CN110562881A

CN110562881A - pallet carrying AGV

Info

Publication number: CN110562881A
Application number: CN201910716962.XA
Authority: CN
Inventors: 刘勉
Original assignee: HUAXIAO PRECISION INDUSTRY (SUZHOU) Co Ltd
Current assignee: HUAXIAO PRECISION INDUSTRY (SUZHOU) Co Ltd
Priority date: 2019-08-05
Filing date: 2019-08-05
Publication date: 2019-12-13

Abstract

The invention provides a pallet transport AGV, comprising: the bicycle comprises a frame and a fork arm assembly, wherein one end of the fork arm assembly is connected with the frame in a vertically sliding manner, and the other end of the fork arm assembly horizontally extends towards the direction far away from the frame; the driving device is arranged in the frame, and the driving end is connected with the fork arm assembly; the fork arm caster is supported at the bottom of the fork arm assembly; and the range extending connecting rod is connected with the fork arm assembly in a rotating manner at one end facing to the horizontal extending direction of the fork arm assembly, is connected with the frame in a rotating manner at the other end facing to the direction opposite to the horizontal extending direction of the fork arm assembly, and is connected with the driving end of the driving device in a rotating manner at the middle part. According to the pallet carrying AGV, the driving device of the fork arm drives the fork arm assembly to move upwards through the range-extending connecting rod, the driving end of the driving device is connected with the middle part of the range-extending connecting rod, so that the top end of the range-extending connecting rod drives the fork arm assembly to move upwards for a larger distance, the lifting amplitude of the fork arm assembly is increased, the lifting space of the fork arm assembly is larger, and the types of pallets which can be transported are increased.

Description

Pallet carrying AGV

Technical Field

The invention relates to the technical field of automatic guided vehicles, in particular to an AGV for transporting pallets.

Background

AGV is an abbreviation for Automated Guided Vehicle, i.e., "Automated Guided Vehicle". An AGV is a transport vehicle that is characterized by wheeled movement, is equipped with an electromagnetic or optical automatic guide device, and can travel along a predetermined guide path, and has safety protection and various transfer functions.

The pallet is a base which is made for facilitating the placement of scattered articles and the delivery requirement. Adopt AGV to carry out the pallet transport, when the transport goods, insert the pallet with the yoke that is used for bearing on the AGV, drive the rebound of yoke through drive arrangement's drive to upwards rise pallet and the above-mentioned goods, drive AGV accomplishes the transport operation.

The driving device of the fork arm of the pallet carrying AGV in the prior art adopts the air cylinder, pushes the fork arm assembly through the air cylinder, and drives the fork arm to move upwards, so that the pallet is forked to a certain height.

However, in the conventional yoke driving apparatus, the lift height of the yoke is determined by the extension length of the cylinder, so that the lift stroke of the yoke is greatly limited.

disclosure of Invention

Therefore, the present invention is directed to provide an AGV for transporting pallets, which overcomes the limitation of the lifting height of the fork arm assembly in the prior art.

in order to solve the technical problem, the AGV for transporting pallets provided by the invention comprises:

The frame is provided with a front wheel and a rear wheel,

one end of the fork arm assembly is connected with the frame in a vertically sliding manner, and the other end of the fork arm assembly horizontally extends towards the direction far away from the frame;

the driving device is arranged in the frame, and the driving end is connected with the fork arm assembly;

The fork arm caster is supported at the bottom of the fork arm assembly;

And the range extending connecting rod is connected with the fork arm assembly in a rotating manner at one end facing the horizontal extending direction of the fork arm assembly, is connected with the frame in a rotating manner at the other end facing the direction opposite to the horizontal extending direction of the fork arm assembly, and is connected with the driving end of the driving device in a rotating manner at the middle part.

According to a preferable scheme, the fork arm caster is rotatably connected to the lower end of a caster bracket, the middle part of the caster bracket is rotatably connected with the fork arm assembly, and the upper end of the caster bracket is connected with a telescopic mechanism;

The telescopic mechanism is connected with the fork arm assembly and is driven by the fork arm assembly to move up and down, so that the caster wheel support is pulled to rotate up and down at the bottom of the fork arm assembly.

preferably, the caster bracket is disposed below the horizontal section of the yoke assembly near a middle position.

Preferably, the telescopic mechanism includes:

The transmission pull rod is horizontally arranged at the bottom of the fork arm assembly, one end of the transmission pull rod is rotatably connected with the caster bracket, and the other end of the transmission pull rod extends into the frame in a sliding manner;

and the swing arm connecting rod is rotatably connected to the fork arm assembly and is provided with two swing arms which are arranged at an angle, wherein the first swing arm is rotatably connected with the transmission pull rod, and one end of the second swing arm is rotatably connected to the frame.

as a preferred scheme, a first swing arm and a second swing arm of the swing arm connecting rod are fixedly connected through a first rotating shaft and a second rotating shaft; the swing arm connecting rod is rotatably connected with the fork arm assembly through a second rotating shaft; the second swing arm is rotatably connected with the frame through a fourth rotating shaft; the first swing arm is rotatably connected with the transmission pull rod through a third rotating shaft; the second rotating shaft is positioned above the plane where the center lines of the third rotating shaft and the fourth rotating shaft are positioned.

As a preferred scheme, the range-extending connecting rod is rotatably connected with the frame through a fifth rotating shaft; the range-extending connecting rod is rotatably connected with the fork arm assembly through a sixth rotating shaft; and the horizontal plane where the fifth rotating shaft is located is positioned below the sixth rotating shaft.

Preferably, the fork arm caster has two sets which are arranged in front and back, the two sets of fork arm casters are connected through a caster connecting rod, and the middle part of the caster connecting rod is rotatably connected to the lower end of the caster bracket.

Preferably, the bottom of the frame is supported by universal wheels.

preferably, the horizontally extending end of the yoke assembly, which is far away from the frame, is provided with two yokes which are arranged in parallel.

preferably, a displacement sensor is arranged at the front end of the fork arm.

the technical scheme of the invention has the following advantages:

1. according to the pallet carrying AGV, the driving device of the fork arm drives the fork arm assembly to move upwards through the range-extending connecting rod, the driving end of the driving device is connected with the middle part of the range-extending connecting rod, so that the top end of the range-extending connecting rod drives the fork arm assembly to move upwards for a larger distance, the lifting amplitude of the fork arm assembly is increased, the lifting space of the fork arm assembly is larger, and the types of pallets which can be transported are increased.

2. According to the pallet carrying AGV, the fork arm trundles play a supporting role during movement, so that the moving process of the carrying vehicle is smoother, the fork arm trundles are in a storage state in the process of inserting the pallet, the distance between one end of the fork arm assembly and the ground is reduced, and the pallet carrying AGV is suitable for the requirements of conveying various pallets.

3. According to the pallet transporting AGV, the trundle bracket is arranged in the middle of the horizontal section of the fork arm assembly, so that the horizontal distance between the trundles of the fork arms and the universal wheels at the rear ends of the transporting vehicles is reduced, and the rotating radius of the transporting vehicles in the turning process is shortened.

4. the invention provides an AGV for transporting pallets, which comprises a telescopic mechanism and a sliding mechanism, wherein the telescopic mechanism comprises: a transmission pull rod and a swing arm connecting rod; the ascending of yoke assembly drives the ascending of swing arm connecting rod, and swing connecting rod rotates around the second pivot anticlockwise, drives first swing arm and removes, promotes the transmission pull rod and removes to the direction of keeping away from the frame, drives the yoke truckle and supports the yoke, and simultaneously, the process of propping up of yoke truckle provides ascending holding power for the yoke assembly, and each power complements each other, supports each other.

5. According to the pallet carrying AGV, the fork arm trundles are provided with two groups which are arranged in the front and the back, and are connected through the trundle connecting rods, and the middle parts of the trundle connecting rods are connected with the lower ends of the trundle supports; through setting up two sets of yoke truckles, and the middle part of the lower extreme truckle connecting rod of truckle support is connected, and the truckle support exerts in the middle part of truckle connecting rod with the weight of the goods that the horizontal segment of yoke assembly bore, through the truckle connecting rod with pressure homodisperse on two yoke truckles for the weight of bearing of every yoke truckle reduces, has guaranteed life, has increased the biggest weight that the carrier can carry simultaneously.

6. According to the pallet transporting AGV, the displacement sensor is arranged at the front end of the fork arm, so that the moving position of the transport vehicle is monitored at any time, and the AGV is controlled better.

7. According to the pallet carrying AGV, the horizontal extending end, far away from the frame, of the fork arm assembly is provided with the two fork arms which are arranged in parallel, the two fork arms enable the balance in the process of lifting the pallet to be better, and the pallet is not prone to inclining.

drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a front perspective view of one embodiment of a pallet handling AGV according to the present invention.

Fig. 2 is an enlarged view of the region a in fig. 1.

FIG. 3 is a perspective view of the yoke assembly of FIG. 1 after lowering.

Fig. 4 is a perspective view of the swing arm link.

fig. 5 is a perspective view of the yoke assembly.

Fig. 6 is a schematic perspective view of an AGV for transporting pallets according to the present invention.

Description of reference numerals:

1. a frame; 2. a yoke assembly; 3. a yoke caster; 4. a range-extending connecting rod; 5. a yoke; 6. a drive device; 7. a swing arm connecting rod; 8. a first rotating shaft; 9. a second rotating shaft; 10. a third rotating shaft; 11. a fourth rotating shaft; 12. a fifth rotating shaft; 13. a sixth rotating shaft; 14. a caster bracket; 15. a drive link; 16. a first swing arm; 17. a second swing arm; 18. a caster connecting rod; 19. a displacement sensor; 20. a universal wheel; 21. an eighth rotating shaft; 22. a laser sensor; 23. an induction plate; 24. laser obstacle sensor.

Detailed Description

the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

The pallet transport AGV that this embodiment provided, as shown in fig. 1, includes: a frame 1 and a yoke assembly 2. One end of the fork arm assembly 2 is connected with the frame 1 in a vertically sliding manner, and the other end extends horizontally towards the direction far away from the frame. The frame 1 is internally provided with a driving device, and a driving end of the driving device is connected with the fork arm assembly 2 and is used for driving the fork arm assembly 2 to slide up and down. The driving device can adopt a cylinder, one end of the driving device is rotatably connected with the frame, and the other end of the driving device is connected with the fork arm assembly 2 through the range-extending connecting rod 4. One end of the range-extending connecting rod 4 is rotatably connected with the frame 1 through a fifth rotating shaft 12, one end of the other end, facing the horizontal extending direction of the fork arm assembly 2, is rotatably connected with the upper end of the fork arm assembly through a sixth rotating shaft 13, and the middle part of the range-extending connecting rod is rotatably connected with the driving end of the driving device 6. The part of the fork arm assembly 2 extending horizontally in the direction far away from the frame is a fork arm 5, the fork arm 5 is provided with two fork arms arranged in parallel, and a fork arm caster 3 is connected to the position below the fork arms and close to the middle. The front of the fork arm assembly 2 is provided with a sensing plate 23, and after the sensing fork arm enters the bottom of the pallet, the distance between the pallet and the frame is controlled to control the AGV to stop in time.

As shown in fig. 2, the yoke casters 3 have two sets disposed in front and rear, and are connected by caster links 18, and the middle portions of the caster links 18 are rotatably connected to the caster brackets 14. The top end of the caster bracket 14 is rotatably connected with the transmission pull rod 15, and the middle part of the caster bracket 14 is rotatably connected with the fork arm 5 through an eighth rotating shaft 21. When the transmission pull rod 15 axially moves along the horizontal direction, the fork arm caster 3 can be driven to rotate up and down by taking the eighth rotating shaft 21 as a center.

As shown in fig. 3, the driving device pulls the range-extending connecting rod 4 downward to drive the yoke assembly 2 to move downward. The yoke castors 3 located below the yoke 5 retract into the yoke. The action principle is as follows: the other end of the transmission pull rod 15 connected with the caster bracket 14 extends into the frame 1 and is connected with the frame 1 in a sliding way. The end part of the transmission pull rod 15 is connected with the fork arm assembly 2 through a swing arm connecting rod 7, and the swing arm connecting rod 7 is rotatably connected with the fork arm assembly 2 through a second rotating shaft 9. The swing arm connecting rod 7 has two swing arms arranged at an angle: the first swing arm 16 and the second swing arm 17, wherein, the first swing arm 16 is connected with the rotation of the drive pull rod 15 through the third rotating shaft 10, and the second swing arm 17 is connected with the rotation of the frame 1 through the fourth rotating shaft 11. The second swing arm 17 is rotated upwards or downwards, so that the swing arm connecting rod 7 can rotate around the second rotating shaft 9, the first swing arm 16 is driven to move leftwards or rightwards, and the transmission pull rod 15 is pulled to slide leftwards and rightwards.

As shown in fig. 4, the first swing arm 16 of the swing arm connecting rod 7 is in a V shape, and the second swing arm 17 is a curved rod; the first swing arm 16 and the second swing arm 17 are fixedly connected through a first rotating shaft 8 and a second rotating shaft 9.

as shown in fig. 5, a displacement sensor 19 is provided at the tip of the fork arm, and the displacement sensor 19 can be used to detect the position of the forklift.

As shown in fig. 6, the frame 1 is a supporting frame structure, a rear control mounting part is arranged in the frame, and the upper end of the frame is arranged on a laser sensor 22 for receiving signals and controlling the AGV to reach a designated place, so as to realize accurate coordinate movement of the AGV; meanwhile, a plurality of distance sensors are uniformly distributed on the outer circumferential direction of the supporting frame, and the vehicle-mounted hydraulic device and the vehicle-mounted electric control device are both arranged in the rear control mounting part. And a laser obstacle sensor 24 is arranged at the rear end of the frame and used for controlling the AGV to avoid possible obstacles.

The use method and the principle are as follows:

When the transport AGV is used, the industrial control computer receives the transport information through the wireless transceiver module, the transport information comprises original coordinate information of a goods shelf or pallet to be transported and target coordinate information of the goods shelf or pallet to be transported, the industrial control computer linearly plans a path according to the transport information, and then the industrial control computer controls the motion of the transport AGV according to the planned path.

After the laser sensor 22 receives a signal, the AGV transports the pallet, the universal wheels 20 are driven by the motor to go to a specified place and are guided by the signal to reach the specified place, the displacement sensor 19 at the front end of the fork arm calibrates the distance, the distance between the two displacement sensors is equal through the swinging of the vehicle body, the fork arm 5 and the forklift groove of the pallet are guaranteed to be kept in a parallel state, the AGV transports the pallet, and when the pallet collides with the sensing plate 23, the AGV stops moving forwards.

When the pallet is on the fork arm, the driving device 6 is started to drive the middle part of the range-extending connecting rod 4 to move upwards, the range-extending connecting rod 4 rotates around the fifth rotating shaft 12, the other end of the range-extending connecting rod drives the fork arm assembly 2 to slide upwards along the frame 1 through the sixth rotating shaft 13, the fork arm assembly 2 drives the swing arm connecting rod 7 to move upwards while sliding upwards, as the second swing arm 17 of the swing arm connecting rod 7 is rotatably connected with the frame 1, the swing arm connecting rod 7 rotates anticlockwise around the second rotating shaft 9 while moving upwards, and simultaneously drives the first swing arm 16 to push the transmission pull rod 15 to move in the direction far away from the frame 1, the caster bracket 14 is pushed to rotate around the eighth rotating shaft, the fork arm caster 3 is driven to rotate downwards and is supported below the fork arm, and the fork arm caster 3 and the universal wheel 20 jointly support the frame 1 to drive the frame 1 and the goods to.

after the pallet arrives at a transport place, when the pallet needs to be unloaded from the fork arms, the driving device 6 is started to drive the middle part of the range-extending connecting rod 4 to move downwards, the fork arm assembly 2 is driven to slide downwards along the frame 1, meanwhile, the swing arm connecting rod 7 is driven to move downwards, meanwhile, the transmission pull rod 15 is pulled to move towards the direction close to the frame along the fork arms in the horizontal direction, the fork arm truckles 3 are driven to be folded upwards through the truckle brackets 14, the distance between the fork arms and the ground is reduced, and the pallet is unloaded.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims

1. Pallet transport AGV includes:

A frame (1) of the bicycle,

one end of the fork arm assembly (2) is connected with the frame (1) in a vertically sliding manner, and the other end of the fork arm assembly horizontally extends towards the direction far away from the frame (1);

The driving device (6) is arranged in the frame, and the driving end of the driving device is connected with the fork arm assembly (2);

The fork arm caster (3) is supported at the bottom of the fork arm assembly (2);

It is characterized by also comprising:

And the range extending connecting rod (4) faces one end of the fork arm assembly (2) in the horizontal extending direction and is rotatably connected with the fork arm assembly, the other end of the range extending connecting rod faces the direction opposite to the horizontal extending direction of the fork arm assembly (2) and is rotatably connected with the frame (1), and the middle part of the range extending connecting rod is rotatably connected with the driving end of the driving device (6).

2. A pallet handling AGV according to claim 1, characterised in that said fork arm castor (3) is pivotally connected to the lower end of a castor support (14), the middle part of said castor support (14) being pivotally connected to said fork arm assembly (2), the upper end of said castor support being connected to a telescopic mechanism;

The telescopic mechanism is connected with the fork arm assembly (2) and is driven by the fork arm assembly (2) to move up and down, so that the caster bracket is pulled to rotate up and down at the bottom of the fork arm assembly (2).

3. A pallet handling AGV according to claim 2, wherein said caster brackets (14) are disposed near a center position below the horizontal section of said fork arm assembly.

4. The pallet handling AGV of claim 2, wherein said telescoping mechanism comprises:

The transmission pull rod (15) is horizontally arranged at the bottom of the fork arm assembly, one end of the transmission pull rod is rotatably connected with the caster bracket, and the other end of the transmission pull rod slidably extends into the frame (1);

and the swing arm connecting rod (7) is rotatably connected to the fork arm assembly (2) and is provided with two swing arms which are arranged at an angle, wherein the first swing arm (16) is rotatably connected with the transmission pull rod (15), and one end of the second swing arm (17) is rotatably connected to the frame (1).

5. A pallet handling AGV according to claim 4 wherein the first swing arm (16) and the second swing arm (17) of said swing arm linkage (7) are fixedly connected by means of a first spindle (8) and a second spindle (9);

The swing arm connecting rod (7) is rotatably connected with the fork arm assembly (2) through a second rotating shaft (9);

the second swing arm (17) is rotatably connected with the frame (1) through a fourth rotating shaft (11);

The first swing arm is rotatably connected with the transmission pull rod through a third rotating shaft (10);

the second rotating shaft (9) is positioned above the plane where the center lines of the third rotating shaft (10) and the fourth rotating shaft (11) are positioned.

6. A pallet handling AGV according to claim 1, characterised in that said extended reach link (4) is rotatably connected to said frame by a fifth shaft (12);

the range-extending connecting rod (4) is rotatably connected with the fork arm assembly (2) through a sixth rotating shaft (13);

The horizontal plane where the fifth rotating shaft (12) is located below the sixth rotating shaft (13).

7. A pallet handling AGV according to claim 1, characterised in that said fork arm castors (3) have two sets arranged one behind the other, two sets of said fork arm castors being connected by a castor link (18), the middle part of said castor link (18) being rotatably connected at the lower end of said castor support.

8. A pallet handling AGV according to claim 1, characterised in that the bottom of the frame (1) is supported by universal wheels (20).

9. A pallet handling AGV according to claim 1, characterised in that the horizontally extending end of the fork arm assembly (2) remote from the frame (1) has two fork arms (5) arranged side by side.

10. a pallet handling AGV according to claim 9, characterised in that the front end of the fork arm is provided with a displacement sensor (19).