Automatic guiding carrier

Abstract

The utility model discloses an automatic guiding carrier which comprises a first supporting frame. The robot is provided with a lifting end, and the lifting end is provided with a loading part; the terminal equipment is mounted on the first support frame; the second supporting frame is installed on the robot for the guiding carrying vehicle, the second supporting frame is provided with a sliding piece sliding in the horizontal direction, and the first supporting frame is installed on the sliding piece; one end of the elastic piece is connected with the sliding piece, and the other end of the elastic piece is fixedly installed. According to the technical scheme, when the first supporting frame is blocked by a goods shelf on the carrying part, the robot for the guiding carrier can still continue to feed, in addition, when the robot for the guiding carrier retreats outwards, the sliding piece is further pulled to slide by the pulling force of the elastic piece, and therefore the robot for the guiding carrier can be conveniently moved. The feeding depth of the robot for the guiding carrying vehicle can be automatically adjusted, and the risk that a goods shelf is inclined due to eccentricity in the carrying process is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent transportation, in particular to an automatic guided transport vehicle. Background Art

[0002] Automatic Guided Vehicle (AGV) has been widely used in the fields of automated production and automated logistics. It can travel along a predetermined path and transport goods safely to the target location.

[0003] At present, in order to facilitate the operation of on-site personnel, some automatic guided vehicles are provided with a support frame, and the terminal equipment used to control the automatic guided vehicle is placed on the support frame to facilitate the operation of on-site personnel. However, in the process of transporting goods, the feed depth is often insufficient due to the support frame being blocked (the height of the support frame is higher than the distance between the shelf and the ground), and the feed depth of the lifting part of the automatic guided vehicle at the bottom of the shelf cannot be adjusted, which increases the risk of the shelf tilting due to eccentricity during transportation.

[0004] Therefore, the prior art still needs to be improved and developed. Utility Model Content

[0005] In view of the above-mentioned deficiencies in the prior art, the purpose of the utility model is to provide an automatic guided vehicle to solve the problem in the prior art that the feeding depth is insufficient due to the support frame being blocked, and the feeding depth of the lifting part of the automatic guided vehicle at the bottom of the shelf cannot be adjusted, which increases the risk of the shelf tilting due to eccentricity during transportation.

[0006] The utility model provides an automatic guided transport vehicle, comprising:

[0007] a first support frame;

[0008] A robot for a guided transport vehicle having a lifting end, wherein the lifting end is provided with a loading portion for carrying a shelf;

[0009] A terminal device for controlling the robot for the guided transport vehicle, wherein the terminal device is mounted on the first support frame;

[0010] a second support frame, mounted on the guide transport vehicle robot, the second support frame being provided with a sliding member capable of sliding in a horizontal direction, the first support frame being mounted on the sliding member;

[0011] an elastic member, one end of which is connected to the sliding member, and the other end of which is fixedly installed, and the elastic member is in a stretched state at least when the sliding member slides;

[0012] Wherein, when the first supporting frame is blocked by the shelf on the loading portion, the sliding member slides in a horizontal direction to increase the feeding depth of the guided transport vehicle robot at the bottom of the shelf.

[0013] According to a further configuration of the utility model, the automatic guided vehicle further comprises: a first support member, the first support member is arranged at the lifting end of the robot for the guided vehicle and is located below the loading part, and the second support frame is installed on the first support member.

[0014] According to a further configuration of the utility model, a slide groove is provided on the second support frame;

[0015] The sliding member is a slider, which is installed in the sliding groove and connected to one end of the elastic member, and the first supporting frame is installed on the slider.

[0016] In a further configuration of the present invention, the second support frame comprises:

[0017] Two symmetrically arranged second support members, each of which is provided with a slide groove, and each of which is provided with a sliding block.

[0018] According to a further configuration of the utility model, the other end of the elastic member is fixedly mounted on the second supporting frame.

[0019] According to a further configuration of the utility model, the elastic member is a spring.

[0020] According to a further configuration of the utility model, the spring is a reverse-pull gas spring.

[0021] According to a further configuration of the present invention, the first support frame comprises:

[0022] A first support plate, one end of the first support plate is connected to one of the sliders, and the other end of the first support plate is connected to another of the sliders;

[0023] A first support rod, wherein the first support rod is mounted on the first support plate, and the terminal device is mounted on the first support rod.

[0024] According to a further configuration of the present invention, a mounting portion for placing the terminal device is provided at one end of the first support rod away from the first support plate.

[0025] The further configuration of the utility model also includes:

[0026] A photographing device for acquiring shelf barcode information, wherein the photographing device is installed on the robot for the guided transport vehicle.

[0027] Beneficial effects of the utility model:

[0028] The utility model provides an automatic guided transport vehicle, comprising a first support frame; a guided transport vehicle robot having a lifting end, the lifting end being provided with a loading portion for supporting a shelf; a terminal device for controlling the guided transport vehicle robot, the terminal device being installed on the first support frame; a second support frame, installed on the guided transport vehicle robot, the second support frame being provided with a sliding member capable of sliding in a horizontal direction, the first support frame being installed on the sliding member; an elastic member, one end of the elastic member being connected to the sliding member, the other end of the elastic member being fixedly installed, the elastic member being in a stretched state when the sliding member slides; wherein, when the first support frame is blocked by the shelf on the loading portion, the sliding member slides in a horizontal direction to increase the feeding depth of the guided transport vehicle robot at the bottom of the shelf. In the technical solution of the utility model, since the first support frame is installed on the sliding member of the second support frame, when the first support frame is blocked, the guided transport vehicle robot can still continue to feed, thereby increasing the feeding depth of the guided transport vehicle robot; in addition, since the elastic member is in a stretched state when the sliding member slides, when the guided transport vehicle robot withdraws outward, the pulling force of the elastic member further pulls the sliding member to slide, so that the first support frame returns to its original position. It can be seen that when the first support frame is blocked by the shelf on the loading part, the feeding depth of the guided transport vehicle robot can be automatically adjusted, thereby reducing the risk of the shelf tilting due to eccentricity during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary personnel in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0030] Figure 1 It is a structural diagram of the automatic guided transport vehicle in the utility model.

[0031] Figure 2 It is a structural explosion diagram of the automatic guided vehicle in the utility model.

[0032] Figure 3 It is a structural diagram of an automatic guided vehicle in one embodiment of the utility model.

[0033] Figure 4 It is a structural exploded diagram of an automatic guided vehicle in one embodiment of the utility model.

[0034] Figure 5It is a connection structure diagram among a spring, a connecting plate and a sliding block in one embodiment of the utility model.

[0035] The marks in the accompanying drawings are: 1. first support frame; 11. first support plate; 12. first support rod; 13. mounting portion; 2. robot for guide transport vehicle; 3. second support frame; 31. slide groove; 32. sliding member; 33. second support member; 4. elastic member; 5. first support member; 6. loading portion; 61. slot; 7. shooting device; 8. terminal device; 9. connecting plate. DETAILED DESCRIPTION

[0036] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation methods of the present invention are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "back", "up", "down", "left", "right", "longitudinal", "horizontal", "vertical", "horizontal", "top", "bottom", "inside", "outside", "head", "tail", etc. are based on the directions or positional relationships shown in the accompanying drawings, are constructed and operated in a specific direction, and are only for the convenience of describing the present technical solution, rather than indicating that the device or element referred to must have a specific direction, and therefore cannot be understood as a limitation to the present invention.

[0037] like Figure 1 , Figure 2 As shown, an automatic guided vehicle provided by the utility model may include a first support frame 1, a guided vehicle robot 2, a terminal device 8, a second support frame 3 and an elastic member 4.

[0038] Among them, the robot 2 for guided transport vehicle has a lifting end, which is provided with a loading part 6 for carrying the shelf; the terminal device 8 is used to control the robot 2 for guided transport vehicle, and the terminal device 8 is installed on the first support frame 1; the second support frame 3 is installed on the robot 2 for guided transport vehicle, and the second support frame 3 is provided with a sliding member 32 that can slide in the horizontal direction, and the first support frame 1 is installed on the sliding member 32; one end of the elastic member 4 is connected to the sliding member 32, and the other end of the elastic member 4 is fixedly installed, and the elastic member 4 is in a stretched state at least when the sliding member 32 slides; wherein, when the first support frame 1 is blocked by the shelf on the loading part, the sliding member 32 slides in the horizontal direction to increase the feeding depth of the robot 2 for guided transport vehicle at the bottom of the shelf.

[0039] In the present embodiment, when the automatic guided vehicle is traveling at the bottom of the shelf, when the first support frame 1 is blocked by the shelf on the loading portion, since the first support frame 1 is installed on the sliding member 32 of the second support frame 3, when the first support frame 1 is blocked, the guided vehicle robot 2 can still continue to feed, thereby increasing the feeding depth of the guided vehicle robot 2. In addition, since the elastic member 4 is in a stretched state at least when the sliding member 32 slides, when the guided vehicle robot 2 withdraws outward, the pulling force of the elastic member 4 further pulls the sliding member 32 to slide, so that the first support frame 1 returns to its original position. It can be seen that when the first support frame 1 is blocked by the shelf on the loading portion, the feeding depth of the guided vehicle robot 2 can be automatically adjusted, thereby reducing the risk of the shelf tilting due to eccentricity during transportation.

[0040] Here, it should be noted that the outward withdrawal of the guided transport robot 2 refers to the time when the guided transport robot 2 moves outward from the bottom of the shelf.

[0041] In this embodiment, the guided vehicle robot 2 may be selected from but is not limited to the guided vehicle robot of model EMMA400K.

[0042] In some embodiments, Figure 3 , Figure 4 As shown, the automatic guided vehicle further includes a first support member 5 , which is disposed at the lifting end of the guided vehicle robot 2 and below the loading portion 6 , and the second support frame 3 is mounted on the first support member 5 .

[0043] Specifically, the first support member 5 can be a square chassis, the second support frame 3 is set on the square chassis, and the loading part 6 is set on the second support frame 3, that is, the loading part 6 is set on the lifting end of the guide vehicle robot 2 through the second support frame 3; wherein, when the lifting end of the guide vehicle robot 2 is lifted or lowered, the second support frame 3 will lift or lower along with the lifting end.

[0044] Of course, the second support frame 3 can also be directly installed on the body of the guided vehicle robot 2. In this case, there is no need to set the first support member 5. When the lifting end of the guided vehicle robot 2 is raised or lowered, the second support frame 3 does not rise or fall with the lifting end.

[0045] In some embodiments, Figure 2 , Figure 4 and Figure 5 As shown, a slide groove 31 is provided on the second support frame 3, and the sliding member 32 can be but is not limited to a slider, the slider is slidably installed in the slide groove 31 and connected to one end of the elastic member 4, and the first support frame 1 is installed on the slider.

[0046] Here, it should be noted that the feeding depth of the guided vehicle robot 2 at the bottom of the shelf is related to the length of the slide groove 31. The longer the slide groove 31, the longer the distance the slider can slide. Correspondingly, the feeding depth of the guided vehicle robot 2 at the bottom of the shelf is also deeper. Conversely, the shorter the slide groove 31, the shorter the distance the slider can slide. Correspondingly, the feeding depth of the guided vehicle robot 2 at the bottom of the shelf is also shallower. Therefore, when setting the slide groove 31, technical personnel in this field need to design it in combination with the feeding depth of the guided vehicle robot 2 in actual applications, and no excessive restrictions are made here.

[0047] In some embodiments, Figure 2 , Figure 4 and Figure 5 As shown, the second support frame 3 may include two symmetrically arranged second support members 33 , each of the second support members 33 is provided with a slide groove 31 , and a slider is slidably installed in each slide groove 31 .

[0048] In this embodiment, the second support member 33 can be an L-shaped angle iron, wherein when the second support frame 3 is directly installed on the body of the guide transport vehicle robot 2, a threaded connection method can be used to fix the L-shaped angle iron to the body of the guide transport vehicle robot 2 through the horizontal arm of the L-shaped angle iron, and a slide groove 31 is set on the vertical arm of the L-shaped angle iron, wherein the slide groove 31 can be welded to the vertical arm of the L-shaped angle iron when being set.

[0049] In some embodiments, Figure 2 , Figure 4 As shown, the other end of the elastic member 4 is fixedly mounted on the second support frame 3 .

[0050] Specifically, when the elastic member 4 is provided, the other end of the elastic member 4 can be fixedly mounted on the L-shaped angle iron, wherein, when the elastic member 4 is provided, each slider can be provided with an elastic member 4. When the elastic member 4 is provided, the other end of the elastic member 4 can be fixedly mounted on the L-shaped angle iron by threaded fixing.

[0051] Furthermore, the elastic member 4 may be, but is not limited to, a spring, one end of the spring is connected to the slider, and the other end of the spring is fixedly mounted on the second support frame 3 .

[0052] Specifically, when the spring is installed, one end of the spring can be connected to the slider by a threaded connection, and the other end of the spring can be fixedly installed on the L-shaped angle iron by a threaded connection. When the spring is connected to the slider, a connecting plate 9 can be welded to one end of the spring connected to the slider, and the connecting plate 9 can be connected to the slider by a threaded connection to achieve the connection between the spring and the slider. Similarly, when the other end of the spring is installed on the L-shaped angle iron, the above-mentioned method of connecting the spring and the slider can be adopted, which will not be repeated here.

[0053] In this embodiment, the automatic reset of the first support frame 1 can be achieved by a spring, and the cost is low.

[0054] The spring may be a back-pull gas spring, which is mounted on the second support frame 3, and a piston rod of the back-pull gas spring is connected to the slider.

[0055] Specifically, when installing the back-pull gas spring, one end of the back-pull gas spring can be installed on the vertical arm of the L-shaped angle iron by means of a threaded connection, that is, one end of the back-pull gas spring is installed on the second support frame 3 by means of a threaded connection, and the piston rod of the back-pull gas spring is connected to the slider through a connecting plate 9.

[0056] When the piston rod of the back-pull gas spring is connected to the slider through a connecting plate 9, the piston rod of the back-pull gas spring can be connected to one end of the connecting plate 9 by a threaded connection, and the other end of the connecting plate 9 can be connected to the slider by a threaded connection.

[0057] In some embodiments, Figure 2 , Figure 4 As shown, the first support frame 1 may include a first support plate 11 and a first support rod 12, wherein one end of the first support plate 11 is connected to a slider, and the other end of the first support plate 11 is connected to another slider; the first support rod 12 is installed on the first support plate 11, and the terminal device 8 is installed on the first support rod 12.

[0058] Specifically, the first support plate 11 can be a concave plate-like structure that is concave downward, wherein when the concave plate-like structure is connected to the slider, a vertical arm of the concave plate-like structure can be connected to a slider by a threaded connection, and the other vertical arm of the concave plate-like structure can be connected to another slider by a threaded connection, thereby allowing the first support plate 11 to be installed on the slider.

[0059] The first support rod 12 may be a rectangular support frame, and one end of the rectangular support frame connected to the first support plate 11 may be installed on the first support plate 11 in a threaded connection manner.

[0060] In this embodiment, if Figure 1 - Figure 4 As shown, the load-bearing portion 6 may be but is not limited to a load-bearing plate, which may be installed on the horizontal arm of the L-shaped angle iron by bolt connection, wherein a slot 61 is provided at one end of the load-bearing plate close to the first support rod 12, and the width of the slot 61 is greater than the width of the first support rod 12 (rectangular support frame), so that the first support rod 12 may be arranged in the slot 61 of the load-bearing plate, thereby making the structure of the automatic guided vehicle more compact.

[0061] Further, when the terminal device 8 is installed, a mounting portion 13 may be provided at one end of the first support rod 12 away from the first support plate 11. The mounting portion 13 may be a mounting position formed by a concave plate-like structure that is concave upwards. When installed, the concave plate-like structure that is concave upwards is installed obliquely at one end of the first support rod 12 away from the first support plate 11, and may be bent upwards at one end close to the ground to prevent the terminal device 8 from sliding off the concave plate-like structure that is concave upwards due to gravity. The terminal device 8 may be a flat panel, a controller that can control the robot 2 for the guided transport vehicle, etc.

[0062] In some embodiments, Figure 2 As shown, the automatic guided vehicle further includes a photographing device 7 for acquiring shelf barcode information, and the photographing device 7 is installed on the guided vehicle robot 2.

[0063] Specifically, the photographing device 7 may be a camera, which is mounted on the guided transport vehicle robot 2 and located between two L-shaped angle irons.

[0064] Among them, when the lifting end of the guide transport vehicle robot 2 is raised or lowered, the second support frame 3 will rise or fall with the lifting end, and a through hole penetrating the upper surface and the lower surface of the first support member 5 can be opened on the first support member 5 (chassis). Similarly, a through hole penetrating the upper surface and the lower surface of the loading part 6 is opened on the loading part 6. At this time, when a barcode is affixed to the bottom of the shelf, it can be captured by photographing with a camera.

[0065] When the second support frame 3 is directly mounted on the body of the guided transport vehicle robot 2, a through hole is opened on the loading portion 6 to penetrate the upper and lower surfaces of the loading portion 6. At this time, when a barcode is attached to the bottom of the shelf, it can be captured by a camera.

[0066] In summary, the utility model provides an automatic guided vehicle, which has the following effects:

[0067] Since the first support frame 1 is installed on the sliding member 32 of the second support frame 3, when the first support frame 1 is blocked by the shelf on the loading part, the guided transport vehicle robot 2 can still continue to feed, thereby increasing the feeding depth of the guided transport vehicle robot 2. In addition, since the elastic member 4 is in a stretched state when the sliding member 32 slides, when the guided transport vehicle robot 2 withdraws outward, the pulling force of the elastic member 4 further pulls the sliding member 32 to slide, so that the first support frame 1 returns to its original position. It can be seen that when the first support frame 1 is blocked, the feeding depth of the guided transport vehicle robot 2 can be automatically adjusted, thereby reducing the risk of the shelf tilting due to eccentricity during transportation.

[0068] It can be understood that the above embodiments only express the preferred implementation methods of the utility model, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the patent scope of the utility model. It should be pointed out that, for ordinary technicians in this field, without departing from the concept of the utility model, the above-mentioned technical features can be freely combined, and several deformations and improvements can be made, which all belong to the protection scope of the utility model. Therefore, all equivalent changes and modifications made to the scope of the claims of the utility model should belong to the scope covered by the claims of the utility model.

Claims

1. An automatic guided vehicle, characterized in that: include: a first support frame; A robot for a guided transport vehicle having a lifting end, wherein the lifting end is provided with a loading portion for carrying a shelf; A terminal device for controlling the robot for the guided transport vehicle, wherein the terminal device is mounted on the first support frame; a second support frame, mounted on the guide transport vehicle robot, the second support frame being provided with a sliding member capable of sliding in a horizontal direction, the first support frame being mounted on the sliding member; an elastic member, one end of which is connected to the sliding member, and the other end of which is fixedly mounted, and the elastic member is in a stretched state at least when the sliding member slides; Wherein, when the first supporting frame is blocked by the shelf on the loading part, the sliding member slides in the horizontal direction to increase the feeding depth of the guided transport vehicle robot at the bottom of the shelf.

2. The automated guided vehicle according to claim 1, characterized in that: The automatic guided vehicle further includes a first support member, which is disposed at the lifting end of the robot for the guided vehicle and is located below the loading portion, and the second support frame is mounted on the first support member.

3. The automatic guided vehicle according to claim 1 or 2, characterized in that: The second support frame is provided with a slide groove; The sliding member is a slider, which is installed in the slide groove and connected to one end of the elastic member, and the first supporting frame is installed on the slider.

4. The automated guided vehicle according to claim 3, characterized in that: The second support frame comprises: Two symmetrically arranged second support members, each of which is provided with a slide groove, and each of which is provided with a sliding block.

5. The automated guided vehicle according to claim 4, characterized in that: The other end of the elastic member is fixedly mounted on the second supporting frame.

6. The automated guided vehicle according to claim 5, characterized in that: The elastic member is a spring.

7. The automated guided vehicle according to claim 6, characterized in that: The spring is a back-pull gas spring.

8. The automated guided vehicle according to claim 3, characterized in that: The first support frame comprises: A first support plate, one end of the first support plate is connected to one of the sliders, and the other end of the first support plate is connected to another of the sliders; A first support rod is installed on the first support plate, and the terminal device is installed on the first support rod.

9. The automated guided vehicle according to claim 8, characterized in that: An installation portion for placing the terminal device is provided at one end of the first support rod away from the first support plate.

10. The automated guided vehicle according to claim 1, characterized in that: Also includes: A photographing device for acquiring shelf barcode information, wherein the photographing device is installed on the robot for the guided transport vehicle.

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