CN211846099U

CN211846099U - Indoor positioning trolley

Info

Publication number: CN211846099U
Application number: CN202020214930.8U
Authority: CN
Inventors: 张建民; 郑英明; 谢济键; 廖嘉欣; 龙佳乐
Original assignee: Wuyi University
Current assignee: Wuyi University
Priority date: 2020-02-26
Filing date: 2020-02-26
Publication date: 2020-11-03
Anticipated expiration: 2030-02-26

Abstract

The utility model discloses an indoor positioning trolley, which comprises a bracket, wherein a plurality of guide rails are respectively vertically arranged at two ends of the bracket; the lifting frame is arranged on the bracket, one end of the lifting frame is provided with a fork, the lifting frame is connected with a lifting assembly, and the lifting frame is provided with a plurality of sliding assemblies matched with the guide rails; the chassis frame is arranged at the bottom of the bracket and is provided with a detector; and the wheels are arranged at the bottom of the chassis frame, a buffer component is connected between the wheels and the chassis frame, and a driving component electrically connected with the detector is arranged. The utility model discloses wholly set up crane and support on chassis underframe upper portion, simple structure is compact, reduces automobile body volume and net weight, is favorable to the dolly quick flexibility of motion, sliding assembly and guide rail adaptation, and the fork goes up and down on the support along with the crane, and the detector receives goods positional information and detects the road conditions, and real-time feedback and control drive assembly adjust wheel speed and direction to adjustment transfer route uses the flexibility height, effectively improves handling efficiency.

Description

Indoor positioning trolley

Technical Field

The utility model relates to an intelligence transportation equipment technical field, in particular to indoor location dolly.

Background

Along with the high-speed development of industrial production, the mill is facing the labour cost and is rising by a wide margin, lack experienced industry workman scheduling problem, in order to practice thrift the human cost, reduce workman's intensity of labour, in the logistics storage trade, progressively use intelligent floor truck, current floor truck carries the goods according to preset's goods positional information and planning route, meet barrier or goods change storage position on the way in the transportation, the dolly also can't adjust the route by oneself, use the flexibility low, floor truck adopts fork truck formula structure, the fork passes through portal and car body connection, the structure is complicated, floor truck whole volume is great, net weight bearing load is big, be unfavorable for floor truck fast moving and turn to, influence handling efficiency.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve one of the technical problem that exists among the prior art at least, provide an indoor location dolly, can adjust the route of transportation according to road conditions or goods positional information in real time, simple structure, compactness, it is light and handy nimble, effectively improve handling efficiency.

According to the utility model discloses indoor location dolly, include: the two ends of the bracket are respectively and vertically provided with a plurality of guide rails; the lifting frame is arranged on the bracket, one end of the lifting frame is provided with a fork, the lifting frame is connected with a lifting assembly for driving the lifting frame, and the lifting frame is provided with a plurality of sliding assemblies matched with the guide rails; the chassis frame is arranged at the bottom of the bracket and is provided with a detector; and the wheels are arranged at the bottom of the chassis frame, a buffer component is connected between the wheels and the chassis frame, and a driving component electrically connected with the detector is arranged.

According to the utility model discloses indoor location dolly has following technological effect at least: through crane and leg joint, and whole setting is on chassis underframe upper portion, moreover, the steam generator is simple and compact in structure, reduce the whole volume of dolly and net weight, be convenient for the dolly motion, turn to quick nimble, through sliding assembly and guide rail adaptation, the crane is vertical reciprocating motion in the support, make the fork go up and down to get goods or unload, it receives goods positional information and detects the road conditions to set up the detector, real-time feedback and control drive assembly, adjustment wheel speed and direction, thereby adjust the transfer route in real time, use the flexibility high, effectively improve handling efficiency.

According to some embodiments of the invention, the sliding assembly comprises a support shaft connected to the crane, and a pulley arranged on the support shaft and adapted to the guide rail, and the pulley can be moved in the guide rail. Through pulley and guide rail adaptation, under the guide effect of guide rail for crane is along guide rail direction reciprocating motion, guarantees crane directional motion, and adopts rolling friction, and frictional resistance is little, guarantees that the crane moves smoothly, reduces lifting unit's power load.

According to some embodiments of the utility model, the supporting axle sets up in pairs, the supporting axle both ends are provided with splint respectively, just splint set up respectively the guide rail both sides, wherein have one side splint with crane fixed connection. The supporting shafts which are arranged in pairs are fixedly connected through the clamping plates, horizontal positioning installation of the supporting shafts is guaranteed, installation orientation is reliable, the pulleys are installed on the supporting shafts and are matched with the guide rails on the two sides respectively, the pulleys are installed on the two sides of the support in a clamping mode, acting force between the pulleys and the support is guaranteed to be balanced, the guide rails are prevented from being stressed unevenly and bending after long-term use, and guiding is guaranteed to be reliable.

According to the utility model discloses a some embodiments, lifting unit includes the lead screw of vertical setting, and sets up the elevator motor of lead screw one end, the cover is equipped with on the lead screw with the guide block that the crane is connected. The lead screw is driven to rotate by the lifting motor, the guide block is sleeved on the lead screw and can reciprocate along the lead screw, so that the lifting frame is driven to reciprocate along the direction of the lead screw, and lifting, goods taking and discharging are realized.

According to some embodiments of the utility model, the buffering subassembly includes the connecting plate, the connecting plate both ends be provided with respectively with hinge and buffer spring that the chassis underframe is connected. Through setting up the hinge, the connecting plate is articulated with the chassis underframe, and when the dolly produced the vibration because of the unevenness in ground, the connecting plate rotated, and buffer spring is flexible, and the buffering vibration keeps the dolly steady movement, guarantees that the goods bearing is reliable, guarantees the precision and the sensitivity of detector, effectively extension dolly life.

According to the utility model discloses a some embodiments, chassis underframe bottom is provided with the connecting rod, be provided with the mounting groove on the connecting rod, run through in the hinge be provided with the fastening screw that the mounting groove is connected. Pass hinge and mounting groove through fastening screw, connect hinge and connecting rod for the connecting plate can use the connecting rod to rotate as the center, simple structure, and it is smooth and easy to rotate, and the dismouting is convenient.

According to the utility model discloses a some embodiments, buffer spring both ends are provided with the go-between, the connecting plate with all be provided with on the chassis underframe with the connecting seat of go-between adaptation, the connecting seat with run through in the go-between and be provided with the pivot. Through pivot through connection seat and go-between, buffer spring is articulated with chassis underframe, connecting plate respectively, and when buffer spring compressed or extended along with the rotation of connecting plate, it was smooth and easy to guarantee that the connecting plate rotates, and buffer spring effectively cushions the vibration.

According to some embodiments of the utility model, be provided with the mount pad on the connecting plate, drive assembly fixed mounting be in on the mount pad. Through mount pad fixed connection drive assembly and connecting plate, increase the assembly area of contact with the connecting plate, avoid drive assembly aversion, drop, the installation is reliable firm.

According to some embodiments of the utility model, drive assembly includes driving motor and encoder, driving motor with wheel connection, the encoder with driving motor detector electricity is connected. The road condition in front of the trolley is detected through the detector, when an obstacle appears, the driving motor is controlled through the encoder, the rotating speed and the direction of the wheels are adjusted, the encoder feeds back the working state of the driving motor in real time, and the trolley is controlled to move in a closed-loop accurate mode.

According to some embodiments of the invention, the undercarriage top is provided with a support plate connected with the support, just the detector is provided on the support plate. The bearing plate is connected with the bottom of the support, so that the contact area between the chassis frame and the support is increased, the stress is uniform, the detector is stably installed, and the bearing is reliable.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention, according to some embodiments of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic view of the overall structure of an indoor positioning cart according to an embodiment of the present invention;

FIG. 2 is a schematic view of an assembled structure of the slide assembly shown in FIG. 1;

FIG. 3 is a schematic view of the connection plate and the connection rod shown in FIG. 1 assembled;

FIG. 4 is a schematic view of an assembled structure of the buffer spring shown in FIG. 1;

fig. 5 is an assembly view of the driving motor shown in fig. 1.

Reference numerals:

a bracket 100, a guide rail 110, a fixing plate 120, a lifting motor 130, a screw rod 140,

A lifting frame 200, a pallet fork 210, a guide block 220, a reinforcing rod 230,

A chassis frame 300, a support plate 310, a connection bar 320, a mounting groove 321, a,

A sliding assembly 400, a clamping plate 410, a supporting shaft 420, a pulley 430,

A connecting plate 500, a hinge 510, a fastening screw 511, a buffer spring 520, a connecting ring 521, a mounting seat 530,

A connecting seat 600, a rotating shaft 610,

Wheel 700, driving motor 710, encoder 720.

Detailed Description

This section will describe in detail the embodiments of the present invention, preferred embodiments of the present invention are shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that one can intuitively and vividly understand each technical feature and the whole technical solution of the present invention, but they cannot be understood as the limitation of the protection scope of the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, a plurality of means are one or more, a plurality of means are two or more, and the terms greater than, less than, exceeding, etc. are understood as not including the number, and the terms greater than, less than, within, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.

An indoor positioning cart according to an embodiment of the present invention is described below with reference to fig. 1 to 5.

As shown in fig. 1, according to the utility model discloses indoor location dolly, including support 100, support 100 both ends are the vertical a plurality of guide rails 110 that are provided with respectively, be provided with crane 200 on the support 100, crane 200 one end is provided with fork 210, be connected with the lifting unit who drives crane 200, be provided with a plurality of sliding assembly 400 with guide rail 110 adaptation between crane 200 and the support 100, support 100 bottom is provided with chassis frame 300, be provided with the detector on the chassis frame 300, the bottom is provided with a plurality of wheels 700, be connected with buffering subassembly between wheel 700 and the chassis frame 300, be provided with the drive assembly who is connected with the detector electricity on the wheel 700. It can be understood that, the support 100 and the crane 200 are integrally arranged on the chassis frame 300, the crane 200 is connected with the support 100 through the sliding assembly 400, and can go up and down along the guide rail 110 on the support 100, the structure is simple and compact, the whole volume and net weight of the trolley are reduced, the trolley is convenient to move and fast and flexibly turn, in the transportation process, the detector receives the position information of the goods and detects the road condition in real time, the driving assembly is controlled, the speed and the direction of the wheels 700 are adjusted, the transportation route is adjusted in real time, the use flexibility is high, and the transportation efficiency is effectively improved.

Specifically, four sets of guide rails 110 are arranged on the support 100, four sets of sliding assemblies 400 are connected to the lifting frame 200, one set of sliding assemblies 400 corresponds to one set of guide rails 110 in a matched mode, the lifting frame 200 is installed in the support 100, the pallet fork 210 extends out of the support 100, the structure is compact, four wheels 700 are arranged, a set of buffer assemblies is connected between each wheel 700 and the chassis frame 300, each wheel 700 is connected with a set of driving assemblies and independently controlled to drive, the wheels 700 are respectively provided with Mecanum wheels, the movement modes of moving forwards, moving transversely, moving obliquely, rotating, combining the wheels and the like can be realized, the movement is flexible and various, and the omnibearing movement of the trolley is realized.

Wherein, be provided with a plurality of stiffeners 230 on the crane 200, increase crane 200 intensity, avoid crane 200 deformation, guarantee that fork 210 horizontal support goods is reliable.

In some embodiments of the present invention, the top of the chassis frame 300 is provided with a support plate 310 connected to the support 100, and the detector is disposed on the support plate 310, so as to increase the contact area between the chassis frame 300 and the support 100, the stress is uniform, the detector is stably installed, and the bearing is reliable.

In some embodiments of the present invention, the lifting assembly includes a vertically disposed screw rod 140, and a lifting motor 130 disposed at one end of the screw rod 140, and a guide block 220 connected to the lifting frame 200 is disposed on the screw rod 140. Further, two sets of lifting assemblies are arranged and are respectively arranged at the front end and the rear end of the lifting frame 200 and are driven synchronously, so that the lifting frame 200 can be ensured to lift horizontally, the lifting motor 130 is arranged on the support 100 through the fixing plate 120, one end of the screw rod 140 is connected with the lifting motor 130, the other end of the screw rod 140 is connected with the support plate 310, and the directional installation reliability of the screw rod 140 is ensured.

As shown in fig. 2, in some embodiments of the present invention, the sliding assembly 400 includes a supporting shaft 420 connected to the crane 200, and a pulley 430 disposed on the supporting shaft 420 and adapted to the guide rail 110, and the pulley 430 can move in the guide rail 110, further, the supporting shaft 420 is disposed in pairs, the two ends of the supporting shaft 420 are respectively provided with a clamping plate 410, and the clamping plates 410 are respectively disposed on two sides of the guide rail 110, wherein one side of the clamping plate 410 is fixedly connected to the crane 200. It can be understood that, splint 410 sets up in pairs in guide rail 110 both sides, be connected with a plurality of supporting axles 420 between the splint 410, install the pulley 430 with guide rail 110 adaptation on every supporting axle 420, the pulley 430 centre gripping is installed in support 100 both sides, guarantee that the effort between pulley 430 and the support 100 is balanced, avoid long-term use back guide rail 110 atress uneven and crooked, guarantee that the direction is reliable, at crane 200 along guide rail 110 direction reciprocating motion, guarantee crane 200 directional motion, and adopt rolling friction, frictional resistance is little, guarantee crane 200 motion smooth and easy, reduce lifting unit's power load.

As shown in fig. 3 and 4, in some embodiments of the present invention, the buffer assembly includes a connection plate 500, two ends of the connection plate 500 are respectively provided with a hinge 510 and a buffer spring 520 connected to the chassis frame 300, further, the bottom of the chassis frame 300 is provided with a connection rod 320 with a mounting groove 321, a fastening screw 511 connected to the mounting groove 321 is provided in the hinge 510 in a penetrating manner, two ends of the buffer spring 520 are provided with a connection ring 521, the connection plate 500 and the chassis frame 300 are both provided with a connection seat 600 adapted to the connection ring 521, and a rotation shaft 610 is provided in the connection seat 600 and the connection ring 521 in a penetrating manner.

It can be understood that the hinge 510 is connected with the mounting groove 321 through a fastening screw 511, one end of the connecting plate 500 is hinged with the connecting rod 320 through the hinge 510, the other end of the connecting plate is elastically connected with the chassis frame 300 through a buffer spring 520, when the wheel 700 passes through an uneven ground, the wheel 700 shakes and is converted into the connecting plate 500 to rotate around the connecting rod 320, the connecting plate 500 penetrates through the connecting seat 600 and the connecting ring 521 through the rotating shaft 610, two ends of the buffer spring 520 are respectively hinged with the chassis frame 300 and the connecting plate 500, the buffer spring 520 stretches or compresses along with the rotation of the connecting plate 500, vibration is effectively buffered, vibration of the chassis frame 300, the support 100 and the crane 200 is reduced, the pallet 210 is guaranteed to be loaded with goods reliably, the working precision and sensitivity.

In some embodiments of the present invention, a mounting seat 530 is disposed on the connecting plate 500, and the driving assembly is fixedly mounted on the mounting seat 530. Specifically, the connecting rod 320 is arranged in the middle of the bottom surface of the chassis frame 300, two connecting plates 500 are arranged on each side of the connecting rod 320, the connecting plates 500 on two sides are symmetrically arranged, two ends of each connecting plate 500 are respectively connected with the connecting rod 320 through hinges 510 and connected with the chassis frame 300 through buffer springs 520, a mounting seat 530 is arranged on each connecting plate 500, and each mounting seat 530 is provided with a group of driving assemblies connected with the wheels 700.

As shown in fig. 5, in some embodiments of the present invention, the driving assembly includes a driving motor 710 and an encoder 720, the driving motor 710 is connected to the wheel 700, and the encoder 720 is electrically connected to the driving motor 710 and the detector. It can be understood that the encoder 720 and the wheel 700 are respectively connected to two ends of the driving motor 710, the driving motor 710 is arranged in the mounting seat 530 in a penetrating manner, during transportation, the encoder 720 controls the driving motor 710 according to the detection information of the detector, detects the working state of the feedback driving motor 710 in real time, adjusts the speed and the direction of the wheel 700 in real time, performs closed-loop control adjustment, adjusts accurately, and ensures that the trolley runs and is positioned reliably.

The driving motor 710 is a servo planetary gear motor, and can realize speed regulation by changing current, change voltage polarity, realize commutation, and operate smoothly, and have long service life.

An indoor positioning cart according to an embodiment of the present invention is described in detail with reference to fig. 1 to 5 as an embodiment. It is to be understood that the following description is illustrative only and is not intended as a specific limitation on the invention.

The indoor positioning trolley comprises a bracket 100 and a chassis frame 300 arranged at the bottom of the bracket 100, wherein a support plate 310 connected with the bracket 100 is arranged on the chassis frame 300, a detector is arranged on the support plate 310, four groups of guide rails 110 are arranged on the bracket 100, each group of guide rails 110 comprises two guide rails 110 which are symmetrically arranged, a lifting frame 200 is arranged on the bracket 100, one end of the lifting frame 200 is provided with a fork 210, the front end and the rear end of the lifting frame 200 are respectively provided with a reinforcing rod 230, four groups of sliding assemblies 400 are connected between the lifting frame 200 and the bracket 100, each group of sliding assemblies 400 comprises clamping plates 410 arranged at two sides of the guide rails 110, one side clamping plate 410 is connected with the lifting frame 200, four supporting shafts 420 are arranged between the clamping plates 410, each supporting shaft 420 is provided with a pulley 430 which is matched with the guide rails 110 and moves in the guide rails 110, and, the lifting motor 130 is connected with a screw rod 140, the other end of the screw rod 140 is connected with the supporting plate 310, and the screw rod 140 is sleeved with a guide block 220 connected with the lifting frame 200.

The connecting rod 320 with the mounting groove 321 is arranged in the middle of the bottom surface of the chassis frame 300, two connecting plates 500 are symmetrically arranged on two sides of the connecting rod 320 respectively, one end of each connecting plate 500 is provided with a hinge 510, the hinge 510 penetrates through a fastening screw 511 connected with the mounting groove 321, the other end of each connecting plate 500 is provided with a buffer spring 520, two ends of each buffer spring 520 are provided with a connecting ring 521, the bottoms of the connecting plates 500 and the chassis frame 300 are respectively provided with a connecting seat 600, the connecting seat 600 is matched with the connecting ring 521, a rotating shaft 610 penetrates through the connecting seat 600 and the connecting ring 521, a mounting seat 530 is arranged on the connecting plate 500, a driving motor 710 penetrates through the mounting seat 530, one end of the driving motor 710 is provided with.

According to the indoor positioning trolley of the embodiment of the utility model, by such arrangement, at least the following effects can be achieved, the lifting frame 200 and the support 100 are integrally arranged on the upper part of the chassis frame 300, the whole volume and net weight of the trolley are reduced, the structure is simple and compact, the trolley movement and the steering are convenient, the lifting frame 200 vertically reciprocates in the support 100 through the matching of the pulley 430 and the guide rail 110, the fork 210 is lifted to take or unload goods, the detector is arranged to receive goods position information and detect road conditions, the driving motor 710 is controlled, the speed and direction of the wheel 700 are adjusted, the transportation route is adjusted in real time, the encoder 720 detects the working state of the driving motor 710, the detection information of the detector is combined, the speed and direction of the wheel 700 are fed back and corrected and adjusted in real time, the use flexibility is high, the transportation efficiency is effectively improved, the connecting plate 500 for installing the wheel 700 is, when the wheel 700 shakes, the connecting plate 500 rotates by taking the connecting rod 320 as a center, the buffer spring 520 stretches or compresses to buffer vibration, so that the trolley is kept to move stably, the bearing of the goods is reliable, the precision and the sensitivity of the detector are guaranteed, and the service life of the trolley is effectively prolonged.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.

Claims

1. An indoor positioning trolley, comprising:

the two ends of the bracket are respectively and vertically provided with a plurality of guide rails;

the lifting frame is arranged on the bracket, one end of the lifting frame is provided with a fork, the lifting frame is connected with a lifting assembly for driving the lifting frame, and the lifting frame is provided with a plurality of sliding assemblies matched with the guide rails;

the chassis frame is arranged at the bottom of the bracket and is provided with a detector; and

the wheels are arranged at the bottom of the chassis frame, a buffer assembly is connected between the wheels and the chassis frame, and a driving assembly electrically connected with the detector is arranged.

2. The indoor positioning trolley according to claim 1, characterized in that: the sliding assembly comprises a supporting shaft connected with the lifting frame and a pulley which is arranged on the supporting shaft and matched with the guide rail, and the pulley can move in the guide rail.

3. The indoor positioning trolley according to claim 2, characterized in that: the supporting shafts are arranged in pairs, clamping plates are arranged at two ends of each supporting shaft respectively and are arranged on two sides of the guide rail respectively, and one clamping plate is fixedly connected with the lifting frame.

4. The indoor positioning trolley according to claim 1, characterized in that: the lifting assembly comprises a vertically arranged screw rod and a lifting motor arranged at one end of the screw rod, and a guide block connected with the lifting frame is sleeved on the screw rod.

5. The indoor positioning trolley according to claim 1, characterized in that: the buffer assembly comprises a connecting plate, and a hinge and a buffer spring which are connected with the chassis frame are respectively arranged at two ends of the connecting plate.

6. The indoor positioning trolley according to claim 5, wherein: the bottom of the chassis frame is provided with a connecting rod, the connecting rod is provided with a mounting groove, and a fastening screw connected with the mounting groove penetrates through the hinge.

7. The indoor positioning trolley according to claim 5, wherein: the buffer spring is characterized in that connecting rings are arranged at two ends of the buffer spring, connecting seats matched with the connecting rings are arranged on the connecting plate and the chassis frame, and rotating shafts penetrate through the connecting seats and the connecting rings.

8. The indoor positioning trolley according to claim 5, wherein: the connecting plate is provided with a mounting seat, and the driving assembly is fixedly mounted on the mounting seat.

9. The indoor positioning trolley according to claim 1, characterized in that: the driving assembly comprises a driving motor and an encoder, the driving motor is connected with the wheels, and the encoder is electrically connected with the driving motor and the detector.

10. The indoor positioning trolley according to claim 1, characterized in that: the top of the chassis frame is provided with a supporting plate connected with the bracket, and the detector is arranged on the supporting plate.