WO2022156643A1 - 无人搬运车 - Google Patents

无人搬运车 Download PDF

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Publication number
WO2022156643A1
WO2022156643A1 PCT/CN2022/072389 CN2022072389W WO2022156643A1 WO 2022156643 A1 WO2022156643 A1 WO 2022156643A1 CN 2022072389 W CN2022072389 W CN 2022072389W WO 2022156643 A1 WO2022156643 A1 WO 2022156643A1
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WO
WIPO (PCT)
Prior art keywords
link
track
rail
hinged
fork arm
Prior art date
Application number
PCT/CN2022/072389
Other languages
English (en)
French (fr)
Inventor
谢彬
白寒
吴永海
Original Assignee
杭州海康机器人技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 杭州海康机器人技术有限公司 filed Critical 杭州海康机器人技术有限公司
Priority to JP2023544231A priority Critical patent/JP2024504361A/ja
Priority to KR1020237027601A priority patent/KR20230131261A/ko
Priority to EP22742122.9A priority patent/EP4283431A1/en
Publication of WO2022156643A1 publication Critical patent/WO2022156643A1/zh

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/08—Masts; Guides; Chains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas

Definitions

  • the present disclosure relates to the technical field of material handling.
  • it relates to an unmanned truck.
  • Automated Guided Vehicles also known as automatic guided vehicles, refers to transport vehicles equipped with automatic navigation devices such as electromagnetic or optical, which can travel along a prescribed navigation path, and have safety protection and various transfer functions.
  • the unmanned transport vehicle of the related art needs to be equipped with a set of power sources for the two functions of horizontal telescopic and vertical lifting, which makes the power cost of the unmanned transport vehicle relatively high.
  • the embodiments of the present disclosure provide an unmanned guided vehicle with low power cost.
  • An embodiment of the present disclosure provides an unmanned guided vehicle, including a vehicle body, a rail, a fork arm, a drive link, a support link, and a drive mechanism;
  • the rail is provided on the vehicle body;
  • the rail includes a top rail, a first side rail and a second side rail;
  • the top end of the first side rail is connected to the first end of the top rail, the top end of the second side rail is connected to the second end of the top rail, the The first side rail and the second side rail are respectively inclined downward in opposite directions;
  • a transmission member connected to the driving mechanism and capable of running along the rail is arranged in the rail;
  • the first end is hinged with the transmission member, the second end is hinged with the first end of the fork arm;
  • the second end of the fork arm is hinged with the first end of the support link, the support
  • the second end of the link is hinged with the bottom end of the second side rail or the second end of the support link is hinged with the vehicle body;
  • the vehicle body includes a vehicle frame and a cargo support portion provided on the vehicle frame; the rail is provided on a side portion of the cargo support portion, wherein the Bottom ends of the first side rail and the second side rail are arranged on the frame, the top rail is located at the side of the cargo support portion, and the top of the top rail is higher than the cargo support portion the top of the drive link; the transmission member runs in the track, driving the first end of the drive link to move along the track, when the first end of the drive link moves from the bottom end of the first side track When running toward the second end of the top rail, the second end of the drive link pushes the fork arm, the first end of the fork arm is from the first end of the top rail to the end of the top rail.
  • the second end of the fork arm When the second end moves, the second end of the fork arm extends out of the vehicle body; when the first end of the drive link runs from the second end of the top rail to the bottom end of the second side rail When the fork arm is pushed by the drive link and supported by the support link, the fork arm extends out of the vehicle body and simultaneously descends from a high position to a low position.
  • the support link includes a first link, a second link, and a third link; the first end of the first link is connected to the second side rail
  • the bottom end of the first connecting rod is hinged with the bottom end or the first end of the first connecting rod is hinged with the vehicle body; the second end of the first connecting rod is hinged with the first end of the second connecting rod; the The second end of the second link is hinged with the fork arm; the first end of the third link is slidably arranged on the first link, and the second end of the third link is connected to the fork arm.
  • the second link is hinged.
  • the second link includes a first support rod, a second support rod and a third support rod; the first end of the first support rod is connected to the first support rod The second end of the rod is hinged, the second end of the first support rod is hinged with the first end of the second support rod; the second end of the second support rod is hinged with the second end of the third support rod The first end is hinged; the second end of the third support rod is hinged with the fork arm; the second end of the third link is hinged with the second support rod.
  • a fourth connecting rod is hinged between the first ends of the first connecting rod; or, when the first end of the first connecting rod is hinged with the vehicle body, the vehicle body is connected with the first connecting rod.
  • a fourth connecting rod is hinged between the first ends of the rods; the length of the fourth connecting rod is smaller than that of the first connecting rod.
  • a fifth link is hinged between the second end of the second link and the fork arm.
  • a first roller is provided at the second end of the second link, and the first roller can roll along the upper surface of the top rail.
  • a second roller is provided at the first end of the fork arm and/or at the second end of the drive link, and the second roller can be arranged along the top The upper surface of the track rolls.
  • the transmission member includes a chain, a timing belt, or a wire rope
  • the drive mechanism includes a drive motor, which is connected to the transmission member, or the drive motor is decelerated by reducing The mechanism is connected with the transmission element.
  • the track includes a track body, the track body includes a top track body, and a first waist track body and a second waist track respectively connected to both ends of the top track body main body; a rail groove is provided on the side of the rail body, the rail groove of the top rail body forms the top rail, the rail groove of the first waist rail body forms the first side rail, and the first side rail is formed.
  • the track grooves of the two waist track bodies form the second side track.
  • the rail further includes a bottom rail, and the top rail, the first side rail, the bottom rail and the second side rail are connected end to end to form a trapezoidal structure.
  • the track includes a trapezoidal track body, a track groove is provided on the side of the track body, and the track groove at the top of the track body forms the top track, so The track groove of the first waist of the track body forms the first side track, the track groove of the bottom of the track body forms the bottom track, and the track groove of the second waist of the track body forms the second side track.
  • the second end of the drive link is provided with a first limit block
  • the first end of the fork arm is provided with a second limit block
  • the drive link is provided with a first limit block.
  • the embodiment of the present disclosure provides an unmanned transport vehicle, which drives the transmission member through the driving mechanism, so that the transmission member runs in the track, drives the driving link to move in the track, and the driving link pushes the fork arm to gradually extend out of the vehicle body and do
  • the present disclosure combines the horizontal telescopic motion and the vertical lifting motion of the fork arm into an arc-shaped motion through a set of power sources, thereby reducing power sources and power costs.
  • FIG. 1 is a schematic structural diagram of an unmanned guided vehicle according to an embodiment of the disclosure
  • Fig. 2 is the structural representation of the track and the fork arm in the unmanned truck shown in Fig. 1;
  • 3A-3H are state diagrams when the unmanned truck is working
  • 4A-4D are state diagrams of unmanned trucks transporting pallets
  • FIG. 5 is a schematic structural diagram of an unmanned guided vehicle according to another embodiment of the present disclosure.
  • an embodiment of the present disclosure provides an unmanned guided vehicle, which may include a vehicle body 1 , a rail 2 , a fork arm 3 , a drive link 4 , a support link 5 and a drive mechanism 6 .
  • the track 2 is provided on the vehicle body 1; the track 2 may include a top track 21, a first side track 22 and a second side track 23; the top end of the first side track 22 is connected to the first end of the top track 21, and the second side track The top end of the top rail 23 is connected to the second end of the top rail 21 , and the first side rail 22 and the second side rail 23 are respectively inclined downward in opposite directions.
  • the track 2 is provided with a transmission member which is connected with the drive mechanism 6 and can run along the track 2; the first end of the drive link 4 is hinged with the transmission member, and the second end is hinged with the first end of the fork arm 3; The second end of the arm 3 is hinged with the first end of the support link 5, the second end of the support link 5 is hinged with the bottom end of the second side rail 23, or the second end of the support link 5 is hinged with the vehicle body 1 Hinged.
  • the transmission member runs in the track 2, driving the first end of the drive link 4 to move along the track 2, the second end of the drive link 4 pushes the fork arm 3, and the fork arm 3 is in the drive link Under the push of the rod 4 and the support of the support link 5, the vehicle body 1 extends from a high position and descends to a low position.
  • the horizontal telescopic motion and vertical lifting motion of the fork arm 3 are combined into an arc motion, and only one set of power sources can make the fork arm 3 complete the horizontal and vertical directions.
  • the power source is reduced and the power cost is reduced.
  • the structure of the unmanned guided vehicle is more compact and the installation space is saved. , and the work efficiency is higher.
  • the top rail 21 , the first side rail 22 and the second side rail 23 are integral structures, and there is an arc-shaped transition between the first side rail 22 and the top rail 21 , an arc transition is formed between the top rail 21 and the second side rail 23 , so that the transmission member runs more smoothly in the rail 2 .
  • the vehicle body 1 includes a vehicle frame 11 and a cargo support portion 12 provided on the vehicle frame 11 .
  • the frame 11 and the cargo support portion 12 are connected by four connecting columns distributed at intervals.
  • the bottom end of the connecting column is connected with the vehicle frame 11, and the top end of the connecting column is connected with the cargo supporting portion 12.
  • the connecting column is connected to the cargo supporting portion 12.
  • the quantity can be determined according to factors such as the actual weight of the cargo to be transported or the supporting strength of the cargo support portion 12, and the connecting column can also be replaced or mixed with connecting rods, connecting plates, etc., which is not limited in this embodiment.
  • the cargo support portion 12 may be a support plate and/or a support rod, etc., which is not limited in this embodiment.
  • a support plate is selected for the cargo support portion 12, and the contact area between the support plate and the cargo is larger. , which can make the placement of the goods more stable. In actual use, it can be reasonably set according to the weight of the goods, the size of the pallet and other factors to ensure the stability of the placement of the goods.
  • the rails 2 are provided on the side of the cargo supporting portion 12 , wherein the bottom ends of the first side rails 22 and the second side rails 23 are provided on the frame 11 , the top rail 21 is located on the side portion of the cargo supporting portion 12 , and the top rail The top of 21 is higher than the top of cargo support 12 .
  • the transmission member runs in the track 2, and drives the first end of the drive link 4 to move along the track 2.
  • the first end of the drive link 4 moves from the bottom end of the first side track 22 to the top track
  • the second end of 21 is running, the second end of the driving link 4 pushes the fork arm 3, the first end of the fork arm 3 moves from the first end of the top rail 21 to the second end of the top rail 21, and the fork arm 3 moves.
  • the second end extends out of the vehicle body 1;
  • the unmanned truck moves so that the fork arm 3 extends into the pallet at the bottom of the cargo;
  • the transmission member runs in the reverse direction in the track 2, and drives the first end of the drive link 4 to move in the reverse direction along the track 2.
  • the fork arm 3 moves towards the direction close to the vehicle body 1 and rises from a low position to a high position under the push of the drive link 4 and the support of the support link 5, and at the same time, the fork arm 3 drives the goods to move together , lifted from the ground to a high position;
  • the driving link 4 pulls the fork arm 3 , and the first end of the fork arm 3 runs from the second end of the top rail 21 to the bottom end of the first side rail 22 .
  • the second end moves toward the first end of the top rail 21
  • the fork arm 3 is retracted into the vehicle body 1 again, and is located on the side of the top rail 21
  • the pallet moves from the second end of the top rail 21 to the top rail along with the fork arm 3
  • the first end of 21 moves and is located above the vehicle body, and the fork arm 3 always supports the goods.
  • a rolling wheel is provided on the cargo support portion, and an elastic member is arranged between the rolling wheel and the cargo supporting portion.
  • the elastic member Optional spring.
  • the bottom of the pallet When the goods move from the second end of the top rail 21 to the first end of the top rail 21, the bottom of the pallet always keeps in contact with the rolling wheel. Due to the existence of the spring, the pallet will squeeze the rolling wheel during the movement, and the spring Compression, the bottom of the pallet is kept in contact with the rolling wheel, and at the same time, the support part acts as an auxiliary support for the goods, so as to avoid the whole weight of the goods being borne by the fork arm, which may cause serious wear or even damage to the fork arm.
  • the support link 5 includes a first link 51 , a second link 52 and a third link 53 ; the first end of the first link 51 and the bottom end of the second side rail 23
  • the first end of the first link 51 is hinged with the vehicle body 1; the second end of the first link 51 is hinged with the first end of the second link 52; the second end of the second link 52 It is hinged with the fork arm 3 ; the first end of the third link 53 is slidably arranged on the first link 51 , and the second end of the third link 53 is hinged with the second link 52 .
  • the second link 52 moves in an arc-shaped direction away from the vehicle body 1 and close to the ground under the push of the fork arm 3, and the movement of the second link 52 drives the first link 52.
  • the connecting rod 51 moves away from the vehicle body 1 , and at the same time, the first end of the third connecting rod 53 slides along the first connecting rod 51 from the first end to the second end of the first connecting rod 51 .
  • the first end of the first link 51 is the end hinged with the bottom end of the second side rail, and the second end is the end hinged with the second link.
  • long grooves extending along the length direction of the first connecting rod 51 are respectively opened on both sides of the first connecting rod 51 , and the first end of the third connecting rod 53 is connected to the first connecting rod 53 through a pin shaft.
  • the long groove on the rod 51 is matched, so that the third link 53 can slide along the long groove.
  • the pin shaft can also be replaced by a roller, a slider, etc., which is not limited in this embodiment.
  • the second link 52 includes a first support rod 521 , a second support rod 522 and a third support rod 523 .
  • the first end of the first support rod 521 is hinged with the second end of the first link 51, and the second end of the first support rod 521 is hinged with the first end of the second support rod 522;
  • the second end is hinged with the first end of the third support rod 523 ;
  • the second end of the third support rod 523 is hinged with the fork arm 3 ;
  • the second end of the third link 53 is hinged with the second support rod 522 .
  • the second end of the first support rod 521 is provided with a third limit block
  • the first end of the second support rod 522 is provided with a fourth limit block
  • the first support rod 521 is connected to the
  • the third limit block abuts against the fourth limit block, so that the angle between the first support rod and the second support rod maintains the first clamp angle, wherein the angle range of the first included angle is 150° ⁇ 180°, preferably 165° ⁇ 180°;
  • the second end of the second support rod 522 is provided with a fifth limit block
  • the first end of the third support rod 523 is provided with a sixth limit block
  • the angle between the second support rod 522 and the third support rod 523 When it is the second included angle, the fifth limit block abuts against the sixth limit block, so that the included angle between the second strut and the third strut maintains the second included angle, wherein the second included angle is
  • the angle range is 140° to 180°, preferably 150° to 180°.
  • the fourth link 7 may also be hinged between the first link 51 and the second side rail 23 or between the first link 51 and the vehicle body 1 ; Specifically, when the first link 51 and the second side rail 23 are hinged through the fourth link 7 , a first link 51 is hinged between the bottom end of the second side rail 23 and the first end of the first link 51 .
  • the support link 5 drives the fourth link 7 to move away from the second side rail 23
  • the fourth link 7 can be quickly rotated and attached to the ground or the vehicle body 1 , so that the support link 5 supports the fork arm 3 more stably.
  • the second end of the fourth link 7 is provided with a seventh limit block
  • the first end of the first link 51 is provided with an eighth limit block
  • the fourth link 7 is connected to the
  • the seventh limiting block abuts against the eighth limiting block, so that the included angle between the fourth connecting rod and the first connecting rod maintains the third gripping angle, wherein the third included angle ranges from 150° to 180°.
  • connection between the fourth link 7 and the first link 51 can be ensured to be stable, and the fork arm 3 can be further ensured to be in a horizontal state during operation, so that the fork arm 3 Better stability during movement.
  • the fourth link 7 when the fourth link 7 is hinged between the first link 51 and the bottom end of the second side rail 23 , two opposite sides are provided at the bottom end of the second side rail 23 .
  • the ribs 231 form a certain space between the two ribs 231 , and the first end of the fourth connecting rod 7 is inserted and hinged between the two ribs 231 .
  • the two rib plates 231 are provided to improve the stability between the track 2 and the vehicle body 1. At the same time, the existence of the rib plates 231 makes the connection between the fourth link 7 and the second side rail 23 more convenient, which is The track 2 provides a certain space, so that the transmission element can run smoothly in the track 2.
  • the second end of the second link 52 and the fork arm 3 can also be hinged through the fifth link 8, and one end of the fifth link 8 is connected to the first The second link 52 is hinged, and the other end is hinged with the fork arm.
  • the length of the fifth link 8 can be It should be as short as possible, so that the fork arm 3 can save effort when driving the support link 5 to rotate.
  • the track 2 includes a track body, and the track body includes a top track body and a first waist track body and a second waist track body respectively connected to both ends of the top track body;
  • a rail groove is provided on the side of the rail body, the rail groove of the top rail body forms the top rail 21, the rail groove of the first waist rail body forms the first side rail 22, and the rail groove of the second waist rail body forms the second side rail twenty three.
  • the first waist track body, the top track body and the second waist track body are integrally formed, the connection between the first waist track body and the top track body is an arc transition, and the connection between the top track body and the second waist track is an arc In this way, the corners of the track grooves are smoother, and the transmission parts run more smoothly in the track grooves, thereby improving the stability of the movement of the fork arm.
  • the rail 2 further includes a bottom rail 24, and the top rail 21, the first side rail 22, the bottom rail 24 and the second side rail 23 are connected end to end to form a trapezoidal structure.
  • the track 2 includes a trapezoidal track body, and a track groove is provided on the side of the track body.
  • the track groove at the top of the track body forms a top track 21, and the track groove at the first waist of the track body forms a first side track 22.
  • the bottom of the track body forms a first side track 22.
  • the track groove forms the bottom track 24 , and the track groove at the second waist of the track body forms the second side track 23 .
  • the transmission member can run along the first side rail 22 , the top rail 21 , the second side rail 23 , and the bottom rail 24 , and the transmission member has a wider range of motion and runs more smoothly.
  • a first roller is provided at the second end of the second link 52, and the first roller can roll along the upper surface of the top rail body.
  • the first roller When the fork arm 3 moves from the first end to the second end of the top rail 21, the first roller always abuts the upper surface of the top rail body, and when the hinge point of the fork arm 3 and the fifth link 8 moves away from the top rail When the first roller is also separated from the top rail body, it is no longer in contact with the upper surface of the top rail body.
  • the first roller not only provides a certain support for the fork arm 3 to make the movement of the fork arm 3 more stable, when the fork arm 3 retracts the truck body 1 with the cargo, the weight of the cargo can also be applied to the top rail 21 through the first roller, The top rail 21 can support the goods to a certain extent, so as to avoid all the weight of the goods being borne by the fork arm 3, causing wear to the fork arm 3 and reducing the service life.
  • a second roller is provided at the first end of the fork arm 3 and/or at the second end of the drive link 4, and the second roller can roll along the upper surface of the top rail body.
  • the second roller When the fork arm 3 moves from the first end to the second end of the top rail 21, the second roller always abuts the upper surface of the top rail body, and when the first end of the fork arm 3 completely protrudes from the side of the top rail body When the second roller is also separated from the top rail body, it is no longer in contact with the upper surface of the top rail body.
  • the second roller supports the fork arm 3, which further improves the stability of the movement of the fork arm 3, and at the same time, the rail 2 can bear the weight of a certain amount of goods. To avoid the whole weight of the goods falling on the fork arm 3, reduce the wear on the fork arm 3.
  • the transmission element includes a chain, a timing belt, or a wire rope, but is not limited to a chain, a timing belt, and a wire rope, which is not limited in this embodiment.
  • guide wheels are provided at the connection between the first side rail and the top rail and at the connection between the top rail and the second side rail, the transmission member is wound around the guide wheel, and the guide wheel pairs the transmission member The movement plays a certain guiding role, so that the transmission parts run in the specified direction.
  • guide wheels are also provided at the connection between the first side rail and the bottom rail and at the connection between the second side rail and the bottom rail, the transmission member is wound around the guide wheel, and the guide wheel rotates on the transmission member. play a guiding role.
  • first side rail, the top rail, the second side rail and the bottom rail are also provided with tensioning pulleys at intervals, and the tensioning pulleys are used to adjust the tensioning degree of the transmission member, so that the transmission member can run more smoothly Smooth, and then make the fork arm more stable in the process of movement.
  • the drive mechanism 6 includes a drive motor.
  • a drive wheel is connected to the output shaft of the drive motor, and the drive wheel is connected with the transmission member to drive the transmission member to run;
  • the drive motor adopts a three-phase asynchronous motor
  • the drive motor is connected to the transmission member through a deceleration mechanism, and here, the deceleration mechanism can choose a reducer.
  • the reducer also known as the reducer, is an independent component composed of a gear drive, a worm drive, and a gear-worm drive enclosed in a rigid casing. It is often used as a reduction drive between the prime mover and the working machine. The motive and the working machine or the actuator play the role of matching the speed and transmitting the torque.
  • a drive wheel is connected to the output shaft of the reducer, and the drive wheel is connected with the transmission part to drive the transmission part to run.
  • the second end of the drive link 4 is provided with a first limit block
  • the first end of the fork arm 3 is provided with a second limit block
  • the space between the drive link 4 and the fork 3 When the included angle is a predetermined included angle, the first limit block is in contact with the second limit block to keep the included angle between the drive link 4 and the fork arm 3 at the predetermined included angle; wherein, the angle of the predetermined included angle
  • the range is greater than or equal to 160 degrees and less than or equal to 200 degrees.
  • the first end of the drive link 4 is hinged with the transmission member in the track.
  • the transmission member runs in the track 2, it drives the first end of the drive link 4 to move along the track 2, and the second end of the drive link 4 pushes the fork
  • the arm 3 moves, when the drive link 4 pushes the fork arm 3 to move, the angle between the drive link 4 and the fork arm 3 is gradually increased, in order to ensure that the fork arm 3 does not transport the goods from the fork arm 3.
  • the arm 3 slides down, a first limit block is provided at the second end of the drive link 4, and a second limit block is provided at the first end of the fork arm 3.
  • the angle between the drive link 4 and the fork arm 3 is kept between 160 degrees and 200 degrees, and the goods will not slide.
  • the angle between the drive link 4 and the fork arm 3 is preferably 180 degrees, because when the drive link 4 and the fork arm 3 are completely in the same plane, the goods are most stable on the fork arm 3.
  • This embodiment does not limit the angle here, and people can select an appropriate angle range according to the actual situation and on the premise that the goods will not slip off.
  • the bottom of the fork arm 3 is provided with a support wheel.
  • the support wheel When the fork arm 3 protrudes from the vehicle body 1 and descends from a high position to a low position, the support wheel abuts on the ground and supports the fork arm 3.
  • the support wheel rolls on the ground and Supporting the fork arm 3, the unmanned truck will move more smoothly.
  • the vehicle body 1 further includes a traveling assembly, and the traveling assembly includes a first universal wheel 91 and a first differential steering wheel 92 ; the first differential steering wheel 92 is provided on the vehicle frame At the first end of the frame 11 , the first universal wheel 91 is provided at the second end of the frame 11 .
  • the walking assembly includes a second universal wheel 93, a second differential steering wheel 94 and a third universal wheel 95;
  • the second universal wheel 93 is provided at the first end of the frame 11, the third The steering wheel 95 is arranged at the second end of the frame 11 , and the second differential steering wheel 94 is arranged on the frame 11 and is located between the second universal wheel 93 and the third universal wheel 95 .
  • the unmanned guided vehicle may further include a first side unmanned guided vehicle and a second side unmanned guided vehicle, and the first side unmanned guided vehicle and the second side unmanned guided vehicle are distributed in parallel and spaced apart And are connected as a whole by connecting pieces.
  • the drive motor can also use a biaxial motor.
  • the unmanned guided vehicle on the first side and the unmanned guided vehicle on the second side By setting the unmanned guided vehicle on the first side and the unmanned guided vehicle on the second side, the goods with larger volume can be placed on the goods support part 12, and the goods are more stable; when the pallet under the goods to be carried is small, it can be used in The fork arm 3 on one side lifts the cargo and places it on the cargo support part 12 closest to the fork arm 3. When the pallet under the cargo to be transported is large, the fork arm 3 on both sides can be used together to transport the pallet to On the cargo support parts 12 on both sides, the design can be applied to more cargoes of different sizes, and is more practical.
  • the first universal wheels 91 on the unmanned guided vehicle on the first side and the first universal wheels 91 on the unmanned guided vehicle on the second side are distributed diagonally, and the first unmanned vehicle
  • the first differential steering wheel 92 on the truck and the first differential steering wheel 92 on the second side unmanned truck are distributed diagonally, so that when the unmanned truck is turning, it can better control each side speed, making it more stable when cornering.
  • floating springs are provided on the first universal wheel 91 and the first differential steering wheel 92 on one side, and the floating springs play a certain role in shock absorption, which can ensure the smooth passage of the unmanned vehicle.
  • a certain degree of poor road surface such as uneven road, undulating road and other non-flat roads.
  • floating springs are provided on the second differential steering wheels 94 on both sides to ensure that the unmanned guided vehicle can smoothly pass through a certain degree of poor road surface, such as uneven road surface, undulating road surface and other non-level roads.
  • the working process of the unmanned guided vehicle provided by this embodiment: in the initial state (the drive link 4, the fork arm 3 and the support link 5 do not have any movement and deployment state The lower is the initial state), the walking component moves, so that the unmanned truck drives to the pallet, and stops moving after a safety distance is reserved, wherein the safety distance is greater than the maximum stroke of the fork arm 3 extended in the horizontal direction;
  • the driving motor acts in the forward direction, the driving wheel rotates in the forward direction, and drives the transmission member to drive in the forward direction in the track 2 (wherein, the forward direction means that the first end of the driving link 4 moves from the first end of the first side track 22 to the first end of the first side track 22 to the first The direction of the movement of the second ends of the two side rails 23), the movement of the transmission member drives the first end of the drive link 4 to move forward, the second end of the drive link 4 pushes the first end of the fork arm 3, and the fork arm 3 is in the The push of the drive link 4 and the positive movement under the support of the support link 5;
  • the walking assembly continues to move, and the unmanned truck continues to approach the pallet until the fork arm 3 fully extends into the bottom of the pallet;
  • the driving motor acts in the reverse direction, the driving wheel rotates in the reverse direction, and drives the transmission member to reversely drive in the track 2.
  • the movement of the transmission member drives the first end of the driving link 4 to move in the reverse direction, and the second end of the driving link 4 pulls the fork.
  • the first end of the arm 3, the fork arm 3 moves in the opposite direction under the pulling of the driving link 4 and the support of the support link 5;
  • the fork arm 3 When the first end of the driving link 4 moves from the bottom end of the second side rail 23 to the second end of the top rail 21, the fork arm 3 is retracted toward the outside of the vehicle body 1, and at the same time it moves upward, while The support link 5 is gradually rolled back and leaves the ground under the drive of the fork arm 3;
  • the fork arm 3 When the first end of the drive link 4 moves to the bottom end of the first side rail 22, the fork arm 3 is retracted to the vehicle body 1. At this time, the pallet is also placed on the cargo support portion 12, and the traveling assembly runs to move the The pallet is transported to the predetermined location.
  • the pallet is completely supported by the cargo support portion 12 , that is, the vehicle body 1 , so that the wear on the fork arm 3 can be reduced, and the design, development and manufacturing costs can be saved.
  • the unmanned guided vehicle provided by this embodiment can complete the handling of goods through a set of power sources, which reduces the power source, reduces the manufacturing cost, and at the same time makes the structure of the unmanned guided vehicle more compact and saves the installation space; the fork arm 3
  • the horizontal telescopic movement and the vertical lifting movement of the device are combined into an arc-shaped movement.
  • this embodiment has an arc-shaped movement, which makes the handling efficiency higher.

Abstract

一种无人搬运车，无人搬运车包括车本体(1)、轨道(2)、叉臂(3)、驱动连杆(4)、支撑连杆(5)以及驱动机构(6)；轨道(2)设在车本体(1)上；轨道(2)包括顶部轨道(21)、第一侧轨道(22)和第二侧轨道(23)；第一侧轨道(22)的顶端与顶部轨道(21)的第一端连接，第二侧轨道(23)的顶端与顶部轨道(21)的第二端连接，第一侧轨道(22)与第二侧轨道(23)分别向下朝相反的方向倾斜；在轨道(2)中设有与驱动机构(6)相连并能够沿轨道(2)运行的传动件；驱动连杆(4)的第一端与传动件相铰接，第二端与叉臂(3)的第一端相铰接；叉臂(3)的第二端与支撑连杆(5)的第一端相铰接，支撑连杆(5)的第二端与第二侧轨道(23)的底端相铰接或者支撑连杆(5)的第二端与车本体(1)相铰接。

Description

无人搬运车
本申请要求于2021年1月22日提交中国专利局、申请号为202110093033.5发明名称为“一种无人搬运车”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本公开涉及物料搬运技术领域。特别涉及一种无人搬运车。
背景技术
无人搬运车(Automated Guided Vehicles，简称AGV)又名自动导航车，指装备有电磁或光学等自动导航装置，能够沿规定的导航路径行驶，具有安全保护以及各种移载功能的运输车。
相关技术的无人搬运车，对于水平伸缩和竖直升降两种功能需要分别配备一套动力源，这使得无人运输车的动力成本较高。
发明内容
有鉴于此，本公开实施例提供一种动力成本较低的无人搬运车。
本公开实施例提供一种无人搬运车，包括车本体、轨道、叉臂、驱动连杆、支撑连杆以及驱动机构；所述轨道设在所述车本体上；所述轨道包括顶部轨道、第一侧轨道和第二侧轨道；所述第一侧轨道的顶端与所述顶部轨道的第一端连接，所述第二侧轨道的顶端与所述顶部轨道的第二端连接，所述第一侧轨道与所述第二侧轨道分别向下朝相反的方向倾斜；在所述轨道中设有与所述驱动机构相连并能够沿所述轨道运行的传动件；所述驱动连杆的第一端与所述传动件相铰接，第二端与所述叉臂的第一端相铰接；所述叉臂的第二端与所述支撑连杆的第一端相铰接，所述支撑连杆的第二端与所述第二侧轨道的底端相铰接或者所述支撑连杆的第二端与所述车本体相铰接；所述传动件在所述轨道中运行，带动所述驱动连杆的第一端沿所述轨道移动，所述驱动连杆的第二端推动所述叉臂，所述叉臂在所述驱动连杆的推动及所述支撑连杆的支撑下，自所述车本体中自高位伸出并下降至低位。
根据本申请实施例的一种具体实现方式，所述车本体包括车架和设在所述车架上的货物支撑部；所述轨道设在所述货物支撑部的侧部，其中，所述第一侧轨道与所述第二侧轨道的底端设在所述车架上，所述顶部轨道位于所述货物支撑部的侧部，且所述顶部轨道的顶部高于所述货物支撑部的顶部；所述传动件在所述轨道中运行，带动所述驱动连杆的第一端沿所述轨道移动，当所述驱动连杆的第一端自所述第一侧轨道的底端向所述顶部轨道的第二端运行时，所述驱动连杆的第二端推动所述叉臂，所述叉臂的第一端自所述顶部轨 道的第一端向所述顶部轨道的第二端运动，所述叉臂的第二端伸出所述车本体；当所述驱动连杆的第一端自所述顶部轨道的第二端向所述第二侧轨道的底端运行时，所述叉臂在所述驱动连杆的推动及所述支撑连杆的支撑下，伸出所述车本体同时自高位下降至低位。
根据本申请实施例的一种具体实现方式，所述支撑连杆包括第一连杆、第二连杆以及第三连杆；所述第一连杆的第一端与所述第二侧轨道的底端相铰接或者所述第一连杆的第一端与所述车本体相铰接；所述第一连杆的第二端与所述第二连杆的第一端相铰接；所述第二连杆的第二端与所述叉臂相铰接；所述第三连杆的第一端滑动设置在所述第一连杆上，所述第三连杆的第二端与所述第二连杆相铰接。
根据本申请实施例的一种具体实现方式，所述第二连杆包括第一支杆、第二支杆以及第三支杆；所述第一支杆的第一端与所述第一连杆的第二端相铰接，所述第一支杆的第二端与所述第二支杆的第一端相铰接；所述第二支杆的第二端与所述第三支杆的第一端相铰接；所述第三支杆的第二端与所述叉臂相铰接；所述第三连杆的第二端与所述第二支杆相铰接。
根据本申请实施例的一种具体实现方式，当所述第一连杆的第一端与所述第二侧轨道的底端相铰接时，在所述第二侧轨道的底端与所述第一连杆的第一端之间铰接有第四连杆；或者，当所述第一连杆的第一端与所述车本体相铰接时，在所述车本体与所述第一连杆的第一端之间铰接有第四连杆；所述第四连杆的长度小于所述第一连杆的长度。
根据本申请实施例的一种具体实现方式，在所述第二连杆的第二端与所述叉臂之间铰接有第五连杆。
根据本申请实施例的一种具体实现方式，在所述第二连杆的第二端设有第一滚轮，所述第一滚轮能够沿所述顶部轨道的上表面滚动。
根据本申请实施例的一种具体实现方式，在所述叉臂的第一端和/或在所述驱动连杆的第二端设有第二滚轮，所述第二滚轮能够沿所述顶部轨道的上表面滚动。
根据本申请实施例的一种具体实现方式，所述传动件包括链条或同步带或钢丝绳,所述驱动机构包括驱动电机，所述驱动电机与所述传动件相连，或者所述驱动电机通过减速机构与所述传动件相连。
根据本申请实施例的一种具体实现方式，所述轨道包括轨道本体，所述轨道本体包括顶部轨道本体以及与所述顶部轨道本体的两端分别相连的第一腰部轨道本体和第二腰部轨道本体；在所述轨道本体的侧部设有轨道槽，所述顶部轨道本体的轨道槽形成所述顶部 轨道，所述第一腰部轨道本体的轨道槽形成所述第一侧轨道，所述第二腰部轨道本体的轨道槽形成所述第二侧轨道。
根据本申请实施例的一种具体实现方式，所述轨道还包括底部轨道，所述顶部轨道、第一侧轨道、底部轨道和第二侧轨道首尾相连形成梯形结构。
根据本申请实施例的一种具体实现方式，所述轨道包括呈梯形的轨道本体，在所述轨道本体的侧部设有轨道槽，所述轨道本体顶部的轨道槽形成所述顶部轨道，所述轨道本体第一腰部的轨道槽形成所述第一侧轨道，所述轨道本体底部的轨道槽形成所述底部轨道，所述轨道本体第二腰部的轨道槽形成所述第二侧轨道。
根据本申请实施例的一种具体实现方式，所述驱动连杆的第二端设有第一限位块，所述叉臂的第一端设有第二限位块，所述驱动连杆与所述叉臂之间的夹角为预定夹角时，所述第一限位块与所述第二限位块相抵接，以使所述驱动连杆与所述叉臂之间的夹角保持所述预定夹角；其中，所述预定夹角的角度范围为大于等于160度，小于等于200度。本公开实施例提供的一种无人搬运车，通过驱动机构驱动传动件，使传动件在轨道内运行，带动驱动连杆在轨道内移动，驱动连杆推动叉臂逐渐伸出车本体并做下降运动，本公开通过一套动力源，将叉臂的水平伸缩运动以及竖直升降运动复合成一个弧形运动，减少动力源，降低动力成本。
附图说明
为了更清楚地说明本公开实施例或相关技术中的技术方案，下面将对实施例或相关技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。
图1为本公开一实施例无人搬运车的结构示意图；
图2为图1所示无人搬运车中轨道及叉臂的结构示意图；
图3A-图3H为无人搬运车工作时的状态图；
图4A-图4D为无人搬运车搬运托盘的状态图；
图5为本公开又一实施例无人搬运车的结构示意图。
附图标记如下：
1—车本体；11—车架；12—货物支撑部；
2—轨道；21—顶部轨道；22—第一侧轨道；23—第二侧轨道；231—筋板；24—底部 轨道；
3—叉臂；4—驱动连杆；
5—支撑连杆；51—第一连杆；52—第二连杆；521—第一支杆；522—第二支杆；523—第三支杆；53—第三连杆；
6—驱动机构；7—第四连杆；8—第五连杆；
91—第一万向轮；92—第一差速舵轮；93—第二万向轮；94—第二差速舵轮；95—第三万向轮。
具体实施方式
下面结合附图对本公开实施例进行详细描述。
应当明确，所描述的实施例仅仅是本公开的一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其它实施例，都属于本公开保护的范围。
如图1和图2所示，本公开实施例提供一种无人搬运车，可包括车本体1、轨道2、叉臂3、驱动连杆4、支撑连杆5以及驱动机构6。
轨道2设在车本体1上；轨道2可包括顶部轨道21、第一侧轨道22和第二侧轨道23；第一侧轨道22的顶端与顶部轨道21的第一端连接，第二侧轨道23的顶端与顶部轨道21的第二端连接，第一侧轨道22与第二侧轨道23分别向下朝相反的方向倾斜。
在轨道2中设有与驱动机构6相连并能够沿轨道2运行的传动件；驱动连杆4的第一端与传动件相铰接，第二端与叉臂3的第一端相铰接；叉臂3的第二端与支撑连杆5的第一端相铰接，支撑连杆5的第二端与第二侧轨道23的底端相铰接或者支撑连杆5的第二端与车本体1相铰接。
如图3A-图3H所示，传动件在轨道2中运行，带动驱动连杆4的第一端沿轨道2移动，驱动连杆4的第二端推动叉臂3，叉臂3在驱动连杆4的推动及支撑连杆5的支撑下，自车本体1中自高位伸出并下降至低位。
在本公开的一些实施例中，将叉臂3的水平伸缩运动以及竖直升降运动复合成一个弧形运动，只需一套动力源即可使叉臂3完成水平和竖直两个方向的动作，相比于相关技术中的叉臂3水平运动和竖直运动分别通过不同的动力源驱动，减少了动力源，降低了动力成本，同时无人搬运车的结构更加的紧凑，节约安装空间，且工作效率更高。
如图3A所示，在本公开的一些实施例中，顶部轨道21、第一侧轨道22和第二侧轨道 23为一体式结构，第一侧轨道22与顶部轨道21之间呈弧形过渡，顶部轨道21与第二侧轨道23之间呈弧形过渡，这样，传动件在轨道2内运行时更加的流畅。
如图1所示，在本公开的一些实施例中，车本体1包括车架11和设在车架11上的货物支撑部12。
车架11与货物支撑部12之间通过四个间隔分布的连接柱连接，连接柱的底端与车架11连接，连接柱的顶端与货物支撑部12连接，在一些实施方式中，连接柱的数量可根据实际所要搬运货物的重量或货物支撑部12的支撑强度等因素来确定，且连接柱还可用连接杆、连接板等替代或混合使用，本实施例在此不作限定。
货物支撑部12可为支撑板和/或支撑杆等，本实施例在此不作限定，在本公开的一些实施例中中，货物支撑部12选用支撑板，支撑板与货物的接触面积更大，可使货物放置的更加稳定，实际使用时，可根据货物的重量、托盘的大小等因素自行合理设置，以保证货物放置的稳定性。
轨道2设在货物支撑部12的侧部，其中，第一侧轨道22与第二侧轨道23的底端设在车架11上，顶部轨道21位于货物支撑部12的侧部，且顶部轨道21的顶部高于货物支撑部12的顶部。
结合图3A-图3H，传动件在轨道2中运行，带动驱动连杆4的第一端沿轨道2移动，当驱动连杆4的第一端自第一侧轨道22的底端向顶部轨道21的第二端运行时，驱动连杆4的第二端推动叉臂3，叉臂3的第一端自顶部轨道21的第一端向顶部轨道21的第二端运动，叉臂3的第二端伸出车本体1；
当驱动连杆4的第一端自顶部轨道21的第二端向第二侧轨道23的底端运行时，叉臂3在驱动连杆4的推动及支撑连杆5的支撑下，伸出车本体1同时自高位下降至低位；
当叉臂3伸出车本体1并下降至低位后，无人搬运车移动，使叉臂3伸入至货物底部的托盘内；
传动件在轨道2中反向运行，带动驱动连杆4的第一端沿轨道2反向移动，当驱动连杆4的第一端自第二侧轨道23的底端向顶部轨道21的第二端运行时，叉臂3在驱动连杆4的推动及支撑连杆5的支撑下，向靠近车本体1的方向移动并自低位上升至高位，与此同时，叉臂3带动货物一起运动，自地面被抬升至高位；
当驱动连杆4的第一端自顶部轨道21的第二端向第一侧轨道22的底端运行时，驱动连杆4拉动叉臂3，叉臂3的第一端自顶部轨道21的第二端向顶部轨道21的第一端运动， 叉臂3重新收至车本体1内，并位于顶部轨道21的侧部，托盘随叉臂3一同自顶部轨道21的第二端向顶部轨道21的第一端运动，并位于车本体上方，叉臂3始终对货物起到支撑作用。
为了减轻叉臂3对货物的支撑，避免叉臂3承力过大而损坏，在货物支撑部上设有滚动轮，滚动轮与货物支撑部之间设有弹性件，本实施例中弹性件可选用弹簧。
当货物自顶部轨道21的第二端向顶部轨道21的第一端运动的过程中，托盘的底部始终保持与滚动轮接触，由于弹簧的存在，托盘在运动过程中会挤压滚动轮，弹簧压缩，托盘底部与滚动轮保持接触状态，同时，支撑部对货物起到辅助支撑的作用，避免货物的全部重量均由叉臂承担，而导致叉臂磨损严重甚至损坏。
在本公开的一些实施例中，支撑连杆5包括第一连杆51、第二连杆52以及第三连杆53；第一连杆51的第一端与第二侧轨道23的底端相铰接或者第一连杆51的第一端与车本体1相铰接；第一连杆51的第二端与第二连杆52的第一端相铰接；第二连杆52的第二端与叉臂3相铰接；第三连杆53的第一端滑动设置在第一连杆51上，第三连杆53的第二端与第二连杆52相铰接。
当叉臂3逐渐伸出车本体1时，第二连杆52在叉臂3的推动下，朝向远离车本体1且靠近地面的方向做弧线形运动，第二连杆52运动带动第一连杆51朝向远离车本体1的方向运动，与此同时，第三连杆53的第一端沿着第一连杆51，自第一连杆51的第一端向第二端滑动。这里，第一连杆51的第一端为与第二侧轨道的底端相铰接的一端，第二端为与第二连杆相铰接的一端。
在本公开的一些实施例中，在第一连杆51的两侧分别开设有沿第一连杆51长度方向延伸的长槽，第三连杆53的第一端通过销轴与第一连杆51上的长槽配合，使第三连杆53能够沿长槽滑动。这里，销轴还可使用滚轮、滑块等代替，本实施例对此不作限定。
如图3A-图3H所示，为了使叉臂3在运动时更加的平稳，第二连杆52包括第一支杆521、第二支杆522以及第三支杆523。第一支杆521的第一端与第一连杆51的第二端相铰接，第一支杆521的第二端与第二支杆522的第一端相铰接；第二支杆522的第二端与第三支杆523的第一端相铰接；第三支杆523的第二端与叉臂3相铰接；第三连杆53的第二端与第二支杆522相铰接。
支杆的数量越多，叉臂3在竖直方向的摆动就越小，叉臂3的运动就会越平稳，降低货物从叉臂3上滑落的风险。本实施例采用的是三连杆结构，实际使用时，可根据实际情 况在保证货物不会从叉臂3上滑落的前提下选择合适的支杆数量。
在本公开的一些实施例中，第一支杆521的第二端设有第三限位块，第二支杆522的第一端设有第四限位块，第一支杆521与第二支杆522之间的夹角为第一夹角时，第三限位块与第四限位块相抵接，以使第一支杆与第二支杆之间的夹角保持第一夹角，其中，第一夹角的角度范围为150°～180°，优选为165°～180°；
第二支杆522的第二端设有第五限位块，第三支杆523的第一端设有第六限位块，第二支杆522与第三支杆523之间的夹角为第二夹角时，第五限位块与第六限位块相抵接，以使第二支杆与第三支杆之间的夹角保持第二夹角，其中，第二夹角的角度范围为140°～180°，优选为150°～180°。
通过对第一夹角与第二夹角角度范围的限定，能够确保各支杆之间的连接稳定，且在运行过程中更加能保证叉臂3趋于水平状态，使得叉臂3在移动过程中的稳定性更好。
如图3E所示，在本公开的一些实施例中，第一连杆51与第二侧轨道23之间或者第一连杆51与车本体1之间还可通过第四连杆7铰接；具体的，当第一连杆51与第二侧轨道23之间通过第四连杆7铰接时，在第二侧轨道23的底端与第一连杆51的第一端之间铰接有第四连杆7；当第一连杆51与车本体1之间通过第四连杆7铰接时，在车本体1与第一连杆51的第一端之间铰接有第四连杆7；其中，第四连杆7的长度小于第一连杆51的长度。
通过设置的第四连杆7并使其长度小于第一连杆51的长度，当叉臂3带动支撑连杆5转动时，支撑连杆5带动第四连杆7朝向远离第二侧轨道23并朝靠近地面的方向转动时，第四连杆7能够快速的转动贴至地面或者贴至车本体1上，使支撑连杆5对叉臂3的支撑更加的稳定。
在本公开的一些实施例中，第四连杆7的第二端设有第七限位块，第一连杆51的第一端设有第八限位块，第四连杆7与第一连杆51之间的夹角为第三夹角时，第七限位块与第八限位块相抵接，以使第四连杆与第一连杆之间的夹角保持第三夹角，其中，第三夹角的范围为150°～180°。
通过对第三夹角角度范围的限定，能够确保第四连杆7与第一连杆51之间的连接稳定，且在运行过程中更加能保证叉臂3趋于水平状态，使得叉臂3在移动过程中的稳定性更好。
在本公开的一些实施例中，当第四连杆7铰接在第一连杆51与第二侧轨道23的底端 之间时，在第二侧轨道23的底端设有两个相对的筋板231，两个筋板231之间形成一定的空间，第四连杆7的第一端插入并铰接在两个筋板231之间。
通过设置的两个筋板231，提高轨道2与车本体1之间的稳定性，同时，筋板231的存在，使第四连杆7与第二侧轨道23之间的连接更方便，为轨道2提供了一定的空间，使传动件在轨道2内顺利运行。
如图3E所示，在本公开的一些实施例中，第二连杆52的第二端与叉臂3之间还可通过第五连杆8进行铰接，第五连杆8的一端与第二连杆52铰接，另一端与叉臂铰接。
通过设置的第五连杆8，叉臂3带动支撑连杆5转动时，首先带动第五连杆8转动，然后第五连杆8带动支撑连杆5转动，第五连杆8的长度可以尽可能的短一些，这样，叉臂3在带动支撑连杆5转动时，能够更省力。
如图2所示，在本公开的一些实施例中，轨道2包括轨道本体，轨道本体包括顶部轨道本体以及与顶部轨道本体的两端分别相连的第一腰部轨道本体和第二腰部轨道本体；
在轨道本体的侧部设有轨道槽，顶部轨道本体的轨道槽形成顶部轨道21，第一腰部轨道本体的轨道槽形成第一侧轨道22，第二腰部轨道本体的轨道槽形成第二侧轨道23。
第一腰部轨道本体、顶部轨道本体以及第二腰部轨道本体为一体成型结构，第一腰部轨道本体与顶部轨道本体的连接处呈弧形过渡，顶部轨道本体与第二腰部轨道的连接处呈弧形过渡，这样，轨道槽的拐弯处更加的流畅，传动件在轨道槽内运行的也会更加流畅，从而提高叉臂运动的稳定性。
在另一实施例中，轨道2还包括底部轨道24，顶部轨道21、第一侧轨道22、底部轨道24和第二侧轨道23首尾相连形成梯形结构。
轨道2包括呈梯形的轨道本体，在轨道本体的侧部设有轨道槽，轨道本体顶部的轨道槽形成顶部轨道21，轨道本体第一腰部的轨道槽形成第一侧轨道22，轨道本体底部的轨道槽形成底部轨道24，轨道本体第二腰部的轨道槽形成第二侧轨道23。
传动件能够沿着第一侧轨道22、顶部轨道21、第二侧轨道23、底部轨道24运行，传动件的运动范围更广，运行的更平稳。
为了使叉臂3在向外伸出车本体1时更加的稳定，在第二连杆52的第二端设有第一滚轮，第一滚轮能够沿顶部轨道本体的上表面滚动。
当叉臂3自顶部轨道21的第一端向第二端运动时，第一滚轮始终抵接顶部轨道本体的上表面，当叉臂3与第五连杆8的铰接点移动至脱离顶部轨道本体时，第一滚轮也脱离 顶部轨道本体，不再与顶部轨道本体的上表面抵接。
第一滚轮不但为叉臂3提供一定的支撑使叉臂3运动更稳定，当叉臂3带着货物缩回车本体1时，货物的重量也可以通过第一滚轮施加在顶部轨道21上，使顶部轨道21对货物起到一定的支撑，避免货物的重量全部由叉臂3承担，对叉臂3造成磨损，降低使用寿命。
在本公开的一些实施例中，在叉臂3的第一端和/或在驱动连杆4的第二端设有第二滚轮，第二滚轮能够沿顶部轨道本体的上表面滚动。
当叉臂3自顶部轨道21的第一端向第二端运动时，第二滚轮始终抵接顶部轨道本体的上表面，当叉臂3的第一端完全从顶部轨道本体的侧部伸出时，第二滚轮也脱离顶部轨道本体，不再与顶部轨道本体的上表面抵接。
叉臂3的第一端沿着顶部轨道21运动时，第二滚轮对叉臂3起到支撑作用，进一步提高叉臂3运动的稳定性，同时，还能够使轨道2承担一定货物的重量，避免货物的全部重量落在叉臂3上，减少对叉臂3的磨损。
在本公开的一些实施例中，传动件包括链条或同步带或钢丝绳,但不仅限于链条、同步带、钢丝绳，本实施例在此不作限定。
在本公开的一些实施例中，在第一侧轨道与顶部轨道的连接处以及顶部轨道与第二侧轨道的连接处设有导向轮，传动件绕设于导向轮上，导向轮对传动件的运动起到一定的导向作用，使传动件按照指定的方向运转。
在另一实施例中，第一侧轨道与底部轨道的连接处以及第二侧轨道与底部轨道的连接处也设有导向轮，传动件绕设于导向轮上，导向轮对传动件的运转起到一定的导向作用。
在又一实施例中，第一侧轨道、顶部轨道、第二侧轨道以及底部轨道上还间隔设有张紧轮，张紧轮用于调整传动件的张紧程度，使传动件运行的更加流畅，进而使叉臂在运动的过程中更加的平稳。
驱动机构6包括驱动电机，当驱动电机采用步进电机时，驱动电机的输出轴上连接有驱动轮，驱动轮与传动件连接，以带动传动件运行；
当驱动电机采用三相异步电机时，驱动电机通过减速机构与传动件相连，此处，减速机构可选用减速器。
减速器，又叫减速机，是一种由封闭在刚性壳体内的齿轮传动、蜗杆传动、齿轮-蜗杆传动所组成的独立部件，常用作原动件与工作机之间的减速传动装置，在原动机和工作机 或执行机构之间起匹配转速和传递转矩的作用。
在减速器的输出轴上连接有驱动轮，驱动轮与传动件连接，以带动传动件运行。
在本公开的一些实施例中，驱动连杆4的第二端设有第一限位块，叉臂3的第一端设有第二限位块，驱动连杆4与叉臂3之间的夹角为预定夹角时，第一限位块与第二限位块相抵接，以使驱动连杆4与叉臂3之间的夹角保持预定夹角；其中，预定夹角的角度范围为大于等于160度，小于等于200度。
驱动连杆4的第一端与轨道内的传动件相铰接，传动件在轨道2中运行时，带动驱动连杆4的第一端沿轨道2移动，驱动连杆4的第二端推动叉臂3移动，当驱动连杆4在推动叉臂3移动时，驱动连杆4与叉臂3之间的夹角是逐渐增大的，为了保证叉臂3在搬运货物时货物不会从叉臂3上滑落，在驱动连杆4的第二端设有第一限位块，叉臂3的第一端设有第二限位块，当第一限位块与第二限位块相抵接时，驱动连杆4与叉臂3之间的夹角保持在160度至200度之间，货物便不会滑动，此处，驱动连杆4与叉臂3之间的夹角优选为180度，因为当驱动连杆4与叉臂3之间完全处于同一平面时，货物放置在叉臂3上是最稳定的。本实施例对于角度在此不作限定，人们可根据实际情况，在保证货物不会滑落的前提下，选择合适的角度范围即可。
在本公开的一些实施例中，叉臂3的底部设有支撑轮。当叉臂3从车本体1中伸出并从高位下降至低位后，支撑轮抵接在地面上，对叉臂3起到支撑作用，当无人搬运车移动时，支撑轮在地面滚动并支撑叉臂3，无人搬运车移动的会更加的流畅。
如图1所示，在本公开的一些实施例中，车本体1还包括行走组件，行走组件包括第一万向轮91和第一差速舵轮92；第一差速舵轮92设在车架11的第一端，第一万向轮91设在车架11的第二端。
如图5所示，或者行走组件包括第二万向轮93、第二差速舵轮94和第三万向轮95；第二万向轮93设在车架11的第一端，第三万向轮95设在车架11的第二端，第二差速舵轮94设在车架11上且位于第二万向轮93和第三万向轮95之间。
在本公开的一些实施例中，无人搬运车还可包括第一侧无人搬运车和第二侧无人搬运车，第一侧无人搬运车与第二侧无人搬运车平行间隔分布且通过连接件连接为一体。此时，驱动电机还可使用双轴电机。
通过设置的第一侧无人搬运车和第二侧无人搬运车，能够使货物支撑部12上放置体积更大的货物，也更稳定；当待搬运货物底下的托盘较小时，可使用其中一侧的叉臂3将 货物搬运起来放置到与叉臂3距离最近的货物支撑部12上，当待搬运货物底下的托盘较大时，可以两侧的叉臂3配合使用，将托盘搬运至两侧的货物支撑部12上，该设计可适用更多不同尺寸的货物，实用性更强。
在本公开的一些实施例中，第一侧无人搬运车上的第一万向轮91与第二侧无人搬运车上的第一万向轮91呈对角线分布，第一无人搬运车上的第一差速舵轮92与第二侧无人搬运车上的第一差速舵轮92呈对角线分布，这样，当无人搬运车在拐弯时，可更好的控制每一侧速度，使拐弯时更加的稳定。
在本公开的一些实施例中，在其中一侧的第一万向轮91和第一差速舵轮92上设置浮动弹簧，浮动弹簧起到一定的减震作用，可确保无人搬运车顺畅通过一定程度的不良路面，例如凹凸路面、起伏路面等非平地路面。
在又一实施例中，在两侧的第二差速舵轮94上设置浮动弹簧，可确保无人搬运车顺畅通过一定程度的不良路面，例如凹凸路面、起伏路面等非平地路面。
如图3A-3H以及图4A-4D所示，本实施例提供的无人搬运车的工作过程：初始状态下(驱动连杆4、叉臂3以及支撑连杆5没有任何移动与展开的状态下为初始状态)，行走组件动作，使无人搬运车驶向托盘，预留一段安全距离后停止移动，其中，安全距离大于叉臂3在水平方向上伸展的最大行程；
驱动电机正向动作，驱动轮正向转动，带动传动件在轨道2内正向传动(其中，正向指的是驱动连杆4的第一端自第一侧轨道22的第一端向第二侧轨道23的第二端移动的方向)，传动件的运动带动驱动连杆4的第一端正向移动，驱动连杆4的第二端推动叉臂3的第一端，叉臂3在驱动连杆4的推动以及支撑连杆5的支撑下正向移动；
当驱动连杆4的第一端自第一侧轨道22的底端移动至顶部轨道21的第二端的过程中，叉臂3始终以趋于水平的状态朝向车本体1外移动，而支撑连杆5在叉臂3的带动下，由卷起的状态逐渐转动至伸开的状态；
当驱动连杆4的第一端自顶部轨道21的第二端移动至第二侧轨道23的底端的过程中，叉臂3继续伸出车本体1外同时做下降运动，而支撑连杆5在叉臂3的带动下继续伸展接近于地面；
当驱动连杆4的第一端移动至第二侧轨道23的底端时，叉臂3底部的支撑轮支撑在地面，支撑连杆5完全展开至地面；
行走组件继续动作，无人搬运车继续驶近托盘，直至叉臂3完全伸入托盘底部；
驱动电机反向动作，驱动轮反向转动，带动传动件在轨道2内反向传动，传动件的运动带动驱动连杆4的第一端反向移动，驱动连杆4的第二端拉动叉臂3的第一端，叉臂3在驱动连杆4的拉动以及支撑连杆5的支撑下反向移动；
当驱动连杆4的第一端自第二侧轨道23的底端移动至顶部轨道21的第二端的过程中，叉臂3向靠近车本体1外的方向缩回，同时做上升运动，而支撑连杆5在叉臂3的带动下逐渐回卷并离开地面；
当驱动连杆4的第一端自顶部轨道21的第二端移动至第一侧轨道22的底端的过程中，叉臂3始终以趋于水平的状态朝向车本体1内移动，而支撑连杆5在叉臂3的带动下，继续回卷；
当驱动连杆4的第一端移动至第一侧轨道22的底端时，叉臂3完成缩回至车本体1，此时，托盘也放置在货物支撑部12上，行走组件运行，将托盘运输至预定的位置。
在运输的过程中，托盘完全由货物支撑部12即由车本体1来支撑，这样，可减小对叉臂3的磨损，节约设计开发以及制造成本。
本实施例提供的无人搬运车，通过一套动力源即可完成对货物的搬运，减少动力源，降低制造成本，同时使无人搬运车的结构更加紧凑，节约安装空间；将叉臂3的水平伸缩运动以及竖直升降运动复合成一个弧形运动，相比于相关技术中水平运动及竖直运动只能依次顺序完成，本实施例一个弧形运动，使得搬运效率更高。
需要说明的是，在本文中，各个实施例之间描述的方案的侧重点不同，但是各个实施例又存在某种相互关联的关系，在理解本公开方案时，各个实施例之间可相互参照；另外，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上所述，仅为本公开的具体实施方式，但本公开的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本公开揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本公开的保护范围之内。因此，本公开的保护范围应以权利要求的保护范围为准。

Claims (13)

  1. 一种无人搬运车，包括车本体、轨道、叉臂、驱动连杆、支撑连杆以及驱动机构；
    所述轨道设在所述车本体上；所述轨道包括顶部轨道、第一侧轨道和第二侧轨道；
    所述第一侧轨道的顶端与所述顶部轨道的第一端连接，所述第二侧轨道的顶端与所述顶部轨道的第二端连接，所述第一侧轨道与所述第二侧轨道分别向下朝相反的方向倾斜；
    在所述轨道中设有与所述驱动机构相连并能够沿所述轨道运行的传动件；所述驱动连杆的第一端与所述传动件相铰接，第二端与所述叉臂的第一端相铰接；所述叉臂的第二端与所述支撑连杆的第一端相铰接，所述支撑连杆的第二端与所述第二侧轨道的底端相铰接或者所述支撑连杆的第二端与所述车本体相铰接；
    所述传动件在所述轨道中运行，带动所述驱动连杆的第一端沿所述轨道移动，所述驱动连杆的第二端推动所述叉臂，所述叉臂在所述驱动连杆的推动及所述支撑连杆的支撑下，自所述车本体中自高位伸出并下降至低位。
  2. 根据权利要求1所述的无人搬运车，其中：所述车本体包括车架和设在所述车架上的货物支撑部；
    所述轨道设在所述货物支撑部的侧部，其中，所述第一侧轨道与所述第二侧轨道的底端设在所述车架上，所述顶部轨道位于所述货物支撑部的侧部，且所述顶部轨道的顶部高于所述货物支撑部的顶部；
    所述传动件在所述轨道中运行，带动所述驱动连杆的第一端沿所述轨道移动，当所述驱动连杆的第一端自所述第一侧轨道的底端向所述顶部轨道的第二端运行时，所述驱动连杆的第二端推动所述叉臂，所述叉臂的第一端自所述顶部轨道的第一端向所述顶部轨道的第二端运动，所述叉臂的第二端伸出所述车本体；
    当所述驱动连杆的第一端自所述顶部轨道的第二端向所述第二侧轨道的底端运行时，所述叉臂在所述驱动连杆的推动及所述支撑连杆的支撑下，伸出所述车本体同时自高位下降至低位。
  3. 根据权利要求1所述的无人搬运车，其中：所述支撑连杆包括第一连杆、第二连杆以及第三连杆；
    所述第一连杆的第一端与所述第二侧轨道的底端相铰接或者所述第一连杆的第一端与所述车本体相铰接；所述第一连杆的第二端与所述第二连杆的第一端相铰接；所述第二连杆的第二端与所述叉臂相铰接；所述第三连杆的第一端滑动设置在所述第一连杆上，所 述第三连杆的第二端与所述第二连杆相铰接。
  4. 根据权利要求3所述的无人搬运车，其中：所述第二连杆包括第一支杆、第二支杆以及第三支杆；
    所述第一支杆的第一端与所述第一连杆的第二端相铰接，所述第一支杆的第二端与所述第二支杆的第一端相铰接；所述第二支杆的第二端与所述第三支杆的第一端相铰接；所述第三支杆的第二端与所述叉臂相铰接；所述第三连杆的第二端与所述第二支杆相铰接。
  5. 根据权利要求3所述的无人搬运车，其中：当所述第一连杆的第一端与所述第二侧轨道的底端相铰接时，在所述第二侧轨道的底端与所述第一连杆的第一端之间铰接有第四连杆；或者，当所述第一连杆的第一端与所述车本体相铰接时，在所述车本体与所述第一连杆的第一端之间铰接有第四连杆；
    所述第四连杆的长度小于所述第一连杆的长度。
  6. 根据权利要求3所述的无人搬运车，其中：在所述第二连杆的第二端与所述叉臂之间铰接有第五连杆。
  7. 根据权利要求3所述的无人搬运车，其中：在所述第二连杆的第二端设有第一滚轮，所述第一滚轮能够沿所述顶部轨道的上表面滚动。
  8. 根据权利要求1所述的无人搬运车，其中：在所述叉臂的第一端和/或在所述驱动连杆的第二端设有第二滚轮，所述第二滚轮能够沿所述顶部轨道的上表面滚动。
  9. 根据权利要求1所述的无人搬运车，其中：所述传动件包括链条或同步带或钢丝绳,所述驱动机构包括驱动电机，所述驱动电机与所述传动件相连，或者所述驱动电机通过减速机构与所述传动件相连。
  10. 根据权利要求1所述的无人搬运车，其中：所述轨道包括轨道本体，所述轨道本体包括顶部轨道本体以及与所述顶部轨道本体的两端分别相连的第一腰部轨道本体和第二腰部轨道本体；
    在所述轨道本体的侧部设有轨道槽，所述顶部轨道本体的轨道槽形成所述顶部轨道，所述第一腰部轨道本体的轨道槽形成所述第一侧轨道，所述第二腰部轨道本体的轨道槽形成所述第二侧轨道。
  11. 根据权利要求1所述的无人搬运车，其中：所述轨道还包括底部轨道，所述顶部轨道、第一侧轨道、底部轨道和第二侧轨道首尾相连形成梯形结构。
  12. 根据权利要求11所述的无人搬运车，其中：所述轨道包括呈梯形的轨道本体，在 所述轨道本体的侧部设有轨道槽，所述轨道本体顶部的轨道槽形成所述顶部轨道，所述轨道本体第一腰部的轨道槽形成所述第一侧轨道，所述轨道本体底部的轨道槽形成所述底部轨道，所述轨道本体第二腰部的轨道槽形成所述第二侧轨道。
  13. 根据权利要求1所述的无人搬运车，其中：所述驱动连杆的第二端设有第一限位块，所述叉臂的第一端设有第二限位块，所述驱动连杆与所述叉臂之间的夹角为预定夹角时，所述第一限位块与所述第二限位块相抵接，以使所述驱动连杆与所述叉臂之间的夹角保持所述预定夹角；其中，所述预定夹角的角度范围为大于等于160度，小于等于200度。
PCT/CN2022/072389 2021-01-22 2022-01-17 无人搬运车 WO2022156643A1 (zh)

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