Unmanned automatic transfer trolley

Abstract

The utility model provides an unmanned automatic transfer trolley which is characterized in that a frame main body is a square truss, two guide rails are connected above a frame through supporting columns, and a plurality of conveying rollers are uniformly distributed between the two guide rails to form a conveying channel; the two wheel bridges are installed at the two ends of the vehicle frame through hinged supports respectively, and installation openings corresponding to two driving wheels of the wheel bridge structure are formed in the two sides of the vehicle frame so that a moving space of the wheel bridge structure can be formed. The shell is arranged outside the frame, the conveying channel is arranged, automatic placing is carried out through the conveying channel, and therefore automatic placing is achieved, the placing and conveying difficulty and the labor intensity are reduced, and the automation capacity of the transfer equipment is greatly improved. The structure of the frame is optimized, so that an independent space corresponding to the driving wheels is formed, the occupied space is reduced, and a vehicle body is smaller and more exquisite to adapt to more narrow and small working environments.

Description

Technical Field

[0001] The utility model belongs to the technical field of AGV automatic transfer vehicles, and particularly relates to an unmanned automatic transfer vehicle. Background Art

[0002] AGV transfer vehicles are mostly used in fields such as assembly and logistics. Generally, AGV transfer vehicles need to manually or mechanically transfer items for handling and placement. The process of handling and placement requires a certain amount of manpower and material resources. Moreover, for traditional AGV vehicle chassis, the space is limited, and the installation of drive wheels is often restricted by relatively large space dimensions. The steering mechanism generally requires a relatively large space, and the installation difficulty of the steering equipment is relatively high. Therefore, it is necessary to improve the traditional steering mechanism.

[0003] Therefore, it is necessary to provide an improved technical solution for the deficiencies of the above-mentioned existing technologies. Summary of the Utility Model

[0004] The purpose of the utility model is to overcome the deficiencies in the above-mentioned existing technologies. The utility model provides an unmanned automatic transfer vehicle.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] An unmanned automatic transfer vehicle, comprising:

[0007] A vehicle frame, the main body of the vehicle frame is a square truss. Above the vehicle frame, two guide rails are connected through support columns. A plurality of conveyor rollers are evenly distributed between the two guide rails to form a conveyor channel;

[0008] A wheel bridge structure, the two wheel bridges are respectively installed at both ends of the vehicle frame through hinge supports. Installation openings corresponding to two drive wheels of the wheel bridge structure are provided on both sides of the vehicle frame, so that the drive wheels extend out of the bottom surface of the vehicle frame after passing through the installation openings;

[0009] Square protective frames, the two square protective frames are respectively located above the two wheel bridge structures to form an activity space for the wheel bridge structures;

[0010] A housing, the housing is provided outside the vehicle frame. The housing includes skirt plates corresponding to the circumferential direction of the vehicle frame and cover plates corresponding to the outer sides of the two guide rails. The vehicle frame is provided with support frames on both sides of the two guide rails to support the cover plates.

[0011] Preferably, the wheel bridge structure includes a main beam, a rotating mechanism and a buffer member. Buffer members are provided on the upper surfaces at both ends of the main beam, and the upper ends of the buffer members abut against the blocking rods of the square protective frame;

[0012] The drive wheel is connected to the lower surface of the main beam through a rotating mechanism.

[0013] Preferably, guiding blocks are respectively arranged at two ends of the guide rail. The guiding blocks are in a shell-like structure. One side of the guiding block corresponding to the conveying channel is an inclined surface. A guiding wheel extending out of the inclined surface is rotatably connected to the inside of the guiding block through a longitudinal rotating shaft.

[0014] Preferably, a limiting mechanism corresponding to two ends of the conveying channel is arranged on the vehicle frame. The limiting mechanism includes:

[0015] A limiting seat, in the middle of which a lead screw is threadedly assembled. The upper end of the lead screw is fixed with a limiting plate corresponding to the space between two adjacent conveying rollers;

[0016] A stepping motor, which is located below the limiting seat and correspondingly connected to the lower end of the lead screw;

[0017] Sliding columns, two of the sliding columns are respectively located on both sides of the limiting plate, and the sliding columns are slidably assembled on the limiting seat longitudinally.

[0018] Preferably, a plurality of the limiting mechanisms are evenly distributed along the length direction of the conveying channel, so that two adjacent limiting mechanisms form a limiting station;

[0019] Two ends of the conveying roller are respectively rotatably connected to the two guide rails. One end of the conveying roller extends out of the outer side of the guide rail. A plurality of conveying rollers corresponding to the same limiting station are drivingly connected through the same conveying chain and driven by the same conveying motor.

[0020] Preferably, position sensors are respectively arranged on the side part of the conveying channel corresponding to each limiting station.

[0021] Beneficial effects: A conveying channel is arranged, and automatic placement is carried out through the conveying channel, so as to realize automatic placement, thereby reducing the difficulty of placement conveyance and labor intensity, and greatly improving the automation ability of the transfer equipment. The structure of the vehicle frame is optimized, so as to form an independent space corresponding to the driving wheels, reduce the occupation of space, make the vehicle body more compact, and adapt to more narrow working environments. Description of the Drawings

[0022] The attached drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. Among them:

[0023] Figure 1 It is a structural schematic diagram of a transfer vehicle in a specific embodiment provided by the present invention;

[0024] Figure 2 It is a structural schematic diagram of a vehicle frame in a specific embodiment provided by the present invention;

[0025] Figure 3 Schematic diagram of wheel-bridge assembly in the specific embodiment provided by the present utility model:

[0026] Figure 4 Simplified structural diagram of the wheel-bridge structure in the specific embodiment provided by the present utility model;

[0027] Figure 5 Simplified structural diagram of the limit mechanism in the specific embodiment provided by the present utility model.

[0028] In the figure: 1, cover plate; 2, skirt plate; 3, laser obstacle avoidance element; 4, guide rail; 5, guide block; 6, conveyor roller; 7, support frame; 8, limit mechanism; 9, guide wheel; 10, vehicle frame; 11, main beam; 12, drive wheel; 13, fixed gear; 14, turntable; 15, first drive motor; 16, second drive motor; 17, hinge support; 18, position sensor; 19, moving gear; 801, limit plate; 802, limit seat; 803, lead screw; 804, stepper motor; 101, square protective frame; 102, shift lever; 103, positioning column. Specific embodiments

[0029] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present utility model.

[0030] In the description of the present utility model, the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model rather than requiring the present utility model to be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model. The terms "connected" and "connected" used in the present utility model should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be directly connected or indirectly connected through an intermediate component. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0031] Next, the present utility model will be described in detail with reference to the drawings and in combination with embodiments. It should be noted that, without conflict, the embodiments in the present utility model and the features in the embodiments can be combined with each other.

[0032] As Figures 1-5As shown, an unmanned automated transfer vehicle includes a vehicle frame 10, a wheel bridge structure and a square protective frame 101, wherein the main body of the vehicle frame 10 is a square truss welded from square steel, and two guide rails 4 are connected above the vehicle frame 10 through support columns, and the two guide rails 4 are spaced apart, and a plurality of conveying rollers 6 are evenly distributed between the two guide rails 4 to form a conveying channel, which is located in the middle of the automated transfer vehicle, and its two ends pass through the transfer vehicle, so that materials can be loaded at one end and unloaded at the other end, so that materials can be transferred to one end during the loading process, and can be unloaded in sequence through conveying after the transfer is completed, thereby reducing the intensity of manual labor.

[0033] The two wheel bridges are respectively installed at the two ends of the frame 10 through hinged supports 17. The chassis of the frame 10 of the transfer vehicle is provided with installation stations corresponding to the hinged supports 17. The hinged supports 17 are connected to the frame 10 of the transfer vehicle in a detachable manner. The hinged supports 17 are located at the center line of the transfer vehicle. The middle of the main beam 11 is correspondingly hinged above the hinged supports 17. The two driving wheels 12 are connected at both ends of the main beam 11 through a rotating mechanism. The driving wheels 12 are used to drive the transfer vehicle. The mounting openings corresponding to the two driving wheels 12 of the wheel bridge structure are provided on both sides of the frame 10, so that the driving wheels 12 can extend out of the bottom surface of the frame 10 after passing through the mounting openings; the mounting openings corresponding to the two driving wheels 12 are provided on both sides of the frame 10, and the driving wheels 12 can extend out of the bottom surface of the transfer vehicle after passing through the mounting openings, so that the driving wheels 12 can support the transfer vehicle and ensure that the steering of the driving wheels 12 will not be interfered by the frame 10.

[0034] Two square protection frames 101 are respectively located above the two wheel bridge structures to form a movable space for the wheel bridge structures; a connecting rod corresponding to the middle of the lower part of the square protection frame 101 is provided in the middle of the frame 10 for installing a hinge support 17 to form a movable space for the wheel bridge structure.

[0035] The frame 10 is provided with a shell on the outside, which is formed by bending a metal plate. The shell includes a skirt plate 2 corresponding to the circumference of the frame 10 and a cover plate 1 corresponding to the outside of the two guide rails 4. The skirt plate 2 is placed around the frame 10 in a detachable manner. The cover plate 1 is buckled on both sides of the conveying channel to form a flat upper surface, so that the transfer vehicle forms a square structure. The frame 10 is provided with a support frame 7 on both sides of the two guide rails 4 to support the cover plate 1. The support frame 7 is close to the guide rail 4 and has a guide column extending outward to ensure the installation stability of the cover plate 1. To ensure the strength and lightness of the vehicle body, the roller conveying system, drive system, vehicle body, charging and other systems adopt a modular design, which is shared and interchangeable, and easy to install and maintain.

[0036] The wheel bridge structure includes a main beam 11, a rotating mechanism and a buffer. The upper surfaces of both ends of the main beam 11 are provided with buffers, and the upper ends of the buffers abut against the lever 102 of the square protection frame 101.

[0037] The driving wheel 12 is connected to the lower surface of the main beam 11 through a rotating mechanism. The rotating mechanism includes a fixed gear 13, a turntable 14 and a wheel seat. The fixed gear 13 is fixedly connected to the lower surface of the main beam 11; the fixed gear 13 is fixedly connected to the lower surface of the main beam 11, and the two are fixed by bolts. The turntable 14 is rotatably connected to the fixed gear 13 through a rotating shaft. A central shaft is provided in the middle of the turntable 14, and the central shaft passes upward through the fixed gear 13 to form a rotating connection. A stop member is provided at the lower section of the central shaft after passing through the turntable 14. An installation station extends from the side of the turntable 14. The installation station is integrally formed with the turntable 14. A moving gear 19 is rotatably connected to the installation station. The moving gear 19 meshes with the fixed gear 13. A first driving motor 15 is provided below the installation station. The moving gear 19 is correspondingly connected to the first driving motor 15 to drive the turntable 14 to rotate relative to the fixed gear 13, so as to realize the wheel seat steering.

[0038] The wheel seat is an inverted U-shaped structure fixed to the lower surface of the turntable 14. The driving wheel 12 is rotatably connected in the wheel seat. The two ends of the main shaft of the driving wheel 12 are respectively rotatably connected to both sides of the wheel seat. A second driving motor 16 corresponding to the driving wheel 12 is provided on one side of the wheel seat to provide driving force for the transporter.

[0039] The main beam 11 is a plate-like structure welded by steel plates. Circular connection ends are provided at both ends of the main beam 11. The fixed gear 13 is concentrically assembled with the circular connection ends to ensure the accuracy of rotation. The middle part of the main beam 11 is hinged above the hinge support 17 through a hinge shaft, so that the main beam 11 can rotate around the hinge shaft, thereby improving the anti-tilting ability and seismic resistance of the transporter.

[0040] Two buffer members are respectively located at both ends of the main beam 11. The buffer members can be buffer springs. The buffer springs have high strength, so that they can support the transporter under normal conditions and prevent the main beam 11 from making hard contact with the transporter. One end of the buffer spring abuts against the upper surface of the main beam 11, and the other end abuts upward against the frame 10 of the transporter, so as to meet the buffer requirement through the buffer spring.

[0041] The buffer member is a buffer spring. A positioning column 103 is provided between two rib plates above the main beam 11. The lower end of the spring is correspondingly sleeved on the positioning column 103.

[0042] A stop rod 102 corresponding to the buffer member is provided on the square protection frame 101. A sleeve corresponding to the spring is provided on the stop rod 102. In this embodiment, there is a certain gap between the lower edge of the sleeve and the positioning column 103. During the rotation of the main beam 11, the gap between the lower edge of the sleeve and the positioning column 103 is not greater than the length of the buffer spring, thus simplifying the installation structure of the buffer spring.

[0043] Below the turntable 14, there are multiple guide posts evenly distributed circumferentially around the wheel seat. The guide posts are metal posts that extend vertically downward. Above the wheel seat, a flange corresponding to the guide posts is fixed. The flange is concentric with the turntable 14. Perforations corresponding to the guide posts are provided at the edge of the flange. The flange is slidably assembled longitudinally on multiple guide posts. An elastic member is sleeved on the outer wall of the guide post. The elastic member can be a compression spring. A stop flange is provided after the lower end of the guide post passes through the flange, thereby forming a shock-absorbing floating structure for the driving wheel 12, enabling the driving wheel 12 to have the freedom of up and down compression. When the driving wheel 12 protrudes outward, the self-weight of the AGV presses the driving wheel 12 to be flush with the auxiliary wheel. The problem of multiple wheels touching the ground together is realized through the shock-absorbing floating structure. In addition to ensuring the driving force of the AGV, the contact of the auxiliary wheel with the ground also shares part of the load. The spring in the shock-absorbing floating structure will keep the driving wheel 12 always in close contact with the ground. When encountering a raised road surface, due to the floating property of the driving unit and the compressibility of the spring, it can prevent the driving unit from lifting the entire AGV. The reaction force of the spring keeps the driving wheel 12 always in close contact with the ground, and the ground also provides a supporting force for the driving wheel 12 at all times to ensure sufficient adhesion, ensuring that the AGV will not lose power due to uneven road surfaces.

[0044] In an alternative embodiment, guide blocks 5 are respectively provided at both ends of the guide rail 4. The guide blocks 5 are of a shell-like structure or a trough-shaped structure with an opening pointing to the transfer channel. On the side of the guide block 5 corresponding to the transfer channel is an inclined surface. Inside the guide block 5, a guide wheel 9 extending out of the inclined surface is rotatably connected through a longitudinal rotating shaft, thereby guiding the loading and unloading to ensure the smoothness of the transfer.

[0045] A limiting mechanism 8 corresponding to both ends of the transfer channel is provided on the vehicle frame 10. The limiting mechanism 8 includes a limiting seat 802, a stepping motor 804, and sliding columns. The limiting seat 802 is a square frame fixed on the vehicle frame 10. A lead screw 803 is threadedly assembled in the middle of the limiting seat 802. The upper end of the lead screw 803 is fixed with a limiting plate 801 corresponding to the space between two adjacent transfer rollers 6. The stepping motor 804 is located below the limiting seat 802 and is correspondingly connected to the lower end of the lead screw 803. The two sliding columns are respectively located on both sides of the limiting plate 801 and are slidably assembled longitudinally on the limiting seat 802.

[0046] In an alternative embodiment, a plurality of limiting mechanisms 8 are evenly distributed along the length direction of the conveying channel, so that two adjacent limiting mechanisms 8 form a limiting station, and each limiting station stores a transfer item, thereby accurately controlling to ensure that the transfer item stops at a proper position, so as to realize automatic loading and unloading control. Two ends of the conveying roller 6 are respectively rotatably connected to two guide rails 4, and one end of the conveying roller 6 extends outside the guide rail 4. A plurality of conveying rollers 6 corresponding to the same limiting station are connected by the same conveying chain and driven by the same conveying motor. For each limiting station, the conveying motor is controlled in sequence to ensure conveying, so as to realize sequential unloading or loading. In order to detect each limiting station, position sensors 18 are respectively arranged on the side of the conveying channel corresponding to each limiting station. The position sensor 18 can be an infrared sensor, and the same group of position sensors 18 are arranged horizontally opposite to each other to detect the transfer item.

[0047] In an alternative embodiment, the above-mentioned motor and the position sensor 18 are correspondingly connected to a controller. The controller is internally provided with a navigation module and a communication module for dispatching the transfer vehicle.

[0048] The controller can be a CPU controller. Laser obstacle avoidance elements 3 are arranged at the front and rear of the vehicle body. The laser obstacle avoidance elements 3 are correspondingly connected to the controller for detecting obstacles. Safety touch edges and emergency stop buttons are arranged around the vehicle body to provide 360° safety protection; a charging board is arranged on the side to dock with an automatic charger to realize the online charging function; an optical communication module is arranged on the vehicle body to dock and interact with a communication station arranged on the workshop floor to transmit status and task information. In addition, the vehicle body is designed with devices such as safety barriers, audible and visual alarms, anti-static belts, and roller guide wheels 9, making the use of the AGV safer and more stable.

[0049] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are within the scope of protection of the pending claims of the present invention.

Claims

1. An unmanned automated transport vehicle, characterized in that: include: A frame, wherein the main body of the frame is a square truss, and two guide rails are connected above the frame through support columns, and a plurality of conveying rollers are evenly distributed between the two guide rails to form a conveying channel; A wheel bridge structure, wherein the two wheel bridges are respectively mounted at both ends of the frame through hinge supports, and mounting openings corresponding to the two driving wheels of the wheel bridge structure are provided on both sides of the frame, so that the driving wheels extend out of the bottom surface of the frame after passing through the mounting openings; A square protection frame, wherein two square protection frames are respectively located above the two wheel bridge structures to form an activity space for the wheel bridge structures; A shell is provided on the outside of the frame, and the shell includes a skirt plate corresponding to the circumference of the frame and a cover plate corresponding to the outer sides of the two guide rails. The frame is provided with support frames on both sides of the two guide rails to support the cover plate.

2. The unmanned automated transport vehicle according to claim 1, characterized in that: The wheel bridge structure includes a main beam, a rotating mechanism and a buffer. The upper surfaces of both ends of the main beam are provided with buffers, and the upper ends of the buffers abut against the lever of the square protection frame. The driving wheel is connected to the lower surface of the main beam through a rotating mechanism.

3. The unmanned automated transport vehicle according to claim 1, characterized in that: Guide blocks are respectively arranged at both ends of the guide rail, and the guide blocks are shell-shaped structures. An inclined surface is arranged on one side of the guide block corresponding to the transmission channel, and a guide wheel extending out of the inclined surface is rotatably connected to the guide block via a longitudinal rotating shaft.

4. The unmanned automated transport vehicle according to claim 1, characterized in that: The frame is provided with a limiting mechanism corresponding to the two ends of the transmission channel, and the limiting mechanism includes: A limit seat, wherein a lead screw is threadedly mounted in the middle of the limit seat, and a limit plate corresponding to the space between two adjacent conveying rollers is fixed on the upper end of the lead screw; A stepper motor, the stepper motor is located below the limit seat and is correspondingly connected to the lower end of the lead screw; Sliding columns, two of which are respectively located at both sides of the limiting plate, and the sliding columns are assembled on the limiting seat along the longitudinal sliding direction.

5. The unmanned automated transport vehicle according to claim 4, characterized in that: The plurality of limit mechanisms are evenly distributed along the length direction of the conveying channel, so that two adjacent limit mechanisms form a limit station; The two sections of the conveying roller are rotatably connected to the two guide rails respectively, and one end of the conveying roller extends out of the guide rail. The multiple conveying rollers corresponding to the same limiting station are connected through the same conveying chain transmission and driven by the same conveying motor.

6. The unmanned automated transport vehicle according to claim 5, characterized in that: A position sensor is provided on the side of the conveying channel corresponding to each limit station.

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