CN208560671U - Fork type AGV trolley - Google Patents
Fork type AGV trolley Download PDFInfo
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- CN208560671U CN208560671U CN201821079618.1U CN201821079618U CN208560671U CN 208560671 U CN208560671 U CN 208560671U CN 201821079618 U CN201821079618 U CN 201821079618U CN 208560671 U CN208560671 U CN 208560671U
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- vehicle frame
- shift fork
- fork
- steering wheel
- utility
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Abstract
The utility model discloses a kind of fork type AGV trolleies, including metal plate outer cover, shift fork, laser scanner, vehicle frame, universal caster wheel, floating type steering wheel mechanism, battery, RFID reader, safe touch side, magnetic navigation sensor；The shift fork is mounted on the top surface of vehicle frame, laser scanner is mounted on the outside of vehicle frame, and safe touch side is fixed on vehicle frame, and universal caster wheel and floating type steering wheel mechanism are all mounted on bottom of the frame, RFID reader and magnetic navigation sensor are all mounted on the bottom surface of vehicle frame, and battery is mounted in vehicle frame.It is omni-directional drive mode since the utility model is cooperated using floating type steering wheel mechanism and universal caster wheel, realizes that advance, retrogressing, left and right sidesway, rotation of the utility model etc. act.By the robot on vehicle frame, large area region covering may be implemented, object enters to grab to the region, can efficiently, accurately, flexibly grab, carry, conveying between each station automatically.
Description
Technical field
The utility model relates to a kind of conveying equipments, more particularly to a kind of fork type AGV trolley.
Background technique
The attention that is increasingly subject to people due to modernizing automatic production idea, to production line efficient operation, logistics system
Flexibility requirements are higher and higher.Especially China is implementing " made in China 2025 " strategy, realizes manufacturing industrialization and intelligence
Energyization, AGV trolley are the important components for constituting intelligent plant, intelligent workshop.
And RGV trolley (RGV is Rail Guided Vehicle, i.e. rail Shuttling trolley) will be laid with track, install wiping
Line, rack gear etc., takes up a large area, and walking path is fixed, is single, is not able to satisfy modern manufacturing industry and wants to the flexibility of logistics system
It asks.
Utility model content
The purpose of this utility model is to provide a kind of efficient, accurate, flexible fork type AGV trolleies.
To achieve the above object, the technical solution of the utility model is:
The utility model is a kind of fork type AGV trolley, including metal plate outer cover, shift fork, laser scanner, vehicle frame, multiple
Universal caster wheel, more than one floating type steering wheel mechanism, battery, RFID reader, safe touch side, multiple magnetic navigation sensors；
The metal plate outer cover covers on the outside of vehicle frame, and shift fork is mounted on the top surface of vehicle frame, and laser scanner is mounted on vehicle
The outside of frame, safe touch side are fixed on the periphery setting on vehicle frame and around metal plate outer cover；Multiple universal caster wheels and
More than one floating type steering wheel mechanism is all mounted on bottom of the frame, and RFID reader and multiple magnetic navigation sensors are all mounted on
The bottom surface of vehicle frame, battery are mounted in vehicle frame, and multiple magnetic navigation sensor settings are point-blank.
There are four the laser scanners, and four laser scanners are separately mounted on four angles of vehicle frame.
The universal caster wheel and floating type steering wheel mechanism all there are four, four floating type steering wheel mechanisms are respectively symmetrically installed
In the outside of vehicle frame bottom surface, four universal caster wheels are respectively symmetrically mounted on the middle part of vehicle frame bottom surface.
The shift fork includes two shift fork pedestals, two supporting surfaces, two groups of support wheels, shift fork motor, chain wheel assembly, ten thousand
To section connector, driving shaft, driven shaft, two groups of teeth wheel rack gear group；Two shift fork pedestals are respectively symmetrically fixedly mounted on
The top surface of vehicle frame, shift fork pedestal are equipped with guide groove, one group of support wheel are symmetrically installed in the two side walls of guide groove, support
Sliding slot is offered on the two sidewalls in face, supporting surface slips in the guide groove of shift fork pedestal and can move back and forth along guide groove, branch
Sliding slot on the two sidewalls of support face slips on support wheel；The shift fork motor is fixed on the shift fork pedestal in left side, shift fork electricity
The output shaft of machine is connected by one end of chain wheel assembly and driving shaft, the other end of driving shaft by joint collet connector with it is driven
Axis connection, driving shaft activity are nested in the shift fork pedestal in left side and are connected by the supporting surface in rack-and-pinion group and left side, from
Moving axis activity is nested in the shift fork pedestal on right side and is connected by the supporting surface on rack-and-pinion group and right side.
The shift fork is fixed on hoistable platform, four angles of the hoistable platform respectively with the supporting block and four in elevator
A L-type fixed plate is fixed together, and L-type fixed plate side is slipped on the guide rail of the inner sidewall of vehicle frame, the elevator
Hoistable platform can be driven along guide rail raising and lowering.
After adopting the above scheme, due to the utility model metal plate outer cover, shift fork, laser scanner, vehicle frame, multiple multi-axis foots
Wheel, more than one floating type steering wheel mechanism, battery, RFID reader, safe touch side, two magnetic navigation sensors, elevator,
Navigate magnetic stripe, is cooperated using floating type steering wheel mechanism and universal caster wheel, is omni-directional drive mode, before realizing the utility model
Into the movement such as, retrogressing, left and right sidesway, rotation.By the robot on vehicle frame, large area region covering may be implemented, to the area
Domain object enters to grab, can efficiently, accurately, flexibly automatically between each station carry out flexible crawl, carrying, conveying, this reality
With the novel carrying task that can efficiently, accurately, flexibly complete material, and logistics flexible can be formed by more AGV and removed
Fortune system realizes material flows automation, to achieve the purpose that improve production efficiency and reduce cost.The utility model load capacity
Greatly, up to 500kg, the stroke that stretches can be widely used for manufacturing production line, warehousing industry, tobacco business, chemical industry up to 2.5 meters
Industry etc..
The utility model is further described in the following with reference to the drawings and specific embodiments.
Detailed description of the invention
Fig. 1 is the axonometric drawing of the utility model original state；
Fig. 2 is the axonometric drawing that the utility model stretches out state；
Fig. 3 is the stereogram exploded view of the utility model；
Fig. 4 is the front view of the utility model；
Fig. 5 is the bottom view of the utility model；
Fig. 6 is the axonometric drawing of the utility model shift fork；
Fig. 7 is the structural schematic diagram of the utility model elevator；
Fig. 8 is the operation schematic diagram of the utility model.
Specific embodiment
As Figure 1-Figure 5, the utility model is a kind of fork type AGV trolley, including metal plate outer cover 1, shift fork 2, four
Laser scanner 3, the floating type steering wheel mechanism 6 of the universal caster wheel 5, four of vehicle frame 4, four, battery 7, RFID reader 8, safety touching
9, two, side magnetic navigation sensor 10, elevator 11.
The metal plate outer cover 1 covers on the outside of vehicle frame 4, and shift fork 2 is mounted on the top surface of vehicle frame 4, four laser scanners 3
It is separately mounted on four angles of vehicle frame 4, safe touch side 9 is fixed on the periphery setting on vehicle frame 4 and around metal plate outer cover 1；
The floating type steering wheel mechanism 6 of described four is respectively symmetrically mounted on the outside of 4 bottom surface of vehicle frame, and four universal caster wheels 5 are respectively symmetrically
It is mounted on the middle part of 4 bottom surface of vehicle frame, RFID reader 8 and two magnetic navigation sensors 10 are all mounted on the bottom surface and two of vehicle frame 4
Point-blank, battery 7 is mounted in vehicle frame 4 for a setting of magnetic navigation sensor 10；The elevator 11 is mounted on vehicle frame 4
Bottom.
As shown in fig. 6, the shift fork 2 includes two 22, two groups of the supporting surface of shift fork pedestal 21, two support wheels 23, dials
Pitch motor 24, chain wheel assembly 25, joint collet connector 26, driving shaft 27, driven shaft 28, two groups of teeth wheel rack gear group (in figure not
Depending on)；Two shift fork pedestals 21 are respectively symmetrically fixedly mounted on the top surface of vehicle frame 4, and shift fork pedestal 21 is equipped with guide groove
211, it is symmetrically installed with one group of support wheel 23 in the two side walls of guide groove 211, offers cunning on the two sidewalls of supporting surface 22
Slot 221, supporting surface 22 slip in the guide groove 211 of shift fork pedestal 21 and can move back and forth along guide groove 211,22 liang of supporting surface
Sliding slot 221 on side wall slips on support wheel 23；The shift fork motor 24 is fixed on the shift fork pedestal 21 in left side, shift fork
The output shaft of motor 24 is connect by chain wheel assembly 25 with one end of driving shaft 27, and the other end of driving shaft 27 is connected by universal joint
It connects device 26 to connect with driven shaft 28,27 activity of driving shaft is nested in the shift fork pedestal 21 in left side and by rack-and-pinion group and a left side
The supporting surface 22 of side connects, and 28 activity of driven shaft is nested in the shift fork pedestal 21 on right side and by rack-and-pinion group and right side
Supporting surface 22 connects.
As shown in fig. 7, the elevator 11 includes supporting block 111, shaft coupling 112, speed reducer 113, lifting motor
114, connecting rod 115, diverter 116, guide rod 117；The lifting motor 114 by speed reducer 113, shaft coupling 112 with
One end of connecting rod 115 connects, and the other end of connecting rod 115 is connect with diverter 116, and 117 activity of guide rod is set in steering
In device 116, supporting block 111 is fixed on one end of guide rod 117.
As shown in figure 3, the shift fork 2 is fixed on hoistable platform 41,41 4 angles of the hoistable platform respectively with lifting
Supporting block 111 and four L-type fixed plates 42 in machine 11 are fixed together, and 42 side of L-type fixed plate is slipped in vehicle frame 4
On the guide rail 43 of inner sidewall, the elevator 11 can drive hoistable platform 41 along 43 raising and lowering of guide rail；The guide rail
43 be four.
As shown in Fig. 1, Fig. 8, working principle of the utility model is:
The utility model drives the utility model to do omnibearing movable, universal caster wheel 5 by two groups of floating type steering wheel mechanisms 6
Support the weight of the utility model and material.Every group of floating type steering wheel mechanism 6 has walking and turning function, and ralocatable mode can be really
Protect driving wheel in real time with ground face contact, avoid when road surface occur pit or protrusion when (under the pavement conditions of permission), drive
Situations such as driving wheel is hanging or stops.
When the utility model is walked, the magnetic navigation sensor 100 for being fixed on 4 bottom of vehicle frame detects magnetic stripe, its edge is made to land
The magnetic stripe traveling that face is laid with.Magnetic navigation sensor 100 is using multi-channel sampling point output (general 15 tunnel), when the position of sampled point goes out
Now offset can make adjustment automatically, it is ensured that move ahead along navigation magnetic stripe.Whether there is barrier in front of 3 real-time detection of laser scanner,
Play collision prevention function.Vehicle frame 4 uses multiple security protection, when laser scanner 3 fails, when bar contact is to safe touch side 9,
The utility model stops immediately, and the utility model is additionally provided with mechanical collision prevention girders, it is ensured that inside will not be damaged when trolley collides
Mechanism.
The RFID reader 8 for being fixed on 4 bottom of vehicle frame identifies the landmark information for being laid on ground, implements starting, stops, turning
Curved equal movement.Battery 7 provides power source for the utility model, and when electricity is lower than setting value, the utility model automatically walk is to filling
Electric region is charged by Intelligent charging station to trolley online.
After walking in place, elevator 11 as needed drives hoistable platform 41 to rise and then shift fork 2 is driven to be raised to wait grab
The identical height of object, the driving of shift fork motor 24 forward extend out, retract again after pickup, drop to normal position, can be steadily any
Movement, realize material flows automation, production efficiency and reduce cost to achieve the purpose that improve.
The above, only the utility model preferred embodiment, therefore the utility model implementation cannot be limited with this
Range should still belong to this reality that is, according to equivalent changes and modifications made by present utility model application the scope of the patents and description
In the range of being covered with new patent.
Claims (5)
1. a kind of fork type AGV trolley, it is characterised in that: including metal plate outer cover, shift fork, laser scanner, vehicle frame, multiple universal
Castor, more than one floating type steering wheel mechanism, battery, RFID reader, safe touch side, multiple magnetic navigation sensors；
The metal plate outer cover covers on the outside of vehicle frame, and shift fork is mounted on the top surface of vehicle frame, and laser scanner is mounted on vehicle frame
Outside, safe touch side are fixed on the periphery setting on vehicle frame and around metal plate outer cover；Multiple universal caster wheels and one
Above floating type steering wheel mechanism is all mounted on bottom of the frame, and RFID reader and multiple magnetic navigation sensors are all mounted on vehicle frame
Bottom surface, battery is mounted in vehicle frame, and multiple magnetic navigation sensors settings are point-blank.
2. fork type AGV trolley according to claim 1, it is characterised in that: there are four the laser scanners, and four
Laser scanner is separately mounted on four angles of vehicle frame.
3. fork type AGV trolley according to claim 1, it is characterised in that: the universal caster wheel and floating type steering wheel
Mechanism all there are four, four floating type steering wheel mechanisms are respectively symmetrically mounted on the outside of vehicle frame bottom surface, four universal caster wheels difference
It is symmetrically mounted on the middle part of vehicle frame bottom surface.
4. fork type AGV trolley according to claim 1, it is characterised in that: the shift fork include two shift fork pedestals,
Two supporting surfaces, two groups of support wheels, shift fork motor, chain wheel assembly, joint collet connector, driving shaft, driven shaft, the two groups of teeth gear teeth
Item group；Two shift fork pedestals are respectively symmetrically fixedly mounted on the top surface of vehicle frame, and shift fork pedestal is equipped with guide groove, is leading
It is symmetrically installed with one group of support wheel in the two side walls of slot, offers sliding slot on the two sidewalls of supporting surface, supporting surface slips
It can move back and forth in the guide groove of shift fork pedestal and along guide groove, the sliding slot on supporting surface two sidewalls slips on support wheel；Institute
The shift fork motor stated is fixed on the shift fork pedestal in left side, and the output shaft of shift fork motor passes through one end of chain wheel assembly and driving shaft
Connection, by joint collet connector and driven axis connection, driving shaft activity is nested at the shift fork bottom in left side the other end of driving shaft
It is connected in seat and by the supporting surface in rack-and-pinion group and left side, driven shaft activity is nested in the shift fork pedestal on right side and passes through
The connection of the supporting surface on rack-and-pinion group and right side.
5. fork type AGV trolley according to claim 4, it is characterised in that: the shift fork is fixed on hoistable platform, institute
State four angles of hoistable platform respectively in elevator supporting block and four L-type fixed plates be fixed together, the L-type fixed plate
Side is slipped on the guide rail of the inner sidewall of vehicle frame, and the elevator can drive hoistable platform along guide rail raising and lowering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821079618.1U CN208560671U (en) | 2018-07-09 | 2018-07-09 | Fork type AGV trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821079618.1U CN208560671U (en) | 2018-07-09 | 2018-07-09 | Fork type AGV trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208560671U true CN208560671U (en) | 2019-03-01 |
Family
ID=65491630
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821079618.1U Active CN208560671U (en) | 2018-07-09 | 2018-07-09 | Fork type AGV trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208560671U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639695A (en) * | 2018-07-09 | 2018-10-12 | 厦门航天思尔特机器人系统股份公司 | Fork type AGV trolleies |
-
2018
- 2018-07-09 CN CN201821079618.1U patent/CN208560671U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639695A (en) * | 2018-07-09 | 2018-10-12 | 厦门航天思尔特机器人系统股份公司 | Fork type AGV trolleies |
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