CN203402896U - Unmanned electric forward-moving-type clamp truck - Google Patents

Unmanned electric forward-moving-type clamp truck Download PDF

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Publication number
CN203402896U
CN203402896U CN201320503639.2U CN201320503639U CN203402896U CN 203402896 U CN203402896 U CN 203402896U CN 201320503639 U CN201320503639 U CN 201320503639U CN 203402896 U CN203402896 U CN 203402896U
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CN
China
Prior art keywords
car
truck
electric
driverless
clamp
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Withdrawn - After Issue
Application number
CN201320503639.2U
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Chinese (zh)
Inventor
杨鹏波
王大鹏
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杨鹏波
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Priority to CN201320503639.2U priority Critical patent/CN203402896U/en
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Abstract

The utility model provides an unmanned electric forward-moving-type clamp truck. The unmanned electric forward-moving-type clamp truck is provided with a truck body and storage batteries arranged on the truck body. A working device capable of stretching and contracting vertically is arranged on the truck body, moves back and forth through a telescopic device along the truck body, and is provided with a clamp device capable sliding vertically along the working device; the truck body is further provided with a navigation system capable of automatically controlling running of the truck; a main control device in the navigation system has control over front-back moving, ascending and descending of the working device and opening and closing of clamping arms of the clamp device. An unmanned mode is achieved through magnetic guiding; through transmission commands of different photoelectric signals, the truck identifies the signal commands and decides running motion itself, and unmanned and automatic running improves truck running management efficiency and reduces occupied manpower resources; the working device of the truck can contract, and therefore truck running channels are shortened, truck running safety performance and the storage capacity utilization ratio are improved, and the unmanned electric forward-moving-type clamp truck is suitable for transfer of goods in fields like food, drink, tobaccos and textiles.

Description

Driverless operation electric forward formula is embraced car
Technical field
The utility model belongs to embraces car technical field, is specifically related to a kind of driverless operation electric forward formula and embraces car.
Background technology
Common armful of car do not have door frame reach/retraction function, vehicle carrying principle is lever principle, employing counterbalanced lift truck is main frame, goods centre distance propons load center is large, and dead weight of vehicle demand is large, and oad is large, the servicesubway bulk needing is large, be unfavorable for improving warehouse storage capacity efficiency, and can not adopt unmanned automatic driving pattern, be therefore necessary to improve.
Utility model content
The technical matters that the utility model solves: provide a kind of driverless operation electric forward formula to embrace car, adopt magnetic guidance mode to realize driverless operation, by the transmission command of different photosignals, by vehicle identification signal order decide run action in its sole discretion voluntarily, adopt homing guidance guided vehicle service direction, realize the driverless operation automatic operating of vehicle, improve the vehicle operating efficiency of management, reduce human resources and take; The equipment of vehicle can be retracted, and significantly reduces vehicle overall length size, thereby reduction vehicle operating passage improves vehicle operating safety performance, improves storage capacity efficiency.
The technical solution adopted in the utility model: driverless operation electric forward formula is embraced car, there is car body and storage battery provided thereon, described car body is provided with equipment that can be flexible up and down, described equipment moves forward and backward along car body by retractor device, equipment is provided with the clamp device of embracing that can slide up and down along it, workpiece can be held or unclamp to described armful of clamp device tightly, simultaneously car body is provided with the navigationsystem that can automatically control Vehicle Driving Cycle, the jig arm folding that the master control set in described navigationsystem is controlled the moving forward and backward of equipment, rise and fall, embraced clamp device.
Wherein, described navigationsystem comprises station sensor, station signal projector, wireless information carrying device, master control set, guiding tape, magnetic navigation sensor, position detecting device, safety monitoring assembly and navigation controller, described station sensor sends signal and is received by station signal projector, described station signal projector sends the signal receiving to wireless information carrying device, described wireless information carrying device autonomous classification signal also utilizes guiding tape, magnetic navigation sensor, position detecting device and safety monitoring assembly detect vehicle-state, by the automatic navigation controller of master control set, send operating instruction simultaneously, control steer motor, drive motor running or control emergency brake system emergency braking, said apparatus all passes through storage battery power supply.
Further, described equipment is secondary or three grades of door frames, described door frame outermost is outer mast, outside, described outer mast lower end is connected with retractor device, outer mast is provided with hydraulic ram makes secondary or three grades of door frames rise or decline, described armful of clamp device comprises roller, jig arm and sideshifter, and described roller is placed in the rail groove on door frame and with chain band and drives along the rail groove of door frame and move up and down; On door frame, be also provided with roller, the roller on secondary or three grades of door frames can be in the rail groove of outer mast scrolling realization up-and-down movement.
Further, described retractor device has movable stand, described movable stand consists of base plate and U-shaped riser, described U-shaped riser is vertically fixed on base plate upper surface and U-shaped riser is included outer mast in and be connected to one by being arranged on adapter plate and the U-shaped riser of outer mast bottom, telescopic oil cylinder one end is connected by bearing pin with the cylinder support being arranged on U-shaped riser, the telescopic oil cylinder other end is fixedly connected with the oil cylinder Connection Block being arranged on car body, described base plate two outsides are provided with composite rolling wheel, described composite rolling wheel is included in the C type rail groove being arranged on car body and is driven door frame to move forward and backward under telescopic oil cylinder effect, the end, front and back of described C type rail groove is equipped with the limiting stopper of restriction door frame forward/backward shift position.
Further, both sides, described outer mast bottom are equipped with adapter shaft, described U-shaped riser two inner sides are equipped with the locating piece with half slot, described adapter shaft is included in the half slot of locating piece and with the gland with half slot and is fixed, simultaneously U-shaped riser outside is provided with shift position detector switch, and upper end, described car body both sides is provided with the spacing detection piece corresponding with shift position detector switch.
Further, described car body is provided with the telltale of siren horn and demonstration failure message.
Further, when being provided with vehicle operating, described armful of clamp device still keep stepping up the pressure automatic compensating device of power after hydraulic power unit power-off, and hydraulic power unit needs output command program by master control set according to vehicle operation, and by hydraulic tubing device, hydraulic power is transported to each hydraulic function element practical function and moves, at hydraulic function elements relative, answer position to be provided with opto-electronic pickup, described opto-electronic pickup will detect monitoring hydraulic function element operating mode and testing result signal feedback will be arrived to master control set simultaneously.
Further, described car body adopts three-wheel support type or four-wheel support type or five to take turns support type.
Further, described armful of car is provided with automatic Pilot, semi-automatic driving, three kinds of patterns of pilot steering, and on car body, is provided with mode conversion device.
The utility model compared with prior art adopts magnetic guidance mode to realize driverless operation mode, by the transmission command of different photosignals, by vehicle identification signal order decide run action in its sole discretion voluntarily, adopt homing guidance guided vehicle service direction, realize the driverless operation automatic operating of vehicle, improve the vehicle operating efficiency of management, reduce human resources and take; The equipment of vehicle can be retracted, and significantly reduces vehicle overall length size, thereby reduction vehicle operating passage improves vehicle operating safety performance, improves storage capacity efficiency, is applicable to the cargo transfer of the industries such as food, beverage, tobacco, weaving.
Accompanying drawing explanation
Fig. 1 is the utility model structural front view;
Fig. 2 is the utility model structure birds-eye view (equipment stretches out state);
Fig. 3 is the utility model structure birds-eye view (equipment retracted mode);
Fig. 4 is working state structure schematic diagram of the present utility model;
Fig. 5 is the utility model spatial structure exploded drawings;
Fig. 6 is the utility model theory structure schematic diagram.
The specific embodiment
Below in conjunction with accompanying drawing 1-6, a kind of embodiment of the present utility model is described.
Driverless operation electric forward formula is embraced car, there is car body 2 and storage battery 1 provided thereon, described car body 2 is provided with siren horn 26 and shows the telltale 27 of failure message, when travel condition of vehicle mal, automatically generate automotive servicing order, by siren horn 26, give the alarm, by the real failure message of telltale 27, and automatic running is to the maintenance station of vehicle appointment; When vehicle battery 1 electric weight is when too low, by the real abnormal failure details of telltale 27, and give the alarm by siren horn 26, and vehicle automatically protection before cutting off the electricity supply, drive to Vehicular charging station and carry out electric weight and supplement.Described car body 2 adopts three-wheel support type or four-wheel support type or five to take turns support type.Described car body 2 is provided with equipment 3 that can be flexible up and down, concrete, described equipment 3 is secondary or three grades of door frames 21, described door frame 21 outermosts are outer mast 37, described outer mast 37 outsides, lower end are connected with retractor device 2, outer mast 37 is provided with hydraulic ram 22 makes secondary or three grades of door frames 21 rise or decline, described armful of clamp device 5 comprises roller 23, jig arm 7 and sideshifter 6, by sideshifter 6, can allow to embrace the jig arm 7 of clamp device 5 separately synchronous or shrink, to guarantee to be applicable to clamp workpiece and the automatic centering of different size, align.Described roller 23 is placed in the rail groove 25 on door frame 21 and with chain band 24 and drives along the rail groove 25 of door frame 21 and move up and down; On door frame 21, be also provided with roller 23, the roller 23 on secondary or three grades of door frames 21 can be at the rail groove 25 of outer mast 37 interior scrolling realization up-and-down movement.Moving forward and backward of equipment 3, can realize the movement from A-B, embraces a clamp device 5 and can realize the working position of the interval optional position from position C to position D-E-F, and that realizes workpiece picks and places and transport object.Described outer mast 37 both sides, bottom are equipped with adapter shaft 38,45 liang of inner sides of described U-shaped riser are equipped with the locating piece 39 with half slot, described adapter shaft 38 is included in the half slot of locating piece 39 and with the gland 43 with half slot and is fixed, U-shaped riser 45 outsides are provided with shift position detector switch 47 simultaneously, and shift position detector switch 47 can be photoelectricity approach switch or magnetic approach switch.Described car body 2 upper ends, both sides are provided with the spacing detection piece 48 corresponding with shift position detector switch 47, spacing detection piece 48 can be steel or other magnetic material, when shift position detector switch 47 arrives spacing detection piece 48 position, shift position detector switch 47 is to master control set 8 transmitted signals, master control set 8 is controlled telescopic oil cylinder 34 work speeds and is progressively slowed down, time delay is controlled and is slowed down while moving to end position, telescopic oil cylinder 34 quits work, eliminated the impact while moving forward to end position in common reach truck structure, made more steadily safety of work.
Described equipment 3 moves forward and backward along car body 2 by retractor device 4, and retractor device 4 can be hydrostatic drive, can be also rack-and-gear transmission or chain transmission.Concrete, described retractor device 4 has movable stand 36, described movable stand 36 consists of base plate 49 and U-shaped riser 45, described U-shaped riser 45 is vertically fixed on base plate 49 upper surfaces and U-shaped riser 45 is included outer mast 37 in and be connected to one with U-shaped riser 45 by being arranged on the adapter plate 41 of outer mast 37 bottoms, telescopic oil cylinder 34 one end are connected by bearing pin 46 with the cylinder support 42 being arranged on U-shaped riser 45, telescopic oil cylinder 34 other ends are fixedly connected with the oil cylinder Connection Block 50 being arranged on car body 2, 49 liang of outsides of described base plate are provided with composite rolling wheel 40, described composite rolling wheel 40 is included in the C type rail groove 35 being arranged on car body 2 and under telescopic oil cylinder 34 effects and is driven door frame 21 to move forward and backward, the end, front and back of described C type rail groove 35 is equipped with the limiting stopper 44 of restriction door frame 21 forward/backward shift positions.Equipment 3 is provided with armful clamp device 5 that can slide up and down along it, workpiece can be held or unclamp to described armful of clamp device 5 tightly, car body 2 is provided with the navigationsystem 11 that can automatically control Vehicle Driving Cycle simultaneously, concrete, described navigationsystem 11 comprises station sensor 20, station signal projector 10, wireless information carrying device 9, master control set 8, guiding tape 13, magnetic navigation sensor 12, position detecting device 19, safety monitoring assembly 17 and navigation controller 14, described station sensor 20 sends signal and is received by station signal projector 10, described station signal projector 10 sends the signal receiving to wireless information carrying device 9, described wireless information carrying device 9 autonomous classification signals also utilize guiding tape 13, magnetic navigation sensor 12, position detecting device 19 and safety monitoring assembly 17 detect vehicle-state, by the automatic navigation controller 14 of master control set 8, send operating instruction simultaneously, control steer motor 15, drive motor 16 runnings or control emergency brake system 18 emergency brakings, avoid having an accident.Said apparatus is all powered by storage battery 1.Jig arm 7 foldings that master control set in described navigationsystem 11 8 is controlled the moving forward and backward of equipments 3, rise and fall, embraced clamp device 5.When described armful of clamp device 5 is provided with vehicle operating, after hydraulic power unit 29 power-off, still keep stepping up the pressure automatic compensating device 28 of power, guarantee to add and hold pressure and do not reduce, prevent that workpiece from dropping.And hydraulic power unit 29 needs output command program by master control set 8 according to vehicle operation, and by hydraulic tubing device 30, hydraulic power is transported to each hydraulic function element 31 practical functions and moves, at hydraulic function element 31 opposite positions, be provided with opto-electronic pickup 32, described opto-electronic pickup 32 will detect monitoring hydraulic function element 31 operating modes and testing result signal feedback will be arrived to master control set 8 simultaneously.Described armful of car is provided with automatic Pilot, semi-automatic driving, three kinds of patterns of pilot steering, and on car body 2, is provided with mode conversion device 33.
Above-described embodiment, is preferred embodiment of the present utility model, is not used for limiting the utility model practical range, and the equivalence of being done with content described in the utility model claim therefore all changes, within all should being included in the utility model claim scope.

Claims (9)

1. driverless operation electric forward formula is embraced car, there is car body (2) and storage battery (1) provided thereon, it is characterized in that: described car body (2) is provided with equipment (3) that can be flexible up and down, described equipment (3) moves forward and backward along car body (2) by retractor device (4), equipment (3) is provided with armful clamp device (5) that can slide up and down along it, workpiece can be held or unclamp to described armful of clamp device (5) tightly, car body (2) is provided with the navigationsystem (11) that can automatically control Vehicle Driving Cycle simultaneously, master control set (8) in described navigationsystem (11) is controlled moving forward and backward of equipment (3), rise and fall, embrace jig arm (7) folding of clamp device (5).
2. driverless operation electric forward formula according to claim 1 is embraced car, it is characterized in that: described navigationsystem (11) comprises station sensor (20), station signal projector (10), wireless information carrying device (9), master control set (8), guiding tape (13), magnetic navigation sensor (12), position detecting device (19), safety monitoring assembly (17) and navigation controller (14), described station sensor (20) sends signal and is received by station signal projector (10), described station signal projector (10) sends the signal receiving to wireless information carrying device (9), described wireless information carrying device (9) autonomous classification signal also utilizes guiding tape (13), magnetic navigation sensor (12), position detecting device (19) and safety monitoring assembly (17) detect vehicle-state, by the automatic navigation controller (14) of master control set (8), send operating instruction simultaneously, control steer motor (15), drive motor (16) running or control emergency brake system (18) emergency braking, said apparatus is all powered by storage battery (1).
3. driverless operation electric forward formula according to claim 1 and 2 is embraced car, it is characterized in that: described equipment (3) is secondary or three grades of door frames (21), described door frame (21) outermost is outer mast (37), outside, described outer mast (37) lower end is connected with retractor device (2), outer mast (37) is provided with hydraulic ram (22) makes secondary or three grades of door frames (21) rise or decline, described armful of clamp device (5) comprises roller (23), jig arm (7) and sideshifter (6), described roller (23) is placed in the rail groove (25) on door frame (21) and with chain band (24) and drives along the rail groove (25) of door frame (21) and move up and down, on door frame (21), be also provided with roller (23), the roller (23) on secondary or three grades of door frames (21) can be in the rail groove (25) of outer mast (37) scrolling realization up-and-down movement.
4. driverless operation electric forward formula according to claim 3 is embraced car, it is characterized in that: described retractor device (4) has movable stand (36), described movable stand (36) consists of base plate (49) and U-shaped riser (45), described U-shaped riser (45) is vertically fixed on base plate (49) upper surface and U-shaped riser (45) is included outer mast (37) in and be connected to one with U-shaped riser (45) by the adapter plate (41) that is arranged on outer mast (37) bottom, telescopic oil cylinder (34) one end is connected by bearing pin (46) with the cylinder support (42) being arranged on U-shaped riser (45), telescopic oil cylinder (34) other end is fixedly connected with the oil cylinder Connection Block (50) being arranged on car body (2), described base plate (49) two outsides are provided with composite rolling wheel (40), described composite rolling wheel (40) is included in the C type rail groove (35) being arranged on car body (2) and under telescopic oil cylinder (34) effect and is driven door frame (21) to move forward and backward, the end, front and back of described C type rail groove (35) is equipped with the limiting stopper (44) of restriction door frame (21) forward/backward shift position.
5. driverless operation electric forward formula according to claim 4 is embraced car, it is characterized in that: described outer mast (37) both sides, bottom are equipped with adapter shaft (38), described U-shaped riser (45) two inner sides are equipped with the locating piece (39) with half slot, described adapter shaft (38) is included in the half slot of locating piece (39) and with the gland (43) with half slot and is fixed, U-shaped riser (45) outside is provided with shift position detector switch (47) simultaneously, described car body (2) upper end, both sides is provided with the spacing detection piece (48) corresponding with shift position detector switch (47).
6. driverless operation electric forward formula according to claim 5 is embraced car, it is characterized in that: described car body (2) is provided with siren horn (26) and shows the telltale (27) of failure message.
7. driverless operation electric forward formula according to claim 6 is embraced car, it is characterized in that: the pressure automatic compensating device (28) that still keeps stepping up power when described armful of clamp device (5) is provided with vehicle operating after hydraulic power unit (29) power-off, and hydraulic power unit (29) needs output command program by master control set (8) according to vehicle operation, and by hydraulic tubing device (30), hydraulic power is transported to each hydraulic function element (31) practical function action, at hydraulic function element (31) opposite position, be provided with opto-electronic pickup (32) simultaneously, described opto-electronic pickup (32) will detect monitoring hydraulic function element (31) operating mode and testing result signal feedback will be arrived to master control set (8).
8. driverless operation electric forward formula according to claim 7 is embraced car, it is characterized in that: described car body (2) adopts three-wheel support type or four-wheel support type or five to take turns support type.
9. driverless operation electric forward formula according to claim 8 is embraced car, it is characterized in that: described armful of car is provided with automatic Pilot, semi-automatic driving, three kinds of patterns of pilot steering, and on car body (2), is provided with mode conversion device (33).
CN201320503639.2U 2013-08-16 2013-08-16 Unmanned electric forward-moving-type clamp truck Withdrawn - After Issue CN203402896U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320503639.2U CN203402896U (en) 2013-08-16 2013-08-16 Unmanned electric forward-moving-type clamp truck

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320503639.2U CN203402896U (en) 2013-08-16 2013-08-16 Unmanned electric forward-moving-type clamp truck

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CN203402896U true CN203402896U (en) 2014-01-22

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103420310A (en) * 2013-08-16 2013-12-04 杨鹏波 Unmanned electric forward-movement-type clamping vehicle
CN104692293A (en) * 2015-03-11 2015-06-10 武汉汉迪机器人科技有限公司 Full-automatic omni-directional unmanned forklift

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103420310A (en) * 2013-08-16 2013-12-04 杨鹏波 Unmanned electric forward-movement-type clamping vehicle
CN103420310B (en) * 2013-08-16 2015-11-11 杨鹏波 Driverless operation electric forward formula embraces car
CN104692293A (en) * 2015-03-11 2015-06-10 武汉汉迪机器人科技有限公司 Full-automatic omni-directional unmanned forklift

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GR01 Patent grant
C14 Grant of patent or utility model
AV01 Patent right actively abandoned

Granted publication date: 20140122

Effective date of abandoning: 20151111

C25 Abandonment of patent right or utility model to avoid double patenting