CN217418090U

CN217418090U - Fork type AGV for narrow space

Info

Publication number: CN217418090U
Application number: CN202220981415.1U
Authority: CN
Inventors: 肖全; 刘进江; 韩卫荣; 严栩森; 邢巧萍
Original assignee: Aerosun Corp
Current assignee: Aerosun Corp
Priority date: 2022-04-26
Filing date: 2022-04-26
Publication date: 2022-09-13
Anticipated expiration: 2032-04-26

Abstract

The utility model relates to a fork formula AGV for narrow and small space belongs to unmanned transport vehicle technical field. The rear part of the bottom plate of the vehicle body of the product is provided with an electric cabinet with a concave front side middle part; two sides of the middle recess are respectively provided with a transverse guide rail, a transverse screw rod is arranged between the two transverse guide rails, and the two transverse guide rails and the sliding table plate form a horizontal moving pair; the bottom of the sliding table plate is provided with a transverse nut, the two sides of the sliding table plate are respectively provided with a longitudinal guide rail, a longitudinal screw rod is arranged between the two longitudinal guide rails, the two longitudinal guide rails and the pallet fork form a vertical moving pair, and the inner side of the pallet fork is provided with a longitudinal nut; batteries are respectively arranged on two sides in the electric cabinet with the concave middle part; the width of the sliding table plate is matched with the width of the middle depression, and the length of the pallet fork is matched with the distance from the front end of the bottom plate of the vehicle body to the bottom of the middle depression. Adopt the utility model discloses afterwards, can conveniently accomplish the fork dress handing-over transport of goods automatically, and transport nimble safety, reliable and stable.

Description

Fork type AGV for narrow space

Technical Field

The utility model relates to a transfer device specifically is a fork formula AGV for narrow and small space belongs to unmanned transport Vehicle (Automated Guided Vehicle) technical field.

Background

Along with the continuous development of AGV technique, the fork truck AGV that replaces manpower transport has been made out, but it is many to reform transform on by traditional electric fork truck body basis and forms, and its shortcoming not only is not suitable for the goods in narrow and small space to be transported, and the fork confines in vertical direction moreover and removes, and the goods transport of not being convenient for to influence handling efficiency.

It can be found by searching that chinese patent application No. 202020432450.9 discloses a small forklift AGV, which includes a chassis and forks. The technical scheme not only ensures that the size of the whole vehicle is still large, but also is not suitable for transferring goods in a narrow space; and the forks can only move in the vertical direction and cannot move in the horizontal direction.

In addition, chinese patent application No. 202020165955.3 discloses a loading and stacking device and a loading system, including a loading and stacking device, where the loading and stacking device includes a fork, a fork extending mechanism, a fork lifting mechanism, and a baffle mechanism. Although this technical scheme can realize the omnidirectional movement of fork, but not only fork truck's overall dimension is still great, and the goods can only be placed on the fork moreover, and the reliable and stable nature of transport is not good enough. And at the same time, the obstacle avoidance facility for ensuring safety is lacked.

Disclosure of Invention

An object of the utility model is to provide a can accomplish the fork formula AGV that transports in a stable and flexible way in narrow and small space to the not enough of prior art existence through reasonable structural design.

In order to achieve the above purpose, the basic technical scheme of the utility model is that: the electric control box comprises a vehicle body bottom plate with wheels at the bottom, wherein an electric control box with a concave front side middle part is arranged at the rear part of the vehicle body bottom plate;

two sides of the middle recess are respectively provided with a forward extending transverse guide rail fixedly connected with a vehicle body bottom plate, an axial restraint transverse screw rod supported on the vehicle body bottom plate is arranged between the two transverse guide rails, and the two transverse guide rails respectively form a horizontal moving pair with a vertical sliding table plate through a transverse sliding block;

the bottom of the sliding table plate is provided with a transverse nut which forms a screw pair with the transverse screw rod, the two sides of the sliding table plate are respectively provided with a longitudinal guide rail, the middle of the two longitudinal guide rails is provided with an axial restraint longitudinal screw rod supported on the sliding table plate, the two longitudinal guide rails respectively form a vertical moving pair with the fork through a longitudinal sliding block, and the inner side of the fork is provided with a longitudinal nut which forms a screw pair with the longitudinal screw rod; the transverse screw rod and the longitudinal screw rod are respectively in transmission connection with corresponding driving motors;

batteries are respectively arranged on two sides in the electric cabinet with the concave middle part, and an emergency stop switch, a power switch and a touch control screen are arranged behind the batteries;

the width of the sliding table plate is matched with the width of the middle recess, and the length of the pallet fork is matched with the distance from the front end of the bottom plate of the vehicle body to the bottom of the middle recess.

After the utility model is adopted, on one hand, the fork can be respectively or simultaneously moved in the horizontal and vertical directions as required by controlling the driving motors of the transverse lead screw and the longitudinal lead screw, thereby conveniently and automatically completing the fork loading, handing-over and carrying of goods; on the other hand, battery and switch are rationally settled to the electric cabinet that has the middle part sunken, control devices such as touch-sensitive screen, be convenient for control, the fork state of withdrawing can be located vehicle body bottom plate entirely, the slip table board is accomodate in the middle part sunken, make full use of the bearing area of bottom plate, not only showing occupation space around having reduced, transport nimble safety, and owing to can withdraw vehicle body bottom plate with the goods through the fork on, avoided the goods to bear the jolt shake that probably takes place on stretching the fork in the front, and the slip table board inlays in the middle part is sunken when the fork is withdrawed, guaranteed to transport reliable and stable.

The utility model discloses further perfect is: the middle of the four sides of the bottom of the vehicle body bottom plate is respectively provided with a mechanical obstacle avoidance device, the mechanical obstacle avoidance device comprises an L-shaped mounting plate, the vertical surface of the L-shaped mounting plate extends outwards to form upper and lower spaced roller supporting plates, and the outer ends of the upper and lower spaced roller supporting plates are provided with vertical shaft rollers, the outer sides of which extend out of the edges of the vehicle body bottom plate. The wheel roller can play a role in protection no matter which direction is accidentally collided with the outside.

The utility model discloses further perfection is again: the anti-explosion vehicle is characterized in that a front Mecanum wheel and a rear Mecanum wheel are respectively arranged on two sides of the bottom of the vehicle body bottom plate, and an anti-explosion shell of a driving motor is arranged between the front Mecanum wheel and the rear Mecanum wheel. The Mecanum wheel can realize omnidirectional movement, and the safety can be improved through explosion-proof isolation.

The utility model discloses further perfect is: the horizontal planes of the L-shaped mounting plates of the front and rear mechanical obstacle avoidance devices are fixed on the lower surface of the bottom plate of the vehicle body, and the L-shaped mounting plates of the left and right mechanical obstacle avoidance devices are connected with the corresponding explosion-proof shells of the driving motors.

The utility model discloses further perfection is again: two groups of laser sensors are diagonally arranged on the vehicle body bottom plate, and a two-dimensional code reader is arranged below the vehicle body bottom plate. Therefore, a combined navigation mode of laser navigation and two-dimensional code navigation can be adopted, when the AGV runs, the two-dimensional code reader reads information data of the two-dimensional code in real time, the information is transmitted to the vehicle-mounted computer, the direction of the trolley is obtained, and the trolley is guided to walk along a specified path through position information.

The utility model discloses still further perfect is: the electric cabinet is provided with an alarm device and an optical communication module, and the wireless communication module is arranged below the alarm device. Can send audible and visual warning when accident and trouble take place for AGV, adopt optical communication and wireless communication's combination communication mode, realize host computer and AGV's communication, improve communication data's security.

Drawings

The present invention will be further described with reference to the accompanying drawings.

Fig. 1 is a schematic perspective view of an embodiment of the present invention.

Fig. 2 is a perspective view of fig. 1 from another angle.

Fig. 3 is a schematic top view of the vehicle body floor and the electric cabinet of the embodiment of fig. 1.

FIG. 4 is a perspective view of the fork assembly of the embodiment of FIG. 1.

Fig. 5 is a perspective view of fig. 4 from another angle.

Fig. 6 is a schematic bottom view of the embodiment of fig. 1.

Fig. 7 is a schematic perspective view of the mechanical obstacle avoidance device in the embodiment of fig. 1.

Fig. 8 is a perspective view illustrating a state of forking the cargo in the embodiment of fig. 1.

Fig. 9 is a schematic perspective view of the cargo transferring state in the embodiment of fig. 1.

Fig. 10 is a schematic perspective view of the embodiment of fig. 1 applied in a transfer passage.

In the drawings: 1. the device comprises a vehicle body bottom plate, 2, a pallet fork assembly, 3, an alarm device, 4, a Mecanum wheel, 5, a driving motor, 6, a two-dimensional code reader, 7, a laser sensor, 8, a laser sensor explosion-proof shell, 9, a mechanical obstacle avoidance device, 10, a driving motor explosion-proof shell, 11, an optical communication module, 12, a touch control screen, 13, a wireless communication module, 14, an emergency stop switch, 15, a power switch, 16, a battery, 17, a PLC module, 18, a pallet fork, 19, a transverse guide rail, 20, a transverse guide rail, 21, a longitudinal guide screw, 22, a longitudinal guide rail, 23, a transverse sliding block, 24, a transverse screw gear, 25, a transverse moving motor, 26, a sliding table plate, 27, a transverse nut, 28, a longitudinal moving motor, 29, a longitudinal screw gear, 30, a longitudinal sliding block, 31, a roller, 32, a roller support plate, 33, an electric cabinet, 34, a transfer channel, 35, a transverse moving mechanism, a transverse nut, a transverse moving mechanism, a transverse nut, a transverse moving mechanism, a transverse screw, a transverse nut, a transverse screw, a transverse nut, a transverse screw, a transverse nut, a transverse screw, a transverse nut, a transverse screw, a transverse nut, a transverse screw, a, An L-shaped mounting plate.

Detailed Description

As shown in fig. 1 to 5, four sets of mecanum wheels 4 driven by a driving motor 5 are mounted at the bottom of a vehicle body bottom plate 1, and specifically, the four sets of mecanum wheels 4 are arranged at the bottom of the vehicle body bottom plate 1 and are symmetrically arranged. And two sides of the bottom of the vehicle body bottom plate 1 are respectively provided with a driving motor explosion-proof shell 10 positioned between the front Mecanum wheel 4 and the rear Mecanum wheel 4, and the driving motor 5 is wrapped.

The electric cabinet 33 with the front side and the middle part sunken is arranged at the rear part of the vehicle body bottom plate 1, the two sides of the middle part sunken are respectively provided with a transverse guide rail 19 which is fixedly connected with the vehicle body bottom plate 1 and extends forwards, the middle of the two transverse guide rails 19 is provided with an axial restraint transverse screw rod 20 supported on the vehicle body bottom plate 1, the transverse screw rod 20 is in transmission connection with a transverse moving motor 25 arranged on the vehicle body bottom plate 1 through a transverse screw rod gear 24, and the two transverse guide rails 19 respectively form a horizontal moving pair with a vertical sliding table plate 26 through a transverse sliding block 23. The bottom of the sliding table plate 26 is provided with a transverse nut 27 which forms a screw pair with the transverse screw rod 20, the two sides of the sliding table plate 26 are respectively provided with a longitudinal guide rail 22, the middle of the two longitudinal guide rails 22 is provided with an axial restraint longitudinal screw rod 21 supported on the sliding table plate 26, the longitudinal screw rod 21 is in transmission connection with a longitudinal moving motor 28 arranged on the sliding table plate 26 through a longitudinal screw rod gear 29, the two longitudinal guide rails 22 respectively form a vertical moving pair with the pallet fork 18 through longitudinal sliding blocks 30, and the inner side of the pallet fork 18 is provided with a longitudinal nut which forms a screw pair with the longitudinal screw rod 21.

In this embodiment, as shown in fig. 6 and fig. 7, four sets of mechanical obstacle avoidance devices 9 are respectively installed in the middle of four sides of the bottom of the vehicle body bottom plate 1, and the specific structure is that the vertical surface of the L-shaped mounting plate 35 of the mechanical obstacle avoidance device 9 extends outward to form upper and lower spaced roller support plates 32, and the outer ends of the upper and lower spaced roller support plates 32 are provided with roller rollers 31 whose outer sides extend out of the vertical axis of the vehicle body bottom plate. The horizontal planes of the L-shaped mounting plates 35 of the front and rear mechanical obstacle avoidance devices 9 are fixed on the lower surface of the vehicle body bottom plate 1, and the L-shaped mounting plates 35 of the left and right mechanical obstacle avoidance devices 9 are respectively connected with the corresponding explosion-proof shells 10 of the driving motor. Because this embodiment is provided with mechanical obstacle avoidance device in four directions, therefore whichever direction takes place the accident and collides with the external world, all can effectively be protected.

In addition, two sets of laser sensors 7 of this embodiment are arranged diagonally on the vehicle body bottom plate 1, and one of them sets up on electric cabinet 33, can carry out laser when the AGV moves and keep away barrier and navigation. The laser sensor explosion-proof shell 8 is connected with the vehicle body bottom plate 1, arranged on the laser sensor 7 and wraps the laser sensor 7. The alarm device 3 and the optical communication module 11 for the AGV to communicate with the upper computer are mounted on the electric cabinet 33. The wireless communication module 13 is located below the alarm device 3 and is used for performing wireless communication with an upper computer.

During operation, the fork 18 can move back and forth in the horizontal direction or move up and down in the vertical direction as required, and the movements in the two directions can be performed independently or compositely. As shown in fig. 9, when it is desired to fork the load, the forks 18 are simply extended forward in the horizontal direction and moved downward in the vertical direction as desired; when transferring cargo, as shown in fig. 10, the forks 18 are retracted and cargo can be placed on the floor 1 of the vehicle body by means of the forks 18.

The electric control box 33 with the sunken middle part has a skillful and reasonable structure, because the total width of the bottom plate 1 of the vehicle body is larger than the width of the fork 18 generally, and the electric control box 33 with the sunken middle part makes full use of the total width of the bottom plate 1 of the vehicle body, the batteries 16 are arranged at two sides in the electric control box 33 to provide power for the AGV to run; the PLC module 17 is arranged at the middle rear part of the electric cabinet 33 and used for controlling the AGV; the emergency stop switch 14, the power switch 15 and the touch control screen 12 are all arranged behind the electric cabinet 33, so that the control is convenient; moreover, since the width of the fork 18 matches the width of the central depression and the length of the fork 18 matches the distance from the front end of the body floor 1 to the bottom of the central depression, the fork can be completely located on the body floor. Like this, on the one hand is showing and is reducing front and back occupation space, transports nimble safety, has thoroughly avoided prior art goods to bear the jolt shake of in-process of transporting on preceding goods fork simultaneously, has ensured to transport reliable and stable. Especially, the width of the sliding table plate is matched with the width of the middle recess, and when the fork is withdrawn, the sliding table plate is just embedded in the middle recess, so that the fork assembly is stably placed in position by means of the electric cabinet, and the reliable transfer is ensured.

In practical application, as shown in fig. 10, the fork type AGV of the embodiment is used for running in the transfer passage 34 in a narrow space, the two-dimensional code reader 6 under the car body bottom plate 1 scans the two-dimensional code arranged on the bottom surface of the transfer passage 34 or the laser reflecting plate arranged in the transfer passage 34 for navigation, and then the fork moves forwards, backwards, turns left and right, moves laterally, rotates in place and the like as required, and moves in the horizontal and vertical directions as required, so that the stable handing-over and carrying of goods are automatically completed, and the carrying efficiency and quality are effectively improved.

In conclusion, the test shows that compared with the prior art, the fork type AGV of the embodiment has the following advantages:

(1) the pallet fork and the bottom plate of the vehicle body are separated, and the pallet fork can independently move and move in a combined manner in the horizontal and vertical directions, so that the goods can be conveniently handed over and carried and the goods are more practical;

(2) the size of the whole AGV is 680mm multiplied by 660mm multiplied by 720mm (L multiplied by W multiplied by H), compared with the traditional forklift type AGV, the whole AGV is compact in structure and small in size, is very suitable for carrying and transferring goods in a narrow space, can move in all directions in the narrow space, and improves the flexibility of the AGV;

(3) the AGV control system is provided with a laser sensor and a mechanical obstacle avoidance device, and is used for carrying out laser obstacle avoidance and mechanical obstacle avoidance on the AGV;

(4) main electrical elements such as a battery, a driving motor, a sensor and the like are provided with explosion-proof isolation devices, so that the explosion-proof safety of the AGV can be effectively improved;

(5) when the goods are transported, the goods can be placed on the fork, and the fork is retracted and placed on the bottom plate of the vehicle body, so that the goods are placed on the bottom plate of the vehicle body, the occupied space is reduced, and the stability of goods transportation is improved.

In addition to the above embodiments, the present invention may have other embodiments. All the technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope claimed by the present invention.

Claims

1. The utility model provides a fork formula AGV for narrow and small space, is equipped with the automobile body bottom plate of wheel including the bottom, its characterized in that: the rear part of the vehicle body bottom plate is provided with an electric cabinet with a concave front side middle part;

the two sides of the middle recess are respectively provided with a forward extending transverse guide rail fixedly connected with the vehicle body bottom plate, the middle of the two transverse guide rails is provided with an axial restraint transverse screw rod supported on the vehicle body bottom plate, and the two transverse guide rails respectively form a horizontal moving pair with a vertical sliding table plate through a transverse sliding block;

the bottom of the sliding table plate is provided with a transverse nut which forms a screw pair with the transverse screw rod, the two sides of the sliding table plate are respectively provided with a longitudinal guide rail, the middle of the two longitudinal guide rails is provided with an axial constraint longitudinal screw rod supported on the sliding table plate, the two longitudinal guide rails respectively form a vertical moving pair with the pallet fork through a longitudinal sliding block, and the inner side of the pallet fork is provided with a longitudinal nut which forms a screw pair with the longitudinal screw rod; the transverse screw rod and the longitudinal screw rod are respectively in transmission connection with corresponding driving motors;

2. A fork AGV according to claim 1 wherein: the middle of the four sides of the bottom of the vehicle body bottom plate is respectively provided with a mechanical obstacle avoidance device, the mechanical obstacle avoidance device comprises an L-shaped mounting plate, the vertical surface of the L-shaped mounting plate extends outwards to form upper and lower spaced roller supporting plates, and the outer ends of the upper and lower spaced roller supporting plates are provided with vertical shaft rollers, the outer sides of which extend out of the edges of the vehicle body bottom plate.

3. A fork AGV according to claim 2 wherein: the anti-explosion vehicle is characterized in that a front Mecanum wheel and a rear Mecanum wheel are respectively arranged on two sides of the bottom of the vehicle body bottom plate, and an anti-explosion shell of a driving motor is arranged between the front Mecanum wheel and the rear Mecanum wheel.

4. A fork AGV according to claim 3 wherein: the horizontal planes of the L-shaped mounting plates of the front and rear mechanical obstacle avoidance devices are fixed on the lower surface of the vehicle body bottom plate, and the L-shaped mounting plates of the left and right mechanical obstacle avoidance devices are connected with the corresponding explosion-proof shells of the driving motors.

5. A fork AGV according to claim 4 wherein: two groups of laser sensors are diagonally arranged on the vehicle body bottom plate, and a two-dimensional code reader is arranged below the vehicle body bottom plate.

6. A fork AGV according to claim 5 wherein: the electric cabinet is provided with an alarm device and an optical communication module, and the wireless communication module is arranged below the alarm device.