CN113860221A

CN113860221A - Transport vehicle

Info

Publication number: CN113860221A
Application number: CN202111121550.5A
Authority: CN
Inventors: 王永亮; 陈文成; 叶显明
Original assignee: Multiway Robotics Shenzhen Co Ltd
Current assignee: Multiway Robotics Shenzhen Co Ltd
Priority date: 2021-09-24
Filing date: 2021-09-24
Publication date: 2021-12-31

Abstract

The invention provides a carrier which comprises a shell, a first telescopic assembly and a second telescopic assembly, wherein a first guide rail and a second guide rail are arranged on the shell; the first telescopic assembly comprises a first driving piece, a sliding plate, a lifting mechanism and a first pallet fork, the sliding plate is slidably mounted on the first guide rail, and the first driving piece is connected with the sliding plate to drive the sliding plate to move along the first guide rail; the lifting mechanism is arranged on the sliding plate so that the lifting mechanism can move together with the sliding plate, and the first fork is connected with the lifting mechanism so as to move in the vertical direction under the driving of the lifting mechanism; the second telescopic assembly comprises a second driving piece and a second fork connected with the second driving piece, and the second fork is slidably mounted on the second guide rail so that the second fork can move along the direction of the second guide rail under the driving of the second driving piece. The carrier has the advantages of small occupied space and high transportation efficiency.

Description

Transport vehicle

Technical Field

The invention relates to the field of carriers, in particular to a carrier.

Background

In intensive storage commodity circulation, the fork of current carrier is fixed, and occupation space is great, when carrying out long distance transportation, has not only influenced the space of intensive storage, but also the difficult change of direction of delivery, and the cost is still than higher. And manual operation fork truck, fork get ground tray and butt joint transfer chain, occupy a large amount of operation passageways and satisfy the space demand when manual operation and fork truck fork get the tray. Along with the development of society, the labor difficulty is increased, and the cost is also increased continuously.

In addition, in intensive storage, the tray is put densely, but no matter be artifical fork truck or automatic handling dolly, the transportation quantity at every turn is only one and holds in the palm, and is inefficient, has not satisfied growing logistics demand. If the carrying efficiency is increased, the number of carrying trolleys is increased, the operation cost is increased, the maintenance cost is increased, and the working difficulty of a dispatching system is increased.

In view of the above, there is a need for a new transportation vehicle that solves or at least alleviates the above technical drawbacks.

Disclosure of Invention

The invention mainly aims to provide a carrying vehicle, and aims to solve the technical problems that the carrying vehicle in the prior art is large in occupied space, difficult to operate and low in conveying efficiency.

To achieve the above object, the present invention provides a carrier including:

the device comprises a shell, a first guide rail and a second guide rail, wherein the shell is provided with the first guide rail and the second guide rail;

the first telescopic assembly comprises a first driving piece, a sliding plate, a lifting mechanism and a first pallet fork, the sliding plate is slidably mounted on the first guide rail, and the first driving piece is connected with the sliding plate to drive the sliding plate to move along the first guide rail; the lifting mechanism is mounted on the sliding plate so that the lifting mechanism can move together with the sliding plate, and the first fork is connected with the lifting mechanism so as to move in a vertical direction under the driving of the lifting mechanism;

the second telescopic assembly comprises a second driving piece and a second fork connected with the second driving piece, and the second fork is slidably mounted on the second guide rail, so that the second fork can move along the direction of the second guide rail under the driving of the second driving piece.

In one embodiment, the first driving member includes a first driving motor and a first lead screw in transmission connection with the first driving motor, a first nut is sleeved on the first lead screw, and the sliding plate is connected with the first nut so that the sliding plate can move along with the first nut; the second driving part comprises a second driving motor and a second screw rod in transmission connection with the second driving motor, a second nut is sleeved on the second screw rod, and the second fork is connected with the second nut to drive the second fork to move.

In an embodiment, the first driving member further includes a first transmission chain, the first transmission chain is in transmission connection with the first lead screw and a first driving shaft of the first driving motor respectively, and the first lead screw and the first driving motor are located on the same side of the first transmission chain; the second driving piece further comprises a second transmission chain, the second transmission chain is in transmission connection with the second screw rod and a second driving shaft of the second driving motor respectively, and the second screw rod and the second driving motor are located on the same side of the second transmission chain.

In one embodiment, the carrier further comprises a lifting mechanism, the lifting mechanism comprises a hydraulic oil cylinder and a bottom lifting plate connected with a hydraulic shaft of the hydraulic oil cylinder, the second fork is mounted on the bottom lifting plate, and the hydraulic oil cylinder can drive the bottom lifting plate to move in the vertical direction.

In an embodiment, the lifting mechanism further comprises a guide bearing and a guide shaft penetrating through the guide bearing, the guide shaft is mounted on the bottom lifting plate, and the guide shaft is vertically arranged.

In an embodiment, the casing is further provided with a photoelectric support, the photoelectric support is provided with a photoelectric detector, and the photoelectric detector is used for detecting whether the hydraulic oil cylinder rises or falls to a preset position.

In one embodiment, the first fork is located above the second fork.

In one embodiment, the lifting mechanism is a multi-stage lifting mechanism.

In an embodiment, the carrier further includes a support plate, and the first fork includes two fork rods spaced apart from each other, and the two fork rods are respectively disposed on two sides of the support plate.

In one embodiment, the carrier further comprises a power wheel assembly and a steering wheel assembly, wherein the power wheel assembly and the steering wheel assembly are mounted at the bottom of the shell, the power wheel assembly comprises a first steering motor and a steering wheel connected with the first steering motor, and the steering wheel assembly comprises a second steering motor, a steering gear set and a steering wheel which are sequentially connected.

In the scheme of the invention, the carrier comprises a shell, a first telescopic assembly and a second telescopic assembly, wherein the shell is provided with a first guide rail and a second guide rail; the first telescopic assembly comprises a first driving piece, a sliding plate, a lifting mechanism and a first pallet fork, the sliding plate is slidably mounted on the first guide rail, and the first driving piece is connected with the sliding plate to drive the sliding plate to move along the first guide rail; the lifting mechanism is arranged on the sliding plate so that the lifting mechanism can move together with the sliding plate, and the first fork is connected with the lifting mechanism so as to move in the vertical direction under the driving of the lifting mechanism; the second telescopic assembly comprises a second driving piece and a second fork connected with the second driving piece, and the second fork is slidably mounted on the second guide rail so that the second fork can move along the direction of the second guide rail under the driving of the second driving piece. In the above scheme, the first fork is mounted on the sliding plate, the first driving member drives the sliding plate to move along the first guide rail, so that the first fork can move along the first guide rail, and the corresponding working state is the extension or retraction of the first fork; meanwhile, the first fork is connected with the lifting mechanism so that the first fork can move in the vertical direction, corresponding to the rising and falling of the first fork. Specifically, after the first fork is used for picking up goods, the lifting mechanism can drive the first fork to ascend, and then the first driving piece drives the first fork to retract above the shell, so that the first fork does not occupy extra space, the movement of a carrier is facilitated, a walking channel arranged in a warehouse is small, the goods storage amount is improved, and the warehouse leasing cost is reduced; the second fork can be conveniently forked to take the goods, and interference and shielding cannot be achieved. Similarly, the second fork can move along the direction of the second guide rail under the driving of the second driving piece, when the second fork is not needed to be used, the second driving piece controls the second fork to retract into the shell, the space is not occupied, and when the goods are needed to be forked and taken, the second driving piece drives the second fork to extend out, and the goods are forked and taken. Such a design has the further advantage that: through first fork and second fork, the carrier once can fork the goods of getting two trays, compares in traditional fork truck once can only carry a tray, has improved conveying efficiency. The invention has the advantages of small occupied space and high transportation efficiency.

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, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic perspective view of a cart according to an embodiment of the present invention;

FIG. 2 is a schematic perspective view (viewed from the bottom) of a cart according to an embodiment of the present invention;

FIG. 3 is a schematic view of an internal structure of a cart according to an embodiment of the present invention;

FIG. 4 is a schematic view of another internal structure of a cart according to an embodiment of the present invention (as viewed from the bottom);

FIG. 5 is a schematic perspective view of a portion of a cart according to an embodiment of the present invention;

FIG. 6 is a perspective view of a steerable wheel assembly in accordance with an embodiment of the present invention;

FIG. 7 is a schematic view of a first fork-picking tray of a cart in accordance with an embodiment of the present invention;

FIG. 8 is a schematic view of a first fork-up transport tray of a cart in accordance with an embodiment of the present invention;

FIG. 9 is a schematic view of a first fork of a cart transporting a tray above a housing according to an embodiment of the present invention;

FIG. 10 is a schematic view of a second fork of the cart in accordance with an embodiment of the present invention extended in preparation for forking a tray;

figure 11 is a schematic view of a second fork of the cart according to the embodiment of the present invention (in this case, the first fork and the second fork are both fork with a pallet);

fig. 12 is a schematic view (from the bottom) of fig. 11 from another perspective.

The reference numbers illustrate:

1. a detection port; 2. a first fork; 3. obstacle avoidance radar; 4. detecting a camera; 5. a lifting mechanism; 6. a support plate; 7. a hydraulic cylinder; 8. a guide bearing; 9. a guide shaft; 10. a first conveyor chain; 11. a first drive motor; 12. a first steering motor; 16. a battery; 18. photoelectric of the tooth root; 19. a root photoelectric assembly; 20. a support wheel; 21. a second fork; 22. a bottom lifting plate; 23. a universal wheel; 24. positioning a radar; 25. photoelectric in place; 26. a steering wheel; 27. a second movement driving motor; 28. a tray; 29. a first guide rail; 30. a power steering gear; 31. a second steering motor; 32. a follow-up steering gear; 33. a first lead screw; 34. a limiting block; 35. a photovoltaic mount; 36. detecting the bracket; 37. a slide plate; 38. a second conveyor chain; 39. a second lead screw; 40. a second guide rail.

The implementation, functional features and advantages of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

It should be noted that all the directional indicators (such as the upper and lower … …) in the embodiment of the present invention are only used to explain the relative position relationship, movement, etc. of the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

Moreover, the technical solutions in the embodiments of the present invention may be combined with each other, but it is necessary to be able to be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent, and is not within the protection scope of the present invention.

Referring to fig. 1 to 12, the present invention provides a truck including:

a housing provided with a first guide rail 29 and a second guide rail 40;

a first telescopic assembly comprising a first driving member, a sliding plate 37, a lifting mechanism 5 and a first fork 2, the sliding plate 37 being slidably mounted on the first guide rail 29, the first driving member being connected to the sliding plate 37 to drive the sliding plate 37 to move along the first guide rail 29; the lifting mechanism 5 is mounted to the sliding plate 37 such that the lifting mechanism 5 can move together with the sliding plate 37, and the first fork 2 is connected to the lifting mechanism 5 to move in a vertical direction by the driving of the lifting mechanism 5;

and a second telescopic assembly including a second driving member and a second fork 21 connected with the second driving member, wherein the second fork 21 is slidably mounted on the second guide rail 40, so that the second fork 21 can move along the direction of the second guide rail 40 under the driving of the second driving member.

In the above embodiment, the first fork 2 is mounted on the sliding plate 37, and the first driving member drives the sliding plate 37 to move along the first guide rail 29, so that the first fork 2 can move along the first guide rail 29, and the corresponding working state is the extending or retracting of the first fork 2; meanwhile, the first fork 2 is connected with the lifting mechanism 5 so that the first fork 2 can move in the vertical direction, corresponding to the raising and lowering of the first fork 2. Specifically, after the first fork 2 is used for forking goods, the lifting mechanism 5 can drive the first fork 2 to ascend, and then the first driving piece drives the first fork 2 to retract to the upper part of the shell, so that the first fork 2 does not occupy extra space, the movement of a carrier is facilitated, a walking channel arranged in a warehouse is small, the goods storage space is improved, and the warehouse leasing cost is reduced; the second fork 21 can be convenient to fork and take the goods, and interference and shielding cannot be achieved. Similarly, the second fork 21 can move along the direction of the second guide rail 40 under the driving of the second driving element, when the second fork 21 is not needed to be used, the second driving element controls the second fork 21 to retract into the shell, no space is occupied, and when the goods needs to be forked, the second driving element drives the second fork 21 to extend, and the goods is forked. Such a design has the further advantage that: through first fork 2 and second fork 21, the carrier can once fork the goods of getting two trays 28, compares in traditional fork truck can only carry a tray 28 once, has improved conveying efficiency. The embodiment has the advantages of small occupied space and high transportation efficiency. It should be noted here that, similar to the first fork 2, the second fork 21 may also be indirectly connected to the second rail 40 via a slider slidably mounted to the second rail 40.

In one embodiment, the first driving member includes a first driving motor 11 and a first lead screw 33 in transmission connection with the first driving motor 11, a first nut is sleeved on the first lead screw 33, and the sliding plate 37 is connected with the first nut so that the sliding plate 37 can move along with the first nut; the second driving member comprises a second driving motor 27 and a second screw rod 39 in transmission connection with the second driving motor 27, a second nut is sleeved on the second screw rod 39, and the second fork 21 is connected with the second nut to drive the second fork 21 to move. Specifically, the first driving motor 11 and the second driving connection may be transmission motors, the first lead screw 33 and the second lead screw 39 are kept stationary in the axial direction during the rotation process, and the first nut and the second nut move along the axial direction of the lead screws under the rotation of the first lead screw 33 and the second lead screw 39, respectively, so as to drive the sliding plate 37 to move along the first guide rail 29 through the first nut, and further drive the first fork 2 to move; and simultaneously the second fork 21 is driven to move by the second nut. It should be noted that the second fork 21 may be directly connected to the second nut, or may be connected to the second nut through a connecting plate or a connecting block. In a specific embodiment, the first fork 2 and the second fork 21 are arranged in layers in the vertical direction, and the first fork 2 is located above the second fork 21, which is beneficial for realizing a double-layer fork-taking tray 28.

In an embodiment, the first driving member further includes a first transmission chain 10, the first transmission chain 10 is in transmission connection with the first lead screw 33 and the first driving shaft of the first driving motor 11, respectively, and the first lead screw 33 and the first driving motor 11 are located on the same side of the first transmission chain 10; the second driving member further comprises a second transmission chain 38, the second transmission chain 38 is in transmission connection with a second lead screw 39 and a second driving shaft of the second driving motor 27, respectively, and the second lead screw 39 and the second driving motor 27 are located on the same side of the second transmission chain 38. Through the transmission effect of first conveying chain 10 and second conveying chain 38, both can ensure that driving motor is not direct and the lead screw contact and is broken easily, can also improve spatial arrangement, all set up first driving motor 11 and second driving motor 27 in the casing, reduce the length of carrier, and then further reduce the occupation space of carrier. A limiting block 34 can be arranged at the front end of the shell to prevent the first fork 2 or the second fork 21 from moving over the limit.

In one embodiment, the truck further comprises a lifting mechanism comprising a hydraulic ram 7 and a bottom lift plate 22 connected to a hydraulic shaft of the hydraulic ram 7, the second fork 21 being mounted to the bottom lift plate 22, the hydraulic ram 7 being capable of driving the bottom lift plate 22 to move in a vertical direction. The second pallet fork 21 is positioned below, when the pallet 28 is forked, in order to conveniently extend into the bottom of the pallet 28, the bottom lifting plate 22 can be driven to move downwards through the hydraulic oil cylinder 7, and then the second pallet fork 21 is driven to move downwards so as to conveniently extend into the bottom of the pallet 28; when the tray 28 needs to be lifted, the hydraulic oil cylinder 7 drives the bottom lifting plate 22 to move upwards so as to drive the second fork 21 to move upwards to fork the tray 28. In addition, when second fork 21 accomodates in the casing, also guarantee that second fork 21 is apart from a distance of ground, prevent to collide with ground, this also can be realized through hydraulic cylinder 7's control.

In one embodiment, the lifting mechanism further comprises a guide bearing 8 and a guide shaft 9 penetrating the guide bearing 8, the guide shaft 9 is mounted on the bottom lifting plate 22, and the guide shaft 9 is vertically arranged. The guide bearing 8 and the guide shaft 9 mainly play a role in guiding, so that the movement direction of the second fork 21 is also vertical, and the second fork is prevented from being toppled over during the cargo transportation process or being broken by oblique force in the cargo transportation process of the second fork 21.

In an embodiment, the housing is further provided with a photoelectric bracket 35 and a detection bracket 36, and the photoelectric bracket 35 is provided with a photoelectric detector for detecting whether the hydraulic cylinder 7 is lifted or lowered to reach a preset position. If the hydraulic oil cylinder 7 controls the bottom lifting plate 22 to move over the limit, the carrying vehicle is easy to damage, so a photoelectric detector can be arranged on the photoelectric bracket 35 to judge whether the hydraulic oil cylinder 7 moves over the limit through the detection bracket 36.

In one embodiment, the lifting mechanism 5 is a multi-stage lifting mechanism 5. Specifically, elevating system 5 can include multi-stage cylinder, like one-level hydro-cylinder, second grade hydro-cylinder, tertiary hydro-cylinder and level four hydro-cylinder, through setting up elevating system 5 that has multi-stage cylinder, and is littleer than 5 initial height of traditional elevating system, and occupation space is littleer, conveniently transports in the warehouse and turns to, and is more efficient than traditional transfer robot.

In one embodiment, the truck further includes a supporting plate 6, and the first fork 2 includes two spaced fork arms, and the two fork arms are respectively disposed on two sides of the supporting plate 6. After the tray 28 is got to first fork 2 fork, elevating system 5 drive first fork 2 rises and then retracts to the casing top, and at this moment, backup pad 6 sets up between two fork arms for play the supporting role to tray 28, reduce the atress of first fork 2, prevent that the impact force that tray 28 jolted in the transportation caused is to the damage that first fork 2 probably caused.

In one embodiment, the truck further includes a power wheel assembly and a steering wheel assembly mounted at the bottom of the housing, the power wheel assembly includes a first steering motor 12 and a steering wheel 26 connected to the first steering motor 12, and the steering wheel assembly includes a second steering motor 31, a steering gear set and a steering wheel connected in sequence. Specifically, the steering gear set includes a power steering gear 30 and a follower steering gear 32 that intermesh and provide forward power from the steering wheel 26 as the vehicle advances. When the carrier needs to move transversely, the second steering motor 31 provides power to drive the power steering gear 30 to rotate, so that the follow-up steering gear 32 rotates to drive the supporting wheel 20 to steer. Meanwhile, the first steering motor 12 drives the steering wheel 26 to rotate, the rotating direction of the steering wheel is consistent with that of the supporting wheel 20, the transverse movement of the vehicle body is realized, and the steering is more flexible. Of course, the universal wheels 23 can be arranged under the shell, so that the steering is convenient. The embodiment provides a carrier that can omnidirectionally carry, and is more nimble than general carrier, and more high than traditional omnidirectionally driving carrier, handling efficiency, available space are wider.

In one embodiment, the carrier further comprises a detection camera 4 arranged on the front face of the shell, and an obstacle avoidance radar 3 and a positioning radar 24 arranged at the bottom of the shell, wherein a tooth root photoelectric assembly 18 can be further arranged on the shell, a tooth root photoelectric assembly 19 is arranged at the bottom of the front end of the first pallet fork 2, and an in-place photoelectric assembly 25 can be further arranged below the shell, so that the eyes are equivalently arranged on the carrier, the automatic line identification, automatic obstacle avoidance and automatic distance measurement can be realized, and the full automation of the carrier is realized. Of course, the detection port 1 may be provided at the front end of the first fork 2 for inspection. A battery 16 may also be provided inside the housing to provide a power source.

The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents made by the claims and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A cart, comprising:

2. The cart of claim 1, wherein said first driving member comprises a first driving motor and a first lead screw in transmission connection with said first driving motor, said first lead screw is sleeved with a first nut, said slide plate is connected with said first nut so that said slide plate can move with said first nut; the second driving part comprises a second driving motor and a second screw rod in transmission connection with the second driving motor, a second nut is sleeved on the second screw rod, and the second fork is connected with the second nut to drive the second fork to move.

3. The cart of claim 2, wherein said first drive member further comprises a first drive chain drivingly connected to said first lead screw and to a first drive shaft of said first drive motor, respectively, said first lead screw and said first drive motor being located on the same side of said first drive chain; the second driving piece further comprises a second transmission chain, the second transmission chain is in transmission connection with the second screw rod and a second driving shaft of the second driving motor respectively, and the second screw rod and the second driving motor are located on the same side of the second transmission chain.

4. The cart of claim 1, further comprising a lift mechanism including a hydraulic cylinder and a bottom lift plate connected to a hydraulic shaft of said hydraulic cylinder, said second fork mounted to said bottom lift plate, said hydraulic cylinder capable of driving said bottom lift plate in a vertical direction.

5. The cart of claim 4, wherein said lift mechanism further comprises a guide bearing and a guide shaft penetrating said guide bearing, said guide shaft being mounted on said bottom lift plate and said guide shaft being vertically disposed.

6. The cart according to claim 4, wherein said housing further comprises a photoelectric bracket, said photoelectric bracket comprises a photoelectric detector, said photoelectric detector is used for detecting whether the hydraulic cylinder is lifted or lowered to a predetermined position.

7. The cart of any of claims 1-6, wherein said first fork is located above said second fork.

8. The cart of any of claims 1-6, wherein said lift mechanism is a multi-stage lift mechanism.

9. The cart of any one of claims 1-6 further comprising a support panel, said first fork comprising two spaced apart fork arms, said two fork arms being disposed on opposite sides of said support panel.

10. The cart of any of claims 1-6 further comprising a powered wheel assembly and a steerable wheel assembly mounted to said housing bottom, said powered wheel assembly comprising a first steering motor and a steering wheel connected to said first steering motor, said steerable wheel assembly comprising a second steering motor, a steering gear set and a steerable wheel connected in series.