CN107364809A - A kind of storage robot fork truck of storage rack - Google Patents
A kind of storage robot fork truck of storage rack Download PDFInfo
- Publication number
- CN107364809A CN107364809A CN201710857404.6A CN201710857404A CN107364809A CN 107364809 A CN107364809 A CN 107364809A CN 201710857404 A CN201710857404 A CN 201710857404A CN 107364809 A CN107364809 A CN 107364809A
- Authority
- CN
- China
- Prior art keywords
- fixed frame
- cabinet
- fork truck
- shovel arm
- storage
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Classifications
-
- 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
-
- 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
-
- 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
- B66F9/0755—Position control; Position detectors
-
- 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
- B66F9/24—Electrical devices or systems
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a kind of storage robot fork truck of storage rack, including cabinet, shovel arm, driving wheel is provided with below the cabinet, the cabinet two sides are provided with infrared distance-sensor, the cabinet front end is provided with outer fixed frame, the outer fixed frame lower front end both sides are provided with sheer pole, driven pulley is provided with below the sheer pole, the outer fixed frame is internally provided with interior fixed frame, hydraulic pressure support bar is provided among the interior fixed frame, fixed mount is provided with the top of the hydraulic pressure support bar, the fixed mount is provided at both ends with sprocket wheel, coiling has driving-chain on the sprocket wheel, the hydraulic pressure support bar bottom is provided with base, the interior fixed frame front end is provided with rear baffle, rear baffle front end both sides are each provided with a shovel arm.Beneficial effect is：The position of goods can be automatically determined and carry out automatic transporting and pick and place goods, without manual operation, speed is fast, and generation error probability is low, longevity of service, reduces manpower consumption, convenient use.
Description
Technical field
The present invention relates to cargo handling equipment technical field, is pitched more particularly to a kind of storage robot of storage rack
Car.
Background technology
In large-scale warehouse because goods is more, it is managed for convenience, deposits difference using storage rack mostly
The goods of species, and specification is carried out to the storage location of goods in stock, carry out grid type planning.Need goods from shelf
Upper taking-up or when goods is placed on shelf, it is necessary to be operated using fork truck, traditional fork truck is all manually to be grasped
Make, manual operation speed is slow, and when workload is larger, worker is worked due to long-time fatigue easily occurs, and then endangers
Danger, to goods and itself may cause to damage, very dangerous.
The content of the invention
The purpose of the present invention is that to solve the above problems and provides a kind of storage robot fork truck of storage rack.
The present invention is achieved through the following technical solutions above-mentioned purpose：
A kind of storage robot fork truck of storage rack, including cabinet, shovel arm, the cabinet lower section are provided with driving wheel,
The cabinet two sides are provided with infrared distance-sensor, and the cabinet front end is provided with outer fixed frame, under the outer fixed frame
Fang Qianduan both sides are provided with sheer pole, are provided with driven pulley below the sheer pole, the outer fixed frame is internally provided with interior solid
Determine frame, hydraulic pressure support bar is provided among the interior fixed frame, fixed mount, the fixation are provided with the top of the hydraulic pressure support bar
Frame is provided at both ends with sprocket wheel, and being coiled on the sprocket wheel has driving-chain, and the hydraulic pressure support bar bottom is provided with base, described interior solid
Determine frame front end and be provided with rear baffle, rear baffle front end both sides are each provided with a shovel arm, the rear baffle outer surface
Contact induction device is provided with, the shovel arm upper surface is provided with pressure monitor, and the shovel arm is internally provided with height sensors.
Further, the cabinet inside is provided with two layers of fixed plate, is provided with battery above the cabinet inside, institute
State and alarm is provided with beside battery, be provided with controller above the battery, the controller upper surface is provided with control
Panel processed, is provided with dual-axle motor in the middle part of the cabinet, and the dual-axle motor is provided at both ends with hoist engine, under the cabinet inside
Side is provided with hydraulic oil container, and hydraulic pump is provided with beside the hydraulic oil container.
Further, motor is provided with below the cabinet inside, the motor is connected by universal drive shaft
Differential mechanism is connected to, the differential mechanism both ends are connected by drive link with two driving wheels.
Further, the infrared distance-sensor is embedded in the case side wall, the infrared distance-sensor with
The controller electrical connection, two sheer pole front ends are again provided with the infrared distance-sensor.
Further, the shovel arm is reverse " Qian " type structure, and the shovel arm can be stuck in above the sheer pole, institute
It is trapezium structure to state shovel arm front end.
Further, the shovel arm is welded as a whole with the rear baffle, and the pressure monitor is embedded in the shovel arm
On, the pressure monitor is connected with the controller by wireless signal.
Further, the outer fixed frame is welded as a whole with the cabinet, and the interior fixed frame, which is slidably connected, to be fixed on
Inside the outer fixed frame, the maximum height of the interior fixed frame is not less than 4 meters.
Further, the tube chamber welds with base is fixed in the enclosure front surface lower end, the hydraulic pressure support bar by screw
On the base, the piston rod of the hydraulic pressure support bar is fixed by screws on the interior fixed frame, and the fixture is embedding
The piston rod part of the hydraulic pressure support bar is enclosed on, the sprocket wheel is fixed on by bearing on the transverse axis of the fixed mount both sides,
The transmission chain plate is wound on the sprocket wheel, and described driving-chain one end is connected with the hoist engine, the driving-chain other end
It is connected with the rear baffle.
Further, the cabinet inside is provided with the locator electrically connected with the controller, and the locator is determined
Position error is less than 0.5 meter.
The beneficial effects of the present invention are：The position of goods can be automatically determined and carry out automatic transporting and pick and place goods,
Without manual operation, speed is fast, and generation error probability is low, longevity of service, reduces manpower consumption, convenient use.
Brief description of the drawings
Fig. 1 is a kind of front view structure sketch of the storage robot fork truck of storage rack of the present invention；
Fig. 2 is a kind of side view structure sketch of the storage robot fork truck of storage rack of the present invention；
Fig. 3 is a kind of cabinet inside structure diagram of the storage robot fork truck of storage rack of the present invention.
Description of reference numerals is as follows：
1st, outer fixed frame；2nd, alarm；3rd, cabinet；4th, driving wheel；5th, infrared distance-sensor；6th, arm is shoveled；7th, pressure is supervised
Survey device；8th, height sensors；9th, interior fixed frame；10th, fixed mount；11st, sprocket wheel；12nd, hydraulic pressure support bar；13rd, driving-chain；14th, after
Baffle plate；15th, contact induction device；16th, sheer pole；17th, base；18th, driven pulley；19th, control panel；20th, controller；21st, electric power storage
Pond；22nd, hoist engine；23rd, hydraulic oil container；24th, motor；25th, differential mechanism；26th, drive link；27th, hydraulic pump；28th, fixed plate；
29th, dual-axle motor；30th, locator.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings：
As shown in Figure 1-Figure 3, the storage robot fork truck of a kind of storage rack, including cabinet 3, shovel arm 6, the cabinet 3
Lower section is provided with driving wheel 4, and the two sides of cabinet 3 are provided with infrared distance-sensor 5, and the front end of cabinet 3 is provided with outer
Fixed frame 1, the outer lower front end both sides of fixed frame 1 are provided with sheer pole 16, and the lower section of sheer pole 16 is provided with driven pulley
18, the outer fixed frame 1 is internally provided with interior fixed frame 9, and hydraulic pressure support bar 12 is provided among the interior fixed frame 9, described
The top of hydraulic pressure support bar 12 is provided with fixed mount 10, and the fixed mount 10 is provided at both ends with sprocket wheel 11, coiled on the sprocket wheel 11
There is driving-chain 13, the bottom of hydraulic pressure support bar 12 is provided with base 17, and the interior front end of fixed frame 9 is provided with rear baffle 14,
The front end both sides of rear baffle 14 are each provided with a shovel arm 6, and the outer surface of rear baffle 14 is provided with contact induction device
15, shovel arm 6 upper surface is provided with pressure monitor 7, and the shovel arm 6 is internally provided with height sensors 8.
In the present embodiment, the cabinet 3 is internally provided with two layers of fixed plate 28, and the inner upper of cabinet 3 is provided with storage
Battery 21, the side of battery 21 are provided with alarm 2, and the top of battery 21 is provided with controller 20, the control
The upper surface of device 20 is provided with control panel 19, and the middle part of cabinet 3 is provided with dual-axle motor 29, and the both ends of dual-axle motor 29 are set
Hoist engine 22 is equipped with, the lower inside of cabinet 3 is provided with hydraulic oil container 23, and the side of hydraulic oil container 23 is provided with hydraulic pump
27。
In the present embodiment, the lower inside of cabinet 3 is provided with motor 24, and the motor 24 passes through universal biography
Moving axis is connected with differential mechanism 25, and the both ends of differential mechanism 25 are connected by drive link 26 with two driving wheels 4.
In the present embodiment, the infrared distance-sensor 5 is embedded in the side wall of cabinet 3, and the infrared distance perspective should
Device 5 electrically connects with the controller 20, and two front ends of sheer pole 16 are again provided with the infrared distance-sensor 5.
In the present embodiment, the shovel arm 6 is reverse " Qian " type structure, and the shovel arm 6 can be stuck in the sheer pole 16
Top, shovel arm 6 front end is trapezium structure.
In the present embodiment, the shovel arm 6 is welded as a whole with the rear baffle 14, and the pressure monitor 7 is embedded in institute
State on shovel arm 6, the pressure monitor 7 is connected with the controller 20 by wireless signal.
In the present embodiment, the outer fixed frame 1 is welded as a whole with the cabinet 3, and the interior fixed frame 9 is slidably connected solid
It is scheduled on inside the outer fixed frame 1, the maximum height of the interior fixed frame 9 is not less than 4 meters.
In the present embodiment, the base 17 is welded on the lower front surface of cabinet 3, and the hydraulic pressure support bar 12 passes through spiral shell
Nail is fixed on the base 17, and the piston rod of the hydraulic pressure support bar 12 is fixed by screws on the interior fixed frame 9, institute
The piston rod part that fixture is nested in the hydraulic pressure support bar 12 is stated, the sprocket wheel 11 is fixed on the fixed mount by bearing
On the transverse axis of 10 both sides, the driving-chain 13 is coiled on the sprocket wheel 11, described one end of driving-chain 13 and the hoist engine 22
It is connected, the other end of driving-chain 13 is connected with the rear baffle 14.
In the present embodiment, the cabinet 3 is internally provided with the locator 30 electrically connected with the controller 20, the positioning
The position error of device 30 is less than 0.5 meter.
The present invention concrete operating principle be：The electronics for the goods deposited on each shelf is stored in the controller 20
Information, when needing to take some goods, after staff sends instruction using wireless signal to the controller 20, the control
Device 20 controls the motor 24 to start, and the rotation of driving wheel 4 is so as to electrical forklift movement position described in the startup motor driven
Put, positioning can accurately be realized by the locator 30, when the infrared distance-sensor 5 is used for sensing fork truck traveling away from
From with a distance from the barrier of front and both sides, avoid crashing, it is described after fork truck is moved in front of the shelf specified
Dual-axle motor 29, which starts, drives the hoist engine 22 to wind the driving-chain 13, so as to drive the shovel arm 6 to be lifted to suitably
Highly, then fork truck continues to cause the shovel arm 6 to insert in the shelf below goods forward, when goods touches the contact sense
After answering device 15, the contact induction device 15 sends signal to the controller 20, and the controller 20 controls fork truck to stop movement,
The dual-axle motor 29 drives the shovel arm 6 to continue the certain height of lifting and lifts goods simultaneously, is then moved after fork truck, works as institute
State shovel arm 6 completely out of shelf come out after, the dual-axle motor 29 rotate backward cause it is described shovel the uniform descent of arm 6 finally fall
On the sheer pole 16, then the controller 20 controls fork truck to be moved to and is appointed as position completion unloading work.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, the original for simply illustrating the present invention described in above-described embodiment and specification
Reason, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its Xiao Wu circle
It is fixed.
Claims (9)
- A kind of 1. storage robot fork truck of storage rack, it is characterised in that：Including cabinet, shovel arm, set below the cabinet There is driving wheel, the cabinet two sides are provided with infrared distance-sensor, and the cabinet front end is provided with outer fixed frame, described outer Fixed frame lower front end both sides are provided with sheer pole, are provided with driven pulley below the sheer pole, are set inside the outer fixed frame Interior fixed frame is equipped with, hydraulic pressure support bar is provided among the interior fixed frame, fixed mount is provided with the top of the hydraulic pressure support bar, The fixed mount is provided at both ends with sprocket wheel, and being coiled on the sprocket wheel has driving-chain, and the hydraulic pressure support bar bottom is provided with base, The interior fixed frame front end is provided with rear baffle, and rear baffle front end both sides are each provided with a shovel arm, kept off after described Plate outer surface is provided with contact induction device, and the shovel arm upper surface is provided with pressure monitor, and the shovel arm is internally provided with height Spend inductor.
- A kind of 2. storage robot fork truck of storage rack according to claim 1, it is characterised in that：The cabinet inside Two layers of fixed plate is provided with, battery is provided with above the cabinet inside, alarm is provided with beside the battery, it is described Controller is provided with above battery, the controller upper surface is provided with control panel, twin shaft is provided with the middle part of the cabinet Motor, the dual-axle motor are provided at both ends with hoist engine, hydraulic oil container, the hydraulic oil container are provided with below the cabinet inside Side is provided with hydraulic pump.
- A kind of 3. storage robot fork truck of storage rack according to claim 1, it is characterised in that：The cabinet inside Lower section is provided with motor, and the motor is connected with differential mechanism by universal drive shaft, and the differential mechanism both ends pass through Drive link is connected with two driving wheels.
- A kind of 4. storage robot fork truck of storage rack according to claim 1 or 2, it is characterised in that：It is described infrared Distance-sensor is embedded in the case side wall, and the infrared distance-sensor electrically connects with the controller, described in two Sheer pole front end is again provided with the infrared distance-sensor.
- A kind of 5. storage robot fork truck of storage rack according to claim 1, it is characterised in that：The shovel arm is top " Qian " type structure, the shovel arm can be stuck in above the sheer pole, and the shovel arm front end is trapezium structure.
- A kind of 6. storage robot fork truck of storage rack according to claim 1 or 2, it is characterised in that：The shovel arm It is welded as a whole with the rear baffle, the pressure monitor is embedded on the shovel arm, the pressure monitor and the control Device processed is connected by wireless signal.
- A kind of 7. storage robot fork truck of storage rack according to claim 1, it is characterised in that：The outer fixed frame It is welded as a whole with the cabinet, the interior fixed frame, which is slidably connected, to be fixed on inside the outer fixed frame, the interior fixed frame Maximum height be not less than 4 meters.
- A kind of 8. storage robot fork truck of storage rack according to claim 1 or 2, it is characterised in that：The base The enclosure front surface lower end is welded on, the hydraulic pressure support bar is fixed by screws on the base, the hydraulic pressure support The piston rod of bar is fixed by screws on the interior fixed frame, and the fixture is nested in the piston rod of the hydraulic pressure support bar Top, the sprocket wheel are fixed on by bearing on the transverse axis of the fixed mount both sides, and the transmission chain plate is wound on the sprocket wheel, Described driving-chain one end is connected with the hoist engine, and the driving-chain other end is connected with the rear baffle.
- A kind of 9. storage robot fork truck of storage rack according to claim 1 or 2, it is characterised in that：The cabinet The locator electrically connected with the controller is internally provided with, the position error of the locator is less than 0.5 meter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710857404.6A CN107364809A (en) | 2017-09-21 | 2017-09-21 | A kind of storage robot fork truck of storage rack |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710857404.6A CN107364809A (en) | 2017-09-21 | 2017-09-21 | A kind of storage robot fork truck of storage rack |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107364809A true CN107364809A (en) | 2017-11-21 |
Family
ID=60302977
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710857404.6A Pending CN107364809A (en) | 2017-09-21 | 2017-09-21 | A kind of storage robot fork truck of storage rack |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107364809A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109264637A (en) * | 2018-09-12 | 2019-01-25 | 刘道灵 | A kind of unattended fork truck for intelligence manufacture workshop |
| CN109319696A (en) * | 2018-10-24 | 2019-02-12 | 徐雪娇 | Pallet fork structure before a kind of fork truck |
| CN110577170A (en) * | 2019-09-24 | 2019-12-17 | 上海木蚁机器人科技有限公司 | Pull formula electric fork truck |
| CN111591927A (en) * | 2020-05-18 | 2020-08-28 | 项卫锋 | High-safety multi-steering lateral-movement AGV fork truck |
| EP4239430A1 (en) | 2019-10-09 | 2023-09-06 | MetraLabs GmbH Neue Technologien und Systeme | Autonomous industrial truck |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR0153710B1 (en) * | 1995-07-14 | 1999-02-18 | 안병주 | Small fork liftcar |
| CN202116246U (en) * | 2011-06-27 | 2012-01-18 | 赵帮建 | Light electric forklift |
| CN205527577U (en) * | 2016-04-05 | 2016-08-31 | 苏州罗伯特木牛流马物流技术有限公司 | Walk transport vechicle by oneself with automatic positioning system |
| CN106429995A (en) * | 2016-12-16 | 2017-02-22 | 宁波力达物流设备有限公司 | Fork lowering device and fork descent method of electric forklift |
-
2017
- 2017-09-21 CN CN201710857404.6A patent/CN107364809A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR0153710B1 (en) * | 1995-07-14 | 1999-02-18 | 안병주 | Small fork liftcar |
| CN202116246U (en) * | 2011-06-27 | 2012-01-18 | 赵帮建 | Light electric forklift |
| CN205527577U (en) * | 2016-04-05 | 2016-08-31 | 苏州罗伯特木牛流马物流技术有限公司 | Walk transport vechicle by oneself with automatic positioning system |
| CN106429995A (en) * | 2016-12-16 | 2017-02-22 | 宁波力达物流设备有限公司 | Fork lowering device and fork descent method of electric forklift |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109264637A (en) * | 2018-09-12 | 2019-01-25 | 刘道灵 | A kind of unattended fork truck for intelligence manufacture workshop |
| CN109319696A (en) * | 2018-10-24 | 2019-02-12 | 徐雪娇 | Pallet fork structure before a kind of fork truck |
| CN109319696B (en) * | 2018-10-24 | 2020-05-15 | 徐雪娇 | Fork truck front fork structure |
| CN110577170A (en) * | 2019-09-24 | 2019-12-17 | 上海木蚁机器人科技有限公司 | Pull formula electric fork truck |
| EP4239430A1 (en) | 2019-10-09 | 2023-09-06 | MetraLabs GmbH Neue Technologien und Systeme | Autonomous industrial truck |
| EP4249421A2 (en) | 2019-10-09 | 2023-09-27 | MetraLabs GmbH Neue Technologien und Systeme | Autonomous industrial truck |
| CN111591927A (en) * | 2020-05-18 | 2020-08-28 | 项卫锋 | High-safety multi-steering lateral-movement AGV fork truck |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171121 |