WO2021168975A1 - Intelligent transport trolley - Google Patents

Intelligent transport trolley Download PDF

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Publication number
WO2021168975A1
WO2021168975A1 PCT/CN2020/081654 CN2020081654W WO2021168975A1 WO 2021168975 A1 WO2021168975 A1 WO 2021168975A1 CN 2020081654 W CN2020081654 W CN 2020081654W WO 2021168975 A1 WO2021168975 A1 WO 2021168975A1
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WIPO (PCT)
Prior art keywords
chassis frame
handling trolley
intelligent handling
trolley according
rod
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PCT/CN2020/081654
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French (fr)
Chinese (zh)
Inventor
张建民
龙佳乐
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五邑大学
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Priority to CN202010119421.1 priority Critical
Priority to CN202010119421.1A priority patent/CN111169891A/en
Application filed by 五邑大学 filed Critical 五邑大学
Publication of WO2021168975A1 publication Critical patent/WO2021168975A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/0492Storage devices mechanical with cars adapted to travel in storage aisles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00Control devices, e.g. for safety, warning or fault-correcting

Abstract

An intelligent transport trolley, comprising: a chassis rack (100); a trolley body seat (200); a guiding support (300), which is disposed on the trolley body seat (200) and is penetratingly provided with a screw rod (420), one end of the screw rod (420) being connected to a lifting driving piece (430); a lifting support (400), which is sleeved on the screw rod (420), a tray (410) being provided on the top part of the lifting support (400); several wheels (500), which are provided at the bottom part of the chassis rack (100), a buffering component being connected between the wheels (500) and the chassis rack (100); a driving component and a detector (210) are further provided; the detector (210) is provided on the chassis rack (100) and is electrically connected to the driving component; and a laser ranging module and an infrared obstacle avoidance module are provided at the interior of the detector (210).

Description

智能搬运小车Intelligent handling trolley 技术领域Technical field
本发明涉及智能运输设备技术领域,特别涉及一种智能搬运小车。The invention relates to the technical field of intelligent transportation equipment, in particular to an intelligent handling trolley.
背景技术Background technique
随着工业生产的高速发展,工厂面临着劳动力成本大幅上升,缺乏富有经验的产业工人等问题,为了节约人力成本,降低工人的劳动强度,在物流仓储行业中,逐步推行使用智能搬运设备,现有的智能搬运小车使用时,需要预先按照设定的路线和安装标准设置引导装置,当需要修改、调整运输路线时,需要专业的安装技术员进行调整,使用灵活性低,使用成本高,并且目前采用的均为叉车式搬运车,转运时,需要将货叉对准并插入货架下方的空隙,才能稳固承托货物,其结构用于智能搬运小车上,难以进行自主识别货架的空隙位置,转运效率低下,承托可靠性低,容易导致货物倾斜、掉落的安全事故,存在安全隐患。With the rapid development of industrial production, factories are facing problems such as a sharp increase in labor costs and a lack of experienced industrial workers. In order to save labor costs and reduce the labor intensity of workers, the use of intelligent handling equipment is gradually implemented in the logistics and warehousing industry. When using some intelligent transport vehicles, it is necessary to set up the guide device in advance according to the set route and installation standards. When the transport route needs to be modified or adjusted, a professional installation technician is required to adjust it. The use flexibility is low, the use cost is high, and the current All forklift trucks are used. During transfer, the forks need to be aligned and inserted into the gap under the shelf to stably support the goods. The structure is used on the intelligent handling trolley, and it is difficult to independently identify the gap position of the shelf. Low efficiency and low support reliability can easily lead to safety accidents such as tilting and falling of the goods, and there are hidden safety hazards.
发明内容Summary of the invention
本发明的目的在于至少解决现有技术中存在的技术问题之一,提供一种智能运输小车,能够实时检测、规避障碍物,调整运输路线,稳固承托货物,消除安全隐患。The purpose of the present invention is to solve at least one of the technical problems existing in the prior art, and provide an intelligent transportation trolley that can detect and avoid obstacles in real time, adjust transportation routes, stably support cargo, and eliminate potential safety hazards.
根据本发明实施例的智能搬运小车,包括:底盘架,设置有车体座;导向支架,设置在所述车体座上,贯穿设置有丝杆,所述丝杆一端连接有升降驱动件;升降支架,套设在所述丝杆上,顶部设置有托盘;若干车轮,设置在所述底盘架底部,与底盘架之间连接有缓冲组件,设置有驱动组件;以及检测器,设置在所述底盘架上,与所述驱动组件电连接,内部设置有激光测距模块和红外避障模块。The intelligent handling trolley according to the embodiment of the present invention includes: a chassis frame provided with a vehicle body seat; a guide bracket, provided on the vehicle body seat, through which a screw rod is provided, and one end of the screw rod is connected with a lifting drive member; The lifting bracket is sleeved on the screw rod and the top is provided with a tray; a number of wheels are arranged at the bottom of the chassis frame, the buffer assembly is connected with the chassis frame, and the drive assembly is provided; and the detector is arranged at the bottom of the chassis frame. The chassis frame is electrically connected with the drive assembly, and a laser ranging module and an infrared obstacle avoidance module are arranged inside.
根据本发明实施例的智能搬运小车,至少具有如下技术效果:通过检测器检测小车前方路况,控制驱动组件调整车速和方向,躲避障碍物,实时调整运输路线,使用灵活性高,通过升降驱动件驱动丝杆转动,升降支架升起,托盘承托货物,达到目的地后,升降支架降落,卸载托盘上的货物,结构简单,承托平稳可 靠,使用安全性高,转运货物高效快速,节约人力成本和运输成本。The intelligent handling trolley according to the embodiment of the present invention has at least the following technical effects: detecting the road conditions in front of the trolley through the detector, controlling the driving components to adjust the speed and direction, avoiding obstacles, adjusting the transportation route in real time, and having high flexibility in use, through lifting and driving parts The screw rod is driven to rotate, the lifting bracket rises, and the pallet supports the goods. After reaching the destination, the lifting bracket descends and unloads the goods on the pallet. The structure is simple, the support is stable and reliable, the use safety is high, the transfer of goods is efficient and fast, and manpower is saved. Costs and transportation costs.
根据本发明的一些实施例,所述缓冲组件包括连接板,所述连接板两端分别设置有与所述底盘架连接的合页和缓冲弹簧。通过设置合页,连接板与底盘架铰接,小车因地面凹凸不平而产生振动时,连接板转动,缓冲弹簧伸缩,缓冲振动,保持小车平稳移动,保证货物承托可靠,保证车上检测器的精度和灵敏度,有效延长小车使用寿命。According to some embodiments of the present invention, the buffer assembly includes a connecting plate, and two ends of the connecting plate are respectively provided with a hinge and a buffer spring connected to the chassis frame. By setting hinges, the connecting plate is hinged with the chassis frame. When the trolley vibrates due to uneven ground, the connecting plate rotates, the buffer spring expands and contracts, and the vibration is buffered. Accuracy and sensitivity, effectively prolong the service life of the trolley.
根据本发明的一些实施例,所述底盘架底部设置有连接杆,所述连接杆上设置有安装槽,所述合页中贯穿设置有与所述安装槽连接的紧固螺钉。通过紧固螺钉穿过合页和安装槽,连接合页和连接杆,使得连接板能够以连接杆为中心转动,结构简单,转动顺畅,拆装便捷。According to some embodiments of the present invention, a connecting rod is provided at the bottom of the chassis frame, a mounting groove is provided on the connecting rod, and a fastening screw connected to the mounting groove is penetrated through the hinge. Through the fastening screw passing through the hinge and the installation groove, the hinge and the connecting rod are connected, so that the connecting plate can be rotated around the connecting rod, the structure is simple, the rotation is smooth, and the disassembly and assembly are convenient.
根据本发明的一些实施例,所述缓冲弹簧两端设置有连接环,所述连接板和所述底盘架上均设置有与所述连接环适配的连接座,所述连接座和所述连接环中贯穿设置有转轴。通过转轴贯穿连接座和连接环,缓冲弹簧分别与底盘架、连接板铰接,缓冲弹簧随连接板的转动而压缩或伸展时,保证连接板转动顺畅,缓冲弹簧有效缓冲振动。According to some embodiments of the present invention, a connecting ring is provided at both ends of the buffer spring, and a connecting seat adapted to the connecting ring is provided on the connecting plate and the chassis frame. The connecting seat and the A rotating shaft is penetrated through the connecting ring. Through the shaft penetrating the connecting seat and the connecting ring, the buffer spring is hinged with the chassis frame and the connecting plate respectively. When the buffer spring is compressed or extended with the rotation of the connecting plate, the connecting plate is guaranteed to rotate smoothly, and the buffer spring effectively buffers vibration.
根据本发明的一些实施例,所述连接板上设置有安装座,所述驱动组件固定安装在所述安装座上。通过安装座固定连接驱动组件和连接板,增加与连接板的装配接触面积,避免驱动组件移位、掉落,安装可靠稳固。According to some embodiments of the present invention, a mounting seat is provided on the connecting plate, and the drive assembly is fixedly mounted on the mounting seat. The drive component and the connecting plate are fixedly connected by the mounting seat, which increases the assembly contact area with the connecting plate, avoids the displacement and falling of the drive component, and the installation is reliable and stable.
根据本发明的一些实施例,所述导向支架上成对设置有导向杆,所述升降支架套设在所述导向杆上。通过导向杆限制升降支架移动方向,辅助支承升降支架,保证升降支架定向移动。According to some embodiments of the present invention, a pair of guide rods are provided on the guide bracket, and the lifting bracket is sleeved on the guide rod. The moving direction of the lifting bracket is restricted by the guide rod, and the lifting bracket is assisted to ensure the directional movement of the lifting bracket.
根据本发明的一些实施例,所述驱动组件包括驱动电机和编码器,所述驱动电机与所述车轮连接,所述编码器与所述驱动电机、所述检测器电连接。检测器检测小车前方路况,当出现障碍物时,通过编码器控制驱动电机,调节车轮转速和方向,编码器实时反馈驱动电机工作状态,实现闭环精确控制小车移动。According to some embodiments of the present invention, the drive assembly includes a drive motor and an encoder, the drive motor is connected to the wheel, and the encoder is electrically connected to the drive motor and the detector. The detector detects the road conditions in front of the trolley. When there is an obstacle, the encoder controls the drive motor to adjust the wheel speed and direction. The encoder feeds back the working status of the drive motor in real time to achieve a closed-loop and precise control of the movement of the trolley.
根据本发明的一些实施例,所述底盘架顶部设置有与所述车体座连接的支 承板。通过支承板与车体座底部连接,增大底盘架与车体座的接触面积,受力均匀,承托可靠。According to some embodiments of the present invention, the top of the chassis frame is provided with a supporting plate connected to the vehicle body seat. By connecting the support plate with the bottom of the car body seat, the contact area between the chassis frame and the car body seat is increased, the force is even, and the support is reliable.
根据本发明的一些实施例,所述车体座上设置有辅助支杆,所述辅助支杆与所述导向支架底部紧密接触。通过辅助支杆从底部进一步加固导向支架,避免导向支架松动、倒翻。According to some embodiments of the present invention, an auxiliary strut is provided on the vehicle body seat, and the auxiliary strut is in close contact with the bottom of the guide bracket. The guide bracket is further reinforced from the bottom through the auxiliary support rod to avoid the guide bracket from loosening and overturning.
根据本发明的一些实施例,所述车轮设置为麦克纳姆轮。采用麦克纳姆轮,能够实现前行、横移、斜行、旋转及其组合等运动方式,运动灵活、多样,实现小车全方位移动。According to some embodiments of the present invention, the wheels are configured as mecanum wheels. Using mecanum wheels, it can realize forward, lateral, oblique, rotating and their combinations, and the movement is flexible and diverse, and the trolley can move in all directions.
本发明的附加方面和优点将在下面的描述中部分给出,部分将从下面的描述中变得明显,或通过本发明的实践了解到。The additional aspects and advantages of the present invention will be partly given in the following description, and partly will become obvious from the following description, or be understood through the practice of the present invention.
附图说明Description of the drawings
本发明的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解,其中:The above and/or additional aspects and advantages of the present invention will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, in which:
图1是根据本发明实施例的智能搬运小车的整体结构示意图;Figure 1 is a schematic diagram of the overall structure of an intelligent handling trolley according to an embodiment of the present invention;
图2是图1中所示的升降支架与导向支架装配示意图;FIG. 2 is a schematic diagram of assembling the lifting bracket and the guide bracket shown in FIG. 1;
图3是图1中所示的底盘架结构示意图;Figure 3 is a schematic diagram of the chassis frame structure shown in Figure 1;
图4是图1中所示的连接板与连接杆的装配示意图;4 is a schematic diagram of the assembly of the connecting plate and the connecting rod shown in FIG. 1;
图5是图1中所示的缓冲弹簧的装配示意图;Figure 5 is a schematic diagram of the assembly of the buffer spring shown in Figure 1;
图6是图1中所示的驱动电机的装配示意图。Fig. 6 is an assembly schematic diagram of the driving motor shown in Fig. 1.
附图标记:Reference signs:
底盘架100、支承板110、连接杆120、安装槽121、Chassis frame 100, support plate 110, connecting rod 120, mounting groove 121,
车体座200、检测器210、辅助支杆220、Car body seat 200, detector 210, auxiliary support rod 220,
导向支架300、导向杆310、Guide bracket 300, guide rod 310,
升降支架400、托盘410、丝杆420、升降驱动件430、Lifting bracket 400, tray 410, screw 420, lifting drive 430,
车轮500、驱动电机510、编码器520、Wheel 500, drive motor 510, encoder 520,
连接板600、合页610、紧固螺钉611、安装座620、缓冲弹簧630、连接环 631、Connecting plate 600, hinge 610, fastening screw 611, mounting seat 620, buffer spring 630, connecting ring 631,
连接座700、转轴710。Connecting base 700 and rotating shaft 710.
具体实施方式Detailed ways
本部分将详细描述本发明的具体实施例,本发明之较佳实施例在附图中示出,附图的作用在于用图形补充说明书文字部分的描述,使人能够直观地、形象地理解本发明的每个技术特征和整体技术方案,但其不能理解为对本发明保护范围的限制。This section will describe the specific embodiments of the present invention in detail. The preferred embodiments of the present invention are shown in the accompanying drawings. The function of the accompanying drawings is to supplement the description of the text part of the manual with graphics, so that people can understand the present invention intuitively and vividly. Each technical feature and overall technical solution of the invention cannot be understood as a limitation of the protection scope of the present invention.
在本发明的描述中,需要理解的是,涉及到方位描述,例如上、下、前、后、左、右等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本发明和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本发明的限制。In the description of the present invention, it should be understood that the orientation description involved, such as up, down, front, back, left, right, etc. indicates the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, but In order to facilitate the description of the present invention and simplify the description, it does not indicate or imply that the device or element referred to must have a specific orientation, be configured and operate in a specific orientation, and therefore cannot be understood as a limitation to the present invention.
在本发明的描述中,若干的含义是一个或者多个,多个的含义是两个以上,大于、小于、超过等理解为不包括本数,以上、以下、以内等理解为包括本数。如果有描述到第一、第二只是用于区分技术特征为目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量或者隐含指明所指示的技术特征的先后关系。In the description of the present invention, several means one or more, multiple means two or more, greater than, less than, exceeding, etc. are understood to not include the number, and above, below, and within are understood to include the number. If it is described that the first and second are only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying the relative importance or implicitly specifying the number of the indicated technical features or implicitly specifying the order of the indicated technical features relation.
本发明的描述中,除非另有明确的限定,设置、安装、连接等词语应做广义理解,所属技术领域技术人员可以结合技术方案的具体内容合理确定上述词语在本发明中的具体含义。In the description of the present invention, unless otherwise clearly defined, terms such as setting, installation, and connection should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meaning of the above terms in the present invention in combination with the specific content of the technical solution.
下面参考图1至图6描述根据本发明实施例的智能搬运小车。Hereinafter, the intelligent handling trolley according to the embodiment of the present invention will be described with reference to FIGS. 1 to 6.
如图1所示,根据本发明实施例的智能搬运小车,包括底盘架100,底盘架100上设置有车体座200,车体座200上设置有导向支架300,导向支架300中贯穿设置有丝杆420,丝杆420一端连接有升降驱动件430,丝杆420上套设有升降支架400,升降支架400顶部设置有托盘410,底盘架100底部设置有若干车轮500,车轮500与底盘架100之间连接有缓冲组件,车轮500上连接有驱动组件,底盘架100上设置有与驱动组件电连接的检测器210,检测器210内部设 置有激光测距模块和红外避障模块。可以理解的是,检测器210检测小车前方是否有障碍物,障碍物与小车的距离,以及道路间隙是否足够小车车身通过,控制驱动组件调整车速和方向,躲避障碍物,实时调整运输路线,使用灵活性高,当小车移动至货物底部,升降驱动件430驱动丝杆420转动,控制升降支架400升起,托盘410承托货物,装载货物的小车移动并达到目的地后,升降驱动件430驱动丝杆420转动,升降支架400降落,卸载托盘410上的货物,结构简单,承托平稳可靠,使用安全性高,转运货物高效快速,节约人力成本和运输成本。As shown in FIG. 1, the intelligent handling trolley according to the embodiment of the present invention includes a chassis frame 100. The chassis frame 100 is provided with a car body seat 200, the car body seat 200 is provided with a guide bracket 300, and the guide bracket 300 is provided with Screw rod 420, one end of the screw rod 420 is connected with a lifting driver 430, the screw rod 420 is sleeved with a lifting bracket 400, the top of the lifting bracket 400 is provided with a tray 410, the bottom of the chassis frame 100 is provided with a number of wheels 500, the wheels 500 and the chassis frame A buffer component is connected between 100, a driving component is connected to the wheel 500, a detector 210 electrically connected to the driving component is arranged on the chassis frame 100, and a laser ranging module and an infrared obstacle avoidance module are arranged inside the detector 210. It is understandable that the detector 210 detects whether there are obstacles in front of the trolley, the distance between the obstacles and the trolley, and whether the road gap is sufficient for the trolley body to pass, and controls the drive components to adjust the speed and direction of the vehicle, avoid obstacles, and adjust the transportation route in real time. High flexibility, when the trolley moves to the bottom of the goods, the lifting drive 430 drives the screw 420 to rotate, controls the lifting bracket 400 to rise, and the tray 410 supports the goods. After the trolley loaded with the goods moves and reaches the destination, the lifting drive 430 drives The screw 420 rotates, the lifting bracket 400 falls, and the cargo on the pallet 410 is unloaded. The structure is simple, the supporting is stable and reliable, the use safety is high, the transfer of goods is efficient and fast, and the labor cost and transportation cost are saved.
具体地,车轮500设置有四个,对称设置在底盘架100左右两侧,每个车轮500与底盘架100之间均连接有缓冲组件,且每个车轮500连接一组驱动组件,独立控制,四组驱动组件同时与检测器210电连接,车轮500设置为麦克纳姆轮,实现前行、横移、斜行、旋转及其组合等运动方式,运动灵活、多样,实现小车全方位移动。Specifically, there are four wheels 500, which are symmetrically arranged on the left and right sides of the chassis frame 100. Each wheel 500 and the chassis frame 100 are connected with a buffer assembly, and each wheel 500 is connected to a set of drive assemblies for independent control. The four sets of driving components are electrically connected to the detector 210 at the same time, and the wheels 500 are set as mecanum wheels to realize movement modes such as forward, lateral, oblique, rotation and combinations thereof, and the movement is flexible and diverse, and the trolley can move in all directions.
如图2所示,在本发明的一些实施例中,导向支架300上成对设置有导向杆310,升降支架400套设在导向杆310上,进一步地,导向杆310设置为光杆,两端均与导向支架300连接,升降驱动件430设置在车体座200底部,丝杆420一端贯穿车体座200与升降驱动件430连接,升降驱动件430设置为升降电机,可以理解的是,升降驱动件430收纳在车体座200底部,结构紧凑,升降驱动件430驱动丝杆420转动,升降支架400向上或向下移动,通过导向杆310限制升降支架400移动方向和行程,辅助支承升降支架400,保证升降支架400定向移动。As shown in Figure 2, in some embodiments of the present invention, the guide bracket 300 is provided with guide rods 310 in pairs, and the lifting bracket 400 is sleeved on the guide rod 310. Further, the guide rod 310 is configured as a polished rod. Both are connected to the guide bracket 300, the lifting drive 430 is arranged at the bottom of the vehicle body seat 200, one end of the screw rod 420 penetrates the vehicle body seat 200 and is connected to the lifting drive 430, the lifting drive 430 is set as a lifting motor, it is understandable that the lifting The driver 430 is housed at the bottom of the car body seat 200 and has a compact structure. The lifting driver 430 drives the screw rod 420 to rotate, and the lifting bracket 400 moves up or down. The guide rod 310 restricts the moving direction and stroke of the lifting bracket 400 to assist in supporting the lifting bracket. 400, to ensure the directional movement of the lifting bracket 400.
进一步地,车体座200上设置有辅助支杆220,辅助支杆220与导向支架300底部紧密接触,进一步从底部加固导向支架300,避免导向支架300松动、倒翻。Further, an auxiliary support rod 220 is provided on the vehicle body seat 200, and the auxiliary support rod 220 is in close contact with the bottom of the guide support 300 to further strengthen the guide support 300 from the bottom to prevent the guide support 300 from loosening and overturning.
如图3所示,在本发明的一些实施例中,底盘架100顶部设置有与车体座200连接的支承板110,增大底盘架100与车体座200的接触面积,受力均匀,承托可靠。底盘架100底部设置有连接杆120,连接杆120上设置有安装槽121,通过安装槽121与缓冲组件连接。As shown in FIG. 3, in some embodiments of the present invention, the top of the chassis frame 100 is provided with a support plate 110 connected to the body seat 200, which increases the contact area between the chassis frame 100 and the body seat 200, and the force is evenly received. Reliable support. The bottom of the chassis frame 100 is provided with a connecting rod 120, and a mounting groove 121 is provided on the connecting rod 120, and is connected to the buffer assembly through the mounting groove 121.
进一步地,驱动组件包括驱动电机510和编码器520,驱动电机510一端与车轮500连接,另一端与编码器520连接,编码器520与驱动电机510、检测器210电连接,可以理解的是,当红外避障模块检测出小车前方存在障碍物时,激光测距模块检测障碍物与小车之间的距离以及道路间隙大小是否足够小车车身通过,通过编码器520控制驱动电机510变速、换向,编码器520检测并实时驱动电机510工作状态,实现闭环精确控制小车移动。Further, the drive assembly includes a drive motor 510 and an encoder 520. One end of the drive motor 510 is connected to the wheel 500, and the other end is connected to the encoder 520. The encoder 520 is electrically connected to the drive motor 510 and the detector 210. It can be understood that, When the infrared obstacle avoidance module detects an obstacle in front of the trolley, the laser ranging module detects the distance between the obstacle and the trolley and whether the road gap is sufficient for the trolley body to pass through, and the encoder 520 controls the drive motor 510 to change speed and change direction. The encoder 520 detects and drives the working state of the motor 510 in real time, so as to realize the closed-loop precise control of the movement of the trolley.
其中,驱动电机510设置为伺服行星减速电机,能够通过改变电流实现调速,改变电压极性,实现换向,运转平顺,使用寿命长。Wherein, the driving motor 510 is set as a servo planetary gear motor, which can realize speed regulation by changing the current, change the voltage polarity, realize commutation, smooth operation, and long service life.
如图4和图5所示,在本发明的一些实施例中,缓冲组件包括连接板600,连接板600两端分别设置有与连接杆120连接的合页610,以及与底盘架100连接的缓冲弹簧630,具体地,合页610中贯穿设置有与安装槽121连接的紧固螺钉611,连接合页610和连接杆120,使得连接板600能够有以连接杆120为中心转动,缓冲弹簧630两端设置有连接环631,连接板600和底盘架100上均设置有与连接环631适配的连接座700,连接座700和连接环631中贯穿设置有转轴710。可以理解的是,当地面凹凸不平时,地面对车轮500的作用力传递至缓冲组件,车轮500的振动转化成连接板600转动,缓冲弹簧630随着连接板600转动而伸缩,缓冲振动,缓冲弹簧630拉伸或压缩时,相对底盘架100和连接板600的装配角度发生变化,通过转轴710贯穿连接环631和连接座700,缓冲弹簧630两端分别与底盘架100、连接板600铰接,保证连接板600转动顺畅,缓冲弹簧630有效缓冲振动。As shown in Figures 4 and 5, in some embodiments of the present invention, the buffer assembly includes a connecting plate 600. The two ends of the connecting plate 600 are respectively provided with hinges 610 connected to the connecting rod 120 and connected to the chassis frame 100. The buffer spring 630, specifically, the hinge 610 is provided with a fastening screw 611 connected to the mounting groove 121 through the hinge 610 to connect the hinge 610 and the connecting rod 120, so that the connecting plate 600 can rotate around the connecting rod 120, and the buffer spring A connecting ring 631 is provided at both ends of the 630, a connecting seat 700 adapted to the connecting ring 631 is provided on the connecting plate 600 and the chassis frame 100, and a rotating shaft 710 is provided through the connecting seat 700 and the connecting ring 631. It is understandable that when the ground is uneven, the force of the ground on the wheel 500 is transmitted to the buffer assembly, and the vibration of the wheel 500 is converted into the rotation of the connecting plate 600. The buffer spring 630 expands and contracts with the rotation of the connecting plate 600 to buffer the vibration. When the buffer spring 630 is stretched or compressed, the assembly angle relative to the chassis frame 100 and the connecting plate 600 changes, and the connecting ring 631 and the connecting seat 700 are penetrated through the rotating shaft 710, and the two ends of the buffer spring 630 are hinged to the chassis frame 100 and the connecting plate 600 respectively. , To ensure that the connecting plate 600 rotates smoothly, and the buffer spring 630 effectively buffers vibration.
如图6所示,在本发明的一些实施例中,连接板600上设置有安装座620,驱动电机510贯穿安装座620设置,增加驱动电机510与连接板600的装配接触面积,避免驱动组件移位、掉落,安装可靠稳固。As shown in FIG. 6, in some embodiments of the present invention, a mounting seat 620 is provided on the connecting board 600, and the driving motor 510 is installed through the mounting seat 620, which increases the assembly contact area between the driving motor 510 and the connecting board 600, and avoids driving components. Shifting, falling, reliable and stable installation.
下面参考图1至图6以一个具体实施例详细描述根据本发明实施例的智能搬运小车。值得理解的是,下述描述仅是示例性说明,而不是对发明的具体限制。Hereinafter, the intelligent handling trolley according to the embodiment of the present invention will be described in detail with a specific embodiment with reference to FIGS. 1 to 6. It should be understood that the following description is only an exemplary description, rather than a specific limitation to the invention.
根据本发明实施例的智能搬运小车,包括车体座200和底盘架100,底盘架 100上设置有与车体座200连接的支承板110,车体座200上前端位置安装有检测器210,检测器210内安装有激光测距模块和红外避障模块,车体座200中部设置有导向支架300,导向支架300上贯穿设置有丝杆420,导向支架300上成对设置有导向杆310,两根导向杆310分设在丝杆420两侧,丝杆420一端贯穿车体座200,与车体座200底部的升降电机连接,丝杆420和导向杆310上套设有升降支架400,升降支架400顶部设置有托盘410,车体座200上设置有与导向支架300底部一侧紧密接触的辅助支杆220。The intelligent handling trolley according to the embodiment of the present invention includes a vehicle body seat 200 and a chassis frame 100. The chassis frame 100 is provided with a support plate 110 connected to the vehicle body seat 200, and a detector 210 is installed at the front end of the vehicle body seat 200, The detector 210 is equipped with a laser ranging module and an infrared obstacle avoidance module. A guide bracket 300 is provided in the middle of the car body seat 200, a screw rod 420 is provided through the guide bracket 300, and a pair of guide rods 310 are provided on the guide bracket 300. Two guide rods 310 are arranged on both sides of the screw rod 420. One end of the screw rod 420 penetrates the car body seat 200 and is connected to the lifting motor at the bottom of the car body seat 200. The screw rod 420 and the guide rod 310 are sleeved with a lifting bracket 400, The top of the bracket 400 is provided with a tray 410, and the vehicle body seat 200 is provided with an auxiliary support rod 220 that is in close contact with the bottom side of the guide bracket 300.
底盘架100上设置有四个车轮500,车轮500均采用麦克纳姆轮,每个车轮500上连接有驱动电机510,驱动电机510一端设置有编码器520,编码器520同时与检测器210和驱动电机510电连接,底盘架100底面中部设置有连接杆120,连接杆120两侧对称设置有连接板600,连接板600上设置有贯穿安装驱动电机510的安装座620,连接板600一端设置有与连接杆120连接的合页610,连接杆120上设置有安装槽121,合页610中贯穿设置有与安装槽121连接的紧固螺钉611,连接板600另一端设置有与底盘架100连接的缓冲弹簧630,缓冲弹簧630设置有两条,缓冲弹簧630两端设置有连接环631,相应地,连接板600和底盘架100上均设置有与连接环631适配的连接座700,连接环631和连接座700中贯穿设置有转轴710,使得缓冲弹簧630与底盘架100、连接板600铰接。Four wheels 500 are provided on the chassis frame 100. The wheels 500 are all Mecanum wheels. Each wheel 500 is connected with a drive motor 510. One end of the drive motor 510 is provided with an encoder 520. The encoder 520 and the detector 210 and The driving motor 510 is electrically connected. A connecting rod 120 is provided in the middle of the bottom surface of the chassis frame 100. The connecting rod 120 is provided with a connecting plate 600 symmetrically on both sides. The connecting plate 600 is provided with a mounting seat 620 through which the driving motor 510 is installed. There is a hinge 610 connected to the connecting rod 120. The connecting rod 120 is provided with a mounting groove 121. A fastening screw 611 connected to the mounting groove 121 is penetrated through the hinge 610. The other end of the connecting plate 600 is provided with a chassis frame 100 There are two connected buffer springs 630, and two buffer springs 630 are provided with connecting rings 631 at both ends of the buffer spring 630. Correspondingly, both the connecting plate 600 and the chassis frame 100 are provided with a connecting seat 700 adapted to the connecting ring 631, A rotating shaft 710 penetrates through the connecting ring 631 and the connecting seat 700 so that the buffer spring 630 is hinged with the chassis frame 100 and the connecting plate 600.
根据本发明实施例的智能搬运小车,通过如此设置,可以达成至少如下的一些效果,通过检测器210检测小车前方路况,控制驱动组件调整车速和方向,躲避障碍物,实时调整运输路线,使用灵活性高,通过升降驱动件430驱动丝杆420转动,升降支架400升起,托盘410承托货物,达到目的地后,升降支架400降落,卸载托盘410上的货物,结构简单,承托平稳可靠,使用安全性高,转运货物高效快速,节约人力成本和运输成本,每个车轮500连接一个驱动电机510,独立控制,控制精确,小车因地面凹凸不平而产生振动时,通过安装板转动,缓冲弹簧630伸缩,缓冲振动,保持小车平稳移动,保证货物承托可靠,保证车上检测器210的精度和灵敏度,有效延长小车使用寿命。According to the intelligent handling trolley of the embodiment of the present invention, through such a configuration, at least some of the following effects can be achieved. The detector 210 detects the road conditions in front of the trolley, controls the driving components to adjust the speed and direction, avoids obstacles, adjusts the transportation route in real time, and is flexible in use. High performance. The screw rod 420 is driven to rotate by the lifting driver 430, the lifting bracket 400 is raised, and the tray 410 supports the goods. After reaching the destination, the lifting bracket 400 descends and unloads the goods on the pallet 410. The structure is simple and the support is stable and reliable. , The use of safety is high, the transfer of goods is efficient and fast, saving labor and transportation costs, each wheel 500 is connected to a drive motor 510, independent control, accurate control, when the trolley is vibrated due to uneven ground, it is rotated by the mounting plate to buffer The spring 630 expands and contracts to buffer vibration, keep the trolley moving smoothly, ensure reliable cargo support, ensure the accuracy and sensitivity of the detector 210 on the vehicle, and effectively extend the service life of the trolley.
在本说明书的描述中,参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中,对上述术语的示意性表述不一定指的是相同的实施例或示例。而且,描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples", or "some examples" etc. means to incorporate the implementation The specific features, structures, materials or characteristics described by the examples or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above-mentioned terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.
上面结合附图对本发明实施例作了详细说明,但是本发明不限于上述实施例,在所述技术领域普通技术人员所具备的知识范围内,还可以在不脱离本发明宗旨的前提下作出各种变化。The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above-mentioned embodiments, and within the scope of knowledge possessed by a person of ordinary skill in the technical field, it is possible to make various changes without departing from the purpose of the present invention. Kind of change.

Claims (10)

  1. 一种智能搬运小车,其特征在于,包括:An intelligent handling trolley, which is characterized in that it includes:
    底盘架,设置有车体座;The chassis frame is provided with a car body seat;
    导向支架,设置在所述车体座上,贯穿设置有丝杆,所述丝杆一端连接有升降驱动件;The guide bracket is arranged on the vehicle body seat, and a screw rod is penetrated therethrough, and one end of the screw rod is connected with an elevating drive member;
    升降支架,套设在所述丝杆上,顶部设置有托盘;The lifting bracket is sleeved on the screw rod, and the top is provided with a tray;
    若干车轮,设置在所述底盘架底部,与底盘架之间连接有缓冲组件,设置有驱动组件;以及A number of wheels are arranged at the bottom of the chassis frame, a buffer assembly is connected to the chassis frame, and a drive assembly is provided; and
    检测器,设置在所述底盘架上,与所述驱动组件电连接,内部设置有激光测距模块和红外避障模块。The detector is arranged on the chassis frame and is electrically connected to the drive assembly, and a laser ranging module and an infrared obstacle avoidance module are arranged inside.
  2. 根据权利要求1所述的智能搬运小车,其特征在于:所述缓冲组件包括连接板,所述连接板两端分别设置有与所述底盘架连接的合页和缓冲弹簧。The intelligent handling trolley according to claim 1, wherein the buffer assembly includes a connecting plate, and two ends of the connecting plate are respectively provided with a hinge and a buffer spring connected to the chassis frame.
  3. 根据权利要求2所述的智能搬运小车,其特征在于:所述底盘架底部设置有连接杆,所述连接杆上设置有安装槽,所述合页中贯穿设置有与所述安装槽连接的紧固螺钉。The intelligent handling trolley according to claim 2, characterized in that: the bottom of the chassis frame is provided with a connecting rod, the connecting rod is provided with a mounting groove, and the hinge is provided with a connecting rod connected to the mounting groove. Tighten the screws.
  4. 根据权利要求2所述的智能搬运小车,其特征在于:所述缓冲弹簧两端设置有连接环,所述连接板和所述底盘架上均设置有与所述连接环适配的连接座,所述连接座和所述连接环中贯穿设置有转轴。The intelligent handling trolley according to claim 2, wherein the buffer spring is provided with connecting rings at both ends, and the connecting plate and the chassis frame are both provided with connecting seats adapted to the connecting ring, A rotating shaft penetrates through the connecting seat and the connecting ring.
  5. 根据权利要求2所述的智能搬运小车,其特征在于:所述连接板上设置有安装座,所述驱动组件固定安装在所述安装座上。The intelligent handling trolley according to claim 2, wherein a mounting seat is provided on the connecting plate, and the drive assembly is fixedly mounted on the mounting seat.
  6. 根据权利要求1所述的智能搬运小车,其特征在于:所述导向支架上成对设置有导向杆,所述升降支架套设在所述导向杆上。The intelligent handling trolley according to claim 1, wherein the guide bracket is provided with a pair of guide rods, and the lifting bracket is sleeved on the guide rod.
  7. 根据权利要求1所述的智能搬运小车,其特征在于:所述驱动组件包括驱动电机和编码器,所述驱动电机与所述车轮连接,所述编码器与所述驱动电机、所述检测器电连接。The intelligent handling trolley according to claim 1, wherein the drive assembly includes a drive motor and an encoder, the drive motor is connected to the wheel, and the encoder is connected to the drive motor and the detector. Electric connection.
  8. 根据权利要求1所述的智能搬运小车,其特征在于:所述底盘架顶部设 置有与所述车体座连接的支承板。The intelligent handling trolley according to claim 1, characterized in that: the top of the chassis frame is provided with a support plate connected with the vehicle body seat.
  9. 根据权利要求1所述的智能搬运小车,其特征在于:所述车体座上设置有辅助支杆,所述辅助支杆与所述导向支架底部紧密接触。The intelligent handling trolley according to claim 1, wherein an auxiliary support rod is provided on the vehicle body seat, and the auxiliary support rod is in close contact with the bottom of the guide bracket.
  10. 根据权利要求1所述的智能搬运小车,其特征在于:所述车轮设置为麦克纳姆轮。The intelligent handling trolley according to claim 1, wherein the wheels are set as mecanum wheels.
PCT/CN2020/081654 2020-02-26 2020-03-27 Intelligent transport trolley WO2021168975A1 (en)

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