CN217650842U

CN217650842U - Reach AGV high car

Info

Publication number: CN217650842U
Application number: CN202220962157.2U
Authority: CN
Inventors: 胡刚刚; 郑伟赞; 叶榜钺; 叶武侠; 陈纪铨; 叶青云; 匡代春; 谢武达
Original assignee: Ningbo Ruyi JSCL
Current assignee: Ningbo Ruyi JSCL
Priority date: 2022-04-24
Filing date: 2022-04-24
Publication date: 2022-10-25
Anticipated expiration: 2032-04-24

Abstract

The utility model discloses a reach truck is piled to antedisplacement formula AGV belongs to AGV technical field. It includes: a vehicle body; the portal is connected with the vehicle body and is provided with an oil cylinder; the goods shelf is connected with the door frame in a rotatable mode on one side, a fork is installed on the other side, and the fork has a backward tilting state and a forward tilting state; when the fork is in a backward tilting state, the oil cylinder extends forwards and jacks up the goods blocking frame and pushes the fork to tilt upwards; when the fork is in a forward-inclined state, the oil cylinder retracts backwards, the goods blocking frame is automatically lowered, and the fork is driven to be lowered; and the forward and backward inclination detection device is connected with the goods stopping frame and the portal frame, and transmits signals to the control system and controls the oil cylinder to stop acting when the fork is in a backward inclination state or a forward inclination state. Through the setting of tilt detection device, but control system automatic control hydro-cylinder's the amount of stretching out and the volume of contracting, guarantee that the fork can make a round trip to switch between tilt state and hypsokinesis state accurately, ensure that AGV fork truck can accomplish the work of shovel goods, transport and shipment smoothly from this.

Description

Forward moving type AGV fork truck

Technical Field

The utility model belongs to the technical field of AGV, concretely relates to reach AGV fork truck.

Background

An AGV, i.e., an "automatic guided vehicle", is a vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path, and having safety protection and various transfer functions, and AGVs are classified into different types according to their purposes of use, and an AGV stacker is one type of vehicle.

Because AGV fork truck need accomplish the action of loading automatically, the transport, the shipment, wherein, when loading and shipment, the front end that needs the automatic adjustment fork has a down dip so that the shovel goods or transfer the goods, in handling, the front end that needs the automatic adjustment fork upwarps, the goods can automatic hypsokinesis this moment, ensure in handling, the goods can not drop from the fork, consequently, how to set up corresponding front and back inclination detection device in order to ensure that AGV fork truck can the automatic adjustment fork state be the problem that needs the solution when carrying out different actions.

Disclosure of Invention

The utility model discloses an above-mentioned problem to prior art exists provides a can automatic adjustment fork state in order to realize the antedisplacement formula AGV fork truck of the action of getting in stock, transport, getting off the goods.

The utility model discloses the accessible is realized by following technical scheme:

a reach AGV stacker, comprising:

a vehicle body;

the portal is connected with the vehicle body and is provided with an oil cylinder;

the goods blocking frame is rotatably connected with the portal frame on one side, and a fork is arranged on the other side of the goods blocking frame and has a backward tilting state and a forward tilting state;

when the fork is in a backward tilting state, the oil cylinder extends forwards and jacks the goods blocking frame, and meanwhile, the goods blocking frame pushes the fork to tilt upwards;

when the fork is in a forward-inclined state, the oil cylinder retracts backwards, and meanwhile, the goods blocking frame is automatically lowered under the action of gravity and drives the fork to be lowered;

and the front and back inclination detection device is connected with the goods shelf and the portal frame and is provided with a first position and a second position, when the fork is in a backward inclination state or a forward inclination state, the front and back inclination detection device is respectively positioned at the first position or the second position, and at the moment, the front and back inclination detection device transmits signals to the control system and controls the oil cylinder to stop acting.

As a further improvement of the present invention, the tilt detection device comprises:

the upper detection unit and the lower detection unit are arranged in an up-and-down corresponding manner and are connected with the gantry;

and one end of the detection block is connected with the goods blocking frame, and the other end of the detection block is positioned between the upper detection unit and the lower detection unit.

As a further improvement, the upper detection unit has the same structure as the lower detection unit, and both include a fixed bracket, a micro-gap switch and a contact roller, the fixed bracket is connected to the goods shelf, and one end of the micro-gap switch is connected to the fixed bracket and the other end is installed to the contact roller.

As a further improvement of the present invention, when the tilt-back detecting device is in the first position, the detecting block will the contact roller of the lower detecting unit is pressed down, when the tilt-back detecting device is in the second position, the detecting block will the upper detecting unit press up the contact roller.

As a further improvement of the present invention, the upper and lower end surfaces of the detection block between the upper detection unit and the lower detection unit respectively have an upper positioning point and a lower positioning surface;

when the contact roller of the lower detection unit is pressed down by the detection block, the lower positioning surface is abutted against the fixed support of the lower detection unit;

when the contact roller of the upper detection unit is pressed upwards by the detection block, the upper positioning point is abutted to the fixed support of the upper detection unit.

As a further improvement of the utility model, the vehicle body structure further comprises a bottom plate, the bottom plate is arranged at the bottom of the vehicle body, and the two sides of the bottom plate are arranged on the bottom of the vehicle body and extend forwards to form a guide rail.

As a further improvement, the both sides of portal are equipped with the movable plate, the movable plate is equipped with gyro wheel and magnetism response piece, the gyro wheel with the guide rail cooperation is connected, the position of magnetism response piece is higher than the guide rail.

As a further improvement, the top surface of the guide rail is provided with an advancing sensor and a backward moving sensor, the advancing sensor and the backward moving sensor are respectively arranged at the front end and the rear end of the bottom part of the vehicle body.

As a further improvement of the present invention, the portal has a third position and a fourth position, when the portal is located in the third position, the magnetic induction member moves to the forward sensor side portion, when the portal is located in the fourth position, the magnetic induction member moves to the backward sensor side portion.

As a further improvement, when the magnetic induction part with the antedisplacement sensor or the retrodisplacement sensor produces the response, the antedisplacement sensor or the retrodisplacement sensor carries signal to control system and control the portal stops to remove.

Compared with the prior art, the utility model discloses following beneficial effect has:

1. through the setting of tilt detection device, but control system automatic control hydro-cylinder stretch out the volume and retract the volume, guarantee that the fork can make a round trip to change between forward leaning state and hypsokinesis state accurately, guarantee that AGV fork truck can accomplish the work of shovel goods, transport and shipment smoothly from this.

2. When the fork extends forwards to carry out goods shoveling or goods discharging, the door frame moves to the magnetic induction part to generate induction with the forward moving sensor, and when the fork moves backwards to be in a carrying state, the door frame moves to the magnetic induction part to generate induction with the backward moving sensor, so that the goods shoveling, carrying and goods discharging processes can be accurately operated, and the working stability and reliability of the AGV fork truck are ensured.

3. When the contact roller is pressed by the detection block, the contact roller can roll on the upper end surface and the lower end surface of the detection block, and the condition that the microswitch is damaged due to pressing is further prevented.

4. The forward moving sensor and the backward moving sensor also play a role in limiting, and the gantry is ensured not to move forwards excessively or move backwards excessively.

Drawings

FIG. 1 is a schematic structural view of a reach AGV stacker of the present invention;

FIG. 2 is a schematic side view of the forward AGV stacker of the present invention;

fig. 3 is a partial enlarged view of the invention at a in fig. 2;

FIG. 4 is a schematic structural diagram of the oil cylinder, the goods-blocking shelf and the forward sensor of the present invention;

fig. 5 is a schematic structural view of the roller and the guide rail of the present invention.

In the figure, 100, a vehicle body; 110. a gantry; 120. an oil cylinder; 130. a goods blocking rack; 140. a pallet fork; 150. a base plate; 151. a guide rail; 160. moving the plate; 161. a roller; 162. a magnetic induction member; 170. a forward movement sensor; 180. a backward movement sensor; 200. a forward and backward tilt detection means; 210. an upper detection unit; 211. a fixed bracket; 212. a microswitch; 213. a contact roller; 220. a lower detection unit; 230. a detection block; 231. positioning points; 232. and a lower positioning surface.

Detailed Description

The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical method of the present invention, but the present invention is not limited to these embodiments.

As shown in fig. 1-5, the utility model provides a reach AGV fork lift truck, include:

a vehicle body 100.

And a mast 110 coupled to the vehicle body 100 and mounted with a cylinder 120.

A goods shelf 130 having one side rotatably connected to the portal frame 110 and the other side mounted with a fork 140, the fork 140 having a backward tilted state and a forward tilted state;

specifically, when the fork 140 is in a backward tilting state, the oil cylinder 120 extends forwards and jacks up the goods blocking rack 130, and at this time, the goods blocking rack 130 pushes the fork 140 and enables the front end of the fork 140 to tilt upwards, so that the goods on the fork 140 can be tilted backwards and lean on the fork 140, and the goods can be transported conveniently;

when the fork 140 is in a forward tilting state, the oil cylinder 120 retracts backwards, at this time, the goods blocking frame 130 is automatically downward under the action of gravity and drives the lower part of the fork 140, so that the front end of the fork 140 is slightly downward, goods on the fork 140 automatically slide off from the front end of the fork 140 under the action of gravity, the goods discharging work is automatically completed, and meanwhile, when the goods are shoveled, the fork 140 is also in a forward tilting state, so that the fork 140 can conveniently extend into the bottom of the goods and shovels the goods.

A forward and backward inclination detection device 200 connected to the goods shelf 130 and the mast 110 and having a first position and a second position, wherein when the fork 140 is in a backward inclined state or a forward inclined state, the forward and backward inclination detection device 200 is in the first position or the second position, respectively, and at this time, the forward and backward inclination detection device 200 transmits a signal to the control system and controls the oil cylinder 120 to stop operating;

specifically, when the fork 140 is in the initial state, it is in the forward tilting state, and the forward and backward tilting detection device 200 is located at the second position at this time, the cylinder 120 is not extended, and when the fork 140 completes the work of shoveling goods and carries, the control system controls the cylinder 120 to extend at this time, until the forward and backward tilting detection device 200 is switched from the second position to the first position, the control system receives the signal transmitted by the forward and backward tilting detection device 200 and stops the cylinder 120 to continue to extend, and at this time, the fork 140 can be switched from the forward tilting state to the backward tilting state, and vice versa in the process of discharging goods;

therefore, in this embodiment, by providing the tilt/tilt detection device 200, the control system can automatically control the extending amount and the retracting amount of the cylinder 120, and ensure that the forks 140 can be accurately switched between the tilt/tilt state and the tilt/tilt state, thereby ensuring that the AGV stacker can smoothly complete the tasks of shoveling, transporting and discharging.

Preferably, the pitching detecting means 200 includes:

the upper detection unit 210 and the lower detection unit 220 are correspondingly arranged up and down and are connected with the gantry 110;

one end of the detection block 230 is connected to the shelf 130, and the other end of the detection block 230 is located between the upper detection unit 210 and the lower detection unit 220, so that when the shelf 130 is pushed by the cylinder 120 or automatically lowered under the action of its own weight, the detection block 230 moves along with the shelf 130 and makes the end portion contact with the upper detection unit 210 or the lower detection unit 220, and at this time, the upper detection unit 210 or the lower detection unit 220 transmits a signal to the control system and controls the cylinder 120 to stop operating, thereby realizing the switching between the forward tilting state and the backward tilting state of the fork 140.

Preferably, the upper detection unit 210 and the lower detection unit 220 have the same structure, and both include a fixing bracket 211, a micro switch 212, and a contact roller 213, the fixing bracket 211 is connected to the shelf 130, one end of the micro switch 212 is connected to the fixing bracket 211, and the other end is mounted with the contact roller 213, specifically, when the fork 140 is adjusted to the forward tilting state or the backward tilting state, the detection block 230 presses the contact roller 213 and turns on the micro switch 212, and at this time, the micro switch 212 can transmit a signal for stopping the operation of the oil cylinder 120 to the control system.

Further preferably, when the front recline detecting device 200 is at the first position, the detecting block 230 presses the contact roller 213 of the lower detecting unit 220 downward, and when the front recline detecting device 200 is at the second position, the detecting block 230 presses the contact roller 213 of the upper detecting unit 210 upward, wherein when the detecting block 230 presses the contact roller 213, the contact roller 213 can roll on the upper and lower end surfaces of the detecting block 230, thereby preventing the micro switch 212 from being damaged due to the pressing.

Preferably, the upper and lower end surfaces of the detecting block 230 between the upper detecting unit 210 and the lower detecting unit 220 are respectively provided with an upper positioning point 231 and a lower positioning surface 232, when the detecting block 230 presses the contact roller 213 of the lower detecting unit 220, the lower positioning surface 232 abuts against the fixing bracket 211 of the lower detecting unit 220, when the detecting block 230 presses the contact roller 213 of the upper detecting unit 210, the upper positioning point 231 abuts against the fixing bracket 211 of the upper detecting unit 210, and at this time, the micro switch 212 is turned on.

Preferably, the vehicle further includes a bottom plate 150 disposed at the bottom of the vehicle body 100, and both sides of the bottom plate 150 extend forward from the bottom of the vehicle body 100 and form a guide rail 151.

Preferably, a moving plate 160 is disposed on both sides of the door frame 110, the moving plate 160 is provided with a roller 161 and a magnetic sensor 162, the roller 161 is cooperatively connected with the guide rail 151, so that the door frame 110 can move back and forth along the guide rail 151 to drive the fork 140 to move back and forth, so that the AGV can conveniently shovel and unload the goods, and the magnetic sensor 162 is located higher than the guide rail 151.

Preferably, the top surface of the guide rail 151 is provided with a forward movement sensor 170 and a backward movement sensor 180, the forward movement sensor 170 and the backward movement sensor 180 are respectively disposed at the front end and the rear end of the portion of the guide rail 151 extending out of the bottom of the car body 100, when the forward movement sensor 170 or the backward movement sensor 180 is close to the magnetic induction member 162, the forward movement sensor 170 or the backward movement sensor 180 induces the magnetic induction member 162 and transmits a signal to the control system, and at this time, the control system stops the movement of the gantry 110.

It is further preferable that the door frame 110 has a third position and a fourth position, when the door frame 110 is located at the third position, the magnetic sensor 162 moves to the side of the forward sensor 170, when the door frame 110 is located at the fourth position, the magnetic sensor 162 moves to the side of the backward sensor 180, that is, when the fork 140 extends forward to perform a cargo shoveling or discharging operation, the door frame 110 moves to the magnetic sensor 162 to sense the forward sensor 170, and when the fork 140 moves backward to be in a carrying state, the door frame 110 moves to the magnetic sensor 162 to sense the backward sensor 180, thereby ensuring that the cargo shoveling, carrying, and discharging operations can be performed accurately, and ensuring stability and reliability of the operation of the AGV.

In addition, the forward sensor 170 and the backward sensor 180 also serve as a limit to ensure that the gantry 110 does not move forward or backward excessively.

The technical means disclosed by the scheme of the utility model is not limited to the technical means disclosed by the technical means, but also comprises the technical scheme consisting of the above technical features in any combination. The above is a detailed implementation manner of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations are also considered as the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, back \8230;) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

Furthermore, the descriptions of the embodiments as "first," "second," "a," etc. in this disclosure are for descriptive purposes only and are not to be construed as indicating or implying relative importance or to imply that the number of the indicated features is indicative. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present application, unless expressly stated or limited otherwise, the terms "connected" and "secured" are to be construed broadly, and thus, for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In addition, the technical solutions between the embodiments of the present invention can be combined with each other, but it is necessary to be able to be realized by a person having ordinary skill in the art as a basis, and when the technical solutions are contradictory or cannot be realized, the combination of such technical solutions should be considered to be absent, and is not within the protection scope of the present invention.

Claims

1. A reach AGV stacker, comprising:

a vehicle body;

2. The AGV of claim 1, wherein the tilt detection device comprises:

the upper detection unit and the lower detection unit are arranged in a vertically corresponding manner and are connected with the gantry;

3. The reach AGV of claim 2, wherein the upper detection unit and the lower detection unit have the same structure, and both comprise a fixing bracket, a micro switch and a contact roller, the fixing bracket is connected to the rack, one end of the micro switch is connected to the fixing bracket, and the other end of the micro switch is mounted to the contact roller.

4. A reach AGV forklift as claimed in claim 3 in which said detection block depresses said contact roller of said lower detection unit when said tilt-back detection device is in a first position and said detection block depresses said contact roller of said upper detection unit when said tilt-back detection device is in a second position.

5. The AGV of claim 4, wherein the upper and lower end surfaces of the detection block between the upper and lower detection units have an upper positioning point and a lower positioning surface, respectively;

6. A reach AGV stacker according to claim 1 further comprising a floor disposed at the bottom of said body and having sides extending forwardly from said bottom of said body and forming rails.

7. The AGV of claim 6, wherein a moving plate is provided on both sides of the door frame, said moving plate having rollers and magnetic sensors, said rollers being engaged with said guide rails, said magnetic sensors being positioned higher than said guide rails.

8. A reach AGV according to claim 7, wherein the top surface of said guide rail is provided with forward and backward sensors, said forward and backward sensors being respectively disposed at front and rear ends of said guide rail extending out of said bottom portion of said body.

9. The AGV of claim 8 wherein the door frame has a third position and a fourth position, the magnetic sensor moves to the forward sensor side when the door frame is in the third position and moves to the rearward sensor side when the door frame is in the fourth position.

10. The AGV of claim 9 wherein the sensor transmits a signal to a control system to stop the door frame when the magnetic sensor senses the sensor.