WO2024087318A1

WO2024087318A1 - Automated guided tray-carrying transport vehicle

Info

Publication number: WO2024087318A1
Application number: PCT/CN2022/135822
Authority: WO
Inventors: 俞强强
Original assignee: 广东塔斯克机器人有限公司
Priority date: 2022-10-25
Filing date: 2022-12-01
Publication date: 2024-05-02
Also published as: CN115744744A

Abstract

An automated guided tray-carrying transport vehicle, comprising a body vehicle (1), a detachable vehicle (2), and accommodating slots (5) provided at the inner side of the body vehicle (1). The automated guided tray-carrying transport vehicle uses a novel structural design, such that an independent detachable vehicle (2) having a smaller width can be obtained, thereby improving the adaptability of a tray. Moreover, a detachable vehicle lifting/lowering mechanism (7) is used to make the detachable vehicle (2) leave or be in contact with the ground, so as to replace common caster storage and release schemes, such that the use of locking mechanisms is reduced and the structure is simplified; and the detachable vehicle lifting/lowering mechanism (7) enables the detachable vehicle (2) and the body vehicle (1) to be independent, so that when the ground clearance of the body vehicle (1) increases and the ground adaptability is improved, the height of the detachable vehicle (2) does not increase, and accordingly the adaptability of the tray is also improved to a certain extent.

Description

Automatic guided pallet handling transport vehicle

Technical Field

The patent of this invention relates to the technical field of handling and transporting vehicles, specifically an automatically guided pallet handling and transporting vehicle.

Background technique

A transport vehicle is a device used to transport objects. It uses its liftable fork arm to lift the object with the chassis, and then uses the rollers below to drive the object to move synchronously to achieve the purpose of transportation.

In the prior art, a Chinese patent with the authorization announcement number CN216638816U discloses a detection system for the telescopic distance of a lifting assembly on a handling robot, including a main body, a lifting assembly, a first detection module and a control module. A first roller and a first motor are provided on the main body, and the first motor drives the first roller to move the main body. At least one receiving slot is provided on the main body, and a lifting assembly is provided in each receiving slot; the lifting assembly leaves the receiving slot or returns to the main body. The first detection module is a TOF depth sensor, and the first detection module detects the relative distance between the lifting assembly and the main body in the direction in which the lifting assembly moves from the receiving slot; the control module is used to receive feedback from the first detection module to drive the subsequent actions of the main body and/or the lifting assembly. The patent of the present invention replaces the traditional pull-rope sensor with a TOF depth sensor, and the detection result is more accurate and the response speed is faster; it is easy to install and disassemble, and there is no need to consider the shape of the object to be measured, and it has strong environmental adaptability; it has a long service life and low cost...

In the above device, the vehicle body is connected and fixed to the fork arm through a slide rail, but the fork arm and the vehicle body are always in an integrated state and cannot be independent of each other, and the flexibility of the fork arm is extremely limited.

On the other hand, in order to achieve that the fork arm leaves the ground when the body is retracted and touches the ground when it is extended, the above-mentioned prior art designs a fork arm driving wheel assembly with a complex structure, which is difficult to disassemble and repair and is easy to be damaged; at the same time, in the prior art solution, the fork arm is always placed on the frame. When the height of the frame of the body from the ground needs to be increased to improve the ground adaptability of the transport vehicle, the height of the bottom surface of the fork arm from the ground is also increased, and it is impossible to extend into a pallet with a low insertion hole height, which also reduces the adaptability of the pallet;

Finally, the above device uses four fixed mobile universal wheels and two driving wheels with a certain amount of floating, and floating is mainly achieved through springs and linear guides. The principle is: when the driving wheel passes through a protrusion or a pit, the spring contracts or rebounds respectively, so that the driving wheel can obtain sufficient positive pressure and thus obtain sufficient friction. However, when carrying a heavy load of goods, if the ground on which the driving wheel is located is lower than the ground where the four mobile universal wheels contact, although the spring rebound can ensure that the driving wheel contacts a slightly lower ground, the positive pressure provided by the spring elastic force is not enough to provide the friction required for the transport vehicle to carry a heavy load and walk, and it is easy to slip.

Summary of the invention

The purpose of the present invention is to provide an automatic guided pallet transport vehicle to solve the problem in the above-mentioned background technology that the fork arm cannot be freely raised or lowered or move independently and is prone to slipping when loaded with a large load.

To achieve the above purpose, the present invention provides the following technical solutions: an automatic guide tray moving

Transport vehicles, including: main vehicle, split vehicle;

The vehicle body comprises: a vehicle body, accommodating grooves arranged in parallel on the left and right sides of the vehicle body, a ground-lifting mechanism fixedly installed at the rear of the vehicle body, a vehicle body driving wheel assembly and a movable universal wheel;

The split vehicle comprises: a lifting mechanism, a split vehicle driving wheel assembly and a lifting plate;

The split car is located in the receiving groove of the main car, and there may be one or two split cars;

The lifting mechanism is used to lift and lower the split vehicle.

Preferably, the lift-off mechanism comprises: a synchronous pulley, a photoelectric baffle, a photoelectric switch, a rocker shaft, a lift-off shaft, a lift-off bearing, a movable rocker and a mounting base.

Preferably, the synchronous pulley can be an ordinary pulley, gear or other transmission structure. The rocker arm shaft rotates under the action of the synchronous pulley, and the photoelectric baffle fixed on the rocker arm shaft and the movable rocker arm also rotate. When the photoelectric baffle blocks the photoelectric switch, it detects that a signal is received that the split vehicle needs to be lifted or lowered.

Preferably, the main vehicle driving wheel assembly is used to drive the main vehicle or the transport vehicle as a whole, including: a driving swing arm assembly and a floating universal wheel. The floating universal wheel is installed at the tail of the main vehicle, and the driving swing arm assembly is installed at the front end of the main vehicle to assist in improving the ground adaptability of the transport vehicle.

Preferably, the driving swing arm assembly comprises: a swing arm body, a hinge seat, a main vehicle driving wheel assembly, a front spring and a rear spring. When the main vehicle driving wheel assembly passes through a bumpy road section, the swing arm body will swing around the hinge seat.

Preferably, the lifting mechanism is used to lift the pallet, and the split vehicle driving wheel assembly is used to drive the split vehicle into or out of the receiving slot of the main vehicle to transport the pallet.

Preferably, the main vehicle and the split vehicle have a combined state and a separated state. When the split vehicle is placed in two hollowed-out receiving grooves on the body of the main vehicle and lifted up and suspended in the air by the lifting mechanism, the split vehicle is connected and combined with the main vehicle through the lifting mechanism and can move synchronously.

The lifting mechanism puts down the split car, and the two are separated. When the split car can freely drive away from the main car accommodating groove, the split car and the main car move independently and are completely separated.

Preferably, when the lifting mechanism lifts the split vehicle, the ground clearance height of the bottom surface of the split vehicle may not follow the change of the ground clearance height of the bottom surface of the main vehicle, and the two are independent of each other.

Preferably, the split vehicle and the main vehicle are not connected via a slide rail.

Preferably, the bottom of the accommodating groove is hollowed out, and one or more guide blocks can be selectively provided on the inner side walls of the accommodating groove on the left and right sides, and the guide blocks can be used to guide the split vehicle when it enters and exits the accommodating groove.

Compared with the prior art, the beneficial effects of the present invention are as follows: the automatic guided pallet handling transport vehicle adopts a new structural design, which can obtain an independent and smaller width split vehicle, thereby improving the adaptability of the pallet, and the split vehicle is separated from or in contact with the ground through the lifting mechanism, replacing the common fork arm caster retraction scheme, reducing the use of the fork arm locking mechanism, and the structure is more simplified. The lifting mechanism makes the split vehicle and the main vehicle independent, while increasing the height of the main vehicle from the ground and improving the ground adaptability, the height of the split vehicle will not increase accordingly, which also improves the adaptability of the pallet to a certain extent. The specific contents are as follows:

1. The accommodating groove, the guide block, the split vehicle and the split vehicle driving wheel assembly are used in coordination. The rotation of the split vehicle driving wheel assembly drives the split vehicle to move forward and backward inside the accommodating groove, thereby realizing the separation and merging of the split vehicle and the main vehicle. In this process, the guide block is used to limit the left and right positions of the split vehicle, thereby achieving the purpose of preventing deviation, and the setting of the guide block can reduce the overall width of the split vehicle.

2. The lifting mechanism and the split car are used in coordination, and the synchronous pulley in the lifting mechanism is used to drive the movable rocker arm to rotate through the rocker arm shaft, so that the lifting shaft rotates and contacts the lifting plate at the rear of the split car to lift the split car, thereby realizing the free up and down movement of the split car inside the main car to achieve passability.

3. The coordinated use of various components in the driving swing arm assembly, when encountering an uneven road surface, the main vehicle driving wheel assembly moves downward under the action of gravity and spring extrusion force and drives the swing arm body to rotate around the hinge seat, so that the main vehicle driving wheel assembly can quickly contact the concave ground and restore grip, ultimately achieving the purpose of improving the overall movement stability and passability of the device.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of a three-dimensional main structure of a main vehicle and a split vehicle in a combined state of the present invention;

FIG2 is a schematic diagram of the front view of the main body vehicle of the present invention;

FIG3 is a schematic diagram of a partial cross-sectional structure of a main vehicle of the present invention from a top view;

FIG4 is a schematic diagram of the three-dimensional front view structure of the lifting mechanism of the present invention;

FIG5 is a schematic diagram of the side cross-sectional structure of the main vehicle of the present invention;

FIG6 is a schematic diagram of the side view of the driving swing arm assembly of the present invention;

FIG7 is a schematic diagram of a three-dimensional front view of the structure of the main vehicle and the split vehicle of the present invention in a separated state;

FIG8 is a schematic diagram of the three-dimensional main structure of the split vehicle of the present invention.

In the figure: 1, main vehicle; 2, split vehicle; 201, lifting plate; 3, movable universal wheel; 4, split vehicle driving wheel assembly; 5, accommodating groove; 6, guide block; 7, lift-off mechanism; 701, mounting base; 702, synchronous pulley; 703, rocker shaft; 704, movable rocker; 705, lift-off shaft; 706, lift-off bearing; 707, photoelectric baffle; 708, photoelectric switch; 8, floating universal wheel; 9, driving swing arm assembly; 901, swing arm body; 902, hinge seat; 903, front spring; 904, rear spring; 905, main vehicle driving wheel assembly.

Detailed ways

The following will be combined with the drawings in the embodiments of the patent of the present invention to clearly and completely describe the technical solutions in the embodiments of the patent of the present invention. Obviously, the described embodiments are only part of the embodiments of the patent of the present invention, not all of them. Based on the embodiments in the patent of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the patent of the present invention.

Please refer to Figures 1 to 8. The patent of the present invention provides a technical solution: an automatic guided pallet handling and transporting vehicle, comprising: a main vehicle 1 and a split vehicle 2; the main vehicle 1 comprises: a body, a receiving groove 5 arranged parallel to the left and right sides of the body, a lift-off mechanism 7 fixedly installed at the rear of the body, a main vehicle driving wheel assembly 905 and a movable universal wheel 3; the split vehicle 2 comprises: a lifting mechanism, a split vehicle driving wheel assembly 4 and a lifting plate 201; the split vehicle 2 is located in the receiving groove 5 of the main vehicle 1, and there can be one or two split vehicles 2; the lift-off mechanism 7 is used to lift and lower the split vehicle 2, and the lift-off mechanism 7 comprises: a synchronous pulley 702, a photoelectric baffle 707, a photoelectric switch 708, a swing rod shaft 703, a lift-off shaft 705, a lift-off bearing 706, a movable swing rod 704 and a mounting base 701, the synchronous pulley 702 can be an ordinary pulley, a gear or other transmission structure, the swing rod shaft 703 rotates under the action of the synchronous pulley 702, and is fixed on the swing rod shaft 703 The photoelectric baffle 707 and the movable swing arm 704 on the main body rotate at the same time. When the photoelectric baffle 707 blocks the photoelectric switch 708, the detection receives a signal that the split vehicle 2 needs to be lifted or lowered. The floating universal wheel 8 is installed at the tail of the main vehicle 1. The driving swing arm assembly 9 is installed at the front end of the main vehicle 1 to assist in improving the ground adaptability of the transport vehicle. The driving swing arm assembly 9 includes: a swing arm body 901, a hinge seat 902, a main vehicle driving wheel assembly 905, a front spring 903 and a rear spring 904. When the main vehicle driving wheel assembly 905 passes through a bumpy section, the swing arm body 901 will swing around the hinge seat 902. The lifting mechanism is used to lift the pallet, and the split vehicle driving wheel assembly 4 is used to drive the split vehicle 2 to enter or exit the accommodating groove 5 of the main vehicle 1 to carry the pallet. There is a combined state and a separated state between the main vehicle 1 and the split vehicle 2. The split vehicle 2 is placed in two accommodating grooves 5 hollowed out on the body of the main vehicle 1 and is lifted by the ground lifting mechanism 7 When the split car 2 is suspended in the air, it is connected and combined with the main car 1 through the lifting mechanism 7, and can move synchronously; when the lifting mechanism 7 puts down the split car 2, the two are separated, and the split car 2 can freely drive away from the receiving groove 5 of the main car 1, the split car 2 and the main car 1 move independently and are completely separated. When the lifting mechanism 7 lifts the split car 2, the ground clearance of the bottom surface of the split car 2 may not follow the change of the ground clearance of the bottom surface of the main car 1. The two are independent of each other, and the bottom of the receiving groove 5 is hollowed out. One or more guide blocks 6 can be selectively provided on the inner side walls of the receiving groove 5 on the left and right sides. The guide blocks 6 can be used to guide the split car 2 when it enters and exits the receiving groove 5;

The working process of the transport vehicle loading the pallet is as follows: the split vehicle 2 and the main vehicle 1 are in a combined state, and the main vehicle driving wheel assembly 905 drives the transport vehicle to travel to the front of the pallet; then, the lift-off mechanism 7 detects a signal that the split vehicle 2 needs to be put down, and the lift-off mechanism 7 puts the split vehicle 2 on the ground, and the split vehicle driving wheel assembly 4 drives the left and right split vehicles 2 to travel horizontally out of the accommodating groove 5, locate and travel horizontally into the bottom hole of the pallet, and its lifting mechanism lifts the pallet to a height exceeding the height of the main vehicle 1. At this time, the main vehicle 1 and the split vehicle 2 are in a separated state; then, the left and right split vehicles 2 lift the pallet and drive into the accommodating groove 5 by themselves, or the main vehicle 1 actively drives under the pallet to make the split vehicle 2 enter the accommodating groove 5. After the split vehicle 2 completely enters the accommodating groove 5, the lifting mechanism of the split vehicle 2 lowers the pallet height and places the pallet on the main vehicle 1, and the lift-off mechanism 7 detects and receives a signal that the split vehicle 2 needs to be lifted, and the split vehicle 2 is lifted and fixed by the lift-off mechanism 7. At this time, the split vehicle 2 and the main vehicle 1 return to the combined state.

The working process of the transport vehicle unloading the pallet is as follows: the split vehicle 2 and the main vehicle 1 are in a combined state, and the lift mechanism 7 detects a signal that the split vehicle 2 needs to be put down. The lift mechanism 7 puts the split vehicle 2 on the ground and disconnects it. The lifting mechanism of the split vehicle 2 lifts the pallet to make it separate from the upper surface of the main vehicle 1; then, the split vehicle 2 drives out of the storage tank 5 and transports the pallet to the designated position by itself. The lifting mechanism lowers the lifting height and places the pallet on the ground. At this time, the split vehicle 2 and the main vehicle 1 are in a separated state. Finally, the split vehicle 2 drives into the storage tank 5 by itself, or the main vehicle 1 actively searches for the split vehicle 2 to enter the storage tank 5. After the split vehicle 2 completely enters the storage tank 5, the lift mechanism 7 detects and receives a signal that the split vehicle 2 needs to be lifted. The split vehicle 2 is lifted and fixed by the lift mechanism 7 again, and the split vehicle 2 and the main vehicle 1 return to the combined state.

In addition to the lift-off mechanism 7, no other connection device is provided between the split vehicle 2 and the main vehicle 1, and the two can be completely separated, so that the split vehicle 2 and the main vehicle 1 can independently perform horizontal movements, which is very flexible, especially in the process of unloading pallets; the holding force required by the split vehicle drive wheel assembly 4 during transportation is also greatly reduced, and the life of the wheel assembly is improved. At the same time, the setting of the lift-off mechanism 7 simplifies the structure of its drive wheel assembly; the height of the bottom surface of the split vehicle 2 from the ground is relatively independent of the height of the bottom surface of the main vehicle 1 from the ground, so that the split vehicle 2 can adapt to pallets with lower heights.

In the description of the present invention, unless otherwise specified, "multiple" means two or more than two; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

An automatic guided pallet handling and transporting vehicle, comprising: a main vehicle and a split vehicle;

The vehicle body comprises: a vehicle body, accommodating grooves arranged in parallel on the left and right sides of the vehicle body, a ground-lifting mechanism fixedly installed on the vehicle body, a vehicle body driving wheel assembly and a movable universal wheel;

The split vehicle comprises: a lifting mechanism, a split vehicle driving wheel assembly and a lifting plate;

The split vehicle can be placed in the receiving slot of the main vehicle, and there can be one or two split vehicles;

The lifting mechanism is used to lift and lower the split vehicle.
The automatic guided pallet handling and transport vehicle according to claim 1 is characterized in that the lift-off mechanism includes: a synchronous pulley, a photoelectric baffle, a photoelectric switch, a rocker shaft, a lift-off shaft, a lift-off bearing, a movable rocker and a mounting base.
According to claim 2, an automatic guided pallet handling and transport vehicle is characterized in that: the synchronous pulley can be an ordinary pulley, a gear or other transmission structure, the rocker arm shaft rotates under the action of the synchronous pulley, and the photoelectric baffle fixed on the rocker arm shaft and the movable rocker arm also rotate, and when the photoelectric baffle blocks the photoelectric switch, it detects that a signal that the split vehicle needs to be lifted or lowered is received.
An automatic guided pallet handling transport vehicle according to claim 1 is characterized in that: the main vehicle driving wheel assembly is used to drive the main vehicle or the transport vehicle as a whole, including: a driving swing arm assembly and a floating universal wheel, the floating universal wheel is installed at the tail of the main vehicle, and the driving swing arm assembly is installed at the front end of the main vehicle to assist in improving the ground adaptability of the transport vehicle.
According to the automatic guided pallet handling and transport vehicle according to claim 4, it is characterized in that the driving swing arm assembly includes: a swing arm body, a hinge seat, a main vehicle driving wheel assembly, a front spring and a rear spring, and when the main vehicle driving wheel assembly passes through a bumpy road section, the swing arm body will swing around the hinge seat.
According to the automatic guided pallet handling and transport vehicle according to claim 1, it is characterized in that the lifting mechanism is used to lift the pallet, and the split vehicle driving wheel assembly is used to drive the split vehicle into or out of the accommodating slot of the main vehicle to transport the pallet.
According to any one of claims 1 to 3, an automatic guided pallet handling transport vehicle is characterized in that: the main vehicle and the split vehicle exist in a combined state and a separated state, and when the split vehicle is placed in two hollowed-out receiving grooves on the body of the main vehicle and is lifted up and suspended in the air by the lifting mechanism, the split vehicle is connected and combined with the main vehicle through the lifting mechanism, and can move synchronously;

The lifting mechanism puts down the split car, and the two are separated. When the split car can freely drive away from the main car accommodating groove, the split car and the main car move independently and are completely separated.
An automatic guided pallet handling and transport vehicle according to any one of claims 1 to 3, characterized in that the split vehicle and the main vehicle are not connected by a slide rail.
According to an automatic guided pallet handling transport vehicle according to any one of claims 1-3 and 7, it is characterized in that when the lifting mechanism lifts the split vehicle, the ground clearance height of the bottom surface of the split vehicle may not follow the change of the ground clearance height of the bottom surface of the main vehicle, and the two are independent of each other.
An automatic guided pallet handling transport vehicle according to any one of claims 1-8, characterized in that: the bottom of the receiving groove is hollowed out, and one or more guide blocks can be selectively provided on the inner side walls of the receiving groove on the left and right sides, and the guide blocks can be used to guide the split vehicle when entering and exiting the receiving groove.