213 is arranged to be led automatically
On the side for drawing the top surface of car body 1；
Second framework 22 includes second and fixes door frame 221, the second movable door frame 222 and transmission mechanism 223, the second fixed door
Frame 221 is vertically installed on the top surface of homing guidance car body 1, and the second fixation door frame 221 is set relatively with the first fixation door frame 211
Put, the second movable door frame 222 is movably set on the second fixation door frame 221, and transmission mechanism 223 is arranged at homing guidance car body 1
On the opposite side of top surface, transmission mechanism 223 is connected with the output end of the first drive mechanism 213；
First drive mechanism 213 is used for drive transmission device 223, and transmission mechanism 223 drives the first movable door frame 212 and the
Two movable door frames 222 move up and down.
Specifically, at least two objective tables are stacked between the first movable 212 and second movable door frame 222 of door frame.
Further, the first drive mechanism 213 is additionally operable to brake transmission mechanism 223, drives the braking of transmission mechanism 223 first
Movable 212 and second movable door frame 222 of door frame.
Further, the first drive mechanism 213 and transmission mechanism 223 are by being driven band connection.
The present embodiment drives at least two stage movements extremely by the first movable 212 and second movable door frame 222 of door frame
A high position, for holding pallet fork access goods so that holding pallet fork will not be by shelf or self structure during up and down motion
Stop, further increase the operating efficiency of automatic guided vehicle.
On the basis of above-described embodiment, in the present embodiment, referring to Fig. 5, a left side, which holds portion 231, includes the first fixed part
2311st, the first movable part 2312 and the second drive mechanism 2313, the first fixed part 2311 are connected with the first movable door frame 212, the
One movable part 2312 is movably set on the inner side of the first fixed part 2311, and the second drive mechanism 2313 is arranged at the first fixed part
2311 bottoms；
The right side holds portion 232 and (not shown in figure including the second fixed part 2321, the second movable part 2322 and the 3rd drive mechanism
Go out), the second fixed part 2321 is connected with the second movable door frame 222, and the second movable part 2322 is movably set in the second fixed part
On 2321 inner sides, the 3rd drive mechanism is arranged at the bottom of the second fixed part 2321,
Second drive mechanism 2313 and the 3rd drive mechanism are used to drive the first movable part 2312, the second movable part 2322 to stretch
Go out or retract.
Specifically, the second drive mechanism 2313 and the 3rd drive mechanism drive the first movable part 2312 and the second activity simultaneously
Motion in the same direction is done in portion 2322, is made the first movable part 2312 and the second movable part 2322 while is stretched out or retract.
Further, the first movable part 2312 and the second movable part 2322 can stretch out the goods clamped on shelf simultaneously, then
Retract simultaneously and hold goods to objective table from shelf；Also goods can be held to shelf from objective table.
The present embodiment only stretches out the first movable part 2312, the second movable part 2322 to hold when accessing high-order goods
Goods so that the steadily of centre of gravity that pallet fork 23 ensure that automatic guided vehicle while goods is accessed is held, and meanwhile it is also regular
The position of goods, improve the safety in utilization of automatic guided vehicle.
On the basis of above-described embodiment, in the present embodiment, referring to Fig. 6, the first movable dodge gate of door frame 212 and second
Multiple support beams 26 are also vertically installed between frame 222.
Specifically, multiple support beams 26 are fixedly connected with the first movable door frame 212, the second movable door frame 222.
The present embodiment by setting multiple support beams 26 between the first movable 212 and second movable door frame 222 of door frame,
The rigidity of hoisting mechanism is ensure that, further improves the security of automatic guided vehicle.
On the basis of above-described embodiment, in the present embodiment, referring to Fig. 7, transmission mechanism 223 include drive link 2231,
First chain 2232 and the second chain 2233, drive link 2231 are connected with the output end of the first drive mechanism 213, the first fixed door
The top of frame 211 is provided with the first drive sprocket 2111, and the top of the first movable door frame 212 is provided with the second drive sprocket 2121；
One end of first chain 2232 is connected with the bottom of the first movable door frame 212, and the other end of the first chain 2232 passes around first
Movable sprocket 2111 is connected with one end of drive link 2231；One end of second chain 2233 is connected with the left side portion of holding, the second chain
2233 other end is fixedly connected around the second drive sprocket 2111 with the first fixation door frame 211 bottom；
Transmission mechanism 223 also includes the 3rd chain 2234 and the 4th chain 2235, and the second fixation door frame 221 top is provided with
3rd drive sprocket 2211, the top of the second movable door frame 222 are provided with the 4th drive sprocket 2221；The one of 3rd chain 2234
End is connected with the bottom of the second movable door frame 221, and the other end of the 3rd chain 2234 is around the 3rd drive sprocket 2211 and transmission
The other end connection of bar 2231；One end of 4th chain 2235 is connected with the right side portion of holding, and the other end of the 4th chain 2235 bypasses
4th drive sprocket 2221 is fixedly connected with the second fixation door frame 221 bottom.
It should be noted that in same referential, when drive link 2231 drives the first movable activity of door frame 212 and second
When door frame 222 is lifted or declined with pre-set velocity, a left side hold portion 231 and the right side hold portion 232 will with twice of pre-set velocity lifting or
Decline.
Further, when drive link 2231 is identical with the operating angular speed of the first drive mechanism 213, a left side hold portion 231 with
The right side holds portion 232 will be with twice of pre-set velocity lifting or decline.
Further, when holding pallet fork 23 and reaching predeterminated position, the first drive mechanism 213 is additionally operable to brake bar
2231。
The present embodiment realizes enhanced feature by the combination of chain and sprocket wheel, while hoisting mechanism is simple in construction, only needs
Lift the first movable 212 and second movable door frame 222 of door frame, you can embrace pallet fork 23 with two speed improving clampings, reached reduction
The effect of the cost of automatic guided vehicle, the lifting speed for holding pallet fork 2 is improved again, further improves Consumer's Experience.
On the basis of above-described embodiment, in the present embodiment, the first chain tension is provided with below the first drive sprocket
Component, the first drive sprocket and the first chain tension component are misplaced by the first chain and connected；
The second chain tension component, the second drive sprocket and the second chain tension component are provided with below second drive sprocket
Misplaced and connected by the second chain；
The 3rd chain tension component, the 3rd drive sprocket and the 3rd chain tension component are provided with below 3rd drive sprocket
Misplaced and connected by the 3rd chain；
The 4th chain tension component, the 4th drive sprocket and the 4th chain tension component are provided with below 4th drive sprocket
Misplaced and connected by the 4th chain.
Further, the first drive mechanism is additionally provided with conveyer belt with driven rod by transmitting band connection on conveyer belt
The output end of tight component, transmission belt tension assembly and the first drive mechanism is misplaced by conveyer belt and connected.
In the present embodiment, by setting chain tension component on chain, avoid when chain elongation is to certain length
The situation for getting rid of chain just occurs, the situation for easily causing chain wear aging to be accelerated, adds the stability of chain, ensure that chain
The service life of bar, further improves Consumer's Experience.
On the basis of above-described embodiment, in the present embodiment, referring to Fig. 8, the second chain 2233 and the left company for holding portion
The place of connecing is additionally provided with the first loose chain detection device 22331, the first alarm (not shown) and the first controller and (not shown in figure
Go out), the first controller is electrically connected with the first loose chain detection device 21331, the first alarm respectively, and the first controller is used to obtain
The first detection signal of the first loose chain detection device 21331 is taken, and the first alarm is controlled according to first detection signal；
Specifically, the first loose chain detection device 21331 is used to detect the second chain 2233 and a left side holds the junction of portion 231
Bonding strength.When bonding strength is less than pre-set threshold value, first detection signal is transmitted to the first controller, the first controller root
The first alarm is controlled to open according to first detection signal.
4th chain 2235 is additionally provided with the second loose chain detection device 22211 and the second alarm with the right junction for holding portion
Device (not shown), the first controller are electrically connected with the second loose chain detection device 22211, the second alarm respectively, and first
Controller is used for the second detection signal for obtaining the second loose chain detection device 22211, and controls second according to the second detection signal
Alarm.
Specifically, the second loose chain detection device 22211 is used to detect the 4th chain 2235 and the right side holds the junction of portion 232
Bonding strength.When bonding strength is less than pre-set threshold value, the second detection signal is transmitted to the first controller, the first controller root
The second alarm is controlled to open according to the second detection signal.
The present embodiment with holding the junction in portion in chain by setting loose chain detection device to detect chain and holding portion
Bonding strength, prevent that loose chain from occurring after frequent or long-time use in chain, junction loosening causes bonding strength step-down, produce
Potential safety hazard, by loose chain detection device and alarm user can be reminded to carry out maintaining or maintenance in time, so as to ensure
The security of automatic guided vehicle, further improves Consumer's Experience.
On the basis of above-described embodiment, in the present embodiment, the outside of door frame 211 is fixed referring to Fig. 9 and Figure 10, first
On be additionally provided with the first anti-tipping mechanism 2113, the first anti-tipping mechanism 2113 includes first base 21131, the 4th drive mechanism
21132nd, second controller (not shown), the first front stretching bar 21133 and the first rear telescopic rod 21134, first base
21131 are arranged on the outside of the first fixation door frame 211, and the 4th drive mechanism 21132 and second controller are arranged at the first bottom
On seat 21131, second controller is electrically connected with the 4th drive mechanism 21132, and the first front stretching bar 21133 is arranged at the first bottom
One end of seat 21131, the first front stretching bar 21133 mechanically connect with the 4th drive mechanism 21132, the first rear telescopic rod 21134
The other end of first base 21131 is arranged at, the first rear telescopic rod 21133 is electrically connected with the 4th drive mechanism 21132.
Specifically, when access goods starts, second controller receives the signal of access goods, and according to access goods
Signal control the 4th drive mechanism 21132 to drive the first front stretching bar 21133 and the first rear telescopic rod 21133 to stretch out, with solid
Due to external environment condition (such as：Shelf, wall etc.).
Further, when goods access finishes, second controller receives the signal that goods access finishes, and according to goods
The signal that thing access finishes controls the 4th drive mechanism 21132 to drive the first front stretching bar 21133 and the first rear telescopic rod 21133
Retract.
The second anti-tipping mechanism 2213, the second anti-tipping mechanism 2213 are additionally provided with the outside of second fixation door frame 221
Including second base 22131, the 5th drive mechanism 22132, the second front stretching bar 22133 and the second rear telescopic rod 22134, second
Base 22131 is arranged on the outside of the second fixation door frame 221, and the 5th drive mechanism 22132 is arranged at second base 22131
On, second controller is electrically connected with the 5th drive mechanism 22132, and the second front stretching bar 22134 is arranged at second base 22131
One end, the second front stretching bar 22133 mechanically connects with the 5th drive mechanism 22132, and the second rear telescopic rod 22134 is arranged at
The other end of two bases 22131, the second rear telescopic rod 22134 are electrically connected with the 5th drive mechanism 22132.
Specifically, when access goods starts, second controller receives the signal of access goods, and according to access goods
Signal control the 5th drive mechanism 22132 to drive the second front stretching bar 22133 and the second rear telescopic rod 22134 to stretch out, with solid
Due to external environment condition (such as：Shelf, wall etc.).
Further, when goods access finishes, second controller receives the signal that goods access finishes, and according to goods
The signal that thing access finishes controls the 5th drive mechanism 22132 to drive the second front stretching bar 22133 and the second rear telescopic rod 22134
Retract.
The present embodiment sets anti-tipping mechanism on fixed door frame, when accessing goods, can be fixed on hoisting mechanism
External environment condition, further stabilize the center of gravity of automatic guided vehicle so that automatic guided vehicle during goods is accessed more
It is stable.
On the basis of above-described embodiment, in the present embodiment, referring to Figure 11, homing guidance car body 1 include bottom framework 11,
3rd controller 12, driving steering wheel 13, magnetic navigation device 14 and multiple auxiliary wheels 15, driving steering wheel 13 are arranged at bottom framework 11
On bottom surface, magnetic navigation device 14 is arranged on the bottom surface of bottom framework 11, and multiple auxiliary wheels 15 are uniformly arranged on the bottom surface of bottom framework 11
Edge, the 3rd controller 12 are electrically connected with driving steering wheel 13, magnetic navigation device 14 respectively, and the 3rd controller 12 is used to obtain
The navigation signal of magnetic navigation device 14, and control driving steering wheel 13 to advance according to navigation signal.
Specifically, multiple auxiliary wheels 15 are used for the load-bearing pressure for sharing driving steering wheel, increase homing guidance car body 1 and ground
Contact area.
Preferably, multiple auxiliary wheels 15 can be multiple universal wheels.
Preferably, magnetic navigation device 14 is arranged at the front end of the direction of motion of homing guidance car body 1, and driving steering wheel is arranged at certainly
The rear end of the dynamic guiding direction of motion of car body 1.
It should be noted that the present embodiment selects but is not limited to magnetic navigation as navigation mode, other navigation also can be used
Mode, such as infrared navigation, laser navigation, vision guided navigation, coodinate navigation etc..
The present embodiment reads ground magnetic stripe by magnetic navigation device and completes navigation, with noise is small, precision is high, power consumption is low
Feature, and set multiple auxiliary wheels to share goods weight and automatic guided vehicle own wt on bottom framework 11, reduce drive
The load-bearing pressure of dynamic steering wheel, prevent from driving the senile abrasion of steering wheel 13 too fast, while add connecing for homing guidance car body 1 and ground
Contacting surface is accumulated, and further stabilizes the center of gravity of automatic guided vehicle.
The embodiment of invention is described in detail above, but it is only used as example, and the present invention is not intended to limit
In specific embodiments described above.For a person skilled in the art, any equivalent modifications carried out to the invention
Or substitute also all among scope of the invention, therefore, the equalization made in the case where not departing from the spirit and principles in the present invention scope
Conversion and modification, improvement etc., all should be contained within the scope of the invention.
Claims (10)
1. a kind of automatic guided vehicle, it is characterised in that it includes homing guidance car body and hoisting mechanism, and the hoisting mechanism is consolidated
Surely it is arranged on the top surface of the homing guidance car body；
The hoisting mechanism includes the first framework, the second framework, holds pallet fork, at least two objective tables and drive component, described
First framework is vertical with second framework and is relatively arranged on the top surface of the homing guidance car body, and described at least two carry
Thing platform is stacked between first framework and second framework, and the pallet fork that holds is movably set in first frame
Between frame and second framework, the pallet fork that holds is electrically connected with the drive component, and the drive component is used to drive
The pallet fork that holds clamps article to be handled, and holds pallet fork by the goods transportation to be handled to described at least two described in driving
Idle objective table in individual objective table.
2. automatic guided vehicle according to claim 1, it is characterised in that the drive component include left drive mechanism and
Right drive mechanism, it is described hold pallet fork and hold portion and the right side including a left side hold portion, the left drive mechanism and the right drive mechanism
Both portions relative motion or both move toward one another is held for driving the left side to hold portion, the right side.
3. automatic guided vehicle according to claim 1, it is characterised in that first framework includes the first fixed door
Frame, the first movable door frame and the first drive mechanism, the first fixation door frame are vertically installed in the top of the homing guidance car body
On face, the first movable door frame is movably set in described first and fixed on door frame, and first drive mechanism is arranged at described
First fixes door frame bottom；
Second framework includes second and fixes door frame, the second movable door frame and transmission mechanism, and the second fixation door frame is vertical
It is arranged on the top surface of the homing guidance car body, and the second fixation door frame is oppositely arranged with the described first fixation door frame,
The second movable door frame is movably set in described second and fixed on door frame, and the transmission mechanism is arranged at second fixed door
Frame bottom, the transmission mechanism are connected with the output end of first drive mechanism；
First drive mechanism is used to drive the transmission mechanism, and the transmission mechanism drives first door frame and described the
Two movable door frames move up and down.
4. automatic guided vehicle according to claim 3, it is characterised in that the left side portion of holding include the first fixed part,
First movable part and the second drive mechanism, first fixed part are connected with the described first movable door frame, first movable part
On being movably set on the inside of first fixed part, second drive mechanism is arranged at the first fixed part bottom；
The right side portion of holding includes the second fixed part, the second movable part and the 3rd drive mechanism, second fixed part with it is described
Second movable door frame connection, second movable part are movably set on the second fixed part inner side, the 3rd driving machine
Structure is arranged at the second fixed part bottom,
Second drive mechanism and the 3rd drive mechanism be used for drive first movable part, second movable part stretch out or
Retract.
5. automatic guided vehicle according to claim 3, it is characterised in that the first movable door frame is lived with described second
Multiple support beams are also vertically installed between dynamic door frame.
6. automatic guided vehicle according to claim 3, it is characterised in that the transmission mechanism includes drive link, first
Chain and the second chain, the drive link are connected with the output end of first drive mechanism, and described first fixes door frame top
The first drive sprocket is provided with, the top of the first movable door frame is provided with the second drive sprocket；The one of first chain
End is connected with the bottom of the described first movable door frame, the other end of first chain bypass first drive sprocket with it is described
One end connection of drive link；One end of second chain is connected with the left side portion of holding, the other end of second chain around
Second drive sprocket is crossed to be fixedly connected with the described first fixation door frame bottom；
The transmission mechanism also includes the 3rd chain and the 4th chain, and the second fixation door frame top is provided with the 3rd driving-chain
Wheel, the top of the second movable door frame is provided with the 4th drive sprocket；One end of 3rd chain and the described second activity
The bottom connection of door frame, the other end of the 3rd chain connect around the other end of the 3rd drive sprocket and the drive link
Connect；One end of 4th chain is connected with the right side portion of holding, and the other end of the 4th chain is around the described 4th transmission
Sprocket wheel is fixedly connected with the described second fixation door frame bottom.
7. automatic guided vehicle according to claim 6, it is characterised in that the is provided with below first drive sprocket
One chain tension component, first drive sprocket is misplaced with the first chain tension component by first chain to be connected
Connect；
The second chain tension component, second drive sprocket and second chain are provided with below second drive sprocket
Tension assembly is misplaced by second chain and connected；
The 3rd chain tension component, the 3rd drive sprocket and the 3rd chain are provided with below 3rd drive sprocket
Tension assembly is misplaced by the 3rd chain and connected；
The 4th chain tension component, the 4th drive sprocket and the 4th chain are provided with below 4th drive sprocket
Tension assembly is misplaced by the 4th chain and connected.
8. automatic guided vehicle according to claim 6, it is characterised in that second chain holds portion with the left side
Junction is additionally provided with the first loose chain detection device, the first alarm and the first controller, first controller respectively with institute
The first loose chain detection device, first alarm electric connection are stated, first controller is used to obtain the first loose chain detection
The first detection signal of device, and first alarm is controlled according to the first detection signal；
The junction that 4th chain holds portion with the right side is additionally provided with the second loose chain detection device and the second alarm, institute
State the first controller to be electrically connected with the second loose chain detection device, the second alarm respectively, first controller is used for
The second detection signal of the second loose chain detection device is obtained, and second alarm is controlled according to second detection signal.
9. automatic guided vehicle according to claim 6, it is characterised in that also set on the outside of the first fixation door frame
It is equipped with the first anti-tipping mechanism, first anti-tipping mechanism includes first base, the 4th drive mechanism, second controller, the
One front stretching bar and the first rear telescopic rod, the first base are arranged at described first and fixed on the outside of door frame, and the described 4th
Drive mechanism and the second controller are arranged in the first base, the second controller and the 4th drive mechanism
It is electrically connected with, the first front stretching bar is arranged at one end of the first base, the first front stretching bar and the described 4th
Drive mechanism mechanically connects, and first rear telescopic rod is arranged at the other end of the first base, first rear telescopic rod
It is electrically connected with the 4th drive mechanism；
The second anti-tipping mechanism is additionally provided with the outside of the second fixation door frame, second anti-tipping mechanism includes second
Base, the 5th drive mechanism, the second front stretching bar and the second rear telescopic rod, the second base are arranged at second fixed door
On the outside of frame, the 5th drive mechanism is arranged in the second base, the second controller and the described 5th driving
Mechanism is electrically connected with, and the second front stretching bar is arranged at one end of the second base, the second front stretching bar with it is described
5th drive mechanism mechanically connects, and second rear telescopic rod is arranged at the other end of the second base, stretched after described second
Contracting bar is electrically connected with the 5th drive mechanism.
10. automatic guided vehicle according to claim 1, it is characterised in that the homing guidance car body include bottom framework,
3rd controller, driving steering wheel, magnetic navigation device and multiple auxiliary wheels, the driving steering wheel are arranged at the bottom surface of the bottom framework
On, the magnetic navigation device is arranged on the bottom surface of the bottom framework, and the multiple auxiliary wheel is uniformly arranged on the bottom framework
At bottom edge, the 3rd controller is connected with the driving steering wheel, the magnetic navigation device electric respectively, the 3rd control
Device processed is used for the navigation signal for obtaining the magnetic navigation device, and is advanced according to the navigation signal control driving steering wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710652960.XA CN107364808B (en) | 2017-08-02 | 2017-08-02 | Automatic guiding trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710652960.XA CN107364808B (en) | 2017-08-02 | 2017-08-02 | Automatic guiding trolley |
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| CN107364808A true CN107364808A (en) | 2017-11-21 |
| CN107364808B CN107364808B (en) | 2024-01-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710652960.XA Active CN107364808B (en) | 2017-08-02 | 2017-08-02 | Automatic guiding trolley |
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| CN107777624A (en) * | 2017-11-30 | 2018-03-09 | 上海诺力智能科技有限公司 | A kind of feeding device suitable for industrial vehicle |
| CN107840059A (en) * | 2017-11-30 | 2018-03-27 | 上海诺力智能科技有限公司 | A kind of two-way storage automatic material fetching machine |
| CN107878989A (en) * | 2017-11-30 | 2018-04-06 | 上海诺力智能科技有限公司 | One kind storage automatic material fetching machine |
| CN108726071A (en) * | 2018-06-12 | 2018-11-02 | 芜湖乐创电子科技有限公司 | A kind of workpiece placement machine people based on infrared sensing |
| CN110980594A (en) * | 2019-12-23 | 2020-04-10 | 杨锦宽 | Prevent automatic logistics system that emptys |
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| CN110980594A (en) * | 2019-12-23 | 2020-04-10 | 杨锦宽 | Prevent automatic logistics system that emptys |
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|---|---|
| CN107364808B (en) | 2024-01-23 |
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