CN218231735U

CN218231735U - Tray loading and unloading transport AGV fork truck

Info

Publication number: CN218231735U
Application number: CN202221749829.8U
Authority: CN
Inventors: 白海涛; 王铁桩
Original assignee: Avic Baosheng Intelligent Technology Shanghai Co ltd
Current assignee: Avic Baosheng Intelligent Technology Shanghai Co ltd
Priority date: 2022-07-08
Filing date: 2022-07-08
Publication date: 2023-01-06
Anticipated expiration: 2032-07-08

Abstract

The utility model discloses a dish utensil loading and unloading transportation AGV fork truck belongs to logistics transport technical field, one side both ends at the top of fork truck body are equipped with the hoist, the top middle-end fixed mounting of fork truck body has laser navigation, the front side of fork truck body is equipped with hoisting system, install the fork frame on the hoisting system that the fork truck body was equipped with, the front side mid-mounting of fork frame has the dish pushing mechanism, the middle inboard of dish pushing mechanism is equipped with centering camera sensor, the board need not personnel's intervention about AGV fork truck operation and the cable dish utensil, manual operation when only needing fixed and dismantling the cable dish utensil, tighten or loosen locking screw, can be responsible for multiple equipment like this, AGV fork truck operation standard, can be tired continuous operation, can also guarantee the fork truck of peripheral personnel's safety constantly in operation, alleviate personnel's burden, reduce enterprise's burden, the emergence of harm has more been reduced, work efficiency is improved, guarantee that the enterprise is safer, fast-speed operation development more.

Description

AGV fork truck for loading and unloading transportation of trays

Technical Field

The utility model belongs to the technical field of the commodity circulation transport, concretely relates to dish utensil loading and unloading transportation AGV fork truck.

Background

The cable production industry is a labor-intensive industry, many processes can not be manually participated, and through years of improvement, the automation operation of equipment is realized from the initial raw materials to the finished product output in the cable manufacturing process, but the process is only a part, and many processes need to be carried by people and a vehicle support, particularly the loading, unloading and transportation of some cable finished product trays are carried out manually by using equipment such as a manual carrier and an electric carrier. In a cable manufacturing workshop, ten and eight cable assembly lines are fewer, dozens of cable assembly lines are more, the empty trays are required to be transported to the end of the assembly lines and installed on a machine table, after the cables on the trays are fully wound, the trays are required to be manually unloaded and transported to a storage position, and meanwhile, the empty trays are required to be installed on the empty machine table again, so that the operation is repeated. When the assembly line reaches a certain amount, must have a large amount of personnel and vehicle to go to repeat this work from top to bottom, transport the dish utensil, the centre can not be stopped down, and the hole on the dish utensil is little with the through-shaft clearance on the board moreover, and the counterpoint will be accurate just can install, dismantle, this just needs artifical supplementary, causes personnel's fatigue easily to a large amount of manpower and material resources have been occupied.

The use of a manual truck for transporting a pallet has the following disadvantages:

1. the efficiency is slow, and artifical pulling hand removes the car, because the material loading point is far away to the unloading point distance, artifical marching speed is slow, inefficiency.

2. The beat of the production line cannot be kept up, and a large number of personnel must be invested to keep up.

3. One dish utensil is light then tens kilograms, and seven eight hundred kilograms are heavy, and manual transportation is very hard, and the dish utensil is gone up and down in the front of the board and needs artifical supplementary, causes personnel fatigue, increases the emergence of accident hidden danger.

The use of an electric pallet truck transportation tray also has a number of disadvantages:

1. although the electric pallet truck accelerates the travelling speed and reduces the distance time, the electric pallet truck also needs to be driven by a person and still occupies human resources;

2. a plurality of electric pallet trucks work in one workshop simultaneously, which can cause the occurrence of collision accidents.

3. The tray utensil about before the board, because the through axle clearance on tray utensil and the board is little, the loading and unloading needs the counterpoint, just so cause the electronic pallet truck to adjust the gesture back many times, just can install or dismantle the tray utensil, still wasted a large amount of time and personnel's energy.

Therefore, we propose a pallet handling AGV fork truck for this purpose.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a dish utensil loading and unloading transportation AGV fork truck to propose current problem in solving above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a pallet handling AGV forklift comprising: laser navigation system, hoist, fork truck body, car control system, scram switch, automatic charging, barrier, group battery, fork frame, indicator, play to rise system, push away a set mechanism, centering camera sensor, range finding sensor, back spacing, two-dimensional code sensor, prong sensor, sensor and preceding spacing target in place, the fork truck body includes actuating system, automobile body system, covering and basic electrical system, one side both ends fixedly connected with hoist at the top of fork truck body, top one side middle-end fixed mounting of fork truck body has laser navigation, one side of fork truck body is equipped with the play to rise system, install the fork frame on the play to rise system that the fork truck body was equipped with, the fork frame is with play to rise system swing joint, the fork frame includes fork frame every single move, horizontal sway, side shift, preceding push away and push away a set mechanism, play to rise system includes spiral screw lift and linear slide rail, play to rise system and fork truck body fixed connection, the mid-mounting that the fork frame kept away from one side of fork truck body has push away a set mechanism, the inboard of push away a set mechanism is equipped with push away a set mechanism, the inboard fixed mounting has camera sensor in the middle of push away a set mechanism.

Preferably, the fork frame is equipped with one side both ends that push away a set mechanism and inlays and have a plurality of range finding sensors, the bottom both sides of fork frame are equipped with the fork, the one end of fork has a fork point sensor through inlayed mode fixed mounting, one of them one side of fork is equipped with the two-dimensional code sensor, one side of pushing away a set mechanism is equipped with the sensor that targets in place, the sensor that targets in place is through the installation screw fixed mounting that is equipped with in one side of fork frame.

Preferably, top one side of fork truck body is equipped with car control system, car control system sets up in the top one side of fork truck body through the fixed setting of inlayed mode, car control system comprises controller, driver, fork truck body top both sides are equipped with emergency stop switch, emergency stop switch is through inlayed mode and fork truck body fixed connection.

Preferably, one side between two the fork is equipped with the back spacing, the opposite side of fork is equipped with preceding spacing.

Preferably, the two sides of the bottom end of one side, far away from the fork frame, of the forklift body are provided with laser obstacle avoidance devices, and the laser obstacle avoidance devices are fixedly installed on the two sides of the bottom of the forklift body through installation screws.

Preferably, one side of the middle part of the bottom of the forklift body is provided with automatic charging, the automatic charging comprises a charging brush plate, a charging pile and an automatic charger.

Preferably, the battery pack is arranged on one side, close to the automatic charging, of the forklift body, the battery pack is arranged inside the forklift body in a bolt fixing mode, and the battery pack is a lithium battery.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the special fork frame and the forklift are installed into a whole, the fork frame has multiple functions of left-right swinging, pitching, side shifting and forward pushing, and the alignment requirements of the tray and the machine table when the tray is moved up and down on the machine table are met; when the plate is used for loading and unloading the machine platform, a bowl-shaped pressure plate is arranged, the special fork frame is provided with a sucker, and the sucker has a telescopic function, so that the bowl-shaped pressure plate can be assembled and disassembled, and the auxiliary labor intensity of personnel is reduced; install camera, distance sensor, displacement sensor on the purpose-built fork frame, be close multiple electronic component such as opening light, supplementary board about the dish utensil, guarantee the counterpoint board that the dish utensil can be accurate, AGV fork truck operation and cable dish utensil about board need not personnel to intervene, manual operation when only needing fixed and dismantling cable dish utensil screws up or loosens locking screw, can be responsible for many equipment like this alone. AGV fork truck operating specification can not be aware of tired continuity of operation, can also guarantee the fork truck of peripheral personnel safety constantly in service, alleviates personnel's burden, reduces enterprise's burden, has more reduced the emergence of harm, has improved work efficiency, guarantees safer, the faster-speed operation development of enterprise.

2. When the AGV forklift receives a wireless signal instruction, the vehicle-mounted controller receives the instruction, after the instruction is subjected to information processing, a motion instruction is sent to each working unit, the AGV forklift starts to operate, before reaching a station of the machine station, various sensors on the fork frame start to operate to adjust the postures of the vehicle and the fork frame, the alignment requirements of the cable disc and the machine station penetrating shaft are met, loading, unloading, carrying and stacking of the disc are completed, manual intervention is not needed in the whole process, and the automatic operation effect is really achieved.

Drawings

Fig. 1 is a schematic rear view isometric structure of the present invention;

fig. 2 is a front isometric view structural schematic diagram of the present invention.

In the figure: 1. a laser navigation system; 2. a spreader; 3. a forklift body; 4. a vehicle control system; 5. an emergency stop switch; 6. automatic charging; 7. obstacle avoidance by laser; 8. a battery pack; 9. a fork carriage; 10. a turn signal light; 11. a hoisting system; 12. a tray pushing mechanism; 13. centering the camera sensor; 14. a ranging sensor; 15. rear limiting; 16. a two-dimensional code sensor; 17. a fork tip sensor; 18. an in-position sensor; 19. and front limiting.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.

Please refer to fig. 1-2, the utility model provides a tray loading and unloading transportation AGV fork truck technical scheme: the method comprises the following steps: the system comprises a laser navigation system 1, a lifting appliance 2, a forklift body 3, a vehicle control system 4, an emergency stop switch 5, an automatic charging 6, a laser obstacle avoidance 7, a battery pack 8, a fork frame 9, a steering lamp 10, a lifting system 11, a push disc mechanism 12, a centering camera sensor 13, a distance measuring sensor 14, a rear limit 15, a two-dimensional code sensor 16, a fork point sensor 17, an in-place sensor 18 and a front limit 19.

The laser navigation system 1 is used for guiding a forklift running path line and giving a vehicle a road directing function, the lifting appliance 2 is used for conveniently lifting an AGV forklift, the forklift body 3 is a basic body of the forklift and comprises a driving system, a body system, a covering piece and a basic electric system, the basic running function of the AGV forklift is guaranteed, the lifting appliance is also a carrier of other parts, the vehicle control system 4 is a control system for vehicle running and working actions, the vehicle control system 4 comprises a controller and a driver, the brain of the AGV forklift is a brain of the AGV forklift, the emergency stop switch 5 is emergency treatment during vehicle emergency reaction, the emergency stop switch 5 is pressed, the forklift stops all actions, the automatic charging 6 is that when the electric quantity of the AGV forklift drops to a set value, the AGV runs to a charging position for charging without manual intervention, the automatic charging machine comprises a charging brush board, a charging pile, an automatic charging machine and a laser obstacle avoidance 7, and is arranged below two sides of the rear part of the body, the laser sensing signal provides barrier information for the vehicle to help the vehicle avoid collision, the battery pack 8 is a lithium battery to provide electric power support for all electric equipment of the vehicle, the fork frame 9 is a special mechanism and is an important component of a tray loading, unloading and transporting AGV forklift, and is mainly responsible for bearing and posture adjustment of a cable tray, the posture adjustment ensures that the central line of the cable tray is coincident with the central line of a through shaft of a machine platform, and the cable tray is pushed into the machine platform, the fork frame comprises a fork frame pitching mechanism, a horizontal swinging mechanism, a side shifting mechanism, a front pushing mechanism and a tray pushing mechanism 12, the steering lamps 10 are arranged on the upper parts of two sides of a vehicle body to provide steering light warning for the vehicle, the lifting system 11 provides power for ascending and descending of the fork frame 9, and a ball screw lifter is used for realizing high-precision alignment requirement of the tray loading, unloading and transporting AGV, the lifting is realized by the ball screw lifter, the tray pushing mechanism 12 is realized after the cable tray penetrates into the through shaft of the machine platform, the device is used for pushing the pressure plate into the pallet to tightly squeeze the pallet, the device sucks and releases the pressure plate through an electromagnet, a centering camera sensor 13 is used for verifying whether a machine platform penetrating shaft and a cable pallet center line are coincident or not through detection of the centering camera sensor, all three attitude adjusting mechanisms of the fork frame 9 make corresponding response according to detection information of the attitude adjusting mechanisms, three range finding sensors 14 are arranged on the front end face of the fork frame 9 and used for comparing distance finding with the rear end face of the machine platform penetrating shaft through three positions to ensure that the vertical end face of the fork frame 9 is parallel to the vertical end face of the machine platform, a rear limit 15 is a limit device for limiting the cable pallet to move backwards on the fork, a two-dimensional code sensor 16 is pasted with a two-dimensional code on the machine platform, a two-dimensional code sensor 16 on the fork reads information on the machine platform and is used for sensing the relative position of an AGV vehicle and the machine platform, a fork point sensor 17 is detection device for ensuring that the fork does not collide when the fork moves forwards, an in place sensor 18 is used for sensing the electronic limit after the cable pallet is pushed into the machine platform shaft, and double guarantee that the mechanical rear limit 15 is used for smoothly disassembling the cable pallet and locking the pallet can be pulled out of the machine platform.

Preferably, the laser navigation system 1 may implement unmanned automatic guiding travel of the AGV through automatic route guidance.

Preferably, the vehicle control system 4, which can control all the actions of the AGV vehicle, is the intelligent brain of the AGV.

Preferably, the emergency stop switch 5 is an emergency measure for ensuring safety by pressing the emergency stop switch 5 to stop all actions of the vehicle in case of an emergency situation of the AGV forklift.

Preferably, 6, when the electric quantity of the AGV forklift falls to a set value or does not work, the AGV forklift automatically runs to a charging position to be charged, so that sufficient electric power of the vehicle is ensured, manual intervention is not needed in the charging work, and the AGV forklift is completely automatic and releases human resources.

Preferably, the laser obstacle avoidance devices 7 are installed below two sides of the rear portion of the vehicle body, each laser obstacle avoidance device supports a scanning angle of 270 degrees, the two laser obstacle avoidance devices can achieve full protection of the driving surface and two sides of the vehicle, and warning, deceleration and stopping of three-layer prevention and control areas are safer.

Preferably, the battery pack 8 is a lithium iron phosphate battery, which is safe, reliable, durable, high in endurance capacity and supports rapid charging with large current.

Preferably, the fork carriage 9 is a specially-made mechanism, has multiple actions of pitching, horizontal swinging, side shifting, forward pushing and the like, and can meet the precise butt joint requirement of the coincidence of a machine platform penetrating shaft and a cable reel center.

Preferably, the centering camera sensor 13 can precisely detect the deviation between the cable reel and the center of the through shaft of the machine table, and provides a signal basis for adjusting the posture of the fork carriage 9.

Preferably, the two-dimensional code sensor 16 is installed at the front end of the side face of the fork, and positions information of the vehicle is pre-positioned by irradiating the two-dimensional code on the end face of the machine platform, so that a signal is used for detecting the secondary positioning of the AGV forklift.

Preferably, the front stop 19 is a movable swing mechanism, the upper portion of the front stop is close to the upper end face of the fork by gravity when the front stop is not in operation, the lower portion of the front stop is pressed down when the cable drum is forked, the upper portion of the front stop is tilted, the blocking piece on the upper portion of the front stop limits the filling of the drum, and the drum is guaranteed not to move back and forth relative to the fork (the rear portion of the drum is provided with the fixed rear stop 15).

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A pallet handling AGV forklift comprising: laser navigation (1), hoist (2), fork truck body (3), vehicle control system (4), scram switch (5), automatic charging (6), barrier (7) are kept away to laser, group battery (8), fork frame (9), indicator (10), hoisting system (11), push away set mechanism (12), centering image sensor (13), range sensor (14), back spacing (15), two-dimensional code sensor (16), fork point sensor (17), sensor (18) and preceding spacing (19) target in place, its characterized in that: the forklift is characterized in that the forklift body (3) comprises a driving system, a body system, a covering piece and a basic electric system, two ends of one side of the top of the forklift body (3) are fixedly connected with lifting appliances (2), a laser navigation system (1) is fixedly mounted at the middle end of one side of the top of the forklift body (3), a lifting system (11) is arranged on one side of the forklift body (3), a fork frame (9) is mounted on the lifting system (11) arranged on the forklift body (3), the fork frame (9) is movably connected with the lifting system (11), the fork frame (9) comprises a fork frame pitching mechanism, a horizontal swinging mechanism, a side shifting mechanism, a forward pushing mechanism and a disc pushing mechanism, the lifting system (11) comprises a screw rod lifter and a linear sliding rail, the lifting system (11) is fixedly connected with the forklift body (3), a disc pushing mechanism (12) is mounted in the middle of one side, far away from the forklift body (3), of the fork frame (9), an electromagnet is arranged on the inner side of the disc pushing mechanism (12), and a centering camera shooting sensor (13) is fixedly mounted on the inner side of the disc pushing mechanism (12).

2. The pallet handling AGV fork truck of claim 1, further comprising: one side both ends that fork frame (9) were equipped with push away a set mechanism (12) are inlayed and are had a plurality of distance measuring sensor (14), the bottom both sides of fork frame (9) are equipped with the fork, the one end of fork has fork point sensor (17) through inlayed mode fixed mounting, one of them one side of fork is equipped with two-dimensional code sensor (16), one side of push away a set mechanism (12) is equipped with sensor (18) that targets in place, sensor (18) targets in place is through the installation screw fixed mounting who is equipped with in one side of fork frame (9).

3. The pallet handling AGV fork truck of claim 1, further comprising: the forklift is characterized in that a forklift control system (4) is arranged on one side of the top end of the forklift body (3), the forklift control system (4) is fixedly arranged on one side of the top end of the forklift body (3) in an embedded mode, the forklift control system (4) is composed of a controller and a driver, emergency stop switches (5) are arranged on two sides of the top end of the forklift body (3), and the emergency stop switches (5) are fixedly connected with the forklift body (3) in an embedded mode.

4. A pallet handling AGV forklift according to claim 2, characterized in that: and one side of each of the two forks is provided with a rear limit (15), and the other side of each fork is provided with a front limit (19).

5. The pallet handling AGV fork truck of claim 1, further comprising: the forklift is characterized in that both sides of the bottom end of one side, far away from the fork frame (9), of the forklift body (3) are provided with laser obstacle avoidance devices (7), and the laser obstacle avoidance devices (7) are fixedly installed on both sides of the bottom of the forklift body (3) through mounting screws.

6. The pallet handling AGV fork truck of claim 1, further comprising: one side of the middle part of the bottom of the forklift body (3) is provided with an automatic charging device (6), the automatic charging device (6) comprises a charging brush plate, a charging pile and an automatic charging machine.

7. The pallet handling AGV fork truck of claim 6, further comprising: one side that fork truck body (3) are close to automatic charging (6) is equipped with group battery (8), group battery (8) set up in the inside of fork truck body (3) through the mode of bolt fastening, group battery (8) are the lithium cell.