CN115892890A - AGV dolly of tray is got to fork - Google Patents
AGV dolly of tray is got to fork Download PDFInfo
- Publication number
- CN115892890A CN115892890A CN202211474020.3A CN202211474020A CN115892890A CN 115892890 A CN115892890 A CN 115892890A CN 202211474020 A CN202211474020 A CN 202211474020A CN 115892890 A CN115892890 A CN 115892890A
- Authority
- CN
- China
- Prior art keywords
- driving
- wheel
- swing arm
- arm
- chain
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Handcart (AREA)
Abstract
The invention discloses an AGV trolley for forking a tray, which comprises a frame, a driving swing arm mechanism and a rear wheel, wherein the driving swing arm mechanism is arranged on the frame; the bottoms of the left side and the right side of the frame are provided with trundle mounting cavities, and the driving swing arm mechanisms are mounted in the trundle mounting cavities; the rear wheel is arranged at the rear side of the driving swing arm mechanism; the driving swing arm mechanism comprises a front wheel, a swing arm, a hinge seat and a driving wheel; the hinged end of the hinge seat is hinged with the middle part of the swing arm, and the fixed end of the hinge seat is arranged on the cavity surface of the trundle mounting cavity; the front wheel is arranged at the front end near end of the swing arm, and the driving wheel is arranged at the rear end near end of the swing arm. The AGV dolly passes through the cooperation of hinge seat and swing arm, makes the swing arm can use the hinge seat to rotate certain range as the axle center to change the horizontal position of front wheel and drive wheel, make the bottom surface of slope can be hugged closely to front wheel and drive wheel, prevent that the drive wheel from skidding because of the ground is uneven, reduces the dependence of AGV dolly to ground roughness, and the reinforcing is crossed the ditch and is crossed the bank ability.
Description
Technical Field
The invention relates to the field of AGV transfer robots, in particular to an AGV trolley for forking a tray.
Background
At present, the whole height of most fork formula transport tray yoke receives the restriction of tray jack height, leads to the chassis ground clearance of AGV dolly to be lower, has certain dependence to the ground roughness, and the frame warp great when carrying great load, causes crossing the ditch of AGV dolly and crosses the problem that the bank ability is low.
Disclosure of Invention
The invention aims to provide an AGV (automatic guided vehicle) for forking a tray, which aims to solve the problem that the AGV has low capability of passing a ditch and a ridge.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides an AGV trolley for forking a tray, which comprises a frame, a driving swing arm mechanism and a rear wheel, wherein the frame is provided with a front wheel and a rear wheel; the bottom parts of the left side and the right side of the frame are provided with trundle mounting cavities, and the driving swing arm mechanisms are mounted in the trundle mounting cavities; the rear wheel is arranged at the rear side of the driving swing arm mechanism;
the driving swing arm mechanism comprises a front wheel, a swing arm, a hinge seat and a driving wheel; the hinged end of the hinge seat is hinged with the middle part of the swing arm, and the fixed end of the hinge seat is arranged on the cavity surface of the trundle mounting cavity; the front wheel is mounted at the front end near end of the swing arm, and the driving wheel is mounted at the rear end near end of the swing arm.
In the AGV trolley for forking the tray, the driving swing arm mechanism further comprises a first spring and a second spring;
the first spring is arranged between the front wheel and the hinge seat, the upper end of the first spring is assembled on the cavity surface of the caster wheel installation cavity, and the lower end of the first spring is assembled on the swing arm;
the second spring set up in the rear side of drive wheel, just the upper end of first spring assemble in the chamber face of truckle installation cavity, the lower extreme of first spring assembles in the rear end of swing arm.
In the AGV dolly of tray is got to fork, the front wheel is the universal wheel, the rear wheel is floating universal wheel.
The AGV trolley for forking the tray further comprises a telescopic fork arm mechanism; the telescopic fork arm mechanism comprises a driving device and a movable arm unit; the movable arm units are symmetrically arranged on the left side and the right side of the driving device by taking the axis of the driving device as a symmetrical axis; the left side and the right side of the driving end of the driving device are respectively in driving connection with a coupler;
the movable arm unit comprises a chain wheel and chain driving structure, a driving rod and a movable arm; the chain wheel and chain driving structure comprises a first belt seat bearing, a first chain wheel, a chain, a second belt seat bearing and a second chain wheel; the middle part of the first chain wheel is rotatably assembled with a first belt seat bearing, the first chain wheel is in driving assembly with a coupler, the second belt seat bearing is arranged on the front side of the first belt seat bearing, and the second chain wheel is rotatably assembled on the second belt seat bearing; the chain is assembled on the outer sides of the first chain wheel and the second chain wheel; one end of the driving rod is arranged on the chain, and the other end of the driving rod is hinged with the movable arm;
the frame is provided with an avoidance notch matched with the telescopic fork arm mechanism; the side wall of the avoidance notch is provided with a side guide strip which gradually inclines downwards along the extending direction of the movable arm; the side wall of the movable arm is provided with a sliding block, and the sliding block is assembled with the side guide strip in a sliding manner; the driving device and the chain wheel and chain driving structure are arranged in the frame.
In the AGV trolley for forking the tray, the driving rod comprises a connecting rod and a fork arm push rod; one end of the connecting rod is connected with the chain, the other end of the connecting rod is connected with one end of the fork arm push rod, and the other end of the fork arm push rod is hinged to the movable arm.
In the AGV trolley for forking the tray, the driving device comprises a servo motor and a planetary reducer; the output end of the servo motor is connected with the input end of the planetary reducer, the left side and the right side of the planetary reducer are both provided with a speed reduction output port, and the coupler is in driving connection with the speed reduction output port.
In the AGV trolley for forking the tray, the movable arm comprises a fork arm upper cover, a shear fork lifting mechanism and a fork arm lower cover; an accommodating cavity is formed in the lower cover of the fork arm, and the scissor lifting mechanism is arranged in the accommodating cavity; the upper fork arm cover is arranged above the accommodating cavity in a covering manner, and the bottom of the upper fork arm cover is connected with the output end of the scissor lifting mechanism; the sliding block is arranged on the side wall of the fork arm lower cover;
the bottom of the fork arm lower cover is provided with a driven caster.
Among the AGV dolly of tray is got in fork, still including sweeping the pier, sweep the pier set up in the middle part of frame, just sweep the pier sweep a yard end and set up in the top surface of frame.
In the AGV dolly of fork tray, still include the collision strip, the collision strip set up in the rear side of frame.
One technical scheme in the invention can have the following beneficial effects:
the AGV trolley is provided with the driving swing arm mechanism, and the swing arm can rotate for a certain range by taking the hinge seat as an axis through the matching of the hinge seat and the swing arm, so that the horizontal positions of the front wheel and the driving wheel are changed, the front wheel and the driving wheel can be tightly attached to the inclined bottom surface, the driving wheel is prevented from slipping due to uneven ground, the dependence of the AGV trolley on the ground flatness is reduced, and the ditch-passing and sill-passing capacity of the AGV trolley is enhanced.
Drawings
FIG. 1 is a schematic cross-sectional view of one embodiment of the present invention;
FIG. 2 is a schematic diagram of the driving swing arm mechanism in one embodiment of the present invention;
FIG. 3 is a schematic view of the structure of the chain type telescopic yoke according to one embodiment of the present invention;
FIG. 4 is a schematic diagram of the internal structure of one embodiment of the present invention;
FIG. 5 is a schematic illustration of the retracted state of the moveable arm in accordance with one embodiment of the present invention;
FIG. 6 is a schematic view of the extended position of the moveable arm in accordance with one embodiment of the present invention;
in the drawings: the device comprises a frame 1, a driving swing arm mechanism 2 and a rear wheel 3; sweeping the wharf 5; a collision strip 6;
a caster mounting cavity 11; avoiding the gap 12; front wheel 21, swing arm 22, hinge base 23, driving wheel 24; a first spring 25, a second spring 26; a drive device 41; a shaft coupling 42; a drive lever 44, a movable arm 45;
a slider 4521; driven caster 4522.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial.
In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 6, the present invention provides an AGV cart for forking a tray, which includes a frame 1, a driving swing arm mechanism 2 and a rear wheel 3; the bottom parts of the left side and the right side of the frame 1 are respectively provided with a caster wheel installation cavity 11, and the driving swing arm mechanism 2 is installed in the caster wheel installation cavity 11; the rear wheel 3 is arranged at the rear side of the driving swing arm mechanism 2;
the driving swing arm mechanism 2 comprises a front wheel 21, a swing arm 22, a hinge seat 23 and a driving wheel 24; the hinged end of the hinge seat 23 is hinged with the middle part of the swing arm 22, and the fixed end of the hinge seat 23 is arranged on the cavity surface of the caster wheel installation cavity 11; the front wheel 21 is mounted at the front proximal end of the swing arm 22 and the drive wheel 24 is mounted at the rear proximal end of the swing arm 22.
The AGV trolley is provided with the driving swing arm mechanism 2, and the swing arm 22 can rotate to a certain extent by taking the hinge seat 23 as an axis through the matching of the hinge seat 23 and the swing arm 22, so that the horizontal positions of the front wheel 21 and the driving wheel 24 are changed, the front wheel 21 and the driving wheel 24 can be tightly attached to the inclined bottom surface, the driving wheel 24 is prevented from slipping due to uneven ground, the dependence of the AGV trolley on the ground flatness is reduced, and the channel passing and sill passing capacity of the AGV trolley is enhanced.
When meeting the ground that inclines backward, front wheel 21 contacts with the ground that inclines, and the ground that inclines produces the upper resistance to the front wheel 21 that inclines for swing arm 22 follows hinge seat 23 clockwise rotation, thereby drives front wheel 21 rebound, and simultaneously, drive wheel 24 moves down correspondingly, makes the inclination of driving swing arm mechanism 2 correspond with the ground that inclines, guarantees that front wheel 21 and drive wheel 24 can hug closely the ground that inclines, realizes the removal of AGV dolly. When the bicycle leaves the inclined ground, the swing arm 22 resets and drives the front wheel 21 and the driving wheel 24 to reset, so that the front wheel 21 and the driving wheel 24 can be tightly attached to the ground. Similarly, when encountering the ground inclined forward, the front wheel 21 loses support, so that the swing arm 22 rotates counterclockwise along the hinge base 23, thereby driving the front wheel 21 to move downward, and at the same time, the driving wheel 24 correspondingly moves upward, so that the inclination angle of the driving swing arm mechanism 2 corresponds to the inclined ground.
Specifically, the driving swing arm mechanism 2 further includes a first spring 25 and a second spring 26;
the first spring 25 is arranged between the front wheel 21 and the hinge base 23, the upper end of the first spring 25 is assembled on the cavity surface of the caster wheel installation cavity 11, and the lower end of the first spring 25 is assembled on the swing arm 22;
the second spring 26 is disposed at the rear side of the driving wheel 24, the upper end of the first spring 25 is assembled to the cavity surface of the caster mounting cavity 11, and the lower end of the first spring 25 is assembled to the rear end of the swing arm 22.
The first spring 25 and the second spring 26 have the function of driving the swing arm 22 to return, so that the swing arm 22 can be quickly returned, and the front wheel 21 and the driving wheel 24 can be always tightly attached to the inclined ground.
Specifically, the front wheels 21 are universal wheels, and the rear wheels 3 are floating universal wheels.
In one embodiment of the present invention, the front wheels 21 are universal wheels, allowing the AGV to flexibly change the direction of travel. The rear wheel 3 can refer to a floating type universal wheel in the prior art, and the floating type universal wheel can perform stepless floating at any angle; moreover, the floating type universal wheel is additionally provided with the elastic piece in order to ensure the effective contact between the caster wheel and the ground, and the rear wheel 3 is always in effective contact with the ground in the use process under the action of the elastic force, so that the suspension phenomenon cannot occur.
Specifically, the AGV trolley further comprises a telescopic fork arm mechanism; the telescopic fork arm mechanism comprises a driving device 41 and a movable arm unit; the movable arm units are symmetrically arranged at the left side and the right side of the driving device 41 by taking the axis of the driving device 41 as a symmetry axis; the left side and the right side of the driving end of the driving device 41 are respectively connected with a coupler 42 in a driving way;
the movable arm unit comprises a chain wheel and chain driving structure, a driving rod 44 and a movable arm 45; the sprocket chain drive structure comprises a first pedestal bearing 431, a first sprocket 432, a chain 433, a second pedestal bearing 434 and a second sprocket 435; the middle part of the first chain wheel 432 is rotatably assembled with the first belt seat bearing 431, the first chain wheel 432 is in driving assembly with the coupling 42, the second belt seat bearing 434 is arranged at the front side of the first belt seat bearing 431, and the second chain wheel 435 is rotatably assembled with the second belt seat bearing 434; the chain 433 is fitted to the outer sides of the first and second sprockets 432 and 435; one end of the driving rod 44 is arranged on the chain 433, and the other end of the driving rod 44 is hinged to the movable arm 45;
the frame 1 is provided with an avoidance notch 12 matched with the telescopic fork arm mechanism; a side guide strip 121 is arranged on the side wall of the avoiding gap 12, and the side guide strip 121 gradually inclines downwards along the extending direction of the movable arm 45; a sliding block 4521 is arranged on the side wall of the movable arm 45, and the sliding block 4521 is assembled with the side guide bar 121 in a sliding manner; the driving device 41 and the chain and sprocket driving structure are arranged in the frame 1.
The telescopic fork arm mechanism drives the driving rod 44 through a chain wheel and chain driving structure, so that the movable arm 45 moves, the purposes of extending the movable arm 45, retracting the movable arm 45 and fixing the movable arm 45 are achieved, the scheme that the movable arm 45 is lowered, the movable arm 45 is driven to move and the movable arm 45 is fixed through a locking pin through three groups of motors in the prior art is replaced, the cost is greatly saved, and the control flow is simplified.
In addition, the telescopic fork arm mechanism replaces the existing drawer-type sliding rail structure through the matching of the chain wheel chain driving structure, the driving rod 44 and the movable arm 45, the chain type telescopic fork arm is mutually independent from the vehicle body, and the ground clearance of the chassis of the carrying tray can be increased, so that the ground trafficability and the ditch-passing and ridge-passing capacity of the trolley are enhanced; moreover, when the frame deforms when carrying a large load, the frame 1 does not influence the movement of the movable arm 45, and the problem that the fork arm fails to enter the vehicle body relatively due to large deformation of the frame 1 is avoided.
Referring to fig. 1, when the movable arm 45 needs to be extended, the driving device 41 drives the first chain wheel 432 to rotate through the coupling 42, and the first chain wheel 432 drives the second chain wheel 435 to rotate through the chain 433; the chain 433 rotates counterclockwise around the outer sides of the first and second sprockets 432 and 435 and drives the driving rod 44 to move forward; the driving rod 44 drives the movable arm 45 to move forward, so that the movable arm 45 extends forward.
After the movable arm 45 extends to a predetermined position, the driving device 41 stops operating, and the first chain wheel 432 stops rotating, so that the chain 433 stops rotating, and when the first chain wheel 432 is fixed due to the assembly structure of the chain wheel and the chain, the position of the chain 433 is relatively fixed, so that the sliding phenomenon is avoided, and the purpose of fixing the movable arm 45 is achieved.
When the movable arm 45 needs to retract, the driving device 41 drives the first chain wheel 432 to rotate in the opposite direction through the coupler 42, and the first chain wheel 432 drives the second chain wheel 435 to rotate in the opposite direction through the chain 433; the chain 433 rotates clockwise around the outer sides of the first chain wheel 432 and the second chain wheel 435 and drives the driving rod 44 to move backwards; the driving lever 44 moves the movable arm 45 rearward, thereby effecting the action of retracting the movable arm 45 rearward.
The first pedestal bearing 431 functions to fix the first sprocket 432 so that the first sprocket 432 can rotate about its own axis; the second pedestal bearing 434 functions to fix the second sprocket 435 so that the second sprocket 435 can rotate on its own axis. Both the first and second pedestal bearings 431, 434 are fixed within the frame 1.
Specifically, the drive rod 44 includes a link 441 and a yoke push rod 442; one end of the connecting rod 441 is connected to the chain 433, the other end of the connecting rod 441 is connected to one end of the yoke push rod 442, and the other end of the yoke push rod 442 is hinged to the movable arm 45.
In one embodiment of the present invention, the driving rod 44 includes a connecting rod 441 and a fork arm pushing rod 442, the connecting rod 441 is connected to the fork arm pushing rod 442 to form an L-shaped structure, the chain 433 drives the connecting rod 441 to move, and the connecting rod 441 drives the fork arm pushing rod 442 to move. The other end of the fork arm push rod 442 is hinged to the movable arm 45, so that the problem that the movable arm 45 is clamped and cannot move continuously due to interference between the fork arm push rod 442 and the movable arm 45 in the moving process is solved. By adopting the structure, the structure is simple, and the transmission effect is good.
Specifically, the driving device 41 includes a servo motor 411 and a planetary reducer 412; the output end of the servo motor 411 is connected with the input end of the planetary reducer 412, the left side and the right side of the planetary reducer 412 are both provided with a deceleration output port, and the coupler 42 is in driving connection with the deceleration output port.
In an embodiment of the present invention, the driving device 41 includes a servo motor 411 and a planetary reducer 412, and the planetary reducer 412 can refer to an existing double-output-shaft planetary reducer. The servo motor 411 is used for driving the rotation of the first chain wheel 432, and the servo motor 411 can perform clockwise and counterclockwise rotation, so as to enable the movable arm 45 to perform extending or retracting action. The planetary reducer 412 is used to reduce the rotation speed of the motor and increase the output torque, so that when the carrying tray carries heavy goods, the movable arm 45 can obtain enough torque to realize the extending or retracting action.
Specifically, the movable arm 45 includes a fork arm upper cover 451, a scissors lifting mechanism, and a fork arm lower cover 452; an accommodating cavity is formed in the lower fork arm cover 452, and the scissor lifting mechanism is arranged in the accommodating cavity; the upper fork arm cover 451 is arranged above the accommodating cavity in a covering manner, and the bottom of the upper fork arm cover 451 is connected with the output end of the scissor lifting mechanism; the sliding block 4521 is disposed on a side wall of the fork arm lower cover 452;
the bottom of the fork arm lower cover 452 is fitted with a driven caster 4522.
By adopting the above structure, when the movable arm 45 moves, the driven caster 4522 can reduce the friction between the movable arm 45 and the ground, so that the moving process is more stable and labor-saving, and the vibration of the movable arm 45 is reduced.
The scissor lifting mechanism is arranged in the accommodating cavity and used for lifting the upper fork arm cover 451 or controlling the upper fork arm cover 451 to retract to the top of the lower fork arm cover 452, and the upper chain wheel chain driving structure and the driving rod 44 are matched, so that the carrying of goods is realized by the carrying tray.
Preferably, the GV cart further comprises a loading head 5, wherein the loading head 5 is disposed at the middle part of the cart frame 1, and the loading end of the loading head 5 is disposed at the top surface of the cart frame 1.
The structure of sweeping the pier 5 can refer to the scanning identification structure of current transport tray, sweeps pier 5 and is used for scanning the identification code of goods tray bottom to the goods of discernment transport. The sweeping port 5 is arranged in the middle of the frame 1, so that the internal space of the frame 1 can be reasonably utilized, and the overall height of the frame 1 is reduced.
Optionally, the AGV trolley further comprises a crash bar 6, said crash bar 6 being arranged at the rear side of said frame 1.
By adopting the structure, the collision strip 6 plays a role in collision protection, avoids the side surface of the frame 1 from being scratched or bruised by foreign objects, and plays a role in guarantee.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Other embodiments of the invention will occur to those skilled in the art without the exercise of inventive faculty based on the explanations herein, and such equivalent modifications or substitutions are intended to be included within the scope of the present invention as defined in the appended claims.
Claims (9)
1. An AGV trolley for forking a tray is characterized by comprising a frame, a driving swing arm mechanism and a rear wheel; the bottom parts of the left side and the right side of the frame are provided with trundle mounting cavities, and the driving swing arm mechanisms are mounted in the trundle mounting cavities; the rear wheel is arranged at the rear side of the driving swing arm mechanism;
the driving swing arm mechanism comprises a front wheel, a swing arm, a hinge seat and a driving wheel; the hinged end of the hinge seat is hinged with the middle part of the swing arm, and the fixed end of the hinge seat is arranged on the cavity surface of the trundle mounting cavity; the front wheel is mounted at the front end near end of the swing arm, and the driving wheel is mounted at the rear end near end of the swing arm.
2. The AGV pallet forking mechanism of claim 1, wherein the drive swing arm mechanism further comprises a first spring and a second spring;
the first spring is arranged between the front wheel and the hinge seat, the upper end of the first spring is assembled on the cavity surface of the caster wheel installation cavity, and the lower end of the first spring is assembled on the swing arm;
the second spring set up in the rear side of drive wheel, just the upper end of first spring assemble in the chamber face of truckle installation cavity, the lower extreme of first spring assembles in the rear end of swing arm.
3. The AGV pallet fork of claim 1, wherein said front wheels are universal wheels and said rear wheels are floating universal wheels.
4. The AGV pallet forking mechanism of claim 1, further comprising a telescoping yoke mechanism; the telescopic fork arm mechanism comprises a driving device and a movable arm unit; the movable arm units are symmetrically arranged on the left side and the right side of the driving device by taking the axis of the driving device as a symmetrical axis; the left side and the right side of the driving end of the driving device are respectively in driving connection with a coupler;
the movable arm unit comprises a chain wheel and chain driving structure, a driving rod and a movable arm; the chain wheel and chain driving structure comprises a first bearing with a seat, a first chain wheel, a chain, a second bearing with a seat and a second chain wheel; the middle part of the first chain wheel is rotatably assembled with a first belt seat bearing, the first chain wheel is in driving assembly with a coupler, the second belt seat bearing is arranged on the front side of the first belt seat bearing, and the second chain wheel is rotatably assembled on the second belt seat bearing; the chain is assembled on the outer sides of the first chain wheel and the second chain wheel; one end of the driving rod is arranged on the chain, and the other end of the driving rod is hinged with the movable arm;
the frame is provided with an avoidance notch matched with the telescopic fork arm mechanism; the side wall of the avoidance notch is provided with a side guide strip which gradually inclines downwards along the extending direction of the movable arm; the side wall of the movable arm is provided with a sliding block, and the sliding block is assembled with the side guide strip in a sliding manner; the driving device and the chain wheel and chain driving structure are arranged in the frame.
5. The AGV pallet forking of claim 4, wherein said drive lever comprises a link and a yoke pusher; one end of the connecting rod is connected with the chain, the other end of the connecting rod is connected with one end of the fork arm push rod, and the other end of the fork arm push rod is hinged with the movable arm.
6. The AGV pallet fork of claim 4, wherein said drive means includes a servo motor and a planetary reducer; the output end of the servo motor is connected with the input end of the planetary reducer, the left side and the right side of the planetary reducer are both provided with a speed reduction output port, and the coupler is in driving connection with the speed reduction output port.
7. The AGV pallet forking of claim 4, wherein said moveable arm comprises a fork arm top cover, a scissor lift mechanism and a fork arm bottom cover; an accommodating cavity is formed in the lower cover of the fork arm, and the scissor lifting mechanism is arranged in the accommodating cavity; the upper fork arm cover is arranged above the accommodating cavity in a covering manner, and the bottom of the upper fork arm cover is connected with the output end of the scissor lifting mechanism; the sliding block is arranged on the side wall of the fork arm lower cover;
the bottom of the fork arm lower cover is provided with a driven caster.
8. The AGV car of claim 1, further comprising a sweeping head, wherein said sweeping head is disposed at the middle of said frame, and said sweeping head end is disposed at the top of said frame.
9. The AGV pallet fork of claim 1, further comprising a crash bar disposed on the rear side of said frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211474020.3A CN115892890A (en) | 2022-11-22 | 2022-11-22 | AGV dolly of tray is got to fork |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211474020.3A CN115892890A (en) | 2022-11-22 | 2022-11-22 | AGV dolly of tray is got to fork |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115892890A true CN115892890A (en) | 2023-04-04 |
Family
ID=86478345
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211474020.3A Pending CN115892890A (en) | 2022-11-22 | 2022-11-22 | AGV dolly of tray is got to fork |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115892890A (en) |
-
2022
- 2022-11-22 CN CN202211474020.3A patent/CN115892890A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA1046018A (en) | Low lift truck | |
| US5421265A (en) | Truck wheel-spacing changing method, and variable wheel-spacing truck, and ground facility therefor | |
| AU2002249471A1 (en) | Vehicle with retractable wheel | |
| NZ529137A (en) | Vehicle with retractable wheel | |
| WO2023236442A1 (en) | Forklift robot and working method | |
| CN217025212U (en) | AGV (automatic guided vehicle) of forklift | |
| CN210029927U (en) | Pallet fork device of pallet truck | |
| KR20240034685A (en) | Chassis assembly and automated guided vehicle | |
| CN109896469A (en) | Tray truck | |
| CN115892890A (en) | AGV dolly of tray is got to fork | |
| EP1795436B1 (en) | Gooseneck semi-trailer | |
| US3515233A (en) | Articulated industrial truck | |
| CN210915194U (en) | Driving mechanism capable of shifting and changing speed and AGV | |
| CN210734344U (en) | Wheel assembly switching mechanism | |
| CN211643783U (en) | Automatic guide transport vehicle | |
| CN109132959B (en) | Pallet truck with lifting device | |
| CN116788388A (en) | Transfer robot | |
| CN215705911U (en) | Chassis assembly and automated guided vehicle | |
| CN218539206U (en) | Chain type telescopic fork arm and AGV using same | |
| CN209306900U (en) | A kind of tray truck with lifting device | |
| CN210419117U (en) | RGV transport vechicle | |
| CN210286634U (en) | Transport piling car and use this transport piling car's transport stacking system | |
| KR20220154771A (en) | Unmanned transport vehicle equipped with load lifting device and fixing device | |
| US6138575A (en) | Floor transport system with rail-mounted floor transport vehicles | |
| CN220033919U (en) | Obstacle surmounting walking forklift |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |