CN210559178U

CN210559178U - AGV fork truck

Info

Publication number: CN210559178U
Application number: CN201921076292.1U
Authority: CN
Inventors: 刘彬; 王志杰; 范浙军; 李军; 卜凡; 王启龙; 周业超; 杜鸿远; 任海华
Original assignee: Zhejiang Hangcha Intelligent Technology Co ltd; Hangcha Group Co Ltd
Current assignee: Zhejiang Hangcha Intelligent Technology Co ltd; Hangcha Group Co Ltd
Priority date: 2019-07-10
Filing date: 2019-07-10
Publication date: 2020-05-19
Anticipated expiration: 2029-07-10

Abstract

The utility model discloses a AGV fork truck, including the automobile body and with body coupling, be used for the fork foot of fork dress goods, the bottom of automobile body is provided with two side by side, but 360 drive wheels of horizontal rotation separately, and the bottom of fork foot is provided with from the driving wheel. Because the drive wheel can 360 in the horizontal rotation, therefore when AGV fork truck needs lateral shifting, two drive wheels can turn to 90 simultaneously, parallel with the lateral shifting direction, and begin the rotation, provide drive power, the driven wheel follow-up of the bottom of fork foot portion, can realize AGV fork truck's lateral shifting, and when needing the original place gyration, turn to bilateral symmetry 45 with the direction of two drive wheels, be interior splayed syntropy and rotate, follow the driving wheel follow-up, can realize the original place gyration, compare current AGV fork truck, the utility model provides an AGV fork truck not only can advance and retreat, still can realize controlling sideslip, different actions such as original place gyration, the flexibility is high, and it is little to the requirement of tunnel width.

Description

AGV fork truck

Technical Field

The utility model relates to a freight technical field, more specifically says, relates to a AGV fork truck.

Background

Along with the continuous development of AGV fork truck, and the customer's requirement to storage capacity is higher and higher, the market demand of a light-duty AGV fork truck that can go forward and retreat, sideslip about, original place rotation increases day by day, because the direction of traditional fork truck fork leg bearing wheel is fixed, so can only realize advancing the mode of going backward, turning, the flexibility is relatively poor.

In summary, how to provide an AGV forklift with high flexibility is a problem to be solved urgently by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a AGV fork truck that flexibility is high.

In order to achieve the above object, the present invention provides the following technical solutions:

the utility model provides a AGV fork truck, including the automobile body and with body coupling, be used for the fork foot of fork dress goods, the bottom of automobile body is provided with two side by side, but 360 drive wheels of horizontal rotation separately, the bottom of fork foot is provided with from the driving wheel.

Preferably, the fork foot part comprises two parallel fork plates with gaps in the middle, one driven wheel is arranged at the bottom of each fork plate, and the connecting line of the two driven wheels is parallel to the connecting line of the two driving wheels.

Preferably, the upper surface of the fork pallet is provided with a deformation detector for detecting the deformation of the fork pallet after loading, and the deformation detector is in signal connection with the controller.

Preferably, the driven wheel is a universal bearing wheel, and the universal bearing wheel is connected with the fork pallet through a bolt.

Preferably, the fork pallet comprises a rectangular steel pipe and reinforcing ribs arranged on two sides of the rectangular steel pipe.

Preferably, the vehicle body is provided with a pressure transmitter which is used for detecting the pressure of an oil way in a hydraulic pipeline of the hydraulic oil cylinder and converting the pressure of the oil way into a current pressure electric signal to be transmitted to the controller, and when the current pressure electric signal is greater than a rated electric signal, the controller sends an overweight alarm signal.

Preferably, a storage type camera which shoots and stores towards the advancing direction of the vehicle body is arranged on the vehicle body, and the storage type camera is connected with the controller.

Preferably, the motor of the driving wheel is connected to a battery unit for supplying power to the motor, and the battery unit is built in a battery compartment above the driving wheel.

Preferably, the fork foot part is connected with a single-stage gantry used for driving the fork foot part to lift, the single-stage gantry comprises a frame body and a hydraulic oil cylinder connected with the fork foot part, and the fork foot part lifts along the frame body.

Preferably, the driving wheel is a vertical driving steering wheel or a horizontal driving steering wheel.

The utility model provides a AGV fork truck, including the automobile body and with car connection, be used for the fork foot of fork dress goods, the bottom of automobile body is provided with two side by side, but 360 drive wheels of horizontal rotation separately, and the bottom of fork foot is provided with from the driving wheel.

Wherein, the drive wheel is the action wheel that the whole AGV fork truck of drive removed promptly, because the drive wheel can the horizontal rotation 360, therefore when AGV fork truck needs lateral shifting, two drive wheels can turn to 90 simultaneously, parallel with the lateral shifting direction, and begin the rotation, provide drive power, the follow-up of follow driving wheel of the bottom of fork foot portion, can realize AGV fork truck's lateral shifting, and when needing the original place gyration, turn to bilateral symmetry 45 with the direction of two drive wheels, be interior splayed syntropy and rotate, follow the driving wheel and follow the motion, can realize the pivot centre of using two drive wheels and the pivot centre of ten thousand follow driving wheels nodical original place gyration as the original point, compare current AGV fork truck, the utility model provides an AGV fork truck not only can advance and retreat, still can realize left and right sideslip, different actions such as original place gyration, the flexibility is high, and.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a front view of an AGV fork truck provided by the present invention;

FIG. 2 is a side view of an AGV fork truck as provided by the present invention;

FIG. 3 is a top view of an AGV fork truck provided by the present invention;

FIG. 4 is a bottom view of an AGV fork truck provided by the present invention;

FIG. 5 is an internal block diagram of an AGV fork truck according to the present invention;

fig. 6 is the utility model provides an AGV fork truck's schematic structure diagram.

In FIGS. 1-6:

the vehicle body 1, the fork leg 2, the driving wheel 4, the driven wheel 3, the pressure transmitter 5, the storage camera 6 and the battery 7 are respectively arranged in the vehicle body.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The core of the utility model is to provide an AGV fork truck that flexibility is high.

Referring to fig. 1 to 6, fig. 1 is a front view of an AGV forklift provided by the present invention; FIG. 2 is a side view of an AGV fork truck as provided by the present invention; FIG. 3 is a top view of an AGV fork truck provided by the present invention; FIG. 4 is a bottom view of an AGV fork truck provided by the present invention; FIG. 5 is an internal block diagram of an AGV fork truck according to the present invention; fig. 6 is the utility model provides an AGV fork truck's schematic structure diagram.

The utility model provides a AGV fork truck, including automobile body 1 and with automobile body 1 be connected, be used for the fork foot 2 of fork dress goods, the bottom of automobile body 1 is provided with two side by side, but separately 360 drive wheels 4 of horizontal rotation, and the bottom of fork foot 2 is provided with from driving wheel 3.

Wherein, automobile body 1 is the carrier that is used for parts such as installation fork foot 2, drive wheel 4, fork foot 2 can go up and down usually to the goods of different positions are placed in convenient transportation, certainly, when AGV fork truck removed, fork foot 2 need move to the extreme position of below so that the driven wheel 3 of the bottom of fork foot 2 can contact with ground, equilibrium when guaranteeing AGV fork truck and removing.

The bottom of automobile body 1 is provided with two drive wheels 4 side by side, drive wheel 4 specifically indicates that self can use the pivot that the level set up as the action wheel of rotation center rotation, can drive through modes such as electric power, it can provide sufficient drive power to set up two drive wheels 4 side by side, and stability when guaranteeing to move, but two drive wheels 4 level rotation 360 separately, it can adjust to indicate direction of advance or the angle of drive wheel 4 when removing, and the direction of rotation and the angle of two drive wheels 4 need not be synchronous or the same, can adjust respectively according to required rotation action, realize the action of the different rotation range of AGV fork truck.

The driven wheel 3 at the bottom of the fork foot 2 is specifically a rotating wheel which does not have a power device and moves together when the driving wheel 4 drives the AGV forklift to move, and the driving wheel 4 can horizontally rotate for 360 degrees, so that the driven wheel 3 needs to rotate along with the driving wheel 4, and the driven wheel 3 usually adopts wheel bodies such as universal wheels, and the rotating angle of the driven wheel 3 is determined by the relative position between the driven wheel 3 and the two driving wheels 4 and the rotating angle of the two driving wheels 4.

When AGV fork truck needs lateral shifting, two drive wheels 4 can turn to 90 simultaneously, parallel with the lateral shifting direction, and start the rotation, provide drive power, follow-up from driving wheel 3 of the bottom of fork foot 2, can realize AGV fork truck's lateral shifting, and when needing the original place gyration, turn to bilateral symmetry 45 with two drive wheel 4's direction, be interior splayed syntropy and rotate, follow driving wheel 3 and follow-up, can realize the pivot centre that uses two drive wheel 4 and ten thousand from driving wheel 3's pivot centre nodical as the original place gyration of original point, compare current AGV fork truck, the AGV fork truck not only can advance and retreat, still can realize controlling sideslip, different actions such as original place gyration, the flexibility is high, and is little to the requirement of tunnel width.

In one embodiment of the fork foot 2, the fork foot 2 comprises two parallel fork pallets with a gap in between, a driven wheel 3 is arranged at the bottom of each fork pallet, and the line of the two driven wheels 3 is parallel to the line of the two driving wheels 4.

Wherein, fork the pallet and be used for bearing the carrier of goods promptly, set up two forks the pallet to parallel, be for reducing occupation space, and conveniently place the goods, it also is the stability when placing on fork the pallet in order to guarantee the great goods of size to set up certain clearance between two forks the pallet, set up one simultaneously and follow driving wheel 3 in every fork pallet bottom, and in order to further improve AGV fork truck stability when removing, set up two from the line of driving wheel 3 to be parallel with two drive wheel 4's line, guarantee AGV fork truck and the strong point evenly distributed on ground. Of course, the specific structural form of the fork leg portion 2, the number of the driven wheels 3, and the arrangement position are not limited to the above manner, and the user can flexibly set the arrangement according to actual conditions.

In order to measure the weight of the goods on the fork pallet, in the present embodiment, the upper surface of the fork pallet is provided with a deformation detector for detecting the deformation amount of the fork pallet after loading, and the deformation detector is in signal connection with the controller.

After the goods are placed, the deformation detector sends the detected deformation amount of the fork board to the controller, the controller can convert the deformation amount of the fork board into the weight of the goods through certain calculation, and the weight of the goods is detected.

In one embodiment of the driven wheel 3, the driven wheel 3 is a universal carrier wheel, and the universal carrier wheel is connected with the pallet fork by bolts.

The universal bearing wheel is a wheel body which is arranged on a bracket of the caster wheel and can horizontally rotate for 360 degrees in dynamic load or static load. There are a number of materials from which the castor is made, the most common being: nylon, polyurethane, rubber, cast iron and the like. The method is widely applied to various industries and fields such as mines, mechanical equipment, electronic equipment, medical equipment, engineering decoration, textile, printing and dyeing, furniture, logistics equipment, storage, turnover vehicles, cabinets, equipment, electromechanics, dust-free workshops, production lines, large supermarkets and the like. Pass through bolted connection with universal bearing wheel and fork pallet, convenience of customers changes or maintains universal bearing wheel, of course, also can adopt other connected modes, for example the welding, connects more firmly.

In one embodiment of the fork truck, the fork truck comprises a rectangular steel tube and reinforcing ribs disposed on both sides of the rectangular steel tube.

It should be noted that, the rectangular steel pipe is hollow in the middle, so that the weight of the whole AGV can be reduced, the bearing capacity requirements on the driving wheel 4 and the driven wheel 3 are reduced, the transverse moving and in-situ rotation functions of the AGV forklift can be realized more easily, reinforcing ribs are arranged on two sides of the rectangular steel pipe, the structural strength of the fork plate can be improved, so that more cargoes can be borne, and the reinforcing ribs are welded on the rectangular steel pipe.

In order to further ensure that the AGV forklift is not overweight, in the specific embodiment, the vehicle body 1 is provided with a pressure transmitter 5 which is used for detecting the oil line pressure in a hydraulic pipeline of the hydraulic oil cylinder and converting the oil line pressure into a current pressure electric signal to be transmitted to the controller, and when the current pressure electric signal is greater than a rated electric signal, the controller sends an overweight alarm signal.

The pressure transmitter 5 is a device for converting pressure into pneumatic or electric signals for control and remote transmission. The pressure sensor can convert physical pressure parameters of gas, liquid and the like sensed by the pressure element sensor into standard electric signals (such as 4-20 mADC and the like) so as to supply secondary instruments such as an indication alarm instrument, a recorder, a regulator and the like for measurement, indication and process regulation. When the goods weight that rated electric signal promptly AGV fork truck bore is the biggest weight that can bear, the electric signal that pressure transmitter 5 sent, when current pressure electric signal is greater than rated electric signal, the controller sends overweight alarm signal, and overweight alarm signal can be for forms such as scintillation red light, buzzing to remind user's goods with overweight, need reduce the goods.

In order to clearly divide the responsibility when the AGV forklift collides, in the present embodiment, the car body 1 is provided with a storage camera 6 that captures an image in the traveling direction of the car body 1 and stores the image, and the storage camera 6 is connected to the controller.

The storage type camera 6 can be used for shooting and storing pictures of the AGV when the forklift advances, and after an accident occurs, the controller can call videos to serve as responsibility division judgment evidences.

In addition to the above-described embodiment, the electric motor of the driving wheel 4 is connected to a battery unit 7 for supplying electric power to the electric motor, and the battery unit 7 is built in a battery compartment above the driving wheel 4.

Wherein, drive wheel 4 carries out electric drive through the motor, adopts the direct current to have the brush motor usually to use increment type encoder to turn to the feedback, ensure to turn to the precision, and with the battery compartment setting in 4 tops of drive wheel, reduced the influence of battery compartment to putting in order car length, make putting in order car length shorten at least 200mm, this AGV fork truck of greatly improving trafficability characteristic in the narrow roadway.

In order to further reduce the length of the AGV forklift, in this embodiment, the fork leg part 2 is connected with a single-stage gantry for driving the fork leg part 2 to ascend and descend, the single-stage gantry comprises a frame body and a hydraulic oil cylinder connected with the fork leg part 2, and the fork leg part 2 ascends and descends along the frame body.

Wherein, the mode that plays to rise with multistage portal is changed into the mode that single-stage portal played to rise, reduces the influence of multistage portal to AGV fork truck length, nevertheless rises to rise the height and will receive the restriction, generally is not more than 1.2m, guarantees that automobile body 1 length shortens, and the support body is the track that fork foot portion 2 removed promptly, drives fork foot portion 2 through hydraulic cylinder and goes up and down along the support body.

In one embodiment with respect to the driving wheels 4, the driving wheels 4 are vertical driving steering wheels or horizontal driving steering wheels.

The steering wheel is integrated with a driving motor, a steering motor, a speed reducer and the like, and compared with a traditional AGV forklift differential control mode, the steering wheel is high in integration, strong in adaptability, matched with a willingness controller and a low-voltage IXL servo driver, and capable of deploying the AGV, the mobile robot and the like quickly. The arrangement positions and connection of the steering motor and the speed reducer of the vertical driving steering wheel or the horizontal driving steering wheel have certain differences, and a user can select the steering motor and the speed reducer according to factors such as the spatial structure of the AGV forklift.

On the basis of the specific embodiment, the AGV forklift can be additionally provided with various safety and goods information sensors, such as safety laser on three sides of the safety type forklift body, so that 360-degree safety protection is provided around the forklift body 1; the oblique laser can be used for safety protection in the advancing direction, and short objects with the height of more than 20mm can be detected; the safety contact edge is surrounded on three sides of the vehicle body, so that collision when the laser is closed is prevented; the whole vehicle safety hardware is normally closed and connected to another safety PLC, and whether the whole vehicle safety hardware is damaged or not can be detected. And a bar code reading device or an RFID reading device can be additionally arranged, and the read cargo information is transmitted to the upper layer software.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

It is right above the utility model provides a AGV fork truck has carried out detailed introduction. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.

Claims

1. The utility model provides a AGV fork truck which characterized in that, including automobile body (1) and with automobile body (1) are connected, are used for fork dress goods fork foot portion (2), the bottom of automobile body (1) is provided with two side by side, but 360 drive wheel (4) of horizontal rotation separately, the bottom of fork foot portion (2) is provided with from driving wheel (3).

2. AGV fork lift according to claim 1, characterized in that the fork foot (2) comprises two parallel fork pallets with a gap in between, each fork pallet having one driven wheel (3) arranged at its bottom and two driven wheels (3) connected in parallel with two drive wheels (4).

3. The AGV fork truck of claim 2, wherein the fork pallet upper surface is provided with a deformation detector for detecting the amount of deformation of the fork pallet after loading, the deformation detector being in signal connection with the controller.

4. AGV fork lift according to claim 2, characterized in that the driven wheel (3) is a universal carrier wheel, which is bolted to the fork plate.

5. The AGV fork truck of claim 2, wherein the fork plate comprises a rectangular steel tube and reinforcing ribs disposed on both sides of the rectangular steel tube.

6. The AGV fork truck of claim 3, wherein the truck body (1) is provided with a pressure transmitter (5) for detecting oil line pressure in a hydraulic pipeline of the hydraulic cylinder and converting the oil line pressure into a current pressure electric signal to be transmitted to the controller, and the controller sends an overweight alarm signal when the current pressure electric signal is greater than a rated electric signal.

7. AGV fork lift according to claim 6, characterized in that the car body (1) is provided with a storage camera (6) which is shot towards the direction of travel of the car body (1) and stored, the storage camera (6) being connected to the controller.

8. AGV fork truck according to any of claims 1 to 7, characterized in that the electric motor of the driving wheel (4) is connected to a battery part (7) for powering the electric motor, which battery part (7) is built into a battery compartment above the driving wheel (4).

9. AGV fork lift according to claim 8, characterized in that the fork foot (2) is connected to a single stage mast for driving the lifting of the fork foot (2), which single stage mast comprises a frame body along which the fork foot (2) is lifted and a hydraulic cylinder connected to the fork foot (2).

10. AGV fork lift according to claim 9, characterized in that the driving wheels (4) are vertical driving steering wheels or horizontal driving steering wheels.