CN115744744A - Automatic guide tray transport and transportation car - Google Patents

Abstract

The invention discloses an automatic guided pallet transport vehicle. A main body vehicle and a split vehicle are arranged inside the main body vehicle; accommodating grooves are opened inside the main body vehicle. The automatic guided pallet transport vehicle adopts a new structural design, which can obtain a split car that can be independent and has a smaller width, thereby improving the adaptability of the pallet, and the split car can leave or touch the ground through the ground lift mechanism, replacing the common one. The caster retractable scheme reduces the use of the locking mechanism, and the structure is more simplified, and the ground lift mechanism makes the split car and the main body car independent. While increasing the height of the main body car from the ground and improving ground adaptability, the height of the split car is not high. It will follow the increase, which also improves the adaptability of the pallet to a certain extent.

Description

An automatic guided pallet handling transport vehicle

technical field

The patent of the present invention relates to the technical field of transport vehicles, in particular to an automatic guided pallet transport vehicle.

Background technique

The transport vehicle is a kind of equipment used to transport objects. It uses its liftable fork arm to lift the object with the chassis, and then uses the rollers below to drive the object to move synchronously to achieve the purpose of transportation.

In the prior art, the Chinese patent with the authorized announcement number CN216638816U discloses a detection system for the telescopic distance of the lifting component on the handling robot, including a body, a lifting component, a first detection module and a control module. The body is provided with a first roller and a first motor, and the first motor drives the first roller to move the body. At least one accommodating groove is arranged on the body, and a lifting component is arranged in each accommodating groove; the lifting component leaves or returns to the body from the accommodating groove. The first detection module is a TOF depth sensor, and the first detection module detects the relative distance between the lifting component and the body in the direction in which the lifting component moves from the accommodating tank; the control module is used to receive the Feedback to drive subsequent actions of the body and/or lift assembly. The patent of the invention replaces the traditional rope-drawn sensor with a TOF depth sensor. The detection result is more accurate and the response speed is faster; it is easy to install and disassemble without considering the shape of the measured object, and has strong environmental adaptability; long life and low cost.

In the above-mentioned device, the vehicle body is connected and fixed to the yoke through the slide rail. The disadvantage is that the yoke and the vehicle body always exist in an integrated state and cannot be independent of each other, and the flexibility of the yoke is extremely limited.

On the other hand, in order to realize that the yoke leaves the ground when retracting the main body, and touches the ground when extending out, the yoke driving wheel assembly with complex structure is designed in the above-mentioned prior art, which is difficult to disassemble and maintain and is easy to be damaged; meanwhile, the prior art In the scheme, the fork arm has always been placed on the frame. When it is necessary to increase the height of the frame of the main body from the ground to improve the ground adaptability of the transport vehicle, the height of the bottom surface of the fork arm from the ground is also increased, and it cannot reach the height of the socket. Lower pallet, which also reduces pallet adaptability;

Finally, the above-mentioned device adopts four fixed moving universal wheels and two driving wheels with a certain amount of floating, and the floating is mainly realized by springs and linear guide rails. The principle is: when the driving wheels pass through protrusions or pits, the springs respectively Contraction or rebound, so that the driving wheel can obtain enough positive pressure to obtain enough friction, but when carrying a large load of goods, if the ground where the driving wheel is located is lower than the four moving universal wheels touch the ground, although the spring rebounds It can ensure that the driving wheels touch the slightly lower ground, but the positive pressure provided by the spring force is not enough to provide the friction required for the transport vehicle to carry a large load, and it is prone to slipping.

Contents of the invention

The purpose of the patent of the present invention is to provide an automatic guided pallet transport vehicle to solve the problems in the above-mentioned background technology that the fork arms cannot be lifted freely or move independently, and are easy to slip under heavy load.

In order to achieve the above purpose, the patent of the present invention provides the following technical solutions: an automatic guided pallet transport vehicle, including: a main body vehicle and a split vehicle;

The main body vehicle includes: a body, accommodating grooves arranged in parallel on the left and right sides of the vehicle body, a ground lift mechanism fixedly installed at the rear of the vehicle body, a main body vehicle driving wheel assembly and a moving universal wheel;

The split car includes: a lifting mechanism, a split car drive wheel assembly and a lifting plate;

The split car is located in the accommodating tank of the main body car, and there may be one or two split cars;

The lift-off mechanism is used to lift and put down the split vehicle

Preferably, the lift-off mechanism includes: a synchronous pulley, a photoelectric barrier, a photoelectric switch, a swing bar shaft, a lift-off shaft, a lift-off bearing, a movable swing link and an installation base.

Preferably, the synchronous pulley can be an ordinary pulley, a gear or other transmission structure, the swing lever shaft rotates under the action of the timing pulley, and the photoelectric block fixed on the swing lever shaft and the movable swing lever also rotate, so When the above-mentioned photoelectric baffle blocks the photoelectric switch, the detection receives the signal that the split car needs to be lifted or put down.

Preferably, the driving wheel assembly of the main body vehicle is used to drive the main body vehicle or the transport vehicle to travel as a whole, including: a driving swing arm assembly, a floating universal wheel, and the floating universal wheel is installed at the tail of the main body vehicle. The driving swing arm assembly is installed on the front end of the main body vehicle for assisting in improving the ground adaptability of the transport vehicle.

Preferably, the driving swing arm assembly includes: a swing arm main body, a hinge seat, a main body vehicle driving wheel assembly, a front spring and a rear spring. Swing around the hinge base.

Preferably, the lifting mechanism is used to lift the pallet, and the split car driving wheel assembly is used to drive the split car into or out of the accommodating slot of the main car to transport the pallet.

Preferably, there is a combined state and a separated state between the main body vehicle and the split vehicle, and the split vehicle is placed in two accommodation slots hollowed out on the body of the main body vehicle, and is lifted by the ground lift mechanism. When lifted and suspended, the split car is connected with the main car through the ground lift mechanism, and can move synchronously;

The split car is put down by the ground lift mechanism, and the two are disengaged. When the split car can freely drive away from the main body car accommodating groove, the split car and the main body car move independently and are completely separated.

Preferably, when the ground lift mechanism lifts the split vehicle, the ground clearance height of the bottom surface of the split vehicle may not follow the change of the ground clearance height of the bottom surface of the main body vehicle, and the two are independent of each other.

Preferably, the split car is not connected with the main body car through slide rails.

Preferably, the bottom of the accommodating tank is hollowed out, and one or more guide blocks can be selectively provided on the inner side walls of the accommodating tank on the left and right sides, and the guide blocks can be used for driving in and out of the split vehicle. Guided when exiting the holding tank.

Compared with the prior art, the beneficial effect of the patent of the present invention is: the automatic guided pallet transport vehicle adopts a new structural design, which can obtain an independent and smaller-width split vehicle, thereby improving the adaptability of the pallet, and through separation The ground mechanism enables the split car to leave or touch the ground, replacing the common fork arm caster retractable scheme, reducing the use of the fork arm locking mechanism, and the structure is more simplified, and the ground lift mechanism makes the split car and the main body car independent, which is increasing The height of the main body vehicle from the ground improves the adaptability of the ground, while the height of the split vehicle will not increase accordingly, which also improves the adaptability of the pallet to a certain extent. The specific content is as follows:

1. The combined use of the accommodation tank, the guide block, the split car and the split car driving wheel assembly uses the rotation of the split car driving wheel assembly to drive the split car to move back and forth inside the accommodating tank, thereby realizing the split The separation and merging of the car and the body car, in the process, use the guide block to limit the left and right positions of the split car, so as to achieve the purpose of preventing deviation, and setting the guide block can reduce the overall width of the split car .

2. The combination of the lift-off mechanism and the split car uses the synchronous belt pulley in the lift-off mechanism to drive the movable swing lever to rotate through the swing lever shaft, so that the lift-off shaft rotates in contact with the lifting plate at the rear of the split car and splits in half. The body car is lifted, so as to realize the free up and down movement of the split car inside the body car to achieve passability.

3. When the various components in the driving swing arm assembly are used together, when encountering an uneven road surface, under the action of gravity and spring extrusion force, the driving wheel assembly of the main body vehicle moves downward and drives the main body of the swing arm to rotate around the hinge seat, thereby The driving wheel assembly of the main body vehicle can quickly contact the sunken ground, restore the grip force, and finally achieve the purpose of improving the overall movement stability and passability of the device.

Description of drawings

Fig. 1 is the three-dimensional main view structure schematic diagram of the combination state of the patent body car and the split car of the present invention;

Fig. 2 is a front view structural schematic diagram of the patent body car of the present invention;

Fig. 3 is a schematic diagram of a partial cross-sectional structure of the main body car of the present invention in a top view;

Fig. 4 is a schematic diagram of the three-dimensional front view structure of the patented off-the-ground mechanism of the present invention;

Fig. 5 is a side view sectional structure schematic diagram of the patent body car of the present invention;

Figure 6 is a schematic diagram of the side view of the drive swing arm assembly of the patent of the present invention;

Fig. 7 is a schematic structural diagram of the three-dimensional front view of the separated state of the body car and the split car of the present invention;

Fig. 8 is a schematic structural view of the stereoscopic front view of the patented split car of the present invention.

In the figure: 1. Body car; 2. Split car; 201. Lifting plate; 3. Mobile universal wheel; 4. Split car drive wheel assembly; 5. Accommodating groove; 6. Guide block; 7. Ground clearance Mechanism; 701, installation base; 702, synchronous pulley; 703, swing lever shaft; 704, movable swing lever; 705, off-ground shaft; 706, off-ground bearing; Universal wheel; 9, drive swing arm assembly; 901, swing arm main body; 902, hinge seat; 903, front spring; 904, rear spring; 905, body vehicle drive wheel assembly.

Detailed ways

The technical solutions in the patent embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the patent embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the patent of the present invention, not all implementations example. Based on the embodiments in the patent of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the patent of the present invention.

Please refer to Fig. 1-Fig. 8, the patent of the present invention provides a technical solution: an automatic guided pallet handling transport vehicle, comprising: a main body vehicle 1 and a split vehicle 2; The accommodating groove 5 on the side, the ground lift mechanism 7 fixedly installed at the rear of the vehicle body, the main body vehicle driving wheel assembly 905 and the mobile universal wheel 3; the split vehicle 2 includes: a lifting mechanism, a split vehicle driving wheel assembly 4 and a lifting plate 201; the split car 2 is located in the accommodation tank 5 of the main body car 1, and there may be one or two split cars 2; the ground lift mechanism 7 is used to lift and put down the split car 2, and the ground lift mechanism 7 includes : synchronous pulley 702, photoelectric block 707, photoelectric switch 708, fork shaft 703, off-the-ground shaft 705, off-the-ground bearing 706, movable fork 704 and installation base 701, and synchronous pulley 702 can be common pulley, gear or In other transmission structures, the swing lever shaft 703 rotates under the action of the synchronous pulley 702, and the photoelectric shutter 707 fixed on the swing rod shaft 703 and the movable swing rod 704 also rotate. To the signal that the split car 2 needs to be lifted or lowered, the floating universal wheel 8, the floating universal wheel 8 is installed at the tail of the main body car 1, and the driving swing arm assembly 9 is installed at the front end of the main body car 1 for auxiliary lifting and transportation The ground adaptability of the car, the driving swing arm assembly 9 includes: the swing arm main body 901, the hinge seat 902, the main body car driving wheel assembly 905, the front spring 903 and the rear spring 904, when the main body car driving wheel assembly 905 passes through the uneven road section, The main body of the swing arm 901 will swing around the hinge seat 902, the lifting mechanism is used to lift the pallet, and the split car drive wheel assembly 4 is used to drive the split car 2 into or out of the accommodating slot 5 of the main body car 1 for transportation. The tray, the main body car 1 and the split car 2 have a combined state and a separated state. The split car 2 is placed in the two accommodating grooves 5 hollowed out on the body of the main body car 1, and is lifted by the lift-off mechanism 7 and suspended When the split car 2 is connected with the body car 1 through the ground lift mechanism 7, it can move synchronously; When the slot is 5, the split car 2 and the main body car 1 move independently and are completely separated. When the ground lift mechanism 7 lifts the split car 2, the height from the ground of the bottom surface of the split car 2 may not follow the height of the bottom surface of the main body car 1. The two are independent of each other, the bottom of the accommodating tank 5 is hollowed out, and the inner walls of the accommodating tank 5 on the left and right sides can be selectively provided with one or more guide blocks 6, and the guide blocks 6 can be used for split car 2 in the Guidance when moving into and out of the holding tank 5;

The working process of loading the pallet on the transport vehicle is as follows: the split vehicle 2 and the main body vehicle 1 are in a combined state, and the driving wheel assembly 905 of the main body vehicle drives the transport vehicle to drive to the front of the pallet; then, the ground lift mechanism 7 detects that the split vehicle 2 needs to be put down signal, the lift-off mechanism 7 puts the split car 2 on the ground, and the split car drive wheel assembly 4 drives the left and right split cars 2 to drive out of the accommodating groove 5, locate and drive into the bottom hole of the pallet, and its lifting mechanism Lift the tray to a height exceeding the height of the main body car 1, at this time, the main body car 1 and the split car 2 are in a separated state; then, the left and right split cars 2 lift the tray and drive into the accommodation tank 5 by themselves, or the main body car 1. Actively drive under the tray to make the split car 2 enter the accommodation tank 5. After the split car 2 completely enters the accommodation tank 5, the lifting mechanism of the split car 2 lowers the height of the tray and puts the tray on the main body car 1. The ground mechanism 7 detects and receives the signal that the split car 2 needs to be lifted, and the split car 2 is lifted and fixed by the ground lift mechanism 7. At this time, the split car 2 and the main body car 1 return to a combined state.

The working process of unloading the pallet by the transport vehicle is as follows: the split car 2 and the main body car 1 are in a combined state, the ground lift mechanism 7 detects the signal that the split car 2 needs to be put down, and the ground lift mechanism 7 puts the split car 2 on the ground, When the connection is disconnected, the lifting mechanism of the split car 2 lifts the height of the tray so that it is separated from the upper surface of the main body car 1; then, the split car 2 drives out of the storage tank 5 and transports the tray to the designated position by itself, and the lifting mechanism lowers the lifting height. height, place the pallet on the ground, at this time, the split car 2 and the body car 1 are in a separated state. Finally, the split vehicle 2 enters the storage tank 5 by itself, or the main vehicle 1 actively seeks the split vehicle 2 to enter the storage tank 5, and after the split vehicle 2 completely enters the storage tank 5, the ground lift mechanism 7 detects After receiving the signal that the split car 2 needs to be lifted, the split car 2 is lifted and fixed again by the ground lift mechanism 7, and the split car 2 and the main body car 1 return to the combined state.

In addition to the ground lift mechanism 7, no other connecting device is provided between the split car 2 and the main body car 1, and the two can be completely separated, so that the split car 2 and the main body car 1 can move horizontally independently, and the flexibility is very high. Especially in the process of unloading the pallet; the holding force that the driving wheel assembly 4 of the split vehicle needs to provide during the transportation process is also greatly reduced, and the service life of the wheel set is improved. At the same time, the setting of the ground lift mechanism 7 simplifies the structure of the drive wheel assembly; the height of the bottom surface of the split car 2 from the ground is relatively independent from the height of the bottom surface of the main body car 1, so that the split car 2 can adapt to lower pallets.

In the description of the patent of the present invention, unless otherwise specified, the meaning of "plurality" is two or more; the terms "upper", "lower", "left", "right", "inner", "outer ", "front end", "rear end", "head", "tail", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the patent of the present invention and simplifying the description. It does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the patented invention. In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

In the description of the patent of the present invention, it should be noted that unless otherwise specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, or Integratively connected; it can be mechanically or electrically connected; it can be directly connected or indirectly connected through an intermediary. Those of ordinary skill in the art can understand the specific meanings of the above terms in the patent of the present invention in specific situations.

Although the patent of the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments, or perform equivalent replacements for some of the technical features. Within the spirit and principles of the patent of the present invention, any modifications, equivalent replacements, improvements, etc., shall be included within the scope of protection of the patent of the present invention.

Claims (10)

1. An automatic guided pallet handling transport vehicle, comprising: a main body vehicle and a split vehicle; The main vehicle includes: a vehicle body, accommodating grooves arranged in parallel on the left and right sides of the vehicle body, a ground lift mechanism fixedly installed on the vehicle body, a driving wheel assembly of the main vehicle and a moving universal wheel; The split car includes: a lifting mechanism, a split car drive wheel assembly and a lifting plate; The split car can be placed in the accommodation tank of the main body car, and there can be one or two split cars; The lift-off mechanism is used to lift and put down the split vehicle. 2. An automatic guided pallet handling vehicle according to claim 1, characterized in that: the lift-off mechanism includes: a timing pulley, a photoelectric shutter, a photoelectric switch, a swing lever shaft, a lift-off shaft, and a lift-off bearing , active pendulum and installation base. 3. An automatic guided pallet handling vehicle according to claim 2, characterized in that: the synchronous pulley can be a common pulley, a gear or other transmission structures, and the swing lever shaft rotates under the action of the synchronous pulley , the photoelectric baffle fixed on the fork shaft rotates equally with the movable fork, and when the photoelectric baffle blocks the photoelectric switch, the detection receives the signal that the split car needs to be lifted or put down. 4. An automatic guided pallet handling vehicle according to claim 1, characterized in that: the body vehicle driving wheel assembly is used to drive the body vehicle or the transportation vehicle as a whole, including: driving swing arm assembly, floating universal The floating universal wheel is installed at the tail of the main body vehicle, and the driving swing arm assembly is installed at the front end of the main body vehicle to assist in improving the ground adaptability of the transport vehicle. 5. An automatic guided pallet handling vehicle according to claim 4, characterized in that: the driving swing arm assembly includes: a swing arm main body, a hinge seat, a body vehicle driving wheel assembly, a front spring and a rear spring , when the driving wheel assembly of the body vehicle passes through the uneven road section, the main body of the swing arm will swing around the hinge seat. 6. An automatic guided pallet handling vehicle according to claim 1, wherein the lifting mechanism is used to lift the pallet, and the split car driving wheel assembly is used to drive the split car to drive In or out of the storage tank of the main body car to carry the pallet. 7. An automatic guided pallet handling vehicle according to any one of claims 1-3, characterized in that: there is a combined state and a separated state between the main body vehicle and the split vehicle, and the split When the car is placed in the two accommodating slots hollowed out on the body of the main body, and is lifted and suspended by the lift-off mechanism, the split car is connected with the main body through the lift-off mechanism and can move synchronously; The split car is put down by the ground lift mechanism, and the two are disengaged. When the split car can freely drive away from the main body car accommodating groove, the split car and the main body car move independently and are completely separated. 8. The automatic guided pallet handling vehicle according to any one of claims 1-3, wherein the split vehicle is not connected to the main body vehicle through slide rails. 9. An automatic guided pallet handling vehicle according to any one of claims 1-3, 7, characterized in that: when the ground lift mechanism lifts the split vehicle, the height of the bottom surface of the split vehicle from the ground can be It does not follow the change of the ground clearance height of the underbody of the main body, and the two are independent of each other. 10. An automatic guided pallet handling vehicle according to any one of claims 1-8, characterized in that: the bottom of the accommodating tank is hollowed out, and the inner side walls of the accommodating tank on the left and right sides can be selectively One or more guide blocks are provided, which can be used to guide the split vehicle when driving into and out of the receiving slot.

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