CN111517254A

CN111517254A - Thin type transport vehicle and loading transport vehicle thereof

Info

Publication number: CN111517254A
Application number: CN202010277542.9A
Authority: CN
Inventors: 朱建强
Original assignee: Zhejiang Libiao Robots Co Ltd
Current assignee: Zhejiang Libiao Robots Co Ltd
Priority date: 2020-04-10
Filing date: 2020-04-10
Publication date: 2020-08-11
Anticipated expiration: 2040-04-10
Also published as: CN111517254B

Abstract

The invention discloses a thin transport vehicle and a loading transport vehicle thereof, wherein the thin transport vehicle comprises: the loading plate is provided with a plurality of upper rollers and a plurality of lower rollers, wherein the upper rollers are at least partially exposed upwards from the top surface of the loading plate, the lower rollers are at least partially exposed downwards from the bottom surface of the loading plate, the loading plate can be inserted or pulled out from between the bottom surface of the goods and the ground, and the upper rollers can be in rolling contact with the bottom surface of the goods and the lower rollers can be in rolling contact with the ground. The bearing plate is provided with a plurality of holes, and the upper idler wheel and the lower idler wheel are arranged in the holes. The upper roller shaft is provided with a plurality of upper rollers, and each upper roller shaft is provided with a plurality of upper rollers; the lower roller shafts are provided with a plurality of lower rollers and are arranged in a staggered mode with the upper roller shafts, and a plurality of lower rollers are mounted on each lower roller shaft. The upper roller and the lower roller are bearings. The invention has the beneficial effects that: the thin type transport vehicle has very simple structure and high reliability; the loading and transporting vehicle saves electricity.

Description

Thin type transport vehicle and loading transport vehicle thereof

Technical Field

The invention relates to a thin type transport vehicle and a loading transport vehicle thereof.

Background

In the process of loading and using the cargo loading vehicle, the cargo is generally required to be lifted to a certain height to be moved to the trolley, therefore, the cargo loading vehicle needs to have certain power output to complete loading, and the lower the cargo is lifted, the lower the power requirement is, particularly in certain places such as a cargo sorting place.

Disclosure of Invention

The invention provides a thin transport vehicle and a loading transport vehicle according to the requirements, wherein the loading transport vehicle can lift one side of the goods, the thin transport vehicle can be inserted under the goods to jack the goods, and finally the thin transport vehicle is driven by the loading transport vehicle to transport the goods packing box to a specified place.

The technical scheme of the invention is as follows:

a thin vehicle, comprising:

the loading plate is provided with a plurality of upper rollers and a plurality of lower rollers, wherein the upper rollers are at least partially exposed upwards from the top surface of the loading plate, the lower rollers are at least partially exposed downwards from the bottom surface of the loading plate, the loading plate can be inserted or pulled out from between the bottom surface of the goods and the ground, and the upper rollers can be in rolling contact with the bottom surface of the goods and the lower rollers can be in rolling contact with the ground.

Furthermore, the bearing plate is provided with a plurality of holes, and the upper roller and the lower roller are arranged in the holes.

The upper roller shaft is provided with a plurality of upper rollers, and each upper roller shaft is provided with a plurality of upper rollers;

the lower roller shafts are provided with a plurality of lower rollers and are arranged in a staggered mode with the upper roller shafts, and a plurality of lower rollers are mounted on each lower roller shaft.

Further, the upper roller and the lower roller are bearings.

A loading transporter, comprising the thin transporter and further comprising:

a self-navigating carriage capable of traveling on the ground to a predetermined position;

the sucking discs are provided with more than one sucking discs, the sucking discs are communicated with a vacuum pump through a hose, and the vacuum pump is fixed on the self-navigation trolley;

the power lifting device is arranged on the self-navigation trolley and can drive the sucking disc to move up and down, and when the sucking disc sucks the side wall of the goods, the power lifting device can lift one side of the goods or put down the goods;

the thin transport vehicle moving device is arranged on the self-navigation trolley and can control the thin transport vehicle to be inserted into or pulled out from the position between the bottom surface of the goods and the ground, and the thin transport vehicle can transport the goods;

the vacuum pump, the power lifting device and the thin type transport vehicle moving device are controlled by a controller in the self-navigation trolley, and the controller is powered by a battery of the self-navigation trolley.

The invention has the beneficial effects that:

the thin transport vehicle has very low height, loads goods on the thin transport vehicle, has very low power consumption, and has very simple structure and high reliability;

the thin transport vehicle is provided with the plurality of upper rollers and the plurality of lower rollers, so that when the thin transport vehicle is inserted into or withdrawn from goods and the ground, the resistance is very small, and the power consumption is very low;

the loading and unloading of the goods can be completed only by lifting the goods, and the power consumption is very low.

Drawings

Fig. 1 is a schematic structural view of the thin type transportation vehicle of the present invention.

Fig. 2 is a top view of fig. 1.

FIG. 3 is a schematic view showing the wavy structure of the thin transportation cart according to the present invention.

Fig. 4 is a schematic structural view of the loading transporter of the invention.

Fig. 5 is a schematic view of the structure of the loading transporter of the invention relative to the synchronizing wheel.

Fig. 6 is a schematic view of the structure of the loading and transporting vehicle related to the screw rod.

Fig. 7 is a schematic view of the structure of the thin type transporting vehicle and the guide rail in the loading transporting vehicle of the invention.

Detailed Description

The invention will now be further described with reference to the accompanying drawings in which:

the goods referred to in the present invention means goods with a packaging box such as a plastic box or a carton box, etc., or goods themselves are relatively regular shapes which can satisfy the use conditions of the present invention.

Example 1: as shown in fig. 1-2, a thin type transportation vehicle includes:

and the loading plate 10 is provided with a plurality of upper rollers 121 and a plurality of lower rollers 122, wherein the upper rollers 121 are at least partially exposed upwards from the top surface of the loading plate 10, the lower rollers 122 are at least partially exposed downwards from the bottom surface of the loading plate 10, the loading plate 10 can be inserted into or pulled out from between the bottom surface of the cargo 6 and the ground, and the upper rollers 121 and the bottom surface of the cargo 6 and the lower rollers 122 and the ground can be in rolling contact.

In this embodiment, the plurality of upper rollers 121 and the plurality of lower rollers 122 may be fixed on the supporting plate 10 by various structures, and when the plurality of upper rollers 121 and the plurality of lower rollers 122 are partially, but not completely exposed, the height of the thin transportation vehicle may be relatively low, and energy consumption may be reduced during use.

The upper roller 121 or the lower roller 122 may be a roller with a relatively long length, or even a single roller in a row.

When the roller with a shorter length is selected, the plurality of upper rollers 121 bear the weight of the goods 6, and therefore, the goods 6 can be uniformly supported by the larger number of the upper rollers 121.

The carrier plate 10 may be a flat plate or a rectangular frame.

Example 2: as shown in fig. 2, in the embodiment 1, the carrying plate 10 is provided with a plurality of holes 13, the upper roller 121 and the lower roller 122 are installed in the holes 13, the shape of the holes 13 is preferably rectangular, and one hole can be installed with one or more rollers.

The embodiment can obviously reduce the thickness of the thin type transport vehicle, the thin type transport vehicle is provided with the holes, and the shafts of the rollers can be shorter, so that each roller has stronger load-carrying capacity.

Example 3: on the basis of embodiment 2, the method further comprises the following steps:

a plurality of upper roller shafts 111, each upper roller shaft 111 being provided with a plurality of upper rollers 121;

and a plurality of lower roller shafts 112 arranged to be staggered with the upper roller shafts 111, each of the lower roller shafts 112 having a plurality of lower rollers 122 mounted thereon.

In the embodiment, each roller shaft can be provided with a plurality of rollers, so that the mounting structure can be simplified.

Example 4: as shown in FIG. 3, in the embodiment 3, the carrier plate 10 has a wave shape in side view, an upper roller shaft 111 and an upper roller 121 are installed on the top of the wave shape, and a lower roller shaft 112 and a lower roller 122 are installed on the bottom of the wave shape.

When the bearing plate 10 is a flat plate, the diameter ratio of the rollers is smaller, and the number of the rollers is smaller, the goods 6 can easily contact the flat plate, and when the thin-type transport vehicle loads and unloads the goods, the friction force between the flat plate and the goods can be increased, so that the electric energy is wasted, and the friction force can be reduced through the wavy structure in the embodiment.

Preferably, in the above embodiment, the loading ledge 10 is provided with a pointed corner 101, which pointed corner 101 can be inserted into the gap between the bottom surface of the load 6 and the ground. The upper roller 121 and the lower roller 122 are bearings, and the rolling friction coefficient of the bearings is relatively small, the cost is low, and the load capacity is large. These structures can both save electrical energy.

A loading transporter, as shown in fig. 4, includes the thin transporter 1, and further includes:

a self-navigation trolley 2 capable of traveling on the ground to a predetermined position;

the suction cups 51 are provided with more than one suction cup, four suction cups 51 are selected in the embodiment, the suction cups 51 are communicated with a vacuum pump through a hose, and the vacuum pump is fixed on the self-navigation trolley 2;

the power lifting device 7 is arranged on the self-navigation trolley 2 and can drive the sucking disc 51 to move up and down, and when the sucking disc 51 sucks the side wall of the goods 6, the power lifting device 7 can lift one side of the goods 6 up or down;

the thin transport vehicle moving device 8 is arranged on the self-navigation trolley 2 and can control the thin transport vehicle 1 to be inserted into or pulled out from the space between the bottom surface of the goods 6 and the ground, and the thin transport vehicle 1 can transport the goods 6;

the vacuum pump, the power lifting device 7 and the thin type transport vehicle moving device 8 are controlled by a controller in the self-navigation trolley 2, and the controller is powered by a battery of the self-navigation trolley 2.

When the loading transport vehicle runs close to the goods 6, the suction cups 51 are aligned to the side walls of the goods 6, the vacuum pump generates negative pressure to enable the suction cups 51 to suck the goods 6, the power lifting device 7 can lift one side of the goods 6 off the ground, the thin transport vehicle moving device 8 can insert the thin transport vehicle 1 into the bottom of the goods 6, when the negative pressure generated by the vacuum pump is relieved, the goods 6 are loaded on the thin transport vehicle 1, the goods 6 are pulled to a target address by the self-navigation trolley 2, the thin transport vehicle 1 is directly drawn out from the bottom surface of the goods 6, or the goods 6 are sucked by the suction cups 51 and lifted again, the thin transport vehicle 1 is drawn out from the bottom surface of the goods 6, and unloading is completed.

The power lifting device 7 can lift one side of the goods 6 off the ground, and the other side of the goods 6 is pressed on the ground or the thin transport vehicle 1, so that the power consumption of the loading transport vehicle is not large; in addition, when the thin transport vehicle 1 is inserted or pulled out, rolling friction is generated between the thin transport vehicle 1 and the ground and the goods 6, and in this case, the power consumption of the thin transport vehicle moving device 8 is not large.

It should be noted that, the self-navigation trolley and the working environment can refer to but are not limited to chinese patent CN201620006569.3, a sorting robot, and also refer to chinese patent CN201720685617.0, a module landmark, a landmark and a robot for robot walking, the self-navigation trolley and the server are wirelessly connected in the present invention, the self-navigation trolley, after receiving a command signal from the server, travels along a predetermined route according to the collected landmark position information to a target module for goods taking, and then transports the goods to a target address for goods unloading, and then unloads the goods, the landmark position information includes two-dimensional codes, magnetic landmarks and the like arranged on the ground, the self-navigation trolley is equipped with a collection device of the two-dimensional codes, magnetic landmarks and the like, and can also perform accurate positioning through wireless connection, and these are all the prior art.

Further, as shown in fig. 4 to 6, the self-navigation bogie 2 is provided with:

a lifting plate 52 for fixing the suction cup 51 and driven by the power lifting device 7;

the two sliding rails 41 are vertically arranged, are parallel to each other and are fixed on the front panel 21 of the self-navigation trolley 2;

the number of the sliding blocks 53 is more than two, the sliding blocks 53 are fixed with the lifting plate 52 and are in sliding connection with the sliding rails 41, and the sliding blocks 53 can only move up and down along the sliding rails 41 to ensure that the suction cups can vertically move up and down.

Further, as shown in fig. 5 to 6, the power lifting device 7 includes:

the push rod motor, its body is fixed with front panel 21, the push rod is fixed with lifting plate 52 through the support, the push rod motor is connected from the controller in the navigation dolly 2;

alternatively, referring to fig. 5-6, the power lift 7 comprises:

the two ends of the screw rod are rotatably fixed with the screw rod bracket, and the screw rod bracket is fixed with the front panel 21;

the shell of the screw rod motor is fixed with the front panel 21, the rotating shaft is fixed with the screw rod, and the screw rod motor is connected with a controller in the self-navigation trolley 2;

a lead screw nut fixed to the lift plate 52 and engaged with the lead screw.

The two power lifting devices 7 have the same lifting principle, can lift or put down the goods 6, and can finish the rotation position limit of a screw rod motor, a push rod motor and the like by a controller, for example, the locked-rotor current of the motor is collected, the rotation position limit of the motor is determined, and the accurate control by a servo motor can also be adopted.

In order to move the thin type transportation vehicle 1 in a limited manner, as shown in fig. 7, two parallel guide rails 85 are installed on the frame, and the two guide rails 85 are horizontally arranged close to the ground;

as another embodiment, two ends of a plurality of upper roller shafts 111 and/or a plurality of lower roller shafts 112 of the thin transport vehicle 1 are provided with extension sections 14, the extension sections 14 can be respectively inserted into the two guide rails and can also enable the thin transport vehicle 1 to move along the guide rails 85, and one end of the two guide rails 85 can be designed into a bell mouth 851 in order to facilitate the thin transport vehicle 1 to be retracted to the bottom of the self-navigation vehicle 2.

As one embodiment, as shown in fig. 5, the thin type transporter moving device 8 further includes:

a first synchronizing wheel 81 and a second synchronizing wheel 82, the central axes of which are respectively arranged on the frame of the self-navigation trolley 2;

a timing belt 82 connecting the first and second timing wheels;

the shell of the moving motor is fixed with the frame, the rotating shaft of the moving motor is fixed with the first synchronizing wheel or the second synchronizing wheel, and the moving motor is electrically connected with the controller of the self-navigation trolley 2;

a link 83 which can fix the timing belt 82 and the thin type transportation vehicle 1 together and can touch the first synchronization wheel 81 or the second synchronization wheel 82 when following the timing belt 82 to move, thereby limiting the moving position of the thin type transportation vehicle 1, wherein the link 83 has two purposes, namely, the first purpose is fixing and the second purpose is limiting;

as another embodiment, as shown in fig. 6, further, the thin type transporter moving device 8 includes:

two ends of the screw 87 are respectively fixed with the frame of the self-navigation trolley 2 through bearings;

a moving motor 86, the shell of which is fixed with the frame, the rotating shaft of which is fixed with the screw 87, and the moving motor is electrically connected with the controller of the self-navigation trolley 2;

and a nut 83 engaged with the screw 87, the nut 83 being fixed to the thin carrier vehicle 1.

The screw 87 and the nut 83 can be a screw rod and a screw nut, respectively.

The technical scheme of the two thin type transport vehicle moving devices 8 can realize corresponding functions.

Self-navigation trolley 2 comprises:

two power wheels 32 are arranged and fixed with the frame of the self-navigation trolley 2 through bearings, the two power wheels 32 are respectively driven by two servo motors, and the two servo motors are respectively connected with a controller;

more than two driven wheels 31 are arranged and are respectively fixed with the frame through bearings.

The power wheels 32 are mounted close to the front panel, and under the influence of heavier goods on the thin transport vehicle 1, the self-navigation vehicle 2 may lose balance, and the driven wheels 31 leave the ground, in which case, the two power wheels 32 can control the self-navigation vehicle 2 to run.

Claims

1. A thin transport vehicle is characterized by comprising:

the loading plate (10) is provided with a plurality of upper rollers (121) and a plurality of lower rollers (122), wherein the upper rollers (121) are at least partially exposed upwards from the top surface of the loading plate (10), the lower rollers (122) are at least partially exposed downwards from the bottom surface of the loading plate (10), the loading plate (10) can be inserted or pulled out from between the bottom surface of the goods (6) and the ground, and the upper rollers (121) and the bottom surface of the goods (6) and the lower rollers (122) and the ground can be in rolling contact.

2. The thin type transportation vehicle as claimed in claim 1, wherein the carrying plate (10) is formed with a plurality of holes (13), and the upper roller (121) and the lower roller (122) are respectively installed in the holes (13).

3. The thin conveyor car according to claim 2, further comprising:

a plurality of upper roller shafts (111), each upper roller shaft (111) is provided with a plurality of upper rollers (121);

and a plurality of lower roller shafts (112) which are arranged and staggered with the upper roller shafts (111), wherein a plurality of lower rollers (122) are arranged on each lower roller shaft (112).

4. A thin type transportation cart in accordance with claim 3, wherein said carrier plate (10) has a wave shape in side view, said upper roller shaft (111) and said upper roller (121) are installed on the top of the wave shape, and said lower roller shaft (112) and said lower roller (122) are installed on the bottom of the wave shape.

5. A thin carrier vehicle as claimed in claim 1, characterized in that the loading floor (10) is provided with a sharp corner (101), which sharp corner (101) can be inserted into a gap between the bottom surface of the goods (6) and the ground.

6. A thin vehicle as claimed in any one of claims 1 to 5 wherein said upper (121) and lower (122) rollers are bearings.

7. A loading transporter comprising the thin transporter according to any one of claims 1 to 6, and further comprising:

a self-navigation trolley (2) which can run on the ground to reach a predetermined position;

the sucking discs (51) are provided with more than one sucking discs, the sucking discs (51) are communicated with a vacuum pump through a hose, and the vacuum pump is fixed on the self-navigation trolley (2);

the power lifting device (7) is arranged on the self-navigation trolley (2) and can drive the sucker (51) to move up and down, and when the sucker (51) sucks the side wall of the goods (6), the power lifting device (7) can lift one side of the goods (6) or put down;

the thin type transport vehicle moving device (8) is arranged on the self-navigation trolley (2) and can control the thin type transport vehicle (1) to be inserted into or pulled out from the space between the bottom surface of the goods (6) and the ground, and the thin type transport vehicle (1) can transport the goods (6);

the vacuum pump, the power lifting device (7) and the thin type transport vehicle moving device (8) are controlled by a controller in the self-navigation trolley (2), and the controller is powered by a battery of the self-navigation trolley (2).

8. A loading transporter as claimed in claim 7, wherein said self-navigating trolley (2) is provided with:

a lifting plate (52) for fixing the suction cup (51) and driven by the power lifting device (7);

the two sliding rails (41) are vertically arranged and fixed on a front panel (21) of the self-navigation trolley (2);

the sliding blocks (53) are more than two, the sliding blocks (53) are fixed with the lifting plate (52) and are in sliding connection with the sliding rails (41), and the sliding blocks (53) can only move up and down along the sliding rails (41).

9. A load-carrying vehicle as claimed in claim 8, characterised in that said power-lifting means (7) comprise:

the shell of the push rod motor is fixed with the front panel (21), the push rod is fixed with the lifting plate (52) through a bracket, and the push rod motor is connected with a controller in the self-navigation trolley (2);

alternatively, the power lift device (7) comprises:

the two ends of the screw rod are rotatably fixed with a screw rod bracket, and the screw rod bracket is fixed with the front panel (21);

the shell of the screw rod motor is fixed with the front panel (21), the rotating shaft of the screw rod motor is fixed with the screw rod, and the screw rod motor is connected with a controller in the self-navigation trolley (2);

a screw nut fixed to the lifting plate (52) and engaged with the screw.

10. A loading transporter as claimed in claim 7, wherein the frame is provided with two rails (85), the two rails (85) being disposed horizontally adjacent the ground;

two edges of the thin transport vehicle (1) are respectively inserted into two guide rails (85), the thin transport vehicle (1) can move along the guide rails (85), and the thin transport vehicle (1) is controlled by the thin transport vehicle moving device (8).

11. A loading transporter as claimed in claim 10, wherein the thin transporter (1) has extensions (14) at both ends of the upper roller shafts (111) and/or the lower roller shafts (112), and the extensions (14) can be inserted into the two rails (85).

12. A loading transporter as claimed in claim 10, wherein said thin transporter moving means (8) comprises:

the central shafts of the first synchronizing wheel (81) and the second synchronizing wheel (82) are respectively arranged on the frame of the self-navigation trolley (2);

a timing belt (82) connecting the first and second timing wheels;

the shell of the mobile motor is fixed with the frame, the rotating shaft of the mobile motor is fixed with the first synchronizing wheel or the second synchronizing wheel, and the mobile motor is electrically connected with the controller of the self-navigation trolley (2);

a link (83) which can fix the synchronous belt (82) and the thin transport vehicle (1) together and can touch the first synchronous wheel (81) or the second synchronous wheel (82) when moving along with the synchronous belt (82), thereby limiting the moving position of the thin transport vehicle (1);

or, the thin type transport vehicle moving device (8) comprises:

two ends of the screw rod (87) are respectively fixed with the frame of the self-navigation trolley (2) through bearings;

the shell of the moving motor (86) is fixed with the frame, the rotating shaft is fixed with the screw (87), and the moving motor is electrically connected with the controller of the self-navigation trolley (2);

and a nut (83) which is matched with the screw (87), wherein the nut (83) is fixed with the thin type transport vehicle (1).

13. A loading transporter as claimed in claim 7, wherein said self-navigating trolley (2) comprises:

the two power wheels (32) are respectively fixed with the frame of the self-navigation trolley (2) through bearings, the two power wheels (32) are respectively driven by two servo motors, and the two servo motors are respectively connected with the controller;

more than two driven wheels (31) are arranged and are respectively fixed with the frame through bearings.