Mechanical vehicle for transporting goods
By designing a fastening system in an automatic guided vehicle, the complexity brought about by the low-speed movement of the vehicle and the change in load size during transportation stability issues is solved, and more efficient and safe transportation is achieved.
Patent Information
- Application Number
- CN202380069494.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2022-09-30
- Filing Date
- 2023-09-26
- Publication Date
- 2025-05-16
AI Technical Summary
Existing automatic guided vehicles are prone to stability problems when transporting loads composed of containers or vertically stacked objects, resulting in the vehicle having to move at low speeds, especially when turning and changing directions, and the dimensional changes of the load make tightening and lateral motion control more complicated.
A mechanical vehicle including a fastening system consisting of two opposite side devices, which are fastened by thrust force on the load surface by a power element and a suspension structure, and are avoided by a torque control system to damage the load.
Through the use of the fastening system, mechanical vehicles can move at faster speeds and adapt to changes in load size, improving transportation efficiency and safety, and reducing the risk of lateral movement of loads.
Smart Images
Figure CN120018977A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a mechanical vehicle for transporting goods, which has particular application in the field of agricultural industry and more specifically in fruit and vegetable post-harvest processing warehouses, where it is necessary to handle and automatically transport containers between different fruit and vegetable processing stations inside which said containers are installed. It should be noted that, although the vehicle of the present invention is preferably intended to transport goods contained in containers, it is also possible that the goods may also be a load consisting of stacked objects, but not placed inside the container.
[0002] Starting from this premise, the mechanical vehicle of the present invention comprises a fastening system for fixing and fastening the load (object or container with product contained therein) when it rests on the base of the mechanical vehicle in order to ensure the fixation of the load. Background Art
[0003] The logistics and transportation of products within a factory is one of the most critical and controlled processes due to the risk that the product will not reach the required place at the required time, resulting in a bottleneck that reduces productivity.
[0004] Until now, solutions have included trains, pallet trucks and human-driven forklifts to move goods between the required locations. This fact - like any mobile machine operated by a person - presents inherent risks to both the plant operator and the product being transported.
[0005] Automated Guided Vehicles (AGVs) are also known, which are mechanical vehicles that move automatically without the need for an operator to transport any product placed on them. They can be more or less intelligent, depending on the type and technology used to automate their movement.
[0006] One advantage of these vehicles is that they allow for a more consistent flow of materials and parts through the factory as well as traceability of these vehicles since they are remotely connected and know exactly where they are located, what operations they are doing, the status of the inventory, where they came from, etc. at all times.
[0007] Another key point is the improvement in the field of safety. Since these AGVs use a large number of sensors to avoid any obstacles, they can respond faster than human perception, thus reducing the risk of harm to other plant personnel.
[0008] An automated guided vehicle (AGV) has various guidance technologies, depending on various devices and elements both outside and inside the automated guided vehicle.
[0009] However, problems arise for the use of these automated guided vehicles in certain situations, precisely because of their automation, mainly in the transport of loads consisting of containers or vertically stacked objects, which can create stability problems and thus force the automated guided vehicles to move at low speeds, especially during turns and changes of direction. In addition, these limitations are aggravated in the case of loads that can vary in size, which undoubtedly makes the securing of the load and also the control of lateral movements more complicated, even if the automated guided vehicle includes stopping means for stopping said lateral movements.
[0010] The present invention solves these problems by redesigning the transport structure of the automated guided vehicle and, most importantly, by equipping the transport structure with automatic devices for securing the load to the platform or base of the corresponding automated guided vehicle so that the automated guided vehicle can be more efficient by moving faster and automatically adapting to changes in the size of the load it carries. Summary of the invention
[0011] In order to achieve the purpose and avoid the disadvantages mentioned in the previous paragraphs, the present invention proposes a mechanical vehicle for transporting goods, which includes a base on which a drive system is positioned to enable the mechanical vehicle to move as a whole; wherein the base includes a roller conveyor on which a load is placed, and the load can be a stacked container with goods therein, or an object directly placed on the roller conveyor.
[0012] The vehicle also includes a fastening system for fastening a load, the fastening system consisting of two opposite side devices configured to fasten the load when it rests on the roller conveyor; wherein each of the side devices is fixed to a pair of vertical frames connected to the base at the bottom.
[0013] The side devices can adopt an extended active position, in which the contact elements of the two side devices push against two opposite surfaces of the load, and a folded inactive position, in which the contact elements are separated from said opposite surfaces of the load.
[0014] Each side device includes at least one power element configured to move the side device to an active position or an inactive folded rest position. The power element is associated with a torque control system configured to control the opposing thrusts of the contact elements on two opposing surfaces of the load to avoid damaging the load.
[0015] Each of the side devices comprises a suspension structure consisting of two parallel articulated quadrilaterals hinged at and supported by upper and lower shafts fixed at their ends to two frames.
[0016] Accordingly, each of the articulated quadrilateral mechanisms consists of two parallel vertical rods, namely the first rod and the second rod, and two plates, namely the upper plate and the lower plate; wherein the two vertical rods and the two plates are connected together by means of movable articulated connectors, namely the upper movable articulated connector and the lower movable articulated connector.
[0017] The two frames of each side device are connected by means of an upper axis and a lower axis, which are arranged in parallel horizontal alignment; wherein the two upper plates and the two lower plates of each side device are hinged at two parallel axes; and wherein the suspension structure of the two articulated quadrilateral mechanisms of the side devices is suspended from the parallel axes by means of an upper plate and a lower plate, which are connected to the axes by fixed articulated connections, namely an upper fixed articulated connection and a lower fixed articulated connection.
[0018] The first vertical rod of the side device constitutes a contact element that comes into contact with the opposite surface of the load.
[0019] The two first vertical rods of the two articulated quadrilaterals of each side device are linked by means of two front axles which are superimposed and aligned with one of the upper movable articulated connections and one of the lower movable articulated connections.
[0020] In one embodiment of the invention, each side device comprises at least one additional vertical rod coupled to the two front axles connecting two first vertical rods which together with the additional vertical rod constitute a contact element with the load during tightening of the load.
[0021] In one embodiment of the invention, the power element comprises a single linear actuator for moving the entirety of each suspension structure consisting of two articulated quadrilateral mechanisms.
[0022] The linear actuator comprises a rod and a housing which is hinged at its central portion to two opposite regions of a transverse support firmly attached to the corresponding frame, wherein the rod of the linear actuator is connected to the upper plate by means of an articulated connection. The housing of the linear actuator fits into a recess of the transverse support.
[0023] The articulated connection of the rod of the linear actuator coincides with the upper movable connection connecting each second vertical rod to the upper plate.
[0024] In another embodiment of the invention, each of said side devices comprises two linear actuators coupled to two articulated quadrilateral mechanisms.
[0025] In one embodiment of the invention, the upper and lower plates have a triangular shape, wherein the movable articulated connection and the fixed articulated connection are positioned close to vertices of the triangular shaped upper and lower plates.
[0026] The two frames on one side of the vehicle are connected to two other frames on the other side of the vehicle at the same height by two transverse bridges, each of which connects the upper ends of the two frames on two different sides of the vehicle.
[0027] To facilitate a better understanding of the present description and as an integral part thereof, a series of drawings are attached in which the object of the invention is depicted in an illustrative and non-limiting manner. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] Figure 1 A perspective view of a mechanical vehicle for transporting goods, object of the present invention, is shown. The mechanical vehicle for transporting goods comprises two opposite side devices for securing a load resting on the base of the vehicle.
[0029] Figure 2 The vehicle of the invention is shown in a front view with the side device in an inactive rest position.
[0030] Figure 3 A perspective view of the opposite side device is shown.
[0031] Figure 4 Schematic diagram showing two side devices for securing a load in active position. DETAILED DESCRIPTION
[0032] Taking into account the reference numerals adopted in the figures, the mechanical vehicle for transporting goods comprises a displacement base 1 in which a conventional drive system is located to move the mechanical vehicle components. The base 1 comprises a roller conveyor 2 on which sits a load 3 consisting of stacked containers containing goods, which may consist of fruits and vegetables, but other products are not excluded. The load 3 can also be a stack of objects resting directly on the roller conveyor, but not including containers.
[0033] The roller conveyor 2 is configured to receive or extract the load 3 laterally, so that during extraction the load 3 is transferred to a new position. The mechanical vehicle comprises an antenna 4 which is able to control the charging 3 wirelessly.
[0034] The mechanical vehicle of the invention also comprises a fastening system for fastening the load 3, which fastening system is composed of two side devices 5, which are configured to be able to relatively fasten the load 3 when the load 3 rests on the roller conveyor 2, so that each of the side devices 5 is fixed to a pair of parallel vertical frames 6, which are connected to the base 1 at the bottom.
[0035] The two frames 6 on one side of the vehicle are connected to two other frames 6 at the same height on the other side of the vehicle by means of two transverse bridges 7, each of which connects the upper ends of two frames 6 on two different sides of the vehicle.
[0036] The transverse bridges 7 are brackets that ensure the verticality and rigidity of the frame 6, primarily when the side devices 5 are in the active position for securing the load 3, so that in this active position of the two side devices a controlled thrust is generated on the load 3.
[0037] Each of the side devices 5 includes a suspension structure, which is composed of two articulated quadrilateral mechanisms, each of which is composed of two parallel vertical rods, namely a first rod 8 and a second rod 9, and two plates, namely an upper plate 10 and another lower plate 11; so that the two vertical rods 8, 9 and the two plates 10, 11 are connected together by means of movable articulated connectors, namely an upper movable articulated connector 12 and a lower movable articulated connector 13.
[0038] The two frames 6 of each side device 5 are connected by means of an upper axis 14 and a lower axis 15, and the upper axis 14 and the lower axis 15 are arranged in parallel horizontal alignment, so that the two upper plates 10 and the two lower plates 11 of each side device 5 are hinged at two parallel axes 14, 15, so that the two hinged quadrilateral suspension structures of the side device 5 are suspended from the parallel axes 14, 15 through the upper plates 10 and the lower plates 11, and the upper plates 10 and the lower plates 11 are connected to the axes 14, 15 by means of fixed articulated connections, namely an upper fixed articulated connection 16 and a lower fixed articulated connection 17.
[0039] In the embodiment shown in the figures, the panels 10 , 11 have a triangular shape, wherein the movable articulated connections 12 , 13 and the fixed articulated connections 16 , 17 are located close to the vertices of the triangular shaped panels 10 , 11 .
[0040] The two first vertical rods 8 of the two articulated quadrilaterals of each side device 5 are linked by means of two front axles 18 , 19 which are superimposed and aligned with one of the upper movable articulated connections 12 and one of the lower movable articulated connections 13 .
[0041] In the embodiment shown in the figures, each side device 5 comprises an additional vertical rod 8 ′ also coupled to the two front axles 18 , 19 linking the two first vertical rods 8 .
[0042] Each side device 5 also comprises, as a power element, at least one linear actuator 20 for moving the whole of the suspension structure consisting of two articulated quadrilaterals, such that said linear actuator 20 comprises a rod 20a and a housing 20b hinged at its central portion into two opposite areas 21 of a transverse support 6a firmly attached to the corresponding frame 6. For this purpose, the housing 20b of the linear actuator 20 is fitted into a recess of said transverse support 6a.
[0043] In the embodiment shown in the figures, the rod 20 a of the linear actuator 20 is connected to the upper plate 10 by means of an articulated connection which coincides with an upper movable connection 12 associating each second vertical rod 9 to the respective upper plate 10 .
[0044] In another embodiment of the invention, two linear actuators 20 coupled to the two articulated quadrilaterals of each side device 5 may be included in order to achieve better stability and balance in the mobility of each side device 5 and also in the fastening of the load 3 .
[0045] With the arrangement described, when the load 3 is correctly supported and centered on the roller conveyor 2 of the base 1 of the vehicle of the invention, the two opposite side devices 5 are activated, from the folded position ( Figure 2 ) to the expanded position ( Figure 4 ), in the deployed position, the first vertical rod 8 together with the additional vertical rod 8' pushes against two opposite surfaces of the load 3. Obviously, the two side devices 5 are moved by actuating the linear actuator 20 as a power element, as described above.
[0046] The actuation, pressing and pushing of the side device 5 on the load 3 is performed in two stages as described below.
[0047] In a first phase, the side devices 5 are deployed or extended from a first retracted rest position inside the frame 6 towards the centre of the machine vehicle where the load 3 is located; all this according to a first verification step, solely for the purpose of determining the size of the load 3 .
[0048] Once the side device 5 is in contact with the load 3 through its pair of first vertical rods 8 and additional vertical rods 8 ′, thus defining the size of the load 3 , in a second phase the thrust on the load 3 is increased in order to stabilize and securely fasten the load while maintaining said thrust.
[0049] These figures clearly show the two opposing side devices 5 with a double actuation: in a first phase, the size of the load 3 is detected; and in a second phase, the side devices 5 exert a thrust on the load 3 to stably and securely secure the load 3 during the displacement process.
[0050] The vehicle of the invention comprises a torque control device which verifies the position of the load 3 by making relative contact on said load 3 by at least a first vertical rod 8, so that, by this initial contact, a corresponding signal is transmitted to the electronic control device which then activates, according to the type of load, the thrust and pressure required to stabilize and tighten the two side devices 5 by means of linear actuators 20 before the movement of the mechanical vehicle assembly begins.
[0051] The torque control means relate to the force exerted by each linear actuator 20 , taking into account the varying distance between each of the articulated connections 12 , 13 and each of the articulated connections 16 , 17 of the side device 5 .
[0052] On reaching the vehicle unloading area, the retractable fastening system is moved back to the folded position and the articulated quadrilateral is retracted into alignment with the frame 6, leaving space for exporting the load 3 from the respective side of the machine vehicle.
[0053] With the vehicle of the invention, loads 3 can be transported, whatever their size (obviously it must be adapted to the vehicle's maximum load 3 size), in a completely safe manner and at speeds higher than those of current mechanical vehicles and systems.
[0054] It should be noted that, although the vehicle of the invention is preferably designed for use in the agricultural sector, the use of the vehicle of the invention in other sectors for moving loads under similar conditions cannot be excluded.
Claims
1. A mechanical vehicle for transporting goods, the mechanical vehicle for transporting goods comprising a base (1) on which a drive system is positioned to move the mechanical vehicle components; wherein: The base (1) comprises a roller conveyor (2) configured to support a load (3); characterized in that: - the mechanical vehicle for transporting goods comprises a fastening system for fastening a load (3), the fastening system consisting of two opposite side devices (5), the side devices (5) being configured to fasten the load (3) when the load (3) rests on the roller conveyor (2); wherein each of the side devices (5) is fixed to a pair of vertical frames (6), the frames (6) being connected to the base (1) at the bottom; and wherein the side devices (5) are configured to adopt an unfolded active position, in which the contact elements of the two side devices (5) push against two opposite surfaces of the load (3), and a folded inactive position, in which the contact elements are separated from the opposite surfaces of the load (3); - Each side device (5) comprises at least one power element configured to move the side device (5) to the active position or the inactive position; wherein the power element is associated with a torque control system configured to control the opposite thrusts of the contact element on the two opposite surfaces of the load (3).
2. The mechanical vehicle for transporting goods according to claim 1, characterized in that: - Each of the side devices (5) comprises a suspension structure consisting of two parallel articulated quadrilaterals articulated at an upper axis (14) and a lower axis (15) fixed to the two frames (6) at their ends; - Each of the articulated quadrilaterals consists of two parallel vertical rods, namely a first rod (8) and a second rod (9), and two plates, namely an upper plate (10) and a lower plate (11); wherein the two vertical rods (8, 9) and the two plates (10, 11) are connected together by means of movable articulated connections, namely an upper movable articulated connection (12) and a lower movable articulated connection (13); - the two frames (6) of each side device (5) are connected by means of an upper axis (14) and a lower axis (15), which are arranged in parallel horizontal alignment; wherein the two upper plates (10) and the two lower plates (11) of each side device (5) are articulated at two parallel axes (14, 15); and wherein the suspension structure of the two articulated quadrilaterals of the side device (5) is suspended from the parallel axes (14, 15) by means of the upper plates (10) and the lower plates (11), which are connected to the axes (14, 15) by means of fixed articulated connections, namely an upper fixed articulated connection (16) and a lower fixed articulated connection (17); Wherein, the contact element of the side device (5) consists of the first vertical rod (8).
3. The mechanical vehicle for transporting goods according to claim 2, characterized in that: The two first vertical rods (8) of the two articulated quadrilaterals of each side device (5) are connected by means of two front axles (18, 19) which are superimposed and aligned with one of the upper movable articulated connections (12) and one of the lower movable articulated connections (13).
4. The mechanical vehicle for transporting goods according to claim 3, characterized in that: Each side device (5) comprises at least one additional vertical rod (8') coupled to the two front axles (18, 19) connecting the two first vertical rods (8).
5. A mechanical vehicle for transporting goods according to any one of claims 2 to 4, characterized in that The power element comprises a linear actuator (20) for moving the entirety of each suspension structure consisting of two articulated quadrilateral mechanisms; wherein the linear actuator (20) comprises a rod (20a) and a housing (20b), wherein the housing (20b) is hinged at the central part of the housing (20b) to two opposite areas (21) of a transverse bracket (6a) firmly attached to the corresponding frame (6); and wherein the rod (20a) of the linear actuator (20) is connected to the upper plate (10) by means of an articulated connection.
6. The mechanical vehicle for transporting goods according to claim 5, characterized in that: The articulated connection of the rod (20a) of the linear actuator (20) is superimposed on the upper movable connection (12) connecting each second vertical rod (9) to the upper plate (10).
7. A mechanical vehicle for transporting goods according to any one of the preceding claims 5 or 6, characterized in that The housing (20b) of the linear actuator (20) is embedded in a recess of the transverse bracket (6a).
8. A mechanical vehicle for transporting goods according to any one of the preceding claims 5 or 7, characterized in that Each side device (5) comprises two linear actuators (20) coupled to two of said articulated quadrilateral mechanisms.
9. A mechanical vehicle for transporting goods according to any one of the preceding claims 2 to 8, characterized in that The upper plate (10) and the lower plate (11) have a triangular shape, wherein the movable articulated connections (12, 13) and the fixed articulated connections (16, 17) are positioned close to the vertices of the triangular shape of the upper plate (10) and the triangular shape of the lower plate (11).
10. A mechanical vehicle for transporting goods according to any one of the preceding claims, characterised in that The two frames (6) on one side of the vehicle are connected to two other frames (6) on the other side of the vehicle at the same height by means of two transverse bridges (7), each of which connects the upper ends of the two frames (6) on two different sides of the vehicle.