CN108910768A - A kind of intelligence forks backpack automatic guided vehicle control method - Google Patents
A kind of intelligence forks backpack automatic guided vehicle control method Download PDFInfo
- Publication number
- CN108910768A CN108910768A CN201810741090.8A CN201810741090A CN108910768A CN 108910768 A CN108910768 A CN 108910768A CN 201810741090 A CN201810741090 A CN 201810741090A CN 108910768 A CN108910768 A CN 108910768A
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- China
- Prior art keywords
- power wheel
- mounting rack
- carrier
- frame
- power
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- 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
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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
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
-
- 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
- B66F9/07572—Propulsion arrangements
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- 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)
- Warehouses Or Storage Devices (AREA)
Abstract
The present invention relates to a kind of intelligence to fork backpack automatic guided vehicle control method, including carrier, carrier includes vehicle frame, mounting rack, plate, power mechanism and controller, power mechanism is mounted on the bottom surface of vehicle frame, power mechanism includes the Power Component of power wheel and driving power wheel rotation, power wheel is mounted on power wheel mounting rack, and power wheel mounting rack is mounted on the bottom surface of vehicle frame by rotary components；Steps are as follows：1）When transporting goods, controller control power wheel movement drives carrier to move to along the aisle of factory at picking object；2）Plate decline, mounting rack are moved along the slideway of level frame towards the direction to picking object, and plate is driven to fork cargo；3）Mounting rack is moved along the slideway of level frame to far from the direction to picking object；4）Controller control power wheel movement drives carrier to move to discharge location.The present invention can be improved factory and can utilize space and remove cost of labor.
Description
Technical field
The present invention relates to a kind of intelligence to fork backpack automatic guided vehicle control method.
Background technique
When transporting goods in factory, carrier is typically driven along the aisle in factory to goods by driver
At object, then driver operates carrier and turns to, and after cargo is placed into the plate of carrier, driver operates carrier and turns again
To along the aisle in factory by cargo transport to specified place.
The form arranged for cargo along aisle：Since carrier needs to turn to, the aisle in factory needs to set
The length and width for being wider than carrier of meter, so that the limited factory in script space, occupies a large amount of space by aisle.
The form stacked for cargo consolidation：At least need there are biggish spaces at cargo stacking to turn for carrier
To.Therefore, the problem big there is also occupied space.
Summary of the invention
The technical problem to be solved by the present invention is to：There is provided one kind can be improved factory can be using space and removing cost of labor
Intelligence fork backpack automatic guided vehicle control method.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is that：
A kind of intelligence forks backpack automatic guided vehicle control method, including carrier, and the carrier includes vehicle frame, installation
Frame, plate, power mechanism and controller, vehicle frame include the level frame that working side is arranged in, and are provided with level on the level frame
Slideway；Mounting rack is vertically arranged and is mounted on the slideway of level frame, and plate can be mounted on mounting rack to vertical sliding；It is dynamic
Force mechanisms are mounted on the bottom surface of vehicle frame, and the power mechanism includes the Power Component of power wheel and driving power wheel rotation, institute
It states power wheel to be mounted on power wheel mounting rack, the power wheel mounting rack is mounted on the bottom surface of vehicle frame by rotary components；
Steps are as follows：
1）When transporting goods, controller control power wheel movement drives carrier to move to along the aisle of factory to picking object
Place；
2）Plate decline, mounting rack, which is moved along the slideway of level frame towards the direction to picking object, drives plate to fork cargo；
3）Mounting rack is moved along the slideway of level frame to far from the direction to picking object；
4）Controller control power wheel movement drives carrier to move to discharge location.
Preferably, step 1）—4）In, when if desired turning, power wheel stops, and rotary components rotation drives power wheel peace
It shelves and is rotated by 90 °, power wheel continues to move, so that carrier continues to travel perpendicular to pre-track.
Preferably, carrier further includes the universal wheel being mounted on the bottom surface of vehicle frame.
Preferably, carrier further includes the magnetic inductor being mounted on the bottom surface of vehicle frame, and magnetic inductor matches hop controller control
Carrier traveling processed.
Preferably, carrier further includes the camera being mounted on the bottom surface of vehicle frame, and camera is removed with hop controller control
Transport vehicle traveling.
Preferably, the mounting rack can driving mechanism driving lower edge level frame move horizontally, the driving mechanism
Power packages including the rotation of sprocket shaft, the sprocket wheel being mounted on sprocket shaft, the chain being mounted on sprocket wheel and drive chain wheel shaft
Part.
Preferably, step 3）In, plate moves down the upper surface lower than level frame, and cargo is placed on the upper of level frame
On surface.
The advantage of the invention is that：By the way that power wheel is arranged, carrier automatically walk and steering are driven, does not need manually to drive
It sails, has saved cost of labor.Carrier vehicle body during steering does not rotate, power wheel rotation, without in factory
Aisle on for carrier setting turn to space, further decrease the area in aisle.
Detailed description of the invention
Fig. 1 is the perspective view that a kind of intelligence of the embodiment of the present invention forks backpack automatic guided vehicle；
Fig. 2 is the side view that a kind of intelligence of the embodiment of the present invention forks backpack automatic guided vehicle；
The partial enlarged view of Fig. 3 Fig. 2；
Fig. 4 is the structural schematic diagram for the power mechanism that a kind of intelligence of the embodiment of the present invention forks backpack automatic guided vehicle；
Fig. 5 is the installation perspective view of power wheel of the embodiment of the present invention；
Fig. 6 is the installation bottom view of power wheel of the embodiment of the present invention；
Fig. 7 is the installation side view of power wheel of the embodiment of the present invention.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.Many details are explained in the following description in order to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case where violating intension of the present invention, therefore the present invention is not limited by the specific embodiments disclosed below.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
As shown in figs. 1-7, the carrier of the present embodiment includes vehicle frame 10, mounting rack 20, plate and power mechanism, vehicle frame 10
Level frame 12 including working side is arranged in is provided with horizontal slideway on level frame 12；Mounting rack 20 is vertically arranged and installs
On the slideway of level frame 12, and can driving mechanism driving lower edge level frame 12 move horizontally, driving mechanism includes chain
The power that wheel shaft 44, the sprocket wheel 46 being mounted on sprocket shaft, the chain 42 being mounted on sprocket wheel and drive chain wheel shaft 44 rotate
Component；Plate can be mounted on to vertical sliding on mounting rack 20；Power mechanism is mounted on the bottom surface of vehicle frame 10, power mechanism packet
It includes power wheel 92 and drives the Power Component of power wheel rotation, power wheel 92 is mounted on power wheel mounting rack, power wheel installation
Frame is mounted on the bottom surface of vehicle frame 10 by rotary components 50.
Preferably, the carrier of the present embodiment further includes the universal wheel being mounted on the bottom surface of vehicle frame 10.Preferably, this reality
The carrier for applying example further includes the camera and/or magnetic inductor being mounted on the bottom surface of vehicle frame 10, for matching hop controller control
Carrier processed is travelled along desired guiding trajectory.Preferably, the carrier of the present embodiment further includes the card reader being mounted on vehicle frame 10.
Preferably, the carrier of the present embodiment further includes the connecting plate being mounted on the bottom surface of vehicle frame 10 by fastener
61, the lower section of connecting plate 61 has mounting plate 63, and power wheel 92 is mounted on the bottom surface of mounting plate 63 and is driven by power mechanism, pacifies
Being provided between loading board 63 and connecting plate 61 can be to the elastic device 66 of the downward pressure of mounting plate 63；The inner end of mounting plate 63
Mounting plate mounting portion 64 is constituted, mounting plate mounting portion 64 is mounted in shaft 70, and shaft 70 is installed in rotation on attachment base 80
On, attachment base 80 is mounted on the bottom surface of vehicle frame by fastener.Connecting plate mounting hole 62 is arranged on connecting plate 61.
Preferably, elastic device 66 is spring, and the quantity of spring has multiple.
Preferably, power wheel 92 is mounted on power wheel mounting rack, and power wheel mounting rack is mounted on by rotary components 50
On the bottom surface of mounting plate 63.Preferably, power wheel 92 is by the motor drive that is mounted on 63 bottom surface of mounting plate.Preferably, pacify
Loading board mounting portion 64 is mounted in shaft 70 by middle connecting plate 65.Preferably, there is attachment base 80 vertical attachment base to pacify
Dress portion 82 is provided with horizontal mounting hole on attachment base mounting portion 82.Preferably, above and below 63 outer end of mounting plate respectively
It is provided with limit plate, two limit plate intervals are symmetrical arranged, and composition is living for the outer end of mounting plate 63 between two limit plates
Dynamic behaviour area.Preferably, the carrier of the present embodiment further includes the encoder that angle is rotated for recording power wheel 92.
Preferably, level frame 12 includes interval and two of transverse symmetrical arrangement, on the opposite side of two level frames 12
It is provided with slideway, forms behaviour area 14 between two level frames 12, mounting rack 20 is located in behaviour area 14 and can be in behaviour area 14
In moved horizontally along level frame 12.Preferably, the upper surface of level frame 12 is horizontal placed side.
Preferably, plate includes plate mounting plate 32 and the plate level board 34 that working side is arranged in, plate mounting plate 32
It can be mounted on to vertical sliding on mounting rack 20.Preferably, plate mounting plate 32 is by chain-driving along about 20 mounting rack
It is mobile.Preferably, plate includes two of interval and transverse symmetrical arrangement, and two plates are connected as one by middle brace rod 36
Body.Preferably, the transverse width between two plates is less than the width of behaviour area 14.
Preferably, vehicle frame 10 further includes vertical stand 16, and level frame 12 is connected to the bottom end of vertical stand 16.
Preferably, the laterally setting of sprocket shaft 44, and the both ends of sprocket shaft 44 are separately installed with sprocket wheel 46, two sprocket wheels 46
On be separately installed with chain 42.The both ends of sprocket shaft 44 pass through sprocket wheel axle installing plate 48 respectively and fastener is mounted on vehicle frame 10
On.
Steps are as follows：
1）When transporting goods, the controller control movement of power wheel 92 drives carrier to move to along the aisle of factory to picking
At object；
2）Plate decline, mounting rack 20, which is moved along the slideway of level frame 12 towards the direction to picking object, drives plate to fork goods
Object；
3）Mounting rack 20 is moved along the slideway of level frame 12 to far from the direction to picking object；
4）The controller control movement of power wheel 92 drives carrier to move to discharge location.
Step 1）—4）In, when if desired turning, power wheel 92 stops, and the rotation of rotary components 50 drives power wheel mounting rack
It is rotated by 90 °, power wheel 92 continues to move, so that carrier continues to travel perpendicular to pre-track.
Step 3）In, plate moves down the upper surface lower than level frame 12, and cargo is placed on to the upper table of level frame 12
On face.
Can now on aisle setting flag line and at cargo setting by induction pieces, for assist carrier to travel with
And accurately find the position of cargo.
Mounting rack 20 is moved horizontally by chain drive along level frame 12, is driven, is accounted for by oil cylinder relative to existing
It is small with space, so as to reduce the overall dimensions of carrier, the overall price cost of carrier is reduced, due to carrier
Overall dimensions reduce, so as to by the size in the aisle of factory reduce, improve factory using space.Pass through setting
Power wheel drives carrier automatically walk and steering, does not need pilot steering, saved cost of labor.Carrier is in steering
Vehicle body does not rotate in the process, power wheel rotation, without being that carrier setting turns to space on the aisle of factory, into one
Step reduces the area in aisle.Relative to the structure of plate rotation, the carrier load-bearing of the present embodiment is big.And it is at low cost.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (7)
1. a kind of intelligence forks backpack automatic guided vehicle control method, which is characterized in that including carrier, the carrier
Including vehicle frame（10）, mounting rack（20）, plate, power mechanism and controller, vehicle frame（10）Level including working side is arranged in
Frame（12）, the level frame（12）On be provided with horizontal slideway；Mounting rack（20）It is vertically arranged and is mounted on level frame（12）
Slideway on, plate can be mounted on mounting rack to vertical sliding（20）On；Power mechanism is mounted on vehicle frame（10）Bottom surface on, institute
Stating power mechanism includes power wheel（92）With the Power Component of driving power wheel rotation, the power wheel（92）It is mounted on power wheel
On mounting rack, the power wheel mounting rack passes through rotary components（50）It is mounted on vehicle frame（10）Bottom surface on；
Steps are as follows：
1）When transporting goods, controller controls power wheel（92）Movement drives carrier to move to along the aisle of factory wait take
At cargo；
2）Plate decline, mounting rack（20）Along level frame（12）Slideway drive plate fork towards the direction to picking object is mobile
Picking object；
3）Mounting rack（20）Along level frame（12）Slideway to mobile far from the direction to picking object；
4）Controller controls power wheel（92）Movement drives carrier to move to discharge location.
2. a kind of intelligence according to claim 1 forks backpack automatic guided vehicle control method, which is characterized in that step
1）—4）In, when if desired turning, power wheel（92）Stop, rotary components（50）Rotation drives power wheel mounting rack rotation 90
Degree, power wheel（92）Continue to move, so that carrier continues to travel perpendicular to pre-track.
3. a kind of intelligence according to claim 1 forks backpack automatic guided vehicle control method, which is characterized in that carry
Vehicle further includes being mounted on vehicle frame（10）Bottom surface on universal wheel.
4. a kind of intelligence according to claim 1 forks backpack automatic guided vehicle control method, which is characterized in that carry
Vehicle further includes being mounted on vehicle frame（10）Bottom surface on magnetic inductor, magnetic inductor with hop controller control carrier traveling.
5. a kind of intelligence according to claim 1 forks backpack automatic guided vehicle control method, which is characterized in that carry
Vehicle further includes being mounted on vehicle frame（10）Bottom surface on camera, camera with hop controller control carrier traveling.
6. a kind of intelligence according to claim 1 forks backpack automatic guided vehicle control method, which is characterized in that described
Mounting rack（20）Can driving mechanism driving lower edge level frame（12）It moves horizontally, the driving mechanism includes sprocket shaft
（44）, the sprocket wheel that is mounted on sprocket shaft（46）, the chain that is mounted on sprocket wheel（42）And drive chain wheel shaft（44）Rotation
Power Component.
7. a kind of intelligence according to claim 1 forks backpack automatic guided vehicle control method, which is characterized in that step
3）In, plate is moved down lower than level frame（12）Upper surface, cargo is placed on level frame（12）Upper surface on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810741090.8A CN108910768A (en) | 2018-07-08 | 2018-07-08 | A kind of intelligence forks backpack automatic guided vehicle control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810741090.8A CN108910768A (en) | 2018-07-08 | 2018-07-08 | A kind of intelligence forks backpack automatic guided vehicle control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108910768A true CN108910768A (en) | 2018-11-30 |
Family
ID=64424437
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810741090.8A Pending CN108910768A (en) | 2018-07-08 | 2018-07-08 | A kind of intelligence forks backpack automatic guided vehicle control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108910768A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112919373A (en) * | 2021-03-15 | 2021-06-08 | 山东省科学院自动化研究所 | Logistics carrier and method |
| WO2024073926A1 (en) * | 2022-10-08 | 2024-04-11 | 劢微机器人科技(深圳)有限公司 | Forklift |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5509774A (en) * | 1993-11-16 | 1996-04-23 | Daewoo Heavy Industries Ltd. | Load clamping apparatus with an increased extent of vertical movement |
| CN102275848A (en) * | 2011-05-19 | 2011-12-14 | 安徽德摩叉车有限公司 | Body structure for electric steering four-way electric forklift |
| CN104528595A (en) * | 2014-10-28 | 2015-04-22 | 苏州先锋物流装备科技有限公司 | Electronic steering type stand-on forward-moving piling car |
| CN207192723U (en) * | 2017-09-12 | 2018-04-06 | 松灵机器人（东莞）有限公司 | A kind of backpack fork truck |
-
2018
- 2018-07-08 CN CN201810741090.8A patent/CN108910768A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5509774A (en) * | 1993-11-16 | 1996-04-23 | Daewoo Heavy Industries Ltd. | Load clamping apparatus with an increased extent of vertical movement |
| CN102275848A (en) * | 2011-05-19 | 2011-12-14 | 安徽德摩叉车有限公司 | Body structure for electric steering four-way electric forklift |
| CN104528595A (en) * | 2014-10-28 | 2015-04-22 | 苏州先锋物流装备科技有限公司 | Electronic steering type stand-on forward-moving piling car |
| CN207192723U (en) * | 2017-09-12 | 2018-04-06 | 松灵机器人（东莞）有限公司 | A kind of backpack fork truck |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112919373A (en) * | 2021-03-15 | 2021-06-08 | 山东省科学院自动化研究所 | Logistics carrier and method |
| WO2024073926A1 (en) * | 2022-10-08 | 2024-04-11 | 劢微机器人科技(深圳)有限公司 | Forklift |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181130 |