CN107364808B - Automatic guiding trolley - Google Patents

Automatic guiding trolley Download PDF

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Publication number
CN107364808B
CN107364808B CN201710652960.XA CN201710652960A CN107364808B CN 107364808 B CN107364808 B CN 107364808B CN 201710652960 A CN201710652960 A CN 201710652960A CN 107364808 B CN107364808 B CN 107364808B
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CN
China
Prior art keywords
chain
driving
door frame
driving mechanism
frame
Prior art date
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Application number
CN201710652960.XA
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Chinese (zh)
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CN107364808A (en
Inventor
周玲
罗宝林
左剑萍
欧阳磊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Clou Intelligent Industry Co Ltd
Original Assignee
Shenzhen Clou Intelligent Industry Co Ltd
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Priority to CN201710652960.XA priority Critical patent/CN107364808B/en
Publication of CN107364808A publication Critical patent/CN107364808A/en
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Publication of CN107364808B publication Critical patent/CN107364808B/en
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Classifications

    • 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 an automatic guiding trolley, which comprises an automatic guiding trolley body and a lifting mechanism, wherein the lifting mechanism is fixedly arranged on the top surface of the automatic guiding trolley body; the lifting mechanism comprises a first frame, a second frame, a clamping fork, at least two object stages and a driving component, wherein the first frame is perpendicular to the second frame and is oppositely arranged on the top surface of the automatic guiding vehicle body, the at least two object stages are arranged between the first frame and the second frame in a stacked mode, the clamping fork is movably arranged between the first frame and the second frame, the clamping fork is electrically connected with the driving component, the driving component is used for driving the clamping fork to clamp an object to be carried, and the clamping fork is driven to transport the object to be carried to the idle object stages in the at least two object stages. According to the invention, at least two object stages are arranged on the lifting mechanism, and the goods are placed on the idle object stages by clamping the goods fork, so that the automatic guiding trolley can carry a plurality of goods at a time, and the working efficiency of the automatic guiding trolley is improved.

Description

Automatic guiding trolley
Technical Field
The invention relates to the technical field of unmanned transportation, in particular to an automatic guiding trolley.
Background
The automatic guided vehicle (Automated Guided Vehicle) is a transport vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path and has safety protection and various transfer functions, and belongs to the category of a wheeled mobile robot (WMR-Wheeled Mobile Robot).
The automatic guiding trolley has the remarkable characteristics of no driving, capability of ensuring the system to automatically run without manual navigation, good flexibility and high automation and intelligent level. The automated guided vehicle can be flexibly configured according to the storage space requirements, the production process flow, etc., and the cost of the travel path change is very low compared with the conventional conveyor belt or rigid conveyor line. If the automatic guiding trolley is provided with a loading and unloading mechanism, the automatic guiding trolley can be automatically connected with other logistics equipment, so that the whole process of loading, unloading and carrying of goods or materials is automatic. In addition, the automatic guiding trolley has the characteristic of clean production, the automatic guiding trolley is powered by a self-contained storage battery, the noise in the operation process is extremely low, and the automatic guiding trolley is pollution-free and can be applied to a plurality of places requiring cleaning of working environments.
The existing automatic guiding trolley can only carry one cargo at a time, so that the automatic guiding trolley has low working efficiency.
Disclosure of Invention
The invention aims to solve the technical problem of providing an automatic guiding trolley, which aims to solve the problem of low working efficiency caused by the fact that the automatic guiding trolley can only carry one cargo at a time in the prior art.
In order to solve the problems, the invention provides an automatic guiding trolley, which comprises an automatic guiding trolley body and a lifting mechanism, wherein the lifting mechanism is fixedly arranged on the top surface of the automatic guiding trolley body;
the lifting mechanism comprises a first frame, a second frame, a clamping fork, at least two object stages and a driving assembly, wherein the first frame is perpendicular to the second frame and is oppositely arranged on the top surface of the automatic guiding vehicle body, the at least two object stages are stacked and arranged between the first frame and the second frame, the clamping fork is movably arranged between the first frame and the second frame, the clamping fork is electrically connected with the driving assembly, and the driving assembly is used for driving the clamping fork to clamp an object to be carried and drives the clamping fork to transport the object to be carried to the idle object stages in the at least two object stages.
As a further improvement of the invention, the driving assembly comprises a left driving mechanism and a right driving mechanism, the clamping fork comprises a left clamping part and a right clamping part, and the left driving mechanism and the right driving mechanism are used for driving the left clamping part and the right clamping part to move relatively or move relatively.
As a further improvement of the present invention, the first frame includes a first fixed door frame, a first movable door frame and a first driving mechanism, the first fixed door frame is vertically arranged on the top surface of the automatic guiding vehicle body, the first movable door frame is movably arranged on the first fixed door frame, and the first driving mechanism is arranged at the bottom of the first fixed door frame;
the second frame comprises a second fixed door frame, a second movable door frame and a transmission mechanism, wherein the second fixed door frame is vertically arranged on the top surface of the automatic guiding vehicle body, the second fixed door frame is arranged opposite to the first fixed door frame, the second movable door frame is movably arranged on the second fixed door frame, the transmission mechanism is arranged at the bottom of the second fixed door frame, and the transmission mechanism is connected with the output end of the first driving mechanism;
the first driving mechanism is used for driving the transmission mechanism, and the transmission mechanism drives the first portal and the second movable portal to move up and down.
As a further improvement of the invention, the left clamping part comprises a first fixed part, a first movable part and a second driving mechanism, wherein the first fixed part is connected with the first movable door frame, the first movable part is movably arranged on the inner side of the first fixed part, and the second driving mechanism is arranged at the bottom of the first fixed part;
the right clamping part comprises a second fixed part, a second movable part and a third driving mechanism, the second fixed part is connected with the second movable door frame, the second movable part is movably arranged on the inner side of the second fixed part, the third driving mechanism is arranged at the bottom of the second fixed part,
the second driving mechanism and the third driving mechanism are used for driving the first movable part and the second movable part to extend or retract.
As a further improvement of the invention, a plurality of supporting beams are also vertically arranged between the first movable door frame and the second movable door frame.
As a further improvement of the invention, the transmission mechanism comprises a transmission rod, a first chain and a second chain, wherein the transmission rod is connected with the output end of the first driving mechanism, a first transmission chain wheel is arranged at the top end of the first fixed portal, and a second transmission chain wheel is arranged at the top end of the first movable portal; one end of the first chain is connected with the bottom end of the first movable door frame, and the other end of the first chain bypasses the first driving sprocket and is connected with one end of the driving rod; one end of the second chain is connected with the left clamping part, and the other end of the second chain bypasses the second driving sprocket and is fixedly connected with the bottom end of the first fixed door frame;
the transmission mechanism further comprises a third chain and a fourth chain, a third transmission chain wheel is arranged at the top end of the second fixed door frame, and a fourth transmission chain wheel is arranged at the top end of the second movable door frame; one end of the third chain is connected with the bottom end of the second movable door frame, and the other end of the third chain bypasses the third driving chain wheel and is connected with the other end of the driving rod; one end of the fourth chain is connected with the right clamping part, and the other end of the fourth chain bypasses the fourth driving sprocket and is fixedly connected with the bottom end of the second fixed door frame.
As a further improvement of the invention, a first chain tensioning assembly is arranged below the first driving sprocket, and the first driving sprocket is connected with the first chain tensioning assembly in a staggered manner through the first chain;
a second chain tensioning assembly is arranged below the second driving chain wheel, and the second driving chain wheel is connected with the second chain tensioning assembly in a staggered manner through a second chain;
a third chain tensioning assembly is arranged below the third driving chain wheel, and the third driving chain wheel is connected with the third chain tensioning assembly in a staggered manner through a third chain;
and a fourth chain tensioning assembly is arranged below the fourth driving chain wheel, and the fourth driving chain wheel is connected with the fourth chain tensioning assembly in a staggered manner through a fourth chain.
As a further improvement of the invention, a first loose chain detection device, a first alarm and a first controller are further arranged at the joint of the second chain and the left clamping part, the first controller is respectively and electrically connected with the first loose chain detection device and the first alarm, and the first controller is used for acquiring a first detection signal of the first loose chain detection device and controlling the first alarm according to the first detection signal;
the connection part of the fourth chain and the right clamping part is also provided with a second loose chain detection device and a second alarm, the first controller is respectively and electrically connected with the second loose chain detection device and the second alarm, and the first controller is used for acquiring a second detection signal of the second loose chain detection device and controlling the second alarm according to the second detection signal.
As a further improvement of the invention, a first anti-toppling mechanism is further arranged on the outer side of the first fixed door frame, the first anti-toppling mechanism comprises a first base, a fourth driving mechanism, a second controller, a first front telescopic rod and a first rear telescopic rod, the first base is arranged on the outer side of the first fixed door frame, the fourth driving mechanism and the second controller are arranged on the first base, the second controller is electrically connected with the fourth driving mechanism, the first front telescopic rod is arranged at one end of the first base, the first front telescopic rod is mechanically connected with the fourth driving mechanism, the first rear telescopic rod is arranged at the other end of the first base, and the first rear telescopic rod is electrically connected with the fourth driving mechanism;
the second anti-toppling mechanism comprises a second base, a fifth driving mechanism, a second front telescopic rod and a second rear telescopic rod, wherein the second base is arranged on the outer side of the second fixed door frame, the fifth driving mechanism is arranged on the second base, the second controller is electrically connected with the fifth driving mechanism, the second front telescopic rod is arranged at one end of the second base, the second front telescopic rod is mechanically connected with the fifth driving mechanism, the second rear telescopic rod is arranged at the other end of the second base, and the second rear telescopic rod is electrically connected with the fifth driving mechanism.
As a further improvement of the invention, the automatic guiding vehicle body comprises a bottom frame, a third controller, a driving steering wheel, a magnetic navigation device and a plurality of auxiliary wheels, wherein the driving steering wheel is arranged on the bottom surface of the bottom frame, the magnetic navigation device is arranged on the bottom surface of the bottom frame, the plurality of auxiliary wheels are uniformly arranged at the edge of the bottom surface of the bottom frame, the third controller is respectively and electrically connected with the driving steering wheel and the magnetic navigation device, and the third controller is used for acquiring navigation signals of the magnetic navigation device and controlling the driving steering wheel to move according to the navigation signals.
Compared with the prior art, the automatic guiding trolley is provided with at least two object stages on the lifting mechanism, and the goods are placed on the idle object stages by clamping the fork, so that the automatic guiding trolley can carry a plurality of goods at a time, and the working efficiency of the automatic guiding trolley is improved.
Drawings
Fig. 1 is a schematic structural view of a first embodiment of an automatic guided vehicle according to the present invention.
Fig. 2 is a schematic structural view of a second embodiment of an automatic guided vehicle according to the present invention.
Fig. 3 is a schematic structural view of a third embodiment of an automatic guided vehicle according to the present invention.
Fig. 4 is a schematic structural view of a fourth embodiment of an automatic guided vehicle according to the present invention.
Fig. 5 is a schematic structural view of a fifth embodiment of an automatic guided vehicle according to the present invention.
Fig. 6 is a schematic structural view of a sixth embodiment of an automatic guided vehicle according to the present invention.
Fig. 7 is a schematic structural view of a seventh embodiment of an automatic guided vehicle according to the present invention.
Fig. 8 is a schematic structural view of an eighth embodiment of an automatic guided vehicle according to the present invention.
Fig. 9 is a schematic structural view of a ninth embodiment of an automatic guided vehicle according to the present invention.
Fig. 10 is a schematic structural view of a tenth embodiment of an automatic guided vehicle according to the present invention.
Fig. 11 is a schematic structural view of an eleventh embodiment of an automatic guided vehicle according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In this embodiment, referring to fig. 1, the automatic guiding trolley comprises an automatic guiding trolley body 1 and a lifting mechanism 2, wherein the lifting mechanism 2 is fixedly arranged on the top surface of the automatic guiding trolley body 1;
referring to fig. 1 and 2, the lifting mechanism 2 includes a first frame 21, a second frame 22, a clamping fork 23, at least two object stages 24 and a driving assembly 25, the first frame 21 is perpendicular to the second frame 22 and is oppositely disposed on the top surface of the automatic guiding vehicle body 1, the at least two object stages 24 are stacked between the first frame 21 and the second frame 22, the clamping fork 23 is movably disposed between the first frame 21 and the second frame 22, the clamping fork 23 is electrically connected with the driving assembly 25, and the driving assembly 25 is used for driving the clamping fork 23 to clamp an object to be carried and driving the clamping fork 23 to transport the object to be carried to an idle object stage of the at least two object stages 24.
Specifically, at least two of the stages 24 are further provided with detection means for detecting whether the stages are in an idle state, such as infrared detection means, pressure detection means, and the like. The clamping fork 23, the driving assembly 25 and the detection device are electrically connected with a central control device, the detection device is used for detecting an idle object stage and transmitting idle signals to the central control device, and the central control device controls the driving assembly 25 to drive the clamping fork 23 to clamp an object to be carried onto the idle object stage according to the idle signals.
Further, the clamping fork 23 is horizontally movable up and down between the first frame 21 and the second frame 22 to clamp the goods to be carried to different stages.
In this embodiment, at least two object stages 24 are stacked between the first frame 21 and the second frame 22, and the clamping fork can place the goods on the at least two object stages, so that the automatic guiding trolley can carry a plurality of goods at a time, and the working efficiency of the automatic guiding trolley is improved.
On the basis of the above embodiment, in the present embodiment, referring to fig. 3, the driving assembly 25 includes the left driving mechanism 251 and the right driving mechanism 252, and the clamping fork 23 includes the left clamping portion 231 and the right clamping portion 232, and the left driving mechanism 251 and the right driving mechanism 252 are used to drive the left clamping portion 231 and the right clamping portion 232 to move relatively or move relatively.
Specifically, when the cargo is placed in the clamp fork 23, the left clamp portion 231 and the right clamp portion 232 move in opposite directions at the same time; when goods are placed on the goods shelves, the left clamping and holding part 231 and the right clamping and holding part 232 simultaneously do relative movement.
Further, the left driving mechanism 251 is also used to brake the left clamping portion 231; the right drive mechanism 252 also serves to brake the right clamp jaw 232.
Further, when gripping cargo, the left driving mechanism 251 brakes the left gripping portion 231, and the right driving mechanism 252 brakes the right gripping portion 232.
The fork simultaneous movement and braking are embraced to this embodiment, can adapt to not unidimensional goods, and can be regular to the objective table middle part with the goods, have reached the effect of rectifying, have also enlarged the application range of automated guided vehicle, have guaranteed that the automated guided vehicle can not lead to the focus unstable to take place to turn on one's side because of the goods is crooked.
On the basis of the above-described embodiment, in the present embodiment, referring to fig. 4, the first frame 21 includes the first fixed door frame 211, the first movable door frame 212, and the first driving mechanism 213, the first fixed door frame 211 is vertically disposed on the top surface of the automatic guided vehicle body 1, the first movable door frame 212 is movably disposed on the first fixed door frame 211, and the first driving mechanism 213 is disposed on one side of the top surface of the automatic guided vehicle body 1;
the second frame 22 comprises a second fixed door frame 221, a second movable door frame 222 and a transmission mechanism 223, wherein the second fixed door frame 221 is vertically arranged on the top surface of the automatic guiding vehicle body 1, the second fixed door frame 221 is opposite to the first fixed door frame 211, the second movable door frame 222 is movably arranged on the second fixed door frame 221, the transmission mechanism 223 is arranged on the other side of the top surface of the automatic guiding vehicle body 1, and the transmission mechanism 223 is connected with the output end of the first driving mechanism 213;
the first driving mechanism 213 is used for driving the transmission mechanism 223, and the transmission mechanism 223 drives the first movable door frame 212 and the second movable door frame 222 to move up and down.
Specifically, at least two stage stacks are disposed between the first moveable gantry 212 and the second moveable gantry 222.
Further, the first driving mechanism 213 is further used for braking the transmission mechanism 223, so as to drive the transmission mechanism 223 to brake the first movable door frame 212 and the second movable door frame 222.
Further, the first driving mechanism 213 is connected to the transmission mechanism 223 through a belt.
In this embodiment, the first movable gantry 212 and the second movable gantry 222 drive at least two object stages to move to a high position, so that the clamping fork can access goods, and the clamping fork can not be blocked by a shelf or a self structure in the up-and-down movement process, thereby further improving the working efficiency of the automatic guiding trolley.
On the basis of the above-described embodiment, in the present embodiment, referring to fig. 5, the left clamping portion 231 includes a first fixing portion 2311, a first movable portion 2312 and a second driving mechanism 2313, the first fixing portion 2311 is connected with the first movable gantry 212, the first movable portion 2312 is movably disposed on the inner side of the first fixing portion 2311, and the second driving mechanism 2313 is disposed at the bottom of the first fixing portion 2311;
the right clamping portion 232 includes a second fixed portion 2321, a second movable portion 2322, and a third driving mechanism (not shown in the drawing), the second fixed portion 2321 is connected to the second movable gantry 222, the second movable portion 2322 is movably disposed on an inner side of the second fixed portion 2321, the third driving mechanism is disposed at a bottom of the second fixed portion 2321,
the second driving mechanism 2313 and the third driving mechanism are used to drive the first movable portion 2312 and the second movable portion 2322 to extend or retract.
Specifically, the second driving mechanism 2313 and the third driving mechanism simultaneously drive the first movable portion 2312 and the second movable portion 2322 to move in the same direction, so that the first movable portion 2312 and the second movable portion 2322 extend or retract simultaneously.
Further, the first movable portion 2312 and the second movable portion 2322 can simultaneously extend to clamp the goods on the goods shelf, and retract to clamp the goods from the goods shelf to the object stage; the goods can also be clamped to the goods shelf from the object stage.
When the high-level goods are stored, only the first movable part 2312 and the second movable part 2322 extend out to clamp the goods, so that the clamping fork 23 ensures the stability of the gravity center of the automatic guiding trolley when the goods are stored, and simultaneously, the position of the goods is regulated, and the use safety of the automatic guiding trolley is improved.
On the basis of the above-described embodiment, in the present embodiment, referring to fig. 6, a plurality of support beams 26 are further vertically disposed between the first movable mast 212 and the second movable mast 222.
Specifically, the plurality of support beams 26 are fixedly coupled to the first movable mast 212 and the second movable mast 222.
In this embodiment, the plurality of support beams 26 are disposed between the first movable door frame 212 and the second movable door frame 222, so that the rigidity of the lifting mechanism is ensured, and the safety of the automatic guided vehicle is further improved.
On the basis of the above embodiment, in the present embodiment, referring to fig. 7, the transmission mechanism 223 includes a transmission rod 2231, a first chain 2232 and a second chain 2233, the transmission rod 2231 is connected with the output end of the first driving mechanism 213, the top end of the first fixed gantry 211 is provided with a first transmission sprocket 2111, and the top end of the first movable gantry 212 is provided with a second transmission sprocket 2121; one end of the first chain 2232 is connected with the bottom end of the first movable door frame 212, and the other end of the first chain 2232 bypasses the first driving sprocket 2111 and is connected with one end of the driving rod 2231; one end of the second chain 2233 is connected with the left clamping part, and the other end of the second chain 2233 bypasses the second driving sprocket 2111 and is fixedly connected with the bottom end of the first fixed door frame 211;
the transmission mechanism 223 further comprises a third chain 2234 and a fourth chain 2235, a third transmission chain wheel 2211 is arranged at the top end of the second fixed door frame 221, and a fourth transmission chain wheel 2221 is arranged at the top end of the second movable door frame 222; one end of the third chain 2234 is connected with the bottom end of the second movable door frame 221, and the other end of the third chain 2234 bypasses the third transmission chain wheel 2211 and is connected with the other end of the transmission rod 2231; one end of the fourth chain 2235 is connected with the right clamping part, and the other end of the fourth chain 2235 bypasses the fourth driving sprocket 2221 and is fixedly connected with the bottom end of the second fixed door frame 221.
It should be noted that, in the same reference frame, when the transmission rod 2231 drives the first movable gantry 212 and the second movable gantry 222 to lift or descend at the preset speed, the left clamping portion 231 and the right clamping portion 232 will lift or descend at twice the preset speed.
Further, when the rotational speed of the transmission rod 2231 is the same as that of the first driving mechanism 213, the left clamping portion 231 and the right clamping portion 232 will be lifted or lowered at twice the predetermined speed.
Further, the first driving mechanism 213 is also used to brake the transmission rod 2231 when the pinch fork 23 reaches a preset position.
The lifting function is realized through the combination of chain and sprocket in this embodiment, and lifting mechanism simple structure simultaneously only needs to promote first movable portal 212 and second movable portal 222, can double speed promotion clamp and hold fork 23, has reached the effect of reducing the cost of automated guided vehicle, has promoted the promotion speed of pressing from both sides clamp and hold fork 2 again, has further promoted user experience.
On the basis of the embodiment, in the embodiment, a first chain tensioning assembly is arranged below the first driving sprocket, and the first driving sprocket is connected with the first chain tensioning assembly in a staggered manner through a first chain;
a second chain tensioning assembly is arranged below the second driving chain wheel, and the second driving chain wheel is connected with the second chain tensioning assembly in a staggered manner through a second chain;
a third chain tensioning assembly is arranged below the third driving chain wheel, and the third driving chain wheel is connected with the third chain tensioning assembly in a staggered manner through a third chain;
a fourth chain tensioning assembly is arranged below the fourth driving chain wheel, and the fourth driving chain wheel is connected with the fourth chain tensioning assembly in a staggered manner through a fourth chain.
Further, the first driving mechanism is connected with the conveying rod through a conveying belt, a conveying belt tensioning assembly is further arranged on the conveying belt, and the conveying belt tensioning assembly is connected with the output end of the first driving mechanism in a staggered mode through the conveying belt.
In this embodiment, through set up chain tensioning assembly on the chain, avoided will appear getting rid of the condition of chain when the chain stretches to certain length, lead to the circumstances that the wearing and tearing of chain are ageing fast easily, increased the stability of chain, guaranteed the life of chain, further promoted user experience.
Based on the above embodiment, in this embodiment, referring to fig. 8, a first loose chain detecting device 22331, a first alarm (not shown) and a first controller (not shown) are further disposed at the connection position between the second chain 2233 and the left clamping portion, the first controller is electrically connected to the first loose chain detecting device 21331 and the first alarm, and the first controller is configured to obtain a first detection signal of the first loose chain detecting device 21331 and control the first alarm according to the first detection signal;
specifically, the first loose chain detecting device 21331 is used for detecting the connection strength of the second chain 2233 at the connection position with the left clamping portion 231. When the connection strength is lower than a preset threshold value, a first detection signal is transmitted to the first controller, and the first controller controls the first alarm to be started according to the first detection signal.
The connection part of the fourth chain 2235 and the right clamping part is further provided with a second loose chain detection device 22211 and a second alarm (not shown in the figure), the first controller is electrically connected with the second loose chain detection device 22211 and the second alarm respectively, and the first controller is used for acquiring a second detection signal of the second loose chain detection device 22211 and controlling the second alarm according to the second detection signal.
Specifically, the second loose chain detecting device 22211 is configured to detect a connection strength of the fourth chain 2235 at a connection location with the right clamping portion 232. When the connection strength is lower than a preset threshold value, a second detection signal is transmitted to the first controller, and the first controller controls the second alarm to be started according to the second detection signal.
According to the embodiment, the loose chain detection device is arranged at the joint of the chain and the clamping part to detect the connection strength of the chain and the clamping part, so that the loose chain and the loose connection part are prevented from loosening after the chain is frequently or for a long time used, the connection strength is lowered, potential safety hazards are generated, a user can be timely reminded of maintenance or repair through the loose chain detection device and the alarm, the safety of the automatic guiding trolley is guaranteed, and the user experience is further improved.
On the basis of the above embodiment, in this embodiment, referring to fig. 9 and 10, a first anti-toppling mechanism 2113 is further provided on the outer side of the first fixed gantry 211, the first anti-toppling mechanism 2113 includes a first base 21131, a fourth driving mechanism 21132, a second controller (not shown in the drawings), a first front telescopic rod 21133 and a first rear telescopic rod 21134, the first base 21131 is provided on the outer side of the first fixed gantry 211, the fourth driving mechanism 21132 and the second controller are provided on the first base 21131, the second controller is electrically connected with the fourth driving mechanism 21132, the first front telescopic rod 21133 is provided at one end of the first base 21131, the first front telescopic rod 21133 is mechanically connected with the fourth driving mechanism 21132, the first rear telescopic rod 21134 is provided at the other end of the first base 31, and the first rear telescopic rod 21133 is electrically connected with the fourth driving mechanism 21132.
Specifically, when the goods are stored, the second controller receives a signal for storing and taking the goods, and controls the fourth driving mechanism 21132 to drive the first front telescopic rod 21133 and the first rear telescopic rod 21133 to extend according to the signal for storing and taking the goods, so as to be fixed in an external environment (for example, a goods shelf, a wall body and the like).
Further, when the goods are completely stored, the second controller receives the goods storing signal and controls the fourth driving mechanism 21132 to drive the first front telescopic rod 21133 and the first rear telescopic rod 21133 to retract according to the goods storing signal.
The second anti-toppling mechanism 2213 is further disposed on the outer side of the second fixed gantry 221, the second anti-toppling mechanism 2213 includes a second base 22131, a fifth driving mechanism 22132, a second front telescopic rod 22133 and a second rear telescopic rod 22134, the second base 22131 is disposed on the outer side of the second fixed gantry 221, a fifth driving mechanism 22132 is disposed on the second base 22131, a second controller is electrically connected with the fifth driving mechanism 22132, the second front telescopic rod 22134 is disposed at one end of the second base 22131, a second front telescopic rod 22133 is mechanically connected with the fifth driving mechanism 22132, a second rear telescopic rod 22134 is disposed at the other end of the second base 22131, and the second rear telescopic rod 22134 is electrically connected with the fifth driving mechanism 22132.
Specifically, when the goods are stored, the second controller receives a signal for storing the goods, and controls the fifth driving mechanism 22132 to drive the second front telescopic rod 22133 and the second rear telescopic rod 22134 to extend according to the signal for storing the goods, so as to be fixed in an external environment (for example, a shelf, a wall body, etc.).
Further, when the goods are completely stored, the second controller receives the goods storing and taking signal and controls the fifth driving mechanism 22132 to drive the second front telescopic rod 22133 and the second rear telescopic rod 22134 to retract according to the goods storing and taking signal.
According to the embodiment, the anti-toppling mechanism is arranged on the fixed door frame, and when goods are stored, the lifting mechanism can be fixed in an external environment, so that the gravity center of the automatic guiding trolley is further stabilized, and the automatic guiding trolley is more stable in the goods storage process.
On the basis of the above embodiment, in the present embodiment, referring to fig. 11, the automatic guiding vehicle body 1 includes a bottom frame 11, a third controller 12, a driving steering wheel 13, a magnetic navigation device 14 and a plurality of auxiliary wheels 15, the driving steering wheel 13 is disposed on the bottom surface of the bottom frame 11, the magnetic navigation device 14 is disposed on the bottom surface of the bottom frame 11, the plurality of auxiliary wheels 15 are uniformly disposed at the edge of the bottom surface of the bottom frame 11, the third controller 12 is respectively electrically connected with the driving steering wheel 13 and the magnetic navigation device 14, and the third controller 12 is used for acquiring the navigation signal of the magnetic navigation device 14 and controlling the driving steering wheel 13 to travel according to the navigation signal.
Specifically, the auxiliary wheels 15 are used to share the bearing pressure of the steering wheel, and increase the contact area between the automatic guiding vehicle body 1 and the ground.
Preferably, the plurality of auxiliary wheels 15 may be a plurality of universal wheels.
Preferably, the magnetic navigation device 14 is disposed at a front end of the automatically guided vehicle body 1 in the moving direction, and the driving steering wheel is disposed at a rear end of the automatically guided vehicle body 1 in the moving direction.
It should be noted that, the present embodiment selects, but is not limited to, magnetic navigation as the navigation method, and other navigation methods may be used, such as infrared navigation, laser navigation, visual navigation, and coordinate navigation.
The embodiment reads the overground magnetic stripe through the magnetic navigation device to finish navigation, has the characteristics of low noise, high precision, low energy consumption and the like, and sets up a plurality of auxiliary wheels on the bottom frame 11 to share the weight of goods and the self weight of the automatic guiding trolley, reduces the bearing pressure of the driving steering wheel, prevents the aging and the wearing of the driving steering wheel 13 from being too fast, increases the contact area between the automatic guiding trolley body 1 and the ground, and further stabilizes the gravity center of the automatic guiding trolley.
The embodiments of the invention have been described in detail above, but they are merely examples, and the invention is not limited to the above-described embodiments. It will be apparent to those skilled in the art that any equivalent modifications or substitutions to this invention are within the scope of the invention, and therefore, all equivalent changes and modifications, improvements, etc. that do not depart from the spirit and scope of the principles of the invention are intended to be covered by this invention.

Claims (7)

1. The automatic guiding trolley is characterized by comprising an automatic guiding trolley body and a lifting mechanism, wherein the lifting mechanism is fixedly arranged on the top surface of the automatic guiding trolley body;
the lifting mechanism comprises a first frame, a second frame, a clamping fork, a driving assembly and at least two object tables, wherein the first frame is perpendicular to the second frame and is oppositely arranged on the top surface of the automatic guiding vehicle body, the at least two object tables are arranged between the first frame and the second frame in a stacked mode, the clamping fork is movably arranged between the first frame and the second frame, the clamping fork is electrically connected with the driving assembly, and the driving assembly is used for driving the clamping fork to clamp an object to be conveyed and driving the clamping fork to convey the object to be conveyed to the idle object tables in the at least two object tables;
the driving assembly comprises a left driving mechanism and a right driving mechanism, the clamping fork comprises a left clamping part and a right clamping part, and the left driving mechanism and the right driving mechanism are used for driving the left clamping part and the right clamping part to move relatively or move back to each other;
the first frame comprises a first fixed door frame, a first movable door frame and a first driving mechanism, wherein the first fixed door frame is vertically arranged on the top surface of the automatic guiding vehicle body, the first movable door frame is movably arranged on the first fixed door frame, and the first driving mechanism is arranged at the bottom of the first fixed door frame;
the second frame comprises a second fixed door frame, a second movable door frame and a transmission mechanism, wherein the second fixed door frame is vertically arranged on the top surface of the automatic guiding vehicle body, the second fixed door frame is arranged opposite to the first fixed door frame, the second movable door frame is movably arranged on the second fixed door frame, the transmission mechanism is arranged at the bottom of the second fixed door frame, and the transmission mechanism is connected with the output end of the first driving mechanism;
the left clamping part comprises a first fixed part, a first movable part and a second driving mechanism, the first fixed part is connected with the first movable door frame, the first movable part is movably arranged on the inner side of the first fixed part, and the second driving mechanism is arranged at the bottom of the first fixed part;
the right clamping part comprises a second fixed part, a second movable part and a third driving mechanism, the second fixed part is connected with the second movable door frame, the second movable part is movably arranged on the inner side of the second fixed part, the third driving mechanism is arranged at the bottom of the second fixed part,
the second driving mechanism and the third driving mechanism are used for driving the first movable part and the second movable part to extend or retract;
the first driving mechanism is used for driving the transmission mechanism, and the transmission mechanism drives the first movable door frame and the second movable door frame to move up and down.
2. The automated guided vehicle of claim 1, wherein a plurality of support beams are further disposed vertically between the first movable mast and the second movable mast.
3. The automatic guided vehicle of claim 1, wherein the transmission mechanism comprises a transmission rod, a first chain and a second chain, the transmission rod is connected with the output end of the first driving mechanism, a first transmission sprocket is arranged at the top end of the first fixed portal, and a second transmission sprocket is arranged at the top end of the first movable portal; one end of the first chain is connected with the bottom end of the first movable door frame, and the other end of the first chain bypasses the first driving sprocket and is connected with one end of the driving rod; one end of the second chain is connected with the left clamping part, and the other end of the second chain bypasses the second driving sprocket and is fixedly connected with the bottom end of the first fixed door frame;
the transmission mechanism further comprises a third chain and a fourth chain, a third transmission chain wheel is arranged at the top end of the second fixed door frame, and a fourth transmission chain wheel is arranged at the top end of the second movable door frame; one end of the third chain is connected with the bottom end of the second movable door frame, and the other end of the third chain bypasses the third driving chain wheel and is connected with the other end of the driving rod; one end of the fourth chain is connected with the right clamping part, and the other end of the fourth chain bypasses the fourth driving sprocket and is fixedly connected with the bottom end of the second fixed door frame.
4. The automated guided vehicle of claim 3, wherein a first chain tensioning assembly is disposed below the first drive sprocket, the first drive sprocket being connected with the first chain tensioning assembly by the first chain misalignment;
a second chain tensioning assembly is arranged below the second driving chain wheel, and the second driving chain wheel is connected with the second chain tensioning assembly in a staggered manner through a second chain;
a third chain tensioning assembly is arranged below the third driving chain wheel, and the third driving chain wheel is connected with the third chain tensioning assembly in a staggered manner through a third chain;
and a fourth chain tensioning assembly is arranged below the fourth driving chain wheel, and the fourth driving chain wheel is connected with the fourth chain tensioning assembly in a staggered manner through a fourth chain.
5. The automatic guided vehicle according to claim 3, wherein a first loose chain detection device, a first alarm and a first controller are further arranged at the connection part of the second chain and the left clamping part, the first controller is respectively and electrically connected with the first loose chain detection device and the first alarm, and the first controller is used for acquiring a first detection signal of the first loose chain detection device and controlling the first alarm according to the first detection signal;
the connection part of the fourth chain and the right clamping part is also provided with a second loose chain detection device and a second alarm, the first controller is respectively and electrically connected with the second loose chain detection device and the second alarm, and the first controller is used for acquiring a second detection signal of the second loose chain detection device and controlling the second alarm according to the second detection signal.
6. The automated guided vehicle of claim 3, wherein a first anti-toppling mechanism is further disposed on an outer side of the first fixed gantry, the first anti-toppling mechanism comprises a first base, a fourth driving mechanism, a second controller, a first front telescopic rod and a first rear telescopic rod, the first base is disposed on the outer side of the first fixed gantry, the fourth driving mechanism and the second controller are disposed on the first base, the second controller is electrically connected with the fourth driving mechanism, the first front telescopic rod is disposed at one end of the first base, the first front telescopic rod is mechanically connected with the fourth driving mechanism, the first rear telescopic rod is disposed at the other end of the first base, and the first rear telescopic rod is electrically connected with the fourth driving mechanism;
the second anti-toppling mechanism comprises a second base, a fifth driving mechanism, a second front telescopic rod and a second rear telescopic rod, wherein the second base is arranged on the outer side of the second fixed door frame, the fifth driving mechanism is arranged on the second base, the second controller is electrically connected with the fifth driving mechanism, the second front telescopic rod is arranged at one end of the second base, the second front telescopic rod is mechanically connected with the fifth driving mechanism, the second rear telescopic rod is arranged at the other end of the second base, and the second rear telescopic rod is electrically connected with the fifth driving mechanism.
7. The automated guided vehicle of claim 1, wherein the automated guided vehicle body comprises a bottom frame, a third controller, a drive steering wheel, a magnetic navigation device and a plurality of auxiliary wheels, wherein the drive steering wheel is arranged on the bottom surface of the bottom frame, the magnetic navigation device is arranged on the bottom surface of the bottom frame, the plurality of auxiliary wheels are uniformly arranged at the edge of the bottom surface of the bottom frame, the third controller is respectively electrically connected with the drive steering wheel and the magnetic navigation device, and the third controller is used for acquiring a navigation signal of the magnetic navigation device and controlling the drive steering wheel to travel according to the navigation signal.
CN201710652960.XA 2017-08-02 2017-08-02 Automatic guiding trolley Active CN107364808B (en)

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Publication number Priority date Publication date Assignee Title
CN107878989B (en) * 2017-11-30 2023-11-28 上海诺力智能科技有限公司 Automatic reclaimer of storage
CN107777624B (en) * 2017-11-30 2023-11-03 上海诺力智能科技有限公司 Material taking device suitable for industrial vehicle
CN107840059B (en) * 2017-11-30 2023-11-28 上海诺力智能科技有限公司 Automatic reclaimer of two-way storage
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
CN112960601B (en) * 2019-12-23 2022-05-03 新希望(深圳)供应链科技有限公司 Automatic logistics system and use method thereof

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