A multifunctional automatic carrier

Abstract

The application discloses a multifunctional automatic carrying vehicle, which comprises a vehicle body, wherein the vehicle body is in a concave shape, first and second vehicle body platforms are symmetrically arranged at the two sides of the back of the vehicle body, and first and second hydraulic lifting mechanisms are arranged at the top of each of the first and second vehicle body platforms. The multifunctional automatic carrying vehicle can safely, efficiently and accurately realize automatic loading and unloading of component pallet goods under the condition of limiting the size of the vehicle body, and can realize the requirements of safe, efficient and accurate automatic loading, unloading and transportation under the condition of limiting the size of the vehicle body.

Description

TECHNICAL FIELD

[0001] The present application relates to a carrier, in particular to a multifunctional automatic carrier, and belongs to the technical field of material handling equipment. BACKGROUND

[0002] The carrier is a kind of material handling vehicle, which is applied in more and more industries and is an important role in material handling equipment. When the current carrier realizes loading and unloading of component pallet goods, a fork frame with lifting function is configured at the front end of the carrier, and an operator driving cabin is configured. This kind of carrier needs the fork frame to be aligned with the goods and extend into the pallet to realize loading and unloading. The transportation efficiency is low, the occupied volume is large, and the carrier needs manual operation to accurately master the position between the fork frame and the loading and unloading goods. If the driver cannot master it well, it will lead to the situation that the carrier cannot load and unload the goods correctly, and cannot realize loading and unloading safely and efficiently. On the other hand, the configuration of the fork frame with lifting function at the front end of the carrier and the operator driving cabin makes the overall vehicle body shape larger, and the transportation efficiency and safety are lower. Therefore, the present scheme proposes a carrier with large loading and unloading height, high precision, small overall volume, high safety factor and automatic operation and driving. SUMMARY

[0003] The present application aims to provide a multifunctional automatic carrier to solve the problems in the background art.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a multifunctional automatic carrier, comprising a vehicle body, the vehicle body is concave-shaped, first and second vehicle body platforms are symmetrically arranged on both sides of the back of the vehicle body, first and second hydraulic lifting mechanisms are arranged on the top of the first and second vehicle body platforms, the first and second hydraulic lifting mechanisms are respectively composed of first and second transportation platforms, first and second scissor fork lifting frames, first and second towing platforms, a plurality of driven power rollers and a plurality of driving power rollers, two folding storage grooves of the same size are arranged on the top of the first and second vehicle body platforms, the first and second scissor fork lifting frames are respectively arranged in the first and second folding storage grooves, the first and second towing platforms are respectively installed on the top of the first and second scissor fork lifting frames, the first and second transportation platforms are respectively installed on the top of the first and second towing platforms, a plurality of groups of driven power rollers and driving power rollers are arranged on the top of the first and second transportation platforms, the driving power rollers and the driven power rollers are installed in the frame of the first and second transportation platforms through roller shafts, and are driven by motors as power.

[0005] As a preferred technical scheme of the present application, the inner side of the middle position groove of the vehicle body is symmetrically provided with an inner rail, and a motor-driven ball screw is arranged inside each of the two inner rails, and the output end of each motor-driven ball screw is provided with a sliding fork on both sides, and a portal frame is fixedly arranged at the bottom of the sliding fork, and a first fork arm and a second fork arm are respectively fixedly arranged at the two sides of the bottom of the portal frame, and a lifting oil cylinder is fixedly arranged at the bottom of the sliding fork, and the output end of the lifting oil cylinder is fixedly connected with the bottom of the portal frame.

[0006] As a preferred technical scheme of the present application, the first transport platform and the second transport platform are respectively provided with a first blocking block and a second blocking block, the side wall of the first transport platform and the side wall of the second transport platform are provided with a clamping device, the front end of the first transport platform and the front end of the second transport platform are respectively provided with a first sensing photoelectric and a second sensing photoelectric, and a first camera and a second camera are respectively arranged at the positions beside the first sensing photoelectric and the second sensing photoelectric, and the first transport platform and the second transport platform are respectively provided with a third sensing photoelectric near the end of the vehicle body.

[0007] As a preferred technical scheme of the present application, the end of the vehicle body is provided with a folding guard plate, and the top of the end of the vehicle body is provided with a folding platform.

[0008] As a preferred technical scheme of the present application, the left and right sides of the rear of the vehicle body are respectively provided with a driving rubber wheel, the left and right sides of the front of the vehicle body are respectively provided with a steering rubber wheel, the front and rear diagonal positions of the end of the vehicle body are respectively provided with a first obstacle avoidance sensor and a second obstacle avoidance sensor, and the positions of the first transport platform and the second transport platform away from the vehicle body are respectively provided with a detent plate.

[0009] As a preferred technical scheme of the present application, the top of the portal frame is provided with a laser navigation system.

[0010] As a preferred technical scheme of the present application, the multifunctional automatic carrier includes a control system, and the control system includes a vehicle body main control, a vehicle body motion control, a vehicle body system control, and a vision and measurement control. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 It is a front structure schematic view of the present application;

[0012] Figure 2 It is a back structure schematic view of the present application;

[0013] Figure 3 It is a back structure schematic view of the present application;

[0014] Figure 4 It is a control system schematic view of the present application;

[0015] Figure 5 This is a schematic diagram of the process of the present invention. Implementation

[0016] A multi-functional automated guided vehicle (AGV) includes a vehicle body 11, which is U-shaped. A first vehicle platform 12 and a second vehicle platform 13 are symmetrically arranged on both sides of the rear of the vehicle body 1. A first hydraulic lifting mechanism 10 and a second hydraulic lifting mechanism 9 are respectively provided on the top of the first vehicle platform 12 and the second vehicle platform 13. The first hydraulic lifting mechanism 10 and the second hydraulic lifting mechanism 9 are respectively composed of a first transport platform 3, a second transport platform 6, a first scissor lift 2, a second scissor lift 4, a first trolley 20, a second trolley 29, multiple driven rollers 27, and multiple driven rollers 28. The top of both the first vehicle platform 12 and the second vehicle platform 13 is provided with two folding sections of the same size. The storage slot 15 has a first scissor-fork type lifting frame 2 and a second scissor-fork type lifting frame 4 respectively installed inside. The top of the first scissor-fork type lifting frame 2 and the top of the second scissor-fork type lifting frame 4 are respectively installed with a first drag platform 20 and a second drag platform 29. The top of the first drag platform 20 and the top of the second drag platform 29 are respectively installed with a first transport platform 3 and a second transport platform 6. The top of the first transport platform 3 and the top of the second transport platform 6 are each provided with multiple sets of driven rollers 27 and driven rollers 28. The driven rollers 28 and driven rollers 27 are installed in the frame of the first transport platform 3 and the second transport platform 6 through roller shafts and are driven by a motor as power.

[0017] The inner wall of the groove in the middle of the vehicle body 1 is symmetrically provided with inner rails 40. Each inner rail 40 is equipped with a motor-driven ball screw 24. The output ends of the motor-driven ball screw 24 are provided with both sides of the sliding fork 5. The bottom of the sliding fork 5 is fixedly provided with a mast 36. The bottom sides of the mast 36 are respectively fixedly provided with a first fork arm 37 and a second fork arm 38. The bottom of the sliding fork 5 is fixedly provided with a lifting cylinder 39. The output end of the lifting cylinder 39 is fixedly connected to the bottom of the mast 36.

[0018] A first blocking block 16 and a second blocking block 31 are respectively provided on the first transport platform 3 and the second transport platform 6. A clamping device 30 is provided on the side wall of the first transport platform 3 and the side wall of the second transport platform 6. A first sensing photoelectric device 14 and a second sensing photoelectric device 19 are respectively provided at the front end of the first transport platform 3 and the front end of the second transport platform 6. A first camera 34 and a second camera 35 are respectively provided next to the first sensing photoelectric device 14 and the second sensing photoelectric device 19. A third sensing photoelectric device 17 is provided on the first transport platform 3 and the second transport platform 6 near the end of the vehicle body 1.

[0019] A folding guard plate 8 is provided at the middle position of the end of the vehicle body 1, and a folding platform 7 is provided at the top position of the end of the vehicle body 1.

[0020] Drive rubber wheels 23 are respectively provided on the rear left and rear right sides of the vehicle body 1, and steering rubber wheels are respectively provided on the front left and front right sides of the vehicle body 1. A first obstacle avoidance sensor 32 and a second obstacle avoidance sensor 33 are respectively provided at the front and rear diagonal ends of the vehicle body 1. A positioning plate 26 is provided on both the first transport platform 3 and the second transport platform 6 at positions away from the vehicle body 1.

[0021] A laser navigation system 22 is installed on the top of the gantry 36.

[0022] The multi-functional automated guided vehicle includes a control system 21, which includes vehicle body main control, vehicle body motion control, vehicle body system control, and vision and measurement control.

Claims

1. A multi-functional automated guided vehicle, comprising a vehicle body (1), characterized in that, The vehicle body (1) is U-shaped. A first vehicle platform (12) and a second vehicle platform (13) are symmetrically arranged on both sides of the back of the vehicle body (1). A first hydraulic lifting mechanism (10) and a second hydraulic lifting mechanism (9) are arranged on the top of the first vehicle platform (12) and the second vehicle platform (13). The first hydraulic lifting mechanism (10) and the second hydraulic lifting mechanism (9) are respectively composed of a first transport platform (3), a second transport platform (6), a first scissor lift frame (2), a second scissor lift frame (4), a first trailer (20), a second trailer (29), multiple driven rollers (27) and multiple driven rollers (28). The top of the first vehicle platform (12) and the second vehicle platform (13) are provided with two folding storage slots (15) of the same size. The interior of each of the folding storage slots (15) is provided with a first scissor-fork lifting frame (2) and a second scissor-fork lifting frame (4). The top of the first scissor-fork lifting frame (2) and the top of the second scissor-fork lifting frame (4) are respectively equipped with a first drag platform (20) and a second drag platform (29). The top of the first drag platform (20) and the top of the second drag platform (29) are respectively equipped with a first transport platform (3) and a second transport platform (6). The top of the first transport platform (3) and the top of the second transport platform (6) are each provided with multiple sets of driven rollers (27) and driven rollers (28). The driven rollers (28) and driven rollers (27) are installed in the frame of the first transport platform (3) and the second transport platform (6) through roller shafts, and are driven by motors to transmit power. The inner wall of the groove in the middle of the vehicle body (1) is symmetrically provided with inner rails (40). Both inner rails (40) are equipped with motor-driven ball screws (24). The output ends of the motor-driven ball screws (24) are provided with both sides of the sliding fork (5). The bottom of the sliding fork (5) is fixedly provided with a mast (36). The bottom sides of the mast (36) are respectively fixedly provided with a first fork arm (37) and a second fork arm (38). The bottom of the sliding fork (5) is fixedly provided with a lifting cylinder (39). The output end of the lifting cylinder (39) is fixedly connected to the bottom of the mast (36).

2. The multi-functional automated guided vehicle according to claim 1, characterized in that: The first transport platform (3) and the second transport platform (6) are respectively provided with a first blocking block (16) and a second blocking block (31). The side walls of the first transport platform (3) and the second transport platform (6) are provided with a clamping device (30). The front end of the first transport platform (3) and the front end of the second transport platform (6) are respectively provided with a first sensing photoelectric device (14) and a second sensing photoelectric device (19). A first camera (34) and a second camera (35) are respectively provided next to the first sensing photoelectric device (14) and the second sensing photoelectric device (19). A third sensing photoelectric device (17) is provided at the end of the first transport platform (3) and the second transport platform (6) near the vehicle body (1). A card plate (26) is provided at the position of the first transport platform (3) and the second transport platform (6) away from the vehicle body (1).

3. The multi-functional automated guided vehicle according to claim 1, characterized in that: A folding guard plate (8) is provided at the middle position of the end of the vehicle body (1), and a folding platform (7) is provided at the top position of the end of the vehicle body (1).

4. The multi-functional automated guided vehicle according to claim 1, characterized in that: Drive rubber wheels (23) are provided on the rear left and rear right sides of the vehicle body (1), and steering rubber wheels are provided on the front left and front right sides of the vehicle body (1). A first obstacle avoidance sensor (32) and a second obstacle avoidance sensor (33) are provided at the front and rear diagonal ends of the vehicle body (1).

5. A multi-functional automated guided vehicle according to claim 1, characterized in that: A laser navigation system (22) is provided on the top of the gantry (36).

6. A multi-functional automated guided vehicle according to claim 1, characterized in that: The multi-functional automated guided vehicle includes a control system (21), which includes a vehicle body main control, a vehicle body motion control, a vehicle body system control, and a vision and measurement control. The vehicle body main control includes a task receiving, task parsing, and navigation section. The vehicle body motion control includes motor drive, manual interaction, and safety obstacle avoidance. The vehicle body system control includes automatic docking and automatic pick-up and drop-off. The vision and measurement control includes vision and laser measurement.

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