CN221141124U - Intelligent moving vehicle for cooperative transportation - Google Patents
Intelligent moving vehicle for cooperative transportation Download PDFInfo
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- CN221141124U CN221141124U CN202323030763.4U CN202323030763U CN221141124U CN 221141124 U CN221141124 U CN 221141124U CN 202323030763 U CN202323030763 U CN 202323030763U CN 221141124 U CN221141124 U CN 221141124U
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- vehicle body
- movable frame
- guide rail
- fixed seat
- traction block
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- 230000007613 environmental effect Effects 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000009776 industrial production Methods 0.000 description 1
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Abstract
The utility model relates to a cooperative carrying intelligent mobile vehicle, which comprises: the vehicle body, the control device, the travelling mechanism and the lifting traction mechanism are arranged on the vehicle body. The lifting traction mechanism comprises a fixed seat, a movable frame, a rotating shaft, a traction block and a driving unit, wherein the fixed seat is fixedly arranged on one side of the vehicle body, the movable frame is rotationally connected with the fixed seat through the rotating shaft, a guide rail is arranged on the movable frame, the guide rail is vertical and horizontal, the traction block is in sliding fit with the guide rail, and the driving unit is arranged in the movable frame. Through setting up above-mentioned lifting traction mechanism, when needing to carry rectangular freight train), can joint rectangular freight train's one end on the joint portion, then controlling means control drive unit, drive the traction block and rise certain distance along the guide track, then controlling means control running gear drives the automobile body and removes thereby realize carrying. The strip-shaped truck can rotate relative to the truck body, so that the movement direction of the truck body can be flexibly adjusted, and the use is convenient.
Description
Technical Field
The utility model relates to the technical field of carrying equipment, in particular to a cooperative carrying intelligent mobile vehicle.
Background
Along with the continuous development of manufacturing industry, equipment such as intelligent carrying mobile forklift and the like is used as core equipment in a logistics storage system, integrates the functions of environment sensing, dynamic decision and planning, behavior control and execution and the like, and is widely applied to the fields of industrial production, logistics transportation, social service, rehabilitation and the like.
However, existing mobile forklifts can only handle square and small-sized goods, and for long-sized trucks, a single mobile forklift cannot handle them effectively. In addition, the existing movable forklift is generally vertically and upwards moved in a lifting mode, and when the lifting device is lifted to lock with a truck, the movable forklift and the cargo are temporarily combined into a whole, so that the movement direction of the movable forklift cannot be flexibly adjusted.
Disclosure of utility model
Based on the defects in the prior art, the utility model aims to provide the intelligent cooperative transportation mobile vehicle.
In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:
a collaborative handling intelligent cart, comprising:
The vehicle body, the control device, the travelling mechanism and the lifting traction mechanism are arranged on the vehicle body;
The control device is respectively and electrically connected with the travelling mechanism and the lifting traction mechanism, and the travelling mechanism is used for driving the vehicle body to move;
The lifting traction mechanism comprises a fixed seat, a movable frame, a rotating shaft, a traction block and a driving unit, wherein the fixed seat is fixedly arranged on one side of the vehicle body, the movable frame is rotatably connected with the fixed seat through the rotating shaft, a guide rail is arranged on the movable frame, the guide rail is provided with a vertical section extending in the vertical direction and a horizontal section extending in the horizontal direction, the traction block is in sliding fit with the guide rail, a joint part for jointing an external structure is arranged on the traction block, and the driving unit is arranged in the movable frame and is used for driving the traction block to slide along the guide rail.
As one embodiment, the number of the guide rails is two, the two guide rails are symmetrically arranged on two opposite sides of the movable frame respectively, two opposite ends of the traction block are respectively provided with a connecting arm, and each connecting arm is in sliding fit with one guide rail.
As one embodiment, the moving frame is of an inverted-L structure, and the moving frame comprises a transverse part and a longitudinal part which are connected, wherein the transverse part is positioned at the top end of the longitudinal part to form the inverted-L structure; in the vertical direction, the lateral portion at least partially overlaps with the top of the vehicle body; the horizontal section of the guide rail is arranged outside the transverse portion and the vertical section of the guide rail is arranged outside the longitudinal portion.
As one embodiment, the driving unit comprises a chain wheel and chain transmission structure and a driving motor, wherein the chain wheel and chain transmission structure comprises a chain wheel and a chain meshed with the chain wheel, an output shaft of the driving motor is in driving connection with the chain wheel, and the traction block is connected with the chain.
As one embodiment, the rotating shaft is provided with an angle sensor, and the angle sensor is used for detecting angle data of the moving frame rotating relative to the fixed seat.
As an implementation mode, the rotating shaft is further provided with an electromagnetic brake, and the electromagnetic brake is used for fixing the movable frame and the fixed seat to each other.
As one embodiment, the bottom of the movable frame is provided with universal wheels.
As one embodiment, the vehicle further comprises a sensing device electrically connected to the control device, wherein the sensing device is arranged on the vehicle body and is used for sensing environmental data of the surrounding environment of the vehicle body; the control device is used for controlling the travelling mechanism to drive the vehicle body to move according to the environmental data and collecting movement data of the vehicle body to move.
As one embodiment, the system further comprises a communication component electrically connected to the control device, wherein the communication component is arranged in the vehicle body and is used for sending the environment data and the mobile data to a server.
As an implementation mode, a power module is further arranged in the vehicle body, the power module is electrically connected with the control device, a power charging port is formed in the side wall of the vehicle body, and the power charging port is electrically connected with the power module through a wire.
The technical scheme of the application has the beneficial effects that:
Through setting up above-mentioned lifting traction mechanism, when long bar truck (here freight train refers to having the long bar carriage of wheel in the bottom) need carry, can joint long bar truck's one end on the joint portion, then controlling means control drive unit, drive the traction piece and rise a certain distance along the guide track, then controlling means control running gear drives the automobile body and removes thereby realizes carrying. Because the traction block is arranged on the movable frame, and the movable frame can rotate relative to the car body, when carrying the long-strip-shaped cargoes, the long-strip-shaped cargoes can rotate relative to the car body, so that the movement direction of the car body can be flexibly adjusted, and the use is convenient.
For a better understanding and implementation, the present utility model is described in detail below with reference to the drawings.
Drawings
FIG. 1 is a schematic diagram of a collaborative handling intelligent vehicle in an embodiment of the present application;
FIG. 2 is a schematic view of a structure of a cooperative transporting intelligent mobile vehicle according to an embodiment of the present application, with a part of a side portion removed from the vehicle body;
FIG. 3 is a schematic view of a cooperative transportation intelligent transportation vehicle according to another embodiment of the present application;
FIG. 4 is a schematic diagram of a lifting and pulling mechanism according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a traction block according to an embodiment of the present application;
FIG. 6 is a schematic view of a lifting and pulling mechanism according to an embodiment of the present application with a portion of the side wall of the mobile frame removed;
Reference numerals illustrate:
1. A vehicle body; 2. a control device; 3. a walking mechanism; 4. lifting the traction mechanism; 41. a fixing seat; 42. a moving rack; 421. a transverse portion; 422. a longitudinal portion; 423. a guide rail; 424. a vertical section; 425. a horizontal section; 426. a universal wheel; 43. a rotation shaft; 44. a traction block; 441. a joint; 442. a connecting arm; 45. a driving unit; 451. a driving motor; 452. a sprocket; 453. a chain; 5. a power supply charging port; 6. a sensing device.
Detailed Description
For further illustration of the various embodiments, the utility model is provided with the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments and together with the description, serve to explain the principles of the embodiments. With reference to these matters, one of ordinary skill in the art will understand other possible implementations and advantages of the present utility model.
In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus are not to be construed as limiting the present utility model.
Referring to fig. 1 to 6, the present embodiment provides a cooperative transporting intelligent mobile vehicle, which includes a vehicle body 1, and a control device 2, a travelling mechanism 3 and a lifting traction mechanism 4 disposed on the vehicle body 1.
The control device 2 is respectively and electrically connected with the travelling mechanism 3 and the lifting traction mechanism 4, the travelling mechanism 3 is used for driving the vehicle body 1 to move, and the control device 2 can control the travelling mechanism 3 and the lifting traction mechanism 4 to operate.
The lifting traction mechanism 4 is used for lifting and traction objects so as to change the positions of the objects, specifically, the lifting traction mechanism 4 comprises a fixed seat 41, a movable frame 42, a rotating shaft 43, a traction block 44 and a driving unit 45, the fixed seat 41 is fixedly arranged on one side of the vehicle body 1, specifically, a recessed installation area is arranged on one side of the vehicle body 1, the fixed seat 41 is arranged in the installation area and is fixed with the vehicle body 1 through screws, and the fixed seat 41 is of a plate-shaped structure. The movable frame 42 is rotatably connected to the fixed base 41 through the rotation shaft 43, whereby the movable frame 42 can rotate within a certain angular range with respect to the fixed base 41, i.e., the movable frame 42 can rotate within a certain angular range with respect to the vehicle body 1. The moving frame 42 is provided with a guide rail 423, the guide rail 423 is provided with a vertical section 424 extending in the vertical direction and a horizontal section 425 extending in the horizontal direction, the guide rail 423 is used for guiding the traction block 44 to move, the traction block 44 is in sliding fit with the guide rail 423, the traction block 44 is provided with a joint 441 used for being jointed with an external structure, the external structure can be an object to be carried and moved, the driving unit 45 is arranged in the moving frame 42 and is used for driving the traction block 44 to slide along the guide rail 423, and accordingly the traction block 44 can be driven by the driving unit 45 to perform vertical movement and horizontal movement.
According to the intelligent mobile cart for collaborative handling in the embodiment, by arranging the lifting traction mechanism 4, when a long truck (herein, the truck refers to a long carriage with wheels at the bottom) needs to be handled, one end of the long truck can be connected to the connecting portion 441, then the control device 2 controls the driving unit 45 to drive the traction block 44 to lift a certain distance along the guide rail 423, and then the control device 2 controls the travelling mechanism 3 to drive the cart body 1 to move, so that the handling is realized. Because the traction block 44 is arranged on the movable frame 42, and the movable frame 42 can rotate relative to the car body 1, when carrying the long-strip-shaped cargoes, the long-strip-shaped cargoes can rotate relative to the car body 1, so that the movement direction of the car body 1 can be flexibly adjusted, and the use is convenient. In addition, the driving unit 45 can drive the traction block 44 to lift and horizontally move along the guide rail 423, so that the long-strip truck can move under the condition that the truck body 1 does not move, and the use is more convenient. In addition, when carrying the freight train, can use two cooperation transport intelligent mobile carts, one of them cooperation transport intelligent mobile cart is in the one end of freight train, and another cooperation transport intelligent mobile cart is at the other end of freight train to two cooperation transport intelligent mobile carts cooperate jointly, carry the freight train, improved transport efficiency greatly.
In order to improve the moving stability of the traction block 44, in this embodiment, the number of the guide rails 423 is two, the two guide rails 423 are symmetrically disposed on opposite sides of the moving frame 42, and two opposite ends of the traction block 44 are respectively provided with a connecting arm 442, each connecting arm 442 is slidably engaged with one guide rail 423, that is, the connecting arms 442 on two ends of the traction block 44 are respectively connected in the two guide rails 423, so as to improve the moving stability of the traction block 44.
Specifically, in the present embodiment, the moving frame 42 has an inverted "L" structure, and the moving frame 42 includes a lateral portion 421 and a longitudinal portion 422 connected to each other, and the lateral portion 421 is located at a top end of the longitudinal portion 422 to form the inverted "L" structure; the horizontal section 425 of the guide rail 423 is disposed outside the lateral portion 421, the vertical section 424 of the guide rail 423 is disposed outside the longitudinal portion 422, and the lateral portion 421 is at least partially overlapped with the top of the vehicle body 1 in the vertical direction, that is, the lateral portion 421 of the moving frame 42 is at least partially located directly above the vehicle body 1. Through so setting, traction block 44 can remove to the automobile body 1 directly over, can drive the freight train that traction block 44 pulls like this and remove to the automobile body 1 directly over, in narrow region, when the total sum of the whole length of cooperation transport intelligent motion car and freight train exceeds the length in region, accessible moves the freight train to the automobile body 1 directly over, in other words automobile body 1 shrink in to the truck directly under to make the wholeness reduce, the convenience gets into the region.
In this embodiment, the engaging portion 441 has two columnar structures, and the top end of the columnar structure is provided with a sharp corner portion, so that the engaging portion is conveniently inserted into the end of the truck, and the traction block 44 is separated from the long truck.
Preferably, the driving unit 45 of the present embodiment includes a sprocket-chain transmission structure and a driving motor 451, the sprocket-chain transmission structure includes a sprocket 452 and a chain 453 engaged with the sprocket 452, an output shaft of the driving motor 451 is drivingly connected to the sprocket 452, and the traction block 44 is connected to the chain 453. Thereby sequentially driving the sprocket 452, the chain 453 and the traction block 44 to move by the driving motor 451.
Preferably, the rotation shaft 43 is provided with an angle sensor for detecting angle data of rotation of the movable frame 42 relative to the fixed frame 41. The angle sensor is electrically connected to the control device 2, so that the control device 2 can receive the angle data, judge the angular position relationship between the vehicle body 1 and the movable frame 42, adjust the movement direction of the travelling mechanism 3 according to the angle data, and facilitate the steering of the vehicle body 1.
Preferably, an electromagnetic brake is further provided on the rotating shaft 43 in this embodiment, and the electromagnetic brake is used to fix the moving frame 42 and the fixed seat 41 to each other. The electromagnetic brake is electrically connected to the control device 2, so that when the traction block 44 is required to be connected with the truck, the electromagnetic brake is controlled to work, so that the movable frame 42 and the fixed seat 41 are mutually fixed, and the docking is convenient.
Preferably, the bottom of the mobile frame 42 is provided with universal wheels 426. The universal wheels 426 may serve as supports and steering to facilitate movement of the carriage 42.
The intelligent cooperative transportation vehicle further comprises a sensing device 6 electrically connected to the control device 2, wherein the sensing device 6 is arranged on the vehicle body 1 and is used for sensing environmental data of the surrounding environment of the vehicle body 1; the control device 2 is used for controlling the travelling mechanism 3 to drive the vehicle body 1 to move according to the environmental data, and collecting movement data of the vehicle body 1 to move.
The intelligent mobile cart for collaborative handling according to the embodiment further comprises a communication component electrically connected to the control device 2, wherein the communication component is arranged in the cart body 1 and is used for sending the environmental data and the mobile data to a server.
In particular, the sensing device 6 may include at least one radar component and/or at least one image acquisition device, the specific number of which may be determined according to the working requirements, and the environmental data of the surrounding environment of the vehicle body 1 sensed by the sensing device 6 may be used for obstacle avoidance of the vehicle body 1, electronic map creation, and the like. The server is mentioned above, and the server may be deployed on a local server or a remote server (e.g. cloud end), which is not limited in this embodiment. In order to interact with the service end, the communication component is used for establishing communication connection between the mobile vehicle and the service end so as to send data to the service end, wherein the data comprises the environmental data and the mobile data. For example, the communication component may be a built-in hidden transceiver antenna or an exposed antenna, which is not limited in this embodiment. Therefore, the user can acquire the environment data and the movement data of the mobile vehicle from the service end, so that the actual condition of the mobile vehicle can be conveniently mastered.
The control device 2 of the present embodiment may adopt a conventional control unit structure in the prior art, and will not be described herein.
The present embodiment of the running gear 3 comprises at least two wheels and a wheel motor.
In this embodiment, a power module is further disposed inside the vehicle body 1, the power module is electrically connected with the control device 2, a power charging port 5 is formed in a side wall of the vehicle body 1, and the power charging port 5 is electrically connected with the power module through a wire. The power module of this embodiment adopts a conventional storage battery module, and can be charged through the power charging port 5, so as to facilitate the mobile vehicle to travel wirelessly.
The intelligent cooperative transportation mobile vehicle can realize efficient transportation, and when long goods or trucks are transported, the two intelligent cooperative transportation mobile vehicles respectively move to two ends of the long goods and are respectively connected with the long goods through the lifting traction mechanism 4, so that the two vehicles are prevented from falling off during the process of transporting the goods; in the carrying process, the angle relation between the goods and the car body 1 is judged through the angle sensor, so that the advancing direction is adjusted in time. By arranging the electromagnetic brake, when the traction block 44 is connected with goods, the electromagnetic brake is controlled to work, so that the movable frame 42 and the fixed seat 41 are mutually fixed, and the butt joint is convenient.
The above examples merely represent a few embodiments of the present utility model, which are described in more detail and are not to be construed as limiting the scope of the inventive manual self-centering vise. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model.
Claims (10)
1. The utility model provides a cooperation transport intelligent mobile car which characterized in that includes:
The vehicle body, the control device, the travelling mechanism and the lifting traction mechanism are arranged on the vehicle body;
The control device is respectively and electrically connected with the travelling mechanism and the lifting traction mechanism, and the travelling mechanism is used for driving the vehicle body to move;
The lifting traction mechanism comprises a fixed seat, a movable frame, a rotating shaft, a traction block and a driving unit, wherein the fixed seat is fixedly arranged on one side of the vehicle body, the movable frame is rotatably connected with the fixed seat through the rotating shaft, a guide rail is arranged on the movable frame, the guide rail is provided with a vertical section extending in the vertical direction and a horizontal section extending in the horizontal direction, the traction block is in sliding fit with the guide rail, a joint part for jointing an external structure is arranged on the traction block, and the driving unit is arranged in the movable frame and is used for driving the traction block to slide along the guide rail.
2. The collaborative handling intelligent cart of claim 1, wherein:
The number of the guide rails is two, the two guide rails are symmetrically arranged on two opposite sides of the movable frame respectively, two opposite ends of the traction block are respectively provided with a connecting arm, and each connecting arm is in sliding fit with one guide rail.
3. The collaborative handling intelligent cart of claim 1, wherein:
The movable frame is of an inverted L-shaped structure and comprises a transverse part and a longitudinal part which are connected, and the transverse part is positioned at the top end of the longitudinal part to form the inverted L-shaped structure; in the vertical direction, the lateral portion at least partially overlaps with the top of the vehicle body; the horizontal section of the guide rail is arranged outside the transverse portion and the vertical section of the guide rail is arranged outside the longitudinal portion.
4. The collaborative handling intelligent cart of claim 1, wherein:
The driving unit comprises a chain wheel and chain transmission structure and a driving motor, the chain wheel and chain transmission structure comprises a chain wheel and a chain meshed with the chain wheel, an output shaft of the driving motor is in driving connection with the chain wheel, and the traction block is connected with the chain.
5. The collaborative handling intelligent mobile cart of any one of claims 1-4, wherein:
The rotating shaft is provided with an angle sensor, and the angle sensor is used for detecting angle data of the moving frame relative to the fixed seat.
6. The collaborative handling intelligent cart according to claim 5, wherein:
The rotary shaft is also provided with an electromagnetic brake, and the electromagnetic brake is used for fixing the movable frame and the fixed seat to each other.
7. The collaborative handling intelligent cart according to claim 6, wherein:
The bottom of the movable frame is provided with universal wheels.
8. The collaborative handling intelligent cart according to claim 7, wherein:
the sensing device is arranged on the vehicle body and is used for sensing environmental data of the surrounding environment of the vehicle body; the control device is used for controlling the travelling mechanism to drive the vehicle body to move according to the environmental data and collecting movement data of the vehicle body to move.
9. The collaborative handling intelligent cart of claim 8, wherein:
the communication assembly is arranged in the vehicle body and used for sending the environment data and the mobile data to a server.
10. The collaborative handling intelligent cart of claim 9, wherein:
The inside of automobile body still is provided with power module, power module with controlling means electricity is connected, the power charge mouth has been seted up on the lateral wall of automobile body, the power charge mouth pass through the wire with the power module electricity is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323030763.4U CN221141124U (en) | 2023-11-09 | 2023-11-09 | Intelligent moving vehicle for cooperative transportation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323030763.4U CN221141124U (en) | 2023-11-09 | 2023-11-09 | Intelligent moving vehicle for cooperative transportation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221141124U true CN221141124U (en) | 2024-06-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323030763.4U Active CN221141124U (en) | 2023-11-09 | 2023-11-09 | Intelligent moving vehicle for cooperative transportation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221141124U (en) |
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2023
- 2023-11-09 CN CN202323030763.4U patent/CN221141124U/en active Active
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