CN116477534A

CN116477534A - Vehicle dispatching system

Info

Publication number: CN116477534A
Application number: CN202310751257.XA
Authority: CN
Inventors: 钟建平; 俞震; 程旭; 蔡为国; 李峰
Original assignee: Zhejiang Post & Telecommunication Engineering Construction Co ltd
Current assignee: Zhejiang Post & Telecommunication Engineering Construction Co ltd
Priority date: 2023-06-25
Filing date: 2023-06-25
Publication date: 2023-07-25
Anticipated expiration: 2043-06-25
Also published as: CN116477534B

Abstract

The invention relates to the technical field of warehouse type vehicle dispatching, in particular to a vehicle dispatching system, which comprises an AGV trolley body with driving wheels, wherein transverse frames arranged along the left-right direction are symmetrically arranged at the front and back of the lower end of the AGV trolley body, and a plurality of groups of traveling gears are arranged at the lower end of the transverse frames; two groups of upright posts which are symmetrical in front and back are arranged on the right side surface of the AGV trolley body; according to the invention, through the arrangement of the safety detection device, the situation that the package falls down due to the fact that the package falls down from one side of the free end of the fork rod due to inertia effect can be easily caused because the package cannot be inserted in place due to the fact that the moving distance of the AGV trolley body is too short can be avoided, and the problem that the package extrusion is damaged because the AGV trolley body continues to advance after the package is inserted in place can be avoided, so that the safety of the forklift AGV trolley is greatly improved, and the occurrence probability of safety accidents is reduced.

Description

Vehicle dispatching system

Technical Field

The invention relates to the technical field of warehouse-type vehicle dispatching, in particular to a vehicle dispatching system.

Background

The vehicle dispatching system is mainly used for informationized management in logistics transportation, can monitor the vehicles in the whole course through a monitoring center, can dispatch and manage the vehicles, improves the safety of people and vehicles and simultaneously provides higher-level service for society.

Along with the rapid development of the physical economy of China, the material handling and storage system is continuously developed, an automatic stereoscopic warehouse is formed, meanwhile, in order to save manpower and material resources, a vehicle dispatching system of a storage type forklift is more and more emphasized, a forklift type AGV capable of automatically forking goods, delivering and storing is more and more commonly formed in the material handling and storage field as a carrier of the vehicle dispatching system, and meanwhile, the safety requirement on the operation of the forklift type AGV is higher and higher.

In the forklift type AGV trolley, the safety of materials to be forked is ensured in the process of forking and taking goods, and the forklift type AGV trolley applied to the market at present has certain defects in the aspect that no safety detection is needed when the materials to be forked and taken and no safety detection is needed when the materials slide on fork arms, so that the current actions cannot be stopped in time, and safety accidents can be caused; in addition, during the process of fork-lifting the package, due to the deviation of the insertion position of the fork rod, after the fork frame is inserted into the bottom of the package, the package is easy to deviate to one side, so that the center of gravity of the package is unstable, and the package is easy to tip to one side, so that the problem that some safety accidents are unfavorable for vehicle dispatching is caused.

Disclosure of Invention

Aiming at the defects existing in the prior art, the invention provides a vehicle dispatching system which can effectively solve the problems that the existing forklift AGV is low in safety and is unfavorable for vehicle dispatching due to the fact that safety accidents are easy to cause.

In order to achieve the above purpose, the invention is realized by the following technical scheme:

the invention provides a vehicle dispatching system, which comprises an AGV trolley body with driving wheels, wherein transverse frames arranged along the left-right direction are symmetrically arranged at the front and back of the lower end of the AGV trolley body, and a plurality of groups of traveling gears are arranged at the lower end of the transverse frames; two groups of upright posts which are symmetrical from front to back are arranged on the right side surface of the AGV trolley body, sliding grooves which are arranged up and down are arranged on the outer sides of the upright posts, and a mounting plate is fixedly arranged between the upper ends of the upright posts;

the fork rod assembly comprises a mounting seat, a hanging bracket is arranged on the left side of the upper end of the mounting seat, sliding blocks are arranged on the front side and the rear side of the hanging bracket for a plurality of times, and sliding gears matched with the sliding grooves are arranged on the sliding blocks; fork bars are symmetrically arranged on the right side of the mounting seat in front-back mode;

the lifting assembly is arranged on the mounting plate and is connected with the hanging bracket through a traction chain;

the safety detection device comprises a first spring plate and a proximity switch, wherein the first spring plate is arranged on the right side of the mounting seat in a downward inclined mode, and the proximity switch which is in interference with the first spring plate is arranged in the mounting seat.

When the automatic fork lifting device is used, the fork rod assembly can be driven to move as a carrier through the arrangement of the AGV trolley body, so that the fork rod can be inserted into the bottom of a package, and then the fork rod and the package above the fork rod can be forked through the traction chain through the arrangement of the lifting assembly, and the automatic fork lifting action of the package is completed; during the period, because safety inspection device, proximity switch is initially normally open, and along with the AGV dolly body constantly be close to the parcel and make the fork arm insert the in-process of parcel bottom, the parcel is close to first spring plate gradually and extrudees first spring plate and make its deformation and extrude proximity switch, thereby make proximity switch closed, and send feedback signal and give the control unit of AGV dolly body, control unit receives feedback signal back control AGV dolly body's drive wheel and stops, can enough avoid the AGV dolly body to remove the distance too short and make the parcel can not insert in place, thereby cause the parcel to empty the condition that leads to the parcel to drop from fork arm free end one side because of inertial effect easily, thereby improve parcel transportation's security, can avoid the parcel to insert again after the position AGV dolly body and continue and then not stop the impaired problem of parcel extrusion, thereby very big improvement fork truck formula AGV dolly's security, the probability of occurrence of incident is reduced.

Further, the lifting assembly comprises two groups of mounting frames fixed on the mounting plate, a first rotating shaft is arranged between the mounting frames, a driving gear is arranged in the middle of each mounting frame, and driven gears are symmetrically arranged on the first rotating shafts on two sides of each driving gear; the motor is arranged on the mounting plate, an output gear is arranged at the output end of the motor, and the output gear and the driving gear are in transmission through a chain; the lifting frame is characterized in that a balancing weight is arranged between the upright posts, one end of the traction chain is connected with the balancing weight, and the other end of the traction chain bypasses the driven gear and is connected with the lifting frame. Through the setting of lifting unit, can be when needs promote the fork arm, drive output gear through the motor rotation and rotate and then drive gear through chain drive and rotate, then drive driven gear through first rotation and rotate to make traction chain drive gallows and inserted bar and reciprocate, accomplish the fork action of parcel.

Further, an auxiliary device is fixedly arranged above the mounting seat, the auxiliary device comprises a fixed block fixed above the mounting seat, and the right side of the fixed block is flush with the right side of the mounting seat; the fixed block is positioned in a left-right through guide hole arranged at one side of the inserted link, and a guide link matched with the fixed block is arranged in the guide hole; the left end of the guide rod extends to the left side of the fixed block and is connected with the top block, and a spring is connected between the top block and the fixed block; the guide rod right-hand member is provided with the clamp plate that extends mutually downwards, correspond on mount pad and the fixed block to be provided with the heavy groove that matches with the clamp plate, first springboard and proximity switch all set up in heavy inslot. Through auxiliary equipment's setting, can be in the in-process of inserted bar insertion parcel below, utilize the parcel to be close to the mount pad and make its extrusion clamp plate, thereby make the guide bar overcome spring force and remove left, and then make the parcel be close to the reaction force of spring force of mount pad in-process, realize leaning on the buffering before the mount pad, thereby avoid hard collision to lead to the parcel striking mount pad and damage the problem, further improve holistic security performance, also can avoid the problem that first spring plate department proximity switch was damaged by the impact simultaneously, thereby extension equipment life.

Further, open slots are formed in the front side and the rear side of the fixed block, a first rotating shaft which is vertically arranged is arranged in the open slots, a clamping arm which can rotate around the first rotating shaft is arranged on the first rotating shaft, a clamping part is arranged on the right side of the clamping arm, blocking parts matched with the top block are arranged on the left side of the clamping arm, and two groups of blocking parts are arranged in an up-down staggered mode; a torsion spring which enables the clamp arm to be initially positioned at the left side of the inserted link is arranged between the rotating shaft and the clamp arm. Through the arrangement of the clamping arms and the torsion springs, the clamping arms can be opened initially, and in the process of wrapping the package close to the mounting seat, the pressing plate is extruded to further enable the guide rod and the top block to move, so that the two blocking parts are gradually separated and the two clamping parts are gradually close to each other, namely, the clamping in the front-back direction of the package is realized in the process of wrapping the package close to the mounting seat, the problem that the package is toppled over in the front-back direction is avoided, and the safety performance is further improved; meanwhile, due to the symmetrical arrangement of the clamping arms, when the package deviates in the front-rear direction, the clamping part on one side of the deviation contacts the package and pushes the package to the other side, so that the automatic centering in the clamping process is realized, the problem that the center of gravity of the package deviates before the package is forked and is easy to topple is avoided, and the overall safety performance is further improved.

Further, the clamping part is hinged with the right end of the clamping arm through a second rotating shaft, and a limiting block for limiting the maximum outward turning angle of the clamping part is arranged on the left side of the clamping part, so that the clamping arm has the following stations at least: namely, when the pressing plate is completely pressed into the sinking groove, the clamping part reaches the maximum outward turning angle and is just parallel to the fork rod. Through the arrangement of the second rotating shaft, when no package is inserted, the clamping part can be inwards turned and folded to reduce the whole rotating radius of the clamping arm, so that the problem of collision damage caused by overlarge rotating range extending out of the mounting seat is avoided, and meanwhile, the occurrence of safety accidents such as accidental injury and the like can be avoided; through the setting of stopper, can ensure when the parcel inserts in place, clamping part is parallel with the fork arm just, and then ensures there is great centre gripping area, and not only better protection parcel avoids its turnover, but also can reduce local pressure, avoids stress concentration and damages the parcel.

Further, the front side and the rear side above the mounting seat are symmetrically provided with stop blocks, and cambered surfaces which are coaxially arranged with the corresponding first rotating shafts are arranged on the stop blocks; the distance from the axis of the first rotating shaft to the cambered surface is larger than the minimum distance from the axis of the first rotating shaft to the limiting block and smaller than the maximum distance from the axis of the first rotating shaft to the limiting block. Through setting up of dog and stopper, can utilize the torsional spring to make the arm lock reset after unloading the parcel, this in-process, because the clamping part is parallel with the fork arm just at the beginning, first rotation axis axle center to the cambered surface distance is less than first rotation axis axle center to the maximum distance of stopper, consequently the dog blocks the stopper and forces the clamping part inwards rotatory folding, until first rotation axis center to the cambered surface distance is greater than first rotation axis center to the minimum distance of stopper, the clamping part after folding is accomodate along with arm lock together eye arc face inboard, consequently can realize the automatic folding of arm lock and clamping part and accomodate, avoid the clamping part overlength and lead to the problem of incident emergence such as collision, accidental injury.

Further, a baffle frame is arranged on the hanging bracket above the fixed block, and the front end of the baffle frame is flush with the right side of the mounting seat. Through the setting of dog, can insert in place the back at the parcel, carry out auxiliary stay to higher parcel, avoid the too high problem of toppling over from the mount pad to the left side of parcel.

Further, a slot is formed in the left part of the inserted link, the right end of the transverse frame can penetrate through the mounting seat to extend into the slot, and an avoidance slot matched with the transverse frame is formed in the lower end of the mounting seat; the upper top surface of the avoidance groove and the upper end surface of the inserted link are both higher than the upper end surface of the transverse frame; the upper end of the transverse frame in the avoidance groove is provided with a second spring plate which inclines upwards, and a proximity switch is also arranged between the second spring plate and the transverse frame. Through the setting of second spring plate and proximity switch, can be when the mount pad drives the inserted bar and move down to the lowest position, utilize the mount pad to dodge the proximity switch that the groove top extrusion second spring plate and then extrusion here, then proximity switch sends feedback signal and utilizes control unit control AGV dolly body to the parcel removal, avoid the inserted bar below ground to have the foreign matter to stop and fail to move down to the lowest position completely and just insert the action, and then lead to unable inserting the parcel below and extrude the condition of damaging the parcel.

Further, AGV dolly body lower extreme is fixed to be provided with crossbearer sliding fit's guide frame, connect through linking the board between the crossbearer left side, this internal fixation of AGV dolly is provided with flexible cylinder, the piston rod one end of flexible cylinder extends to AGV dolly body outside and links the board right side to be connected. Through the setting of crossbearer, can effectively increase AGV dolly body below and the area of contact on ground, and then improve its stability, can utilize the setting of telescopic cylinder and guide frame again simultaneously, adjust the position of crossbearer, and then conveniently realize the fork of parcel under the complex environment of mill and get.

Further, the right part of the transverse frame is hinged with the middle part of the V-shaped stop block through a second rotating shaft, and transverse rods are arranged on the front side and the rear side of the right end of the V-shaped stop block; be provided with the spacing groove of arranging along left and right directions level on the slot inside wall, spacing groove left side one end intercommunication has the guide way that is higher than it, the horizontal pole can slide and make V-arrangement dog have two stations below at least in guide way and spacing inslot: station one: when the cross rod is in the limit groove, one end of the V-shaped stop block, which is far away from the cross rod, is higher than the upper end face of the fork rod; and in the second station, when the cross rod is arranged at the left side in the guide groove, the two ends of the V-shaped stop block are lower than the upper end face of the fork rod and the upper end face of the avoidance groove. Through setting up of V-arrangement dog, horizontal pole, spacing groove and guiding groove, can drive crossbearer and V-arrangement dog through flexible cylinder before getting to dodge the inslot, do not influence normal fork and get the action, can retract through flexible cylinder again and realize crossbearer and V-arrangement dog initiative to the parcel removal after transporting the parcel to the assigned position to make V-arrangement dog keep away from horizontal pole one end and be higher than fork arm up end arrangement when contacting the parcel, thereby promote parcel left side bottom and can realize the initiative discharge of parcel.

Compared with the known public technology, the technical scheme provided by the invention has the following beneficial effects:

according to the invention, through the arrangement of the safety detection device, the situation that the package falls down due to the fact that the package falls down from one side of the free end of the fork rod due to inertia effect can be easily caused because the package cannot be inserted in place due to the fact that the moving distance of the AGV trolley body is too short can be avoided, so that the safety of package transportation is improved, the problem that the AGV trolley body continues to advance after the package is inserted in place and is not stopped to cause package extrusion damage can be avoided, the safety of the forklift AGV trolley is greatly improved, the occurrence probability of safety accidents is reduced, and vehicle scheduling in storage is facilitated.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.

FIG. 1 is a perspective view of one view of the present invention;

FIG. 2 is a front view of the present invention;

FIG. 3 is a perspective view of another view of the present invention;

FIG. 4 is a perspective view from above of the present invention;

FIG. 5 is a perspective view of the auxiliary device of the present invention

Fig. 6 is a partial enlarged view at a in fig. 1.

Reference numerals in the drawings represent respectively: 1. AGV dolly body; 11. a cross frame; 12. a guide frame; 13. a traveling gear; 14. a connecting plate; 15. a telescopic cylinder; 2. a column; 21. a chute; 22. a mounting plate; 3. a slide block; 31. a slide gear; 32. a hanging bracket; 33. a mounting base; 34. a blocking frame; 35. a fork lever; 36. a slot; 37. a limit groove; 38. an avoidance groove; 39. a stop block; 4. a fixed block; 41. a guide hole; 42. a guide rod; 43. sinking grooves; 44. a pressing plate; 45. a spring; 46. a top block; 47. a first spring plate; 48. an open slot; 49. a clamp arm; 491. a clamping part; 492. a blocking portion; 493. a limiting block; 5. a traction chain; 51. balancing weight; 52. a mounting frame; 53. a first rotating shaft; 54. a driven gear; 55. a drive gear; 56. an output gear; 57. a motor; 6. a proximity switch; 61. a second spring plate; 7. a second rotating shaft; 71. a V-shaped stop; 72. a cross bar.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The invention is further described below with reference to examples.

Examples: as shown in fig. 1-6, the invention provides a vehicle dispatching system, which comprises an AGV trolley body 1 with driving wheels, wherein transverse frames 11 which are arranged along the left-right direction are symmetrically arranged at the front and back of the lower end of the AGV trolley body 1, and a plurality of groups of traveling gears 13 are arranged at the lower end of the transverse frames 11; two groups of upright posts 2 which are symmetrical in front and back are arranged on the right side surface of the AGV trolley body 1, sliding grooves 21 which are arranged up and down are arranged on the outer sides of the upright posts 2, and a mounting plate 22 is fixedly arranged between the upper ends of the upright posts 2;

the fork rod assembly comprises a mounting seat 33, a hanging bracket 32 is arranged on the left side of the upper end of the mounting seat 33, sliding blocks 3 are arranged on the front side and the rear side of the hanging bracket 32 for a plurality of times, and sliding gears 31 matched with sliding grooves 21 are arranged on the sliding blocks 3; fork rods 35 are symmetrically arranged on the right side of the mounting seat 33 in a front-back mode;

a lifting assembly provided on the mounting plate 22 and connected to the hanger 32 by the traction chain 5;

the safety detection device comprises a first spring plate 47 and a proximity switch 6, wherein the first spring plate 47 is arranged on the right side of the mounting seat 33 and is obliquely arranged downwards, and the proximity switch 6 which is abutted against the first spring plate 47 is arranged in the mounting seat 33.

When the automatic fork lifting device is used, through the arrangement of the AGV trolley body 1, the fork rod 35 assembly can be driven to move as a carrier, so that the fork rod 35 can be inserted into the bottom of a package, and then through the arrangement of the lifting assembly, the fork rod 35 and the package above the fork rod 35 can be lifted through the traction chain 5, and the automatic fork lifting action of the package is completed; during the period, because safety inspection device, proximity switch 6 is initially normally open, and along with AGV dolly body 1 constantly be close to the parcel and make fork arm 35 insert the in-process of parcel bottom, the parcel is close to first spring plate 47 gradually and extrudees first spring plate 47 and make its deformation and extrude proximity switch 6, thereby make proximity switch 6 closed, send feedback signal and give the control unit of AGV dolly body 1, control unit receives feedback signal back control AGV dolly body 1's drive wheel and stops, can enough avoid AGV dolly body 1 travel distance too short and make the parcel can not insert in place, thereby cause the parcel to empty the condition that leads to the parcel to drop from fork arm 35 free end one side because of inertial effect easily, thereby improve the security of parcel transportation, can avoid the parcel to insert back in place after dolly body 1 continue and go forward and not stop the impaired problem of parcel extrusion, thereby very big improvement fork truck formula AGV dolly's security, reduce the probability of occurrence of incident.

As an alternative, the lifting assembly includes two sets of mounting frames 52 fixed on the mounting plate 22, a first rotating shaft 53 is disposed between the mounting frames 52, a driving gear 55 is disposed in the middle of the mounting frames 52, and driven gears 54 are symmetrically disposed on the first rotating shafts 53 on two sides of the driving gear 55; the mounting plate 22 is provided with a motor 57, an output end of the motor 57 is provided with an output gear 56, and the output gear 56 and the driving gear 55 are in chain transmission; a balancing weight 51 is arranged between the upright posts 2, one end of the traction chain 5 is connected with the balancing weight 51, and the other end of the traction chain 5 bypasses the driven gear 54 and is connected with the hanging bracket 32. Through the setting of lifting unit, can be when needs promote fork arm 35, rotate through motor 57 and drive output gear 56 and rotate and then drive gear 55 through chain drive and rotate, then drive driven gear 54 through first rotation to make traction chain 5 drive gallows 32 and inserted bar and shift up, accomplish the fork action of parcel.

As an alternative, an auxiliary device is fixedly arranged above the mounting seat 33, the auxiliary device comprises a fixed block 4 fixed above the mounting seat 33, and the right side of the fixed block 4 is flush with the right side of the mounting seat 33; the fixed block 4 is positioned in a left-right through guide hole 41 arranged at one side of the inserted link, and a guide link 42 matched with the guide hole 41 is arranged in the guide hole; the left end of the guide rod 42 extends to the left side of the fixed block 4 and is connected with a top block 46, and a spring 45 is connected between the top block 46 and the fixed block 4; the right end of the guide rod 42 is provided with a pressing plate 44 extending downwards, the mounting seat 33 and the fixed block 4 are correspondingly provided with a sinking groove 43 matched with the pressing plate 44, and the first spring plate 47 and the proximity switch 6 are arranged in the sinking groove 43. Through the setting of auxiliary equipment, can be in the in-process of inserted bar insertion parcel below, utilize the parcel to be close to mount pad 33 and make its extrusion clamp plate 44, thereby make guide bar 42 overcome spring 45 elasticity and remove left, and then make the parcel be close to the reaction force of spring 45 elasticity of mount pad 33 in-process, realize leaning on the buffering before the mount pad 33, thereby avoid hard collision to lead to the parcel to strike mount pad 33 and damage the problem, further improve holistic security performance, also can avoid the problem that first spring plate 47 department proximity switch 6 was strikeed to damage simultaneously, thereby extension equipment life.

As an alternative solution, the front and rear sides of the fixed block 4 are provided with open slots 48, a first rotation shaft vertically arranged is arranged in the open slots 48, a clamping arm 49 capable of rotating around the first rotation shaft is arranged on the first rotation shaft, a clamping part 491 is arranged on the right side of the clamping arm 49, a blocking part 492 matched with the top block 46 is arranged on the left side of the clamping arm 49, and two groups of blocking parts 492 are arranged in a staggered manner; a torsion spring is provided between the rotation shaft and the clip arm 49 to make the clip arm 49 initially positioned on the left side of the plunger. Through the arrangement of the clamping arms 49 and the torsion springs, the clamping arms 49 can be opened at the beginning, and in the process of wrapping the package close to the mounting seat 33, the pressing plate 44 is pressed to further enable the guide rod 42 and the top block 46 to move, so that the two blocking parts 492 are gradually separated and the two clamping parts 491 are gradually close to each other, namely, the clamping in the front-back direction of the package is realized in the process of wrapping the package close to the mounting seat 33, the problem that the package falls down in the front-back direction is avoided, and the safety performance is further improved; meanwhile, because the clamping arms 49 are symmetrically arranged, when the package deviates in the front-rear direction, the clamping part 491 on one side, which deviates, firstly contacts the package and pushes the package to the other side, so that the automatic centering in the clamping process is realized, the problem that the center of gravity of the package deviates before the package is forked and is easy to topple is avoided, and the overall safety performance is further improved.

As an alternative, the gripping portion 491 is hinged to the right end of the gripping arm 49 through a second rotation shaft, and a limiting block 493 for limiting the maximum outward opening angle of the gripping portion 491 is disposed on the left side of the gripping portion 491, so that the gripping arm 49 has at least the following working positions: i.e. when the pressure plate 44 is fully pressed into the countersink 43, the gripping portion 491 reaches a maximum flip-out angle and the gripping portion 491 is exactly parallel to the fork arm 35. Through the arrangement of the second rotating shaft, when no package is inserted, the clamping part 491 can be inwards turned and folded to reduce the whole rotating radius of the clamping arm 49, so that the problem of collision damage caused by overlarge rotating range extending out of the mounting seat 33 is avoided, and meanwhile, the occurrence of safety accidents such as accidental injury and the like can be avoided; through stopper 493's setting, can ensure when the parcel inserts in place, clamping part 491 is parallel with fork arm 35 just, and then ensures that there is great clamping area, and not only better protection parcel avoids its turnover, but also can reduce local pressure, avoids stress concentration and damages the parcel.

As an alternative solution, the two sides of the upper part of the mounting seat 33 are symmetrically provided with a stop block 39, and the stop blocks 39 are provided with cambered surfaces coaxially arranged with the corresponding first rotation shafts; the distance from the axis of the first rotation shaft to the cambered surface is greater than the minimum distance from the axis of the first rotation shaft to the limiting block 493 and less than the maximum distance from the axis of the first rotation shaft to the limiting block 493. Through setting up dog 39 and stopper 493, can utilize the torsional spring to make the arm lock 49 reset after the lift-off parcel, in this process, because the clamping part 491 is just parallel with fork 35 at the beginning, first rotation axis axle center to cambered surface distance is less than first rotation axis center to stopper 493's maximum distance, therefore dog 39 blocks stopper 493 and forces clamping part 491 inwards rotatory folding, when the distance of first rotation axis center to cambered surface is greater than first rotation axis center to stopper 493's minimum distance, the clamping part 491 after folding is along with arm lock 49 together eye arc face inwards accomodate, consequently can realize the automatic folding accomodate of arm lock 49 and clamping part 491, avoid clamping part 491 overlength and lead to collision, accidental injury's scheduling incident problem.

As an alternative, a blocking frame 34 is arranged on the hanging bracket 32 above the fixed block 4, and the front end of the blocking frame 34 is flush with the right side of the mounting seat 33. Through setting up of dog 39, can insert the back in place at the parcel, carry out auxiliary stay to higher parcel, avoid the too high problem of toppling over from mount pad 33 top to left side of parcel.

As an alternative, the left part of the inserted link is provided with a slot 36, the right end of the transverse frame 11 can pass through the mounting seat 33 to extend into the slot 36, and the lower end of the mounting seat 33 is provided with an avoidance slot 38 matched with the transverse frame 11; the upper top surface of the avoidance groove 38 and the upper end surface of the inserted link are both higher than the upper end surface of the transverse frame 11; the upper end of the transverse frame 11 in the avoidance groove 38 is provided with a second spring plate 61 which is inclined upwards, and a proximity switch 6 is also arranged between the second spring plate 61 and the transverse frame 11. Through the setting of second spring plate 61 and proximity switch 6, can be when mount pad 33 drives the inserted bar and moves down to the lowest position, utilize mount pad 33 to dodge groove 38 top extrusion second spring plate 61 and then extrude proximity switch 6 here, then proximity switch 6 sends feedback signal and utilizes control unit control AGV dolly body 1 to the parcel removal, avoid the inserted bar below ground to have the foreign matter to block and can't move down to the lowest position completely just insert the action, and then lead to can't insert the parcel below and extrude the condition of damaging the parcel.

As an alternative scheme, AGV dolly body 1 lower extreme fixedly is provided with and cross frame 11 sliding fit's guide frame 12, be connected through linking board 14 between the cross frame 11 left side, AGV dolly body 1 internal fixation is provided with flexible cylinder 15, the piston rod one end of flexible cylinder 15 extends to outside AGV dolly body 1 and is connected with linking board 14 right side. Through the setting of crossbearer 11, can effectively increase AGV dolly body 1 below and the area of contact on ground, and then improve its stability, can utilize telescopic cylinder 15 and guide frame 12's setting again simultaneously, adjust crossbearer 11's position, and then conveniently realize the fork of parcel under the complex environment of mill and get.

As an alternative scheme, the right part of the transverse frame 11 is hinged with the middle part of a V-shaped stop block 7139 through a second rotating shaft 7, and transverse rods 72 are arranged on the front side and the rear side of the right end of the V-shaped stop block 7139; be provided with the spacing groove 37 of arranging along left and right directions level on the slot 36 inside wall, spacing groove 37 left side one end intercommunication has the guide way that is higher than it, horizontal pole 72 can slide and make V-arrangement dog 7139 have following two stations at least in guide way and spacing groove 37: station one: when the cross bar 72 is in the limit groove 37, one end of the V-shaped stop 7139, which is far away from the cross bar 72, is higher than the upper end surface of the fork rod 35; and in the second station, when the cross rod 72 is at the left side in the guide groove, both ends of the V-shaped stop 7139 are lower than the upper end face of the fork rod 35 and the upper end face of the avoidance groove 38. Through setting up of V-arrangement dog 7139, horizontal pole 72, spacing groove 37 and guiding groove, can drive the crossbearer 11 and V-arrangement dog 7139 through telescopic cylinder 15 before the fork gets and withdraw to dodge in the groove 38, do not influence normal fork action, can realize again through telescopic cylinder 15 withdrawal that crossbearer 11 and V-arrangement dog 7139 initiatively move to the parcel after transporting the parcel to the assigned position, and make V-arrangement dog 7139 keep away from horizontal pole 72 one end and be higher than fork arm 35 up end arrangement when contacting the parcel, thereby promote parcel left side bottom and can realize the initiative discharge of parcel.

The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; these modifications or substitutions do not depart from the essence of the corresponding technical solutions from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. The vehicle dispatching system is characterized by comprising an AGV trolley body (1) with driving wheels, wherein transverse frames (11) which are arranged along the left-right direction are symmetrically arranged at the front and back of the lower end of the AGV trolley body (1), and a plurality of groups of traveling gears (13) are arranged at the lower end of each transverse frame (11); two groups of upright posts (2) which are symmetrical in front and back are arranged on the right side surface of the AGV trolley body (1), sliding grooves (21) which are arranged up and down are formed in the outer sides of the upright posts (2), and mounting plates (22) are fixedly arranged between the upper ends of the upright posts (2);

the fork rod assembly comprises a mounting seat (33), a hanging bracket (32) is arranged on the left side of the upper end of the mounting seat (33), sliding blocks (3) are arranged on the front side and the rear side of the hanging bracket (32) for a plurality of times, and sliding gears (31) matched with the sliding grooves (21) are arranged on the sliding blocks (3); fork rods (35) are symmetrically arranged on the right side of the mounting seat (33) front and back;

the lifting assembly is arranged on the mounting plate (22) and is connected with the hanging bracket (32) through the traction chain (5);

the safety detection device comprises a first spring plate (47) and a proximity switch (6), wherein the first spring plate (47) is arranged on the right side of the mounting seat (33) in a downward inclined mode, and the proximity switch (6) which is in interference with the first spring plate (47) is arranged in the mounting seat (33).

2. The vehicle dispatching system according to claim 1, wherein the lifting assembly comprises two groups of mounting frames (52) fixed on the mounting plate (22), a first rotating shaft (53) is arranged between the mounting frames (52), a driving gear (55) is arranged in the middle of each mounting frame (52), and driven gears (54) are symmetrically arranged on the first rotating shafts (53) on two sides of each driving gear (55); a motor (57) is arranged on the mounting plate (22), an output gear (56) is arranged at the output end of the motor (57), and the output gear (56) and the driving gear (55) are in chain transmission; a balancing weight (51) is arranged between the upright posts (2), one end of the traction chain (5) is connected with the balancing weight (51), and the other end of the traction chain (5) bypasses the driven gear (54) to be connected with the hanging bracket (32).

3. A vehicle dispatching system according to claim 1, wherein an auxiliary device is fixedly arranged above the mounting base (33), the auxiliary device comprising a fixed block (4) fixed above the mounting base (33), the right side of the fixed block (4) being flush with the right side of the mounting base (33); the fixed block (4) is positioned in a left-right through guide hole (41) arranged on one side of the inserted link, and a guide link (42) matched with the guide hole (41) is arranged in the guide hole; the left end of the guide rod (42) extends to the left side of the fixed block (4) and is connected with the top block (46), and a spring (45) is connected between the top block (46) and the fixed block (4); the right-hand member of guide bar (42) is provided with clamp plate (44) that extend mutually down, correspond on mount pad (33) and fixed block (4) to be provided with heavy groove (43) with clamp plate (44) matching, first springboard (47) and proximity switch (6) all set up in heavy groove (43).

4. A vehicle dispatching system according to claim 3, wherein the front and rear sides of the fixed block (4) are provided with open slots (48), a first rotating shaft which is vertically arranged is arranged in the open slots (48), a clamping arm (49) which can rotate around the first rotating shaft is arranged on the first rotating shaft, a clamping part (491) is arranged on the right side of the clamping arm (49), blocking parts (492) which are matched with the top block (46) are arranged on the left side of the clamping arm (49), and two groups of blocking parts (492) are arranged in an up-down staggered way; a torsion spring which enables the clamping arm (49) to be positioned at the left side of the inserted link at the beginning is arranged between the rotating shaft and the clamping arm (49).

5. A vehicle dispatching system according to claim 4, wherein the gripping part (491) is hinged to the right end of the gripping arm (49) by a second rotation axis, and a limiting block (493) for limiting the maximum outward turning angle of the gripping part (491) is arranged on the left side of the gripping part (491), so that the gripping arm (49) has the following minimum stations: that is, when the pressing plate (44) is completely pressed into the sinking groove (43), the clamping part (491) reaches the maximum outward turning angle, and the clamping part (491) is exactly parallel to the fork rod (35).

6. The vehicle dispatching system according to claim 5, wherein stoppers (39) are symmetrically arranged on front and rear sides above the mounting base (33), and cambered surfaces which are coaxially arranged with the corresponding first rotation shafts are arranged on the stoppers (39); the distance from the axis of the first rotating shaft to the cambered surface is larger than the minimum distance from the axis of the first rotating shaft to the limiting block (493) and smaller than the maximum distance from the axis of the first rotating shaft to the limiting block (493).

7. A vehicle dispatching system according to claim 6, wherein a stop frame (34) is arranged on the hanger (32) above the fixed block (4), and the front end of the stop frame (34) is flush with the right side of the mounting seat (33).

8. The vehicle dispatching system according to claim 7, wherein the left part of the inserted link is provided with a slot (36), the right end of the transverse frame (11) can extend into the slot (36) through a mounting seat (33), and the lower end of the mounting seat (33) is provided with an avoidance slot (38) matched with the transverse frame (11); the upper top surface of the avoidance groove (38) and the upper end surface of the inserted link are both higher than the upper end surface of the transverse frame (11); the upper end of the transverse frame (11) in the avoidance groove (38) is provided with a second spring plate (61) which inclines upwards, and a proximity switch (6) is also arranged between the second spring plate (61) and the transverse frame (11).

9. The vehicle dispatching system according to claim 8, wherein a guide frame (12) in sliding fit with a transverse frame (11) is fixedly arranged at the lower end of the AGV trolley body (1), the left sides of the transverse frames (11) are connected through a connecting plate (14), a telescopic cylinder (15) is fixedly arranged in the AGV trolley body (1), and one end of a piston rod of the telescopic cylinder (15) extends out of the AGV trolley body (1) and is connected with the right side of the connecting plate (14).

10. A vehicle dispatching system according to claim 9, wherein the right part of the cross frame (11) is hinged with the middle parts of the V-shaped stoppers (71) (39) through a second rotating shaft (7), and the V-shaped stoppers (71) (39) are provided with cross bars (72) towards the front and rear sides of the right end; be provided with on slot (36) inside wall along controlling direction horizontal arrangement's spacing groove (37), spacing groove (37) left side one end intercommunication has the guide way that is higher than it, horizontal pole (72) can slide and make V-arrangement dog (71) (39) have following two stations at least in guide way and spacing groove (37): station one: when the cross rod (72) is in the limit groove (37), one end of the V-shaped stop block (71) (39) far away from the cross rod (72) is higher than the upper end face of the fork rod (35); and in the second station, when the cross rod (72) is arranged at the left side in the guide groove, both ends of the V-shaped stop blocks (71) and (39) are lower than the upper end face of the fork rod (35) and the upper end face of the avoidance groove (38).