CN207699122U - A kind of automatic guided vehicle - Google Patents
A kind of automatic guided vehicle Download PDFInfo
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- CN207699122U CN207699122U CN201720957452.8U CN201720957452U CN207699122U CN 207699122 U CN207699122 U CN 207699122U CN 201720957452 U CN201720957452 U CN 201720957452U CN 207699122 U CN207699122 U CN 207699122U
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Abstract
The utility model discloses a kind of automatic guided vehicles comprising homing guidance car body and hoisting mechanism, hoisting mechanism are fixedly installed on the top surface of homing guidance car body；Hoisting mechanism includes the first frame, the second frame, holds pallet fork, at least two objective tables and drive component, first frame is vertical with the second frame and is relatively arranged on the top surface of homing guidance car body, at least two objective tables are stacked between the first frame and the second frame, pallet fork is held to be movably set between the first frame and the second frame, pallet fork is held to be electrically connected with drive component, drive component holds pallet fork clamping article to be handled for driving, and drives and hold pallet fork by objective table idle in goods transportation to be handled at least two objective tables.At least two objective tables are arranged in the utility model on hoisting mechanism, hold pallet fork and are positioned over cargo on idle objective table so that automatic guided vehicle can single carry multiple cargos, improve the working efficiency of automatic guided vehicle.
Description
Technical field
The utility model is related to unmanned technical field of transportation more particularly to a kind of automatic guided vehicles.
Background technology
Automatic guided vehicle (Automated Guided Vehicle) refers to magnetically or optically waiting homing guidances equipped with electricity
Device can be travelled along defined guide path, the transport vehicle with safeguard protection and various transfer functions, and homing guidance is small
Vehicle belongs to the scope of wheeled mobile robot (WMR-- Wheeled Mobile Robot).
The distinguishing feature of automatic guided vehicle be it is unmanned, can be with safeguards system in the case where not needing manual guidance
Automatic running, flexible, automation and intelligent level are high.Automatic guided vehicle can require according to storage goods yard, produce work
The changes such as skill flow and flexible configuration, and the expense that operating path changes is compared with the transmission line of traditional conveyer belt or rigidity
It is very cheap.If being furnished with charging crane, automatic guided vehicle can also with other logistics equipments from mobile interface, realize cargo or
Material handling and carrying full process automatization.In addition, automatic guided vehicle also has the characteristics that clean manufacturing, automatic guided vehicle
Power is provided by included accumulator, operational process noise is extremely low, pollution-free, can apply and require working environment clear many
Clean place.
Current automatic guided vehicle single can only carry a cargo so that automatic guided vehicle working efficiency is not high.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of automatic guided vehicles, to solve in the prior art certainly
Dynamic guide trolleys single, which can only carry a cargo, leads to ineffective problem.
To solve the above-mentioned problems, the utility model provides a kind of automatic guided vehicle comprising homing guidance car body
And hoisting mechanism, the hoisting mechanism are fixedly installed on the top surface of the homing guidance car body；
The hoisting mechanism includes the first frame, the second frame, holds pallet fork, at least two objective tables and drive component,
First frame is vertical with second frame and is relatively arranged on the top surface of the homing guidance car body, and described at least two
A objective table is stacked between first frame and second frame, and the pallet fork that holds is movably set in described
Between one frame and second frame, the pallet fork that holds is electrically connected with the driving component, and the driving component is used for
Hold pallet fork described in driving and article to be handled be clamped, and hold described in driving pallet fork by the goods transportation to be handled to it is described extremely
Idle objective table in few two objective tables.
The driving component includes left driving mechanism and right driving mechanism, institute as a further improvement of the utility model,
It includes that a left side holds portion and the right side holds portion, the left driving mechanism and the right driving mechanism for driving the left side to state and hold pallet fork
Portion, the right side is held to hold both portions relative motion or both and move toward one another.
First frame includes the first fixation door frame, the first movable door frame as a further improvement of the utility model,
With the first driving mechanism, the first fixation door frame is vertically installed on the top surface of the homing guidance car body, and described first lives
Dynamic door frame is movably set in described first and fixes on door frame, and first driving mechanism is set to described first and fixes door frame bottom
Portion；
Second frame includes the second fixation door frame, the second movable door frame and transmission mechanism, and described second fixes door frame
It is vertically installed on the top surface of the homing guidance car body, and door frame is opposite sets with first fixation for the second fixation door frame
It sets, the described second movable door frame is movably set in described second and fixes on door frame, and it is solid that the transmission mechanism is set to described second
Determine door frame bottom, the transmission mechanism is connect with the output end of first driving mechanism；
First driving mechanism is for driving the transmission mechanism, the transmission mechanism to drive first door frame and institute
The second movable door frame is stated to move up and down.
The left side portion of holding includes the first fixed part, the first movable part and the as a further improvement of the utility model,
Two driving mechanisms, first fixed part are connect with the described first movable door frame, and first movable part is movably set in described
On on the inside of first fixed part, second driving mechanism is set to first fixed part bottom；
The right side portion of holding include the second fixed part, the second movable part and third driving mechanism, second fixed part with
Described second movable door frame connection, second movable part are movably set on the second fixed part inside, and the third is driven
Motivation structure is set to second fixed part bottom,
Second driving mechanism and third driving mechanism are for driving first movable part, second movable part to stretch
Go out or retracts.
It also hangs down between the described first movable door frame and the second movable door frame as a further improvement of the utility model,
Directly it is provided with multiple support beams.
The transmission mechanism includes drive link, the first chain and the second chain as a further improvement of the utility model,
The drive link is connect with the output end of first driving mechanism, and first fixation door frame top is provided with the first transmission chain
The top of wheel, the described first movable door frame is provided with the second drive sprocket；One end of first chain and first activity
The bottom end of door frame connects, and the other end of first chain connects around one end of first drive sprocket and the drive link
It connects；One end of second chain is connect with the left side portion of holding, and the other end of second chain is driven around described second
Sprocket wheel is fixedly connected with first fixation door frame bottom end；
The transmission mechanism further includes third chain and the 4th chain, and second fixation door frame top is provided with third biography
The top of movable sprocket, the described second movable door frame is provided with the 4th drive sprocket；One end of the third chain and described second
The bottom end of movable door frame connects, and the other end of the third chain is another around the third drive sprocket and the drive link
End connection；One end of 4th chain is connect with the right side portion of holding, and the other end of the 4th chain bypasses the described 4th
Drive sprocket is fixedly connected with second fixation door frame bottom end.
As a further improvement of the utility model, the first chain tension group is provided with below first drive sprocket
Part, first drive sprocket are misplaced by first chain with the first chain tension component and are connected；
It is provided with the second chain tension component, second drive sprocket and described second below second drive sprocket
Chain tension component is misplaced by second chain and is connected；
Third chain tension component, the third drive sprocket and the third are provided with below the third drive sprocket
Chain tension component is misplaced by the third chain and is connected；
It is provided with the 4th chain tension component, the 4th drive sprocket and the described 4th below 4th drive sprocket
Chain tension component is misplaced by the 4th chain and is connected.
The junction that second chain holds portion with the left side as a further improvement of the utility model, is additionally provided with
First loose chain detection device, the first alarm and the first controller, first controller respectively with first loose chain detection
Device, first alarm are electrically connected, and first controller is used to obtain the first detection of the first loose chain detection device
Signal, and first alarm is controlled according to the first detection signal；
The junction that 4th chain holds portion with the right side is additionally provided with the second loose chain detection device and the second alarm
Device, first controller are electrically connected with the second loose chain detection device, the second alarm respectively, first controller
The second detection signal for obtaining the second loose chain detection device, and detect signal control second alarm according to described second
Device.
As a further improvement of the utility model, the first overturning-preventing is additionally provided on the outside of the first fixation door frame
Mechanism, first anti-tipping mechanism include first base, the 4th driving mechanism, second controller, the first front stretching bar and
One rear telescopic rod, the first base are set to described first and fix on the outside of door frame, the 4th driving mechanism and described
Second controller is set in the first base, and the second controller is electrically connected with the 4th driving mechanism, described
First front stretching bar is set to one end of the first base, and the first front stretching bar connects with the 4th driving mechanism machinery
It connects, first rear telescopic rod is set to the other end of the first base, and first rear telescopic rod drives with the described 4th
Mechanism is electrically connected；
It is additionally provided with the second anti-tipping mechanism on the outside of the second fixation door frame, second anti-tipping mechanism includes
Second base, the 5th driving mechanism, the second front stretching bar and the second rear telescopic rod, it is solid that the second base is set to described second
Determine on the outside of door frame, the 5th driving mechanism is set in the second base, the second controller and the described 5th
Driving mechanism is electrically connected, and the second front stretching bar is set to one end of the second base, the second front stretching bar with
5th driving mechanism mechanical connection, second rear telescopic rod are set to the other end of the second base, and described second
Rear telescopic rod is electrically connected with the 5th driving mechanism.
The homing guidance car body includes bottom framework, third controller, driving as a further improvement of the utility model,
Steering wheel, magnetic navigation device and multiple auxiliary wheels, the driving steering wheel are set on the bottom surface of the bottom framework, the magnetic navigation device
Part is set on the bottom surface of the bottom framework, and the multiple auxiliary wheel is uniformly arranged at the bottom framework bottom edge, described
Third controller is connect with the driving steering wheel, the magnetic navigation device electric respectively, and the third controller is for obtaining institute
The navigation signal of magnetic navigation device is stated, and the driving steering wheel is controlled according to the navigation signal and is advanced.
Compared with prior art, at least two objective tables are arranged in the utility model automatic guided vehicle on hoisting mechanism,
Pallet fork is held to be positioned over cargo on idle objective table so that automatic guided vehicle can single carry multiple cargos, improve
The working efficiency of automatic guided vehicle.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of automatic guided vehicle one embodiment of the utility model.
Fig. 2 is a kind of structural schematic diagram of second embodiment of automatic guided vehicle of the utility model.
Fig. 3 is a kind of structural schematic diagram of automatic guided vehicle third embodiment of the utility model.
Fig. 4 is a kind of structural schematic diagram of the 4th embodiment of automatic guided vehicle of the utility model.
Fig. 5 is a kind of structural schematic diagram of the 5th embodiment of automatic guided vehicle of the utility model.
Fig. 6 is a kind of structural schematic diagram of the 6th embodiment of automatic guided vehicle of the utility model.
Fig. 7 is a kind of structural schematic diagram of the 7th embodiment of automatic guided vehicle of the utility model.
Fig. 8 is a kind of structural schematic diagram of the 8th embodiment of automatic guided vehicle of the utility model.
Fig. 9 is a kind of structural schematic diagram of the 9th embodiment of automatic guided vehicle of the utility model.
Figure 10 is a kind of structural schematic diagram of the tenth embodiment of automatic guided vehicle of the utility model.
Figure 11 is a kind of structural schematic diagram of the tenth one embodiment of automatic guided vehicle of the utility model.
Specific implementation mode
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
The utility model discloses a kind of automatic guided vehicles, in the present embodiment, referring to Fig. 1, automatic guided vehicle packet
Homing guidance car body 1 and hoisting mechanism 2 are included, hoisting mechanism 2 is fixedly installed on the top surface of homing guidance car body 1；
Referring to Fig. 1 and Fig. 2, hoisting mechanism 2 includes the first frame 21, the second frame 22, holds the load of pallet fork 23, at least two
Object platform 24 and drive component 25, the first frame 21 is vertical with the second frame 22 and is relatively arranged on the top surface of homing guidance car body 1
On, at least two objective tables 24 are stacked between the first frame 21 and the second frame 22, are held pallet fork 23 and are movably set in
Between first frame 21 and the second frame 22, holds pallet fork 23 and be electrically connected with drive component 25, drive component 25 is for driving
Hold pallet fork 23 and be clamped article to be handled, and drive hold pallet fork 23 will be in goods transportation to be handled at least two objective tables 24
Idle objective table.
Specifically, the detection whether being in idle condition for detecting objective table be additionally provided at least two objective tables 24
Device, such as infrared detecting device, pressure-detecting device.Hold pallet fork 23, drive component 25, detection device with a central controller
Part is electrically connected, and detection device is used to detect idle objective table, and idle signal is transmitted to central controller part, central controller part root
Pallet fork 23 is held according to the idle signal control driving of drive component 25 article to be handled is clamped to idle objective table.
Further, it holds pallet fork 23 horizontal between the first frame 21 and the second frame 22 to move up and down, will wait for
It transports goods on clamping to different objective table.
The present embodiment is stacked at least two objective tables 24 between the first frame 21 and the second frame 22, holds pallet fork
Cargo can be positioned at least two objective tables so that automatic guided vehicle can single carry multiple cargos, improve automatic
The working efficiency of guide trolleys.
On the basis of the above embodiments, in the present embodiment, referring to Fig. 3, drive component 25 includes left driving mechanism 251
With right driving mechanism 252, holds pallet fork 23 and hold portion 231 and the right side including a left side and hold portion 232, left driving mechanism 251 and right driving
Mechanism 252 is for driving a left side to hold portion 231, the right side holds both portions 232 relative motion or both and moves toward one another.
Specifically, when cargo, which is put into, holds pallet fork 23, a left side holds portion 231 and holds portion 232 with the right side to move toward one another simultaneously；
When cargo is put on shelf, a left side holds portion 231 and holds portion 232 with the right side to do relative motion simultaneously.
Further, left driving mechanism 251 is additionally operable to a braking left side and holds portion 231；It is right that right driving mechanism 252 is additionally operable to braking
Hold portion 232.
Further, when holding cargo, left driving mechanism 251 brakes a left side and holds portion 231, and right driving mechanism 252 is made
The dynamic right side holds portion 232.
The present embodiment holds pallet fork while moving and braking, and can adapt to various sizes of cargo, and can advise cargo
It is whole to correction in the middle part of objective table, has been achieved the effect that, the use scope of automatic guided vehicle has also been enlarged, ensure that homing guidance
Trolley will not lead to crank and turn on one's side because of cargo is crooked.
On the basis of the above embodiments, in the present embodiment, referring to Fig. 4, the first frame 21 includes the first fixation door frame
211, the first 212 and first driving mechanism 213 of movable door frame, the first fixation door frame 211 are vertically installed in homing guidance car body 1
On top surface, the first movable door frame 212 is movably set on the first fixation door frame 211, and the first driving mechanism 213 is set to be led automatically
On the side for drawing 1 top surface of car body；
Second frame 22 includes second the 221, second movable door frame 222 of fixation door frame and transmission mechanism 223, the second fixed door
Frame 221 is vertically installed on the top surface of homing guidance car body 1, and the second fixation door frame 221 is set relatively with the first fixation door frame 211
It sets, the second movable door frame 222 is movably set on the second fixation door frame 221, and transmission mechanism 223 is set to homing guidance car body 1
On the other side of top surface, transmission mechanism 223 is connect with the output end of the first driving mechanism 213；
First driving mechanism 213 is used for drive transmission device 223, and transmission mechanism 223 drives the first movable door frame 212 and the
Two movable door frames 222 move up and down.
Specifically, at least two objective tables are stacked between 212 and second movable door frame 222 of the first movable door frame.
Further, the first driving mechanism 213 is additionally operable to brake transmission mechanism 223, drives the braking of transmission mechanism 223 first
Movable door frame 212 and the second movable door frame 222.
Further, the first driving mechanism 213 passes through transmission band connection with transmission mechanism 223.
The present embodiment drives at least two stage movements extremely by 212 and second movable door frame 222 of the first movable door frame
A high position accesses cargo so that holding pallet fork will not be by shelf or self structure during up and down motion for holding pallet fork
Blocking, further improves the working efficiency of automatic guided vehicle.
On the basis of the above embodiments, in the present embodiment, referring to Fig. 5, it includes the first fixed part that a left side, which holds portion 231,
2311, the first movable part 2312 and the second driving mechanism 2313, the first fixed part 2311 are connect with the first movable door frame 212, the
One movable part 2312 is movably set on 2311 inside of the first fixed part, and the second driving mechanism 2313 is set to the first fixed part
2311 bottoms；
The right side holds portion 232 and (does not show in figure including the second fixed part 2321, the second movable part 2322 and third driving mechanism
Go out), the second fixed part 2321 is connect with the second movable door frame 222, and the second movable part 2322 is movably set in the second fixed part
On 2321 insides, third driving mechanism is set to 2321 bottom of the second fixed part,
Second driving mechanism 2313 and third driving mechanism are for driving the first movable part 2312, the second movable part 2322 to stretch
Go out or retracts.
Specifically, the second driving mechanism 2313 drives the first movable part 2312 and the second activity simultaneously with third driving mechanism
Movement in the same direction is done in portion 2322, and the first movable part 2312 and the second movable part 2322 is made to stretch out or retract simultaneously.
Further, the first movable part 2312 and the second movable part 2322 can stretch out the cargo clamped on shelf simultaneously, then
It retracts at the same time and holds cargo to objective table from shelf；Also cargo can be held from objective table to shelf.
The present embodiment only stretches out the first movable part 2312, the second movable part 2322 to hold in the high-order cargo of access
Cargo so that hold the steadily of centre of gravity that pallet fork 23 ensure that automatic guided vehicle while accessing cargo, while also regular
The position of cargo improves the safety in utilization of automatic guided vehicle.
On the basis of the above embodiments, in the present embodiment, referring to Fig. 6, the first 212 and second dodge gate of movable door frame
Multiple support beams 26 are also vertically installed between frame 222.
Specifically, multiple support beams 26 are fixedly connected with first the 212, second movable door frame 222 of movable door frame.
The present embodiment by the way that multiple support beams 26 are arranged between 212 and second movable door frame 222 of the first movable door frame,
It ensure that the rigidity of hoisting mechanism, further improve the safety of automatic guided vehicle.
On the basis of the above embodiments, in the present embodiment, referring to Fig. 7, transmission mechanism 223 include drive link 2231,
First chain 2232 and the second chain 2233, drive link 2231 are connect with the output end of the first driving mechanism 213, the first fixed door
211 top of frame is provided with the first drive sprocket 2111, and the top of the first movable door frame 212 is provided with the second drive sprocket 2121；
One end of first chain 2232 is connect with the bottom end of the first movable door frame 212, and the other end of the first chain 2232 passes around first
Movable sprocket 2111 is connect with one end of drive link 2231；One end of second chain 2233 is connect with the left side portion of holding, the second chain
2233 other end is fixedly connected around the second drive sprocket 2111 with the first 211 bottom end of fixation door frame；
Transmission mechanism 223 further includes third chain 2234 and the 4th chain 2235, and the second 221 top of fixation door frame is provided with
The top of third drive sprocket 2211, the second movable door frame 222 is provided with the 4th drive sprocket 2221；The one of third chain 2234
The bottom end with the second movable door frame 221 is held to connect, the other end of third chain 2234 is around third drive sprocket 2211 and transmission
The other end of bar 2231 connects；One end of 4th chain 2235 is connect with the right side portion of holding, and the other end of the 4th chain 2235 bypasses
4th drive sprocket 2221 is fixedly connected with the second 221 bottom end of fixation door frame.
It should be noted that in same referential, when drive link 2231 drives 212 and second activity of the first movable door frame
When door frame 222 is promoted or is declined with pre-set velocity, a left side hold portion 231 and the right side hold portion 232 will be promoted with twice of pre-set velocity or
Decline.
Further, when drive link 2231 is identical as the operating angular speed of the first driving mechanism 213, a left side hold portion 231 with
The right side holds portion 232 and will be promoted or declined with twice of pre-set velocity.
Further, when holding pallet fork 23 and reaching predeterminated position, the first driving mechanism 213 is additionally operable to brake bar
2231。
The present embodiment realizes enhanced feature by the combination of chain and sprocket wheel, while hoisting mechanism is simple in structure, only needs
Promote 212 and second movable door frame 222 of the first movable door frame, you can embrace pallet fork 23 with two speed improving clampings, reached reduction
The effect of the cost of automatic guided vehicle, and the promotion speed for holding pallet fork 2 is improved, further the user experience is improved.
On the basis of the above embodiments, in the present embodiment, it is provided with the first chain tension below the first drive sprocket
Component, the first drive sprocket and the first chain tension component are misplaced by the first chain and are connected；
It is provided with the second chain tension component, the second drive sprocket and the second chain tension component below second drive sprocket
It is misplaced and is connected by the second chain；
Third chain tension component, third drive sprocket and third chain tension component are provided with below third drive sprocket
It is misplaced and is connected by third chain；
It is provided with the 4th chain tension component, the 4th drive sprocket and the 4th chain tension component below 4th drive sprocket
It is misplaced and is connected by the 4th chain.
Further, the first driving mechanism is additionally provided with conveyer belt with driven rod by transmitting band connection on conveyer belt
The output end of tight component, transmission belt tension assembly and the first driving mechanism is misplaced by conveyer belt and is connected.
In the present embodiment, by the way that chain tension component is arranged on chain, avoid when chain elongation is to certain length
It just will appear the case where getting rid of chain, be easy to cause the case where chain wear aging is accelerated, increase the stability of chain, ensure that chain
The service life of item, further the user experience is improved.
On the basis of the above embodiments, in the present embodiment, referring to Fig. 8, the second chain 2233 and the left company for holding portion
The place of connecing is additionally provided with the first loose chain detection device 22331, the first alarm (not shown) and the first controller and (does not show in figure
Go out), the first controller is electrically connected with the first loose chain detection device 21331, the first alarm respectively, and the first controller is for obtaining
The first detection signal of the first loose chain detection device 21331 is taken, and the first alarm is controlled according to first detection signal；
Specifically, the first loose chain detection device 21331 holds 231 junction of portion for detecting the second chain 2233 with left
Bonding strength.When bonding strength is less than pre-set threshold value, first detection signal is transmitted to the first controller, the first controller root
The first alarm is controlled according to first detection signal to open.
4th chain 2235 is additionally provided with the alarm of the second loose chain detection device 22211 and second with the right junction for holding portion
Device (not shown), the first controller are electrically connected with the second loose chain detection device 22211, the second alarm respectively, and first
Controller is used to obtain the second detection signal of the second loose chain detection device 22211, and according to the second detection signal control second
Alarm.
Specifically, the second loose chain detection device 22211 holds 232 junction of portion for detecting the 4th chain 2235 with right
Bonding strength.When bonding strength is less than pre-set threshold value, by the second detection signal transmission to the first controller, the first controller root
The second alarm is controlled according to the second detection signal to open.
The present embodiment is by being arranged loose chain detection device detection chain in the junction in chain with the portion that holds and holding portion
Bonding strength prevents chain from occurring loose chain after frequent or long-time use, junction loosening causes bonding strength to be lower, generation
Security risk can remind user to carry out maintaining or repair, to ensure in time by loose chain detection device and alarm
The safety of automatic guided vehicle, further the user experience is improved.
On the basis of the above embodiments, in the present embodiment, the outside of door frame 211 is fixed referring to Fig. 9 and Figure 10, first
On be additionally provided with the first anti-tipping mechanism 2113, the first anti-tipping mechanism 2113 includes first base 21131, the 4th driving mechanism
21132, second controller (not shown), the first front stretching bar 21133 and the first rear telescopic rod 21134, first base
21131 are set on the outside of the first fixation door frame 211, and the 4th driving mechanism 21132 and second controller are set to the first bottom
On seat 21131, second controller and the 4th driving mechanism 21132 are electrically connected, and the first front stretching bar 21133 is set to the first bottom
One end of seat 21131, the first front stretching bar 21133 and the 4th driving mechanism 21132 are mechanically connected, the first rear telescopic rod 21134
It is set to the other end of first base 21131, the first rear telescopic rod 21133 and the 4th driving mechanism 21132 are electrically connected.
Specifically, when access cargo starts, second controller receives the signal of access cargo, and according to access cargo
Signal control the 4th driving mechanism 21132 the first front stretching bar 21133 and the first rear telescopic rod 21133 driven to stretch out, with solid
Due to external environment (such as：Shelf, wall etc.).
Further, when cargo access finishes, second controller receives cargo and accesses the signal finished, and according to goods
The signal that object access finishes controls the 4th driving mechanism 21132 and drives the first front stretching bar 21133 and the first rear telescopic rod 21133
It retracts.
It is additionally provided with the second anti-tipping mechanism 2213, the second anti-tipping mechanism 2213 on the outside of second fixation door frame 221
Including second base 22131, the 5th driving mechanism 22132, the second front stretching bar 22133 and the second rear telescopic rod 22134, second
Pedestal 22131 is set on the outside of the second fixation door frame 221, and the 5th driving mechanism 22132 is set to second base 22131
On, second controller and the 5th driving mechanism 22132 are electrically connected, and the second front stretching bar 22134 is set to second base 22131
One end, the second front stretching bar 22133 and the 5th driving mechanism 22132 be mechanically connected, and the second rear telescopic rod 22134 is set to the
The other end of two pedestals 22131, the second rear telescopic rod 22134 and the 5th driving mechanism 22132 are electrically connected.
Specifically, when access cargo starts, second controller receives the signal of access cargo, and according to access cargo
Signal control the 5th driving mechanism 22132 the second front stretching bar 22133 and the second rear telescopic rod 22134 driven to stretch out, with solid
Due to external environment (such as：Shelf, wall etc.).
Further, when cargo access finishes, second controller receives cargo and accesses the signal finished, and according to goods
The signal that object access finishes controls the 5th driving mechanism 22132 and drives the second front stretching bar 22133 and the second rear telescopic rod 22134
It retracts.
Anti-tipping mechanism is arranged on fixed door frame in the present embodiment, when accessing cargo, can be fixed on hoisting mechanism
External environment further stabilizes the center of gravity of automatic guided vehicle so that automatic guided vehicle during accessing cargo more
Stablize.
On the basis of the above embodiments, in the present embodiment, referring to Figure 11, homing guidance car body 1 include bottom framework 11,
Third controller 12, driving steering wheel 13, magnetic navigation device 14 and multiple auxiliary wheels 15, driving steering wheel 13 are set to bottom framework 11
On bottom surface, magnetic navigation device 14 is set on the bottom surface of bottom framework 11, and multiple auxiliary wheels 15 are uniformly arranged on 11 bottom surface of bottom framework
Edge, third controller 12 are electrically connected with driving steering wheel 13, magnetic navigation device 14 respectively, and third controller 12 is for obtaining
The navigation signal of magnetic navigation device 14, and driving steering wheel 13 is controlled according to navigation signal and is advanced.
Specifically, multiple auxiliary wheels 15 are used to share the load-bearing pressure of driving steering wheel, increase homing guidance car body 1 and ground
Contact area.
Preferably, multiple auxiliary wheels 15 can be multiple universal wheels.
Preferably, magnetic navigation device 14 is set to the front end of 1 direction of motion of homing guidance car body, and driving steering wheel is set to certainly
The rear end of dynamic guiding 1 direction of motion of car body.
It should be noted that the present embodiment selects but is not limited to magnetic navigation as navigation mode, other navigation also can be used
Mode, such as infrared navigation, laser navigation, vision guided navigation, coodinate navigation etc..
The present embodiment reads ground magnetic stripe by magnetic navigation device and completes navigation, with noise is small, precision is high, energy consumption is low
Feature, and multiple auxiliary wheels are set on bottom framework 11 and share goods weight and automatic guided vehicle own wt, reduce drive
The load-bearing pressure of dynamic steering wheel prevents driving 13 senile abrasion of steering wheel too fast, while increasing connecing for homing guidance car body 1 and ground
Contacting surface is accumulated, and the center of gravity of automatic guided vehicle is further stabilized.
The specific implementation mode of utility model is described in detail above, but it is only used as example, the utility model
It is not restricted to specific embodiments described above.For a person skilled in the art, it is any to the utility model into
Capable equivalent modifications substitute also all among the scope of the utility model, therefore, in the spirit for not departing from the utility model and
Impartial conversion made by under spirit and modification, improvement etc., should all cover in the scope of the utility model.
Claims (9)
1. a kind of automatic guided vehicle, which is characterized in that it includes homing guidance car body and hoisting mechanism, and the hoisting mechanism is solid
Surely it is set on the top surface of the homing guidance car body；
The hoisting mechanism includes the first frame, the second frame, holds pallet fork, at least two objective tables and drive component, described
First frame is vertical with second frame and is relatively arranged on the top surface of the homing guidance car body, and described at least two carry
Object platform is stacked between first frame and second frame, and the pallet fork that holds is movably set in first frame
Between frame and second frame, the pallet fork that holds is electrically connected with the driving component, and the driving component is for driving
Article to be handled is clamped in the pallet fork that holds, and holds pallet fork by the goods transportation to be handled to described at least two described in driving
Idle objective table in a objective table；
The driving component includes left driving mechanism and right driving mechanism, and the pallet fork that holds includes that a left side holds portion and the right side and holds
Portion, the left driving mechanism and the right driving mechanism are for driving the left side to hold portion, the right side holds the opposite fortune in both portions
It is dynamic or both to move toward one another.
2. automatic guided vehicle according to claim 1, which is characterized in that first frame includes the first fixed door
Frame, the first movable door frame and the first driving mechanism, the first fixation door frame are vertically installed in the top of the homing guidance car body
On face, the described first movable door frame is movably set in described first and fixes on door frame, and first driving mechanism is set to described
First fixes door frame bottom；
Second frame includes the second fixation door frame, the second movable door frame and transmission mechanism, and the second fixation door frame is vertical
It is set on the top surface of the homing guidance car body, and the second fixation door frame is oppositely arranged with the first fixation door frame,
Described second movable door frame is movably set in described second and fixes on door frame, and the transmission mechanism is set to second fixed door
Frame bottom, the transmission mechanism are connect with the output end of first driving mechanism；
First driving mechanism is for driving the transmission mechanism, the transmission mechanism to drive the described first movable door frame and institute
The second movable door frame is stated to move up and down.
3. automatic guided vehicle according to claim 1, which is characterized in that the left side portion of holding include the first fixed part,
First movable part and the second driving mechanism, first fixed part are connect with the described first movable door frame, first movable part
On being movably set on the inside of first fixed part, second driving mechanism is set to first fixed part bottom；
The right side portion of holding include the second fixed part, the second movable part and third driving mechanism, second fixed part with it is described
Second movable door frame connection, second movable part are movably set on the second fixed part inside, the third driving machine
Structure is set to second fixed part bottom,
Second driving mechanism and third driving mechanism for drive first movable part, second movable part stretch out or
It retracts.
4. automatic guided vehicle according to claim 2, which is characterized in that the described first movable door frame is lived with described second
It is also vertically installed with multiple support beams between dynamic door frame.
5. automatic guided vehicle according to claim 2, which is characterized in that the transmission mechanism includes drive link, first
Chain and the second chain, the drive link are connect with the output end of first driving mechanism, and described first fixes door frame top
It is provided with the first drive sprocket, the top of the described first movable door frame is provided with the second drive sprocket；The one of first chain
End is connect with the bottom end of the described first movable door frame, the other end of first chain bypass first drive sprocket with it is described
One end of drive link connects；One end of second chain is connect with the left side portion of holding, the other end of second chain around
Second drive sprocket is crossed to be fixedly connected with first fixation door frame bottom end；
The transmission mechanism further includes third chain and the 4th chain, and second fixation door frame top is provided with third transmission chain
The top of wheel, the described second movable door frame is provided with the 4th drive sprocket；One end of the third chain and second activity
The bottom end of door frame connects, and the other end of the third chain connects around the other end of the third drive sprocket and the drive link
It connects；One end of 4th chain is connect with the right side portion of holding, and the other end of the 4th chain is driven around the described 4th
Sprocket wheel is fixedly connected with second fixation door frame bottom end.
6. automatic guided vehicle according to claim 5, which is characterized in that be provided with the below first drive sprocket
One chain tension component, first drive sprocket, which is misplaced with the first chain tension component by first chain, to be connected
It connects；
The second chain tension component, second drive sprocket and second chain are provided with below second drive sprocket
Tension assembly is misplaced by second chain and is connected；
Third chain tension component, the third drive sprocket and the third chain are provided with below the third drive sprocket
Tension assembly is misplaced by the third chain and is connected；
The 4th chain tension component, the 4th drive sprocket and the 4th chain are provided with below 4th drive sprocket
Tension assembly is misplaced by the 4th chain and is connected.
7. automatic guided vehicle according to claim 5, which is characterized in that second chain holds portion with the left side
Junction is additionally provided with the first loose chain detection device, the first alarm and the first controller, first controller respectively with institute
The first loose chain detection device, first alarm electric connection are stated, first controller is for obtaining the first loose chain detection
The first detection signal of device, and first alarm is controlled according to the first detection signal；
The junction that 4th chain holds portion with the right side is additionally provided with the second loose chain detection device and the second alarm, institute
It states the first controller to be electrically connected with the second loose chain detection device, the second alarm respectively, first controller is used for
The second detection signal of the second loose chain detection device is obtained, and detects signal according to described second and controls second alarm.
8. automatic guided vehicle according to claim 5, which is characterized in that also set on the outside of the first fixation door frame
It is equipped with the first anti-tipping mechanism, first anti-tipping mechanism includes first base, the 4th driving mechanism, second controller,
One front stretching bar and the first rear telescopic rod, the first base are set to described first and fix on the outside of door frame, and the described 4th
Driving mechanism and the second controller are set in the first base, the second controller and the 4th driving mechanism
It is electrically connected, the first front stretching bar is set to one end of the first base, the first front stretching bar and the described 4th
Driving mechanism is mechanically connected, and first rear telescopic rod is set to the other end of the first base, first rear telescopic rod
It is electrically connected with the 4th driving mechanism；
The second anti-tipping mechanism is additionally provided on the outside of the second fixation door frame, second anti-tipping mechanism includes second
Pedestal, the 5th driving mechanism, the second front stretching bar and the second rear telescopic rod, the second base are set to second fixed door
On the outside of frame, the 5th driving mechanism is set in the second base, and the second controller drives with the described 5th
Mechanism is electrically connected, and the second front stretching bar is set to one end of the second base, the second front stretching bar with it is described
5th driving mechanism is mechanically connected, and second rear telescopic rod is set to the other end of the second base, is stretched after described second
Contracting bar is electrically connected with the 5th driving mechanism.
9. automatic guided vehicle according to claim 1, which is characterized in that the homing guidance car body include bottom framework,
Third controller, driving steering wheel, magnetic navigation device and multiple auxiliary wheels, the driving steering wheel are set to the bottom surface of the bottom framework
On, the magnetic navigation device is set on the bottom surface of the bottom framework, and the multiple auxiliary wheel is uniformly arranged on the bottom framework
At bottom edge, the third controller is connect with the driving steering wheel, the magnetic navigation device electric respectively, the third control
Device processed is used to obtain the navigation signal of the magnetic navigation device, and controls the driving steering wheel according to the navigation signal and advance.
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|---|---|---|---|
| CN201720957452.8U CN207699122U (en) | 2017-08-02 | 2017-08-02 | A kind of automatic guided vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720957452.8U CN207699122U (en) | 2017-08-02 | 2017-08-02 | A kind of automatic guided vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107364808A (en) * | 2017-08-02 | 2017-11-21 | 深圳市科陆智慧工业有限公司 | A kind of automatic guided vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107364808A (en) * | 2017-08-02 | 2017-11-21 | 深圳市科陆智慧工业有限公司 | A kind of automatic guided vehicle |
| CN107364808B (en) * | 2017-08-02 | 2024-01-23 | 深圳市科陆智慧工业有限公司 | Automatic guiding trolley |
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