Fork arm anti-pressing structure of AGV (Automatic Guided Vehicle)

Abstract

The utility model relates to a fork arm anti-pressing structure of an AGV (Automatic Guided Vehicle). The fork arm anti-pressing structure comprises a bottom shell, a supporting plate, a fork arm assembly and a driving assembly which are arranged on the AGV, a mounting groove is annularly formed in the bottom shell; a pressure-sensitive collision strip is arranged in the mounting groove; the pressure-sensitive collision strip is electrically connected with the driving assembly; according to the AGV trolley, the pressure-sensitive collision strip is arranged at the joint between the bottom shell and the supporting plate, when goods or personnel accidentally touch the joint, the pressure-sensitive collision strip can be triggered, then the driving assembly is controlled to stop driving the fork arm assembly to descend, the personnel or the goods are prevented from being pinched and bruised, the safety of the personnel and the goods is guaranteed, and the operation safety of the AGV trolley is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV vehicles, and more specifically, to a fork arm anti-pressure structure for an AGV vehicle. Background Technique

[0002] AGV vehicles are increasingly widely used in the field of industrial automation, and are mainly used for material handling and transportation. During the process of the fork arm of an AGV vehicle descending, due to some reasons, the connection part of the bottom shell is prone to pressing and damaging goods or personnel, posing a relatively large safety hazard. For example, the AGV forklift with such a problem is disclosed in the patent publication number CN111377378A. Therefore, we propose a fork arm anti-pressure structure for an AGV vehicle with a safety anti-pressure effect to avoid pressing and damaging goods or personnel during the process of the fork arm descending. Content of the Utility Model

[0003] Aiming at the deficiencies existing in the prior art, the purpose of the present utility model is to provide a fork arm anti-pressure structure for an AGV vehicle to solve the problems existing in the above background technique.

[0004] The above technical purpose of the present utility model is achieved through the following technical solutions: A fork arm anti-pressure structure for an AGV vehicle, including: a bottom shell installed on the AGV vehicle, a support plate adapted to the bottom shell, a fork arm assembly for driving the support plate to lift and lower, and a driving assembly for driving the fork arm assembly; a receiving cavity for accommodating the fork arm assembly is provided in the bottom shell; the driving assembly is detachably connected to the receiving cavity; one end of the fork arm assembly is fixedly connected to the output end of the driving assembly; the other end of the fork arm assembly is hinged to the support plate; an installation groove is annularly formed on the bottom shell; a pressure-sensitive collision strip for detecting whether there is an object at the connection between the bottom shell and the support plate is provided in the installation groove; the pressure-sensitive collision strip is electrically connected to the driving assembly.

[0005] Optionally, the fork arm assembly includes: a first scissors fork arm, a second scissors fork arm, a third scissors fork arm, a fourth scissors fork arm, and a connecting shaft; one end of the first scissors fork arm and the second scissors fork arm is rotatably connected to one end of the connecting shaft; the other end of the third scissors fork arm and the fourth scissors fork arm is rotatably connected to the other end of the connecting shaft; one end of the first scissors fork arm and one end of the third scissors fork arm are respectively fixedly connected to the first output end of the driving assembly; the other end of the first scissors fork arm and the other end of the third scissors fork arm are respectively hinged to one end of the support plate; one end of the second scissors fork arm and one end of the fourth scissors fork arm are respectively fixedly connected to the second output end of the driving assembly; the other end of the second scissors fork arm and the other end of the fourth scissors fork arm are respectively hinged to the other end of the support plate.

[0006] Optionally, the driving assembly includes: a first driving member; the first driving member is detachably connected to the accommodation cavity; a first output end of the first driving member is fixedly connected to one end of the first scissors arm and one end of the third scissors arm respectively, and a second output end of the first driving member is fixedly connected to one end of the second scissors arm and one end of the fourth scissors arm respectively; the first driving member is electrically connected to the pressure-sensitive collision bar.

[0007] Optionally, a limiting portion for preventing the pallet from accidentally touching the pressure-sensitive collision bar is further provided on the bottom case; the limiting portion can be in contact with the pallet; when the scissor arm assembly is at the lowest height, the pallet is in contact with the limiting portion.

[0008] Optionally, the pressure-sensitive collision bar includes: a housing and a pressure-sensitive strip; the pressure-sensitive strip is detachably connected to the inside of the housing; the pressure-sensitive strip is electrically connected to the driving assembly.

[0009] Optionally, the material of the housing is a flexible rubber material.

[0010] Optionally, the pressure-sensitive collision bar is in a normally open state when not triggered.

[0011] Optionally, a 3M adhesive tape for increasing the connection firmness is further provided on one side of the housing close to the bottom case.

[0012] Optionally, the height distance difference between the limiting portion and the pressure-sensitive collision bar is 2 mm - 5 mm.

[0013] Optionally, a receiving groove for receiving the pressure-sensitive collision bar is annularly formed on one side of the pallet close to the bottom case; the pressure-sensitive collision bar can also be detachably connected to the inner wall of the receiving groove.

[0014] In summary, the present utility model has the following beneficial effects:

[0015] 1. By providing a pressure-sensitive collision bar at the connection between the bottom case and the pallet, when a goods or a person accidentally touches the connection, the pressure-sensitive collision bar will be triggered, and then the driving assembly is controlled to stop driving the scissor arm assembly from descending, avoiding pinching or injuring the person or goods, ensuring the safety of the person and goods, and improving the operation safety of the AGV cart. Description of the Drawings

[0016] Figure 1 is a schematic diagram of the main structure of the present utility model;

[0017] Figure 2 is a side view schematic diagram of the main structure of the present utility model;

[0018] Figure 3It is a schematic structural diagram of the pressure-sensitive collision bar in the present utility model.

[0019] In the figure: 1. Bottom shell; 11. Installation groove; 12. Limiting part; 2. Support plate; 3. Fork arm assembly; 31. First scissor arm; 32. Second scissor arm; 33. Third scissor arm; 34. Fourth scissor arm; 35. Connecting shaft; 4. Driving assembly; 41. First driving member; 5. Pressure-sensitive collision bar; 51. Outer shell; 52. 3M adhesive. Specific embodiments

[0020] To make the objectives, features, and advantages of the present utility model more obvious and understandable, the following will describe in detail the specific embodiments of the present utility model with reference to the accompanying drawings. Several embodiments of the present utility model are given in the drawings. However, the present utility model can be implemented in many different forms and is not limited to the embodiments described herein.

[0021] In the present utility model, unless otherwise clearly defined and limited, terms such as "installation", "connection", "connection", "fixation", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances. The terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0022] In the present utility model, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through other features between them. Moreover, the first feature being "above", "above", and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature has a higher horizontal height than the second feature. The first feature being "below", "below", and "under" the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicating that the first feature has a lower horizontal height than the second feature. Terms such as "vertical", "horizontal", "left", "right", "up", "down", and similar expressions are only for the purpose of illustration and do not indicate or imply that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present utility model.

[0023] The following will describe the present utility model in detail with reference to the accompanying drawings and embodiments.

[0024] The utility model provides a fork arm anti - pressure structure for an AGV cart, as Figure 1 shown, including: a bottom shell 1 installed on the AGV cart, a support plate 2 adapted to the bottom shell 1, a fork arm assembly 3 for driving the support plate 2 to lift and lower, and a driving assembly 4 for driving the fork arm assembly 3; a receiving cavity for accommodating the fork arm assembly 3 is arranged in the bottom shell 1; the driving assembly 4 is detachably connected to the receiving cavity; one end of the fork arm assembly 3 is fixedly connected to the output end of the driving assembly 4; the other end of the fork arm assembly 3 is hinged to the support plate 2; an installation groove 11 is annularly formed on the bottom shell 1; a pressure - sensitive collision strip 5 for detecting whether there is an object at the connection between the bottom shell 1 and the support plate 2 is arranged in the installation groove 11; the pressure - sensitive collision strip 5 is electrically connected to the driving assembly 4.

[0025] Specifically, by forming an installation groove 11 at the connection between the bottom shell 1 and the support plate 2, and installing the pressure - sensitive collision strip 5 in the installation groove 11, when the driving assembly 4 drives the fork arm assembly 3 to descend, if the hands or feet of goods or personnel press on the pressure - sensitive collision strip 5, the driving of the fork arm assembly 3 by the driving assembly 4 can be aborted, preventing the goods or personnel from being crushed or pinched, and avoiding losses to personal safety and life and property. Further, the safety and reliability of the AGV cart during work operations are ensured.

[0026] Further, the fork arm assembly 3 includes: a first scissors arm 31, a second scissors arm 32, a third scissors arm 33, a fourth scissors arm 34 and a connecting shaft 35; one ends of the first scissors arm 31 and the second scissors arm 32 are rotatably connected to one end of the connecting shaft 35; one ends of the third scissors arm 33 and the fourth scissors arm 34 are rotatably connected to the other end of the connecting shaft 35; one ends of the first scissors arm 31 and the third scissors arm 33 are respectively fixedly connected to the first output end of the driving assembly 4; the other ends of the first scissors arm 31 and the third scissors arm 33 are respectively hinged to one end of the support plate 2; one ends of the second scissors arm 32 and the fourth scissors arm 34 are respectively fixedly connected to the second output end of the driving assembly 4; the other ends of the second scissors arm 32 and the fourth scissors arm 34 are respectively hinged to the other end of the support plate 2.

[0027] Specifically, the first scissor arm 31, the second scissor arm 32, the third scissor arm 33, and the fourth scissor arm 34 are installed and connected by a connecting shaft 35 to form a scissor structure. By driving one end of the first scissor arm 31, the second scissor arm 32, the third scissor arm 33, and the fourth scissor arm 34 through the driving assembly 4, the effect of raising and lowering the pallet 2 connected to the other ends of the first scissor arm 31, the second scissor arm 32, the third scissor arm 33, and the fourth scissor arm 34 is achieved. The overall structural design is simple and reasonable, and the connection between each component is convenient, facilitating manufacturing and assembly.

[0028] Further, the driving assembly 4 includes: a first driving member 41; the first driving member 4 is detachably connected to the receiving cavity; the first output end of the first driving member 41 is fixedly connected to one end of the first scissor arm 31 and one end of the third scissor arm 33 respectively, and the second output end of the first driving member 41 is fixedly connected to one end of the second scissor arm 32 and one end of the fourth scissor arm 34 respectively; the first driving member is electrically connected to the pressure-sensitive collision bar.

[0029] Specifically, the first scissor arm 31 and the third scissor arm 33 are driven by the first output end of the first driving member 41, and the second scissor arm 32 and the fourth scissor arm 34 are driven by the second output end. The single-side connecting shaft has higher synchronism, ensuring that during the lifting process, the first scissor arm 31, the second scissor arm 32, the third scissor arm 33, and the fourth scissor arm 34 synchronously expand and contract, thereby achieving the effect of improving the accurate load-bearing of the fork arm assembly 3.

[0030] Further, the bottom shell 1 is further provided with a limiting portion 12 for preventing the pallet 2 from accidentally touching the pressure-sensitive collision bar 5; the limiting portion 12 can be in contact with the pallet 2; when the fork arm assembly 3 is at the lowest height, the pallet 2 is in contact with the limiting portion 12.

[0031] Specifically, the limiting portion 12 on the bottom shell 1 prevents the situation that when the pallet 2 descends to the lowest height, it accidentally touches the pressure-sensitive collision bar 5 and causes the normal operation of the driving assembly 4 to be interrupted.

[0032] Further, the pressure-sensitive collision bar 5 includes: a housing 51 and a pressure-sensitive strip; the pressure-sensitive strip is detachably connected to the inside of the housing 51; the pressure-sensitive strip is electrically connected to the driving assembly.

[0033] Specifically, the pressure-sensitive strip 5 adopts a high-sensitivity pressure-sensitive resistor layer and a high-precision signal processing unit, which can quickly and accurately detect minute pressure changes, improving the response speed and detection accuracy.

[0034] Further, the material of the housing 51 is a flexible rubber material.

[0035] Specifically, the outer shell 51 is made of a flexible rubber material, which has good elasticity and impact resistance, and can effectively absorb the impact force generated by a collision to protect the internal components.

[0036] Further, when the pressure-sensitive collision strip 5 is not triggered, it is in a normally open state.

[0037] Further, on the side of the outer shell 51 close to the bottom shell 1, there is also a 3M adhesive tape 52 provided for increasing the connection firmness.

[0038] Specifically, through the 3M adhesive tape 52, the connection between the pressure-sensitive collision strip 5 and the installation groove 11 is made more firm and close, avoiding the situation that the pressure-sensitive collision strip 5 falls off during the working process.

[0039] Further, the height distance difference between the limiting part 12 and the pressure-sensitive collision strip 5 is 2 mm - 5 mm.

[0040] Specifically, it is to avoid the pallet 2 accidentally touching the pressure-sensitive collision strip 5 when it descends to the lowest height.

[0041] Further, on the side of the pallet 2 close to the bottom shell 1, there is also an accommodating groove annularly provided for accommodating the pressure-sensitive collision strip; the pressure-sensitive collision strip 5 can also be detachably connected to the inner wall of the accommodating groove.

[0042] In another embodiment, if the working environment of the robot is poor and it is easy to wear the pressure-sensitive collision strip on the bottom shell 1, the pressure-sensitive collision strip 5 can be installed on the edge of the pallet to achieve the same technical effect.

[0043] Specifically, the material used for the pallet 2 has the characteristics of high strength, wear resistance, impact resistance, and suitability for heavy goods, which is convenient for carrying and transporting goods. In this embodiment, an aluminum alloy material is selected.

[0044] In this embodiment, the controller for controlling the driving component 4 is externally placed on the AGV trolley. The externally placed controller can be a controller with control opening and closing functions such as a single-chip microcomputer, MCU, PLC, etc. In this embodiment, a single-chip microcomputer is selected.

[0045] In the specific implementation process, during the lifting process of the pallet 2, the first output end of the first driving member 41 drives the first scissor arm 31 and the third scissor arm 33 to move, making them move towards the middle of the accommodating cavity. The second output end of the first driving member 41 drives the second scissor arm 32 and the fourth scissor arm 34 to move, making them move towards the middle of the accommodating cavity. Thus, through the limiting effect of the connecting shaft 35, the pallet 2 is lifted to carry and transport goods;

[0046] During the descent of the pallet 2, the first output end of the first driving member 41 drives the first scissor arm 31 and the third scissor arm 33 to move, so that they are reset to their initial positions. The second output end of the first driving member 41 drives the second scissor arm 32 and the fourth scissor arm 34 to move, so that they are reset to their initial positions. Through the limiting action of the connecting shaft 35, the pallet 2 descends. During the descent, if the hands or feet of goods or personnel press on the pressure-sensitive collision strip 5 on the bottom shell 1, the pressure-sensitive strip in the pressure-sensitive collision strip 5 will receive a pressure signal and transmit it to the first driving member 41, causing it to stop driving, avoiding crushing or pinching the goods or personnel, and ensuring safety and reliability.

[0047] Driven by the first scissor arm 31, the second scissor arm 32, the third scissor arm 33 and the fourth scissor arm 34, when the pallet 2 descends to the lowest height, it will abut against the limiting portion 12 on the bottom shell 1, preventing the pallet 2 from accidentally touching the pressure-sensitive collision strip 5 and causing abnormal operation.

[0048] A fork arm anti-crushing structure of an AGV cart according to the present invention is provided with a pressure-sensitive collision strip 5 at the connection between the bottom shell 1 and the pallet 2. When goods or personnel accidentally touch the connection, the pressure-sensitive collision strip 5 will be triggered, and then the driving assembly 4 will be controlled to stop driving the descent of the fork arm assembly 3, avoiding pinching or crushing personnel or goods, ensuring the safety of personnel and goods, and improving the operation safety of the AGV cart.

[0049] The above are only the preferred embodiments of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the concept of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A fork arm anti-pressure structure for an AGV cart, characterized in that, Including: A bottom shell installed on an AGV cart, a pallet adapted to the bottom shell, a fork arm assembly for driving the pallet to lift, and a drive assembly for driving the fork arm assembly; An accommodation cavity for accommodating the fork arm assembly is provided in the bottom shell; The drive assembly is detachably connected to the accommodation cavity; one end of the fork arm assembly is fixedly connected to the output end of the drive assembly; the other end of the fork arm assembly is hinged to the pallet; An installation groove is annularly formed on the bottom shell; a pressure-sensitive collision strip for detecting whether there is an object at the connection between the bottom shell and the pallet is provided in the installation groove; The pressure-sensitive collision strip is electrically connected to the drive assembly.

2. The fork arm anti-pressure structure of an AGV vehicle according to claim 1, characterized in that The fork arm assembly includes: a first scissor arm, a second scissor arm, a third scissor arm, a fourth scissor arm and a connecting shaft; The first scissor arm and the second scissor arm are rotatably connected to one end of the connecting shaft; the third scissor arm and the fourth scissor arm are rotatably connected to the other end of the connecting shaft; One end of the first scissor arm and one end of the third scissor arm are respectively fixedly connected to the first output end of the drive assembly; the other end of the first scissor arm and the other end of the third scissor arm are respectively hinged to one end of the pallet; One end of the second scissor arm and one end of the fourth scissor arm are respectively fixedly connected to the second output end of the drive assembly; the other end of the second scissor arm and the other end of the fourth scissor arm are respectively hinged to the other end of the pallet.

3. The fork arm anti-press structure of an AGV cart according to claim 2, characterized in that, The drive assembly includes: a first driving member; The first driving member is detachably connected to the accommodation cavity; the first output end of the first driving member is respectively fixedly connected to one end of the first scissor arm and one end of the third scissor arm, and the second output end of the first driving member is respectively fixedly connected to one end of the second scissor arm and one end of the fourth scissor arm; The first driving member is electrically connected to the pressure-sensitive collision strip.

4. The fork arm anti-pressure structure of an AGV cart according to claim 1, characterized in that, A limiting portion for preventing the pallet from accidentally touching the pressure-sensitive collision strip is further provided on the bottom shell; the limiting portion can abut against the pallet; When the fork arm assembly is at the lowest height, the pallet abuts against the limiting portion.

5. The fork arm anti-pressure structure of an AGV cart according to claim 1, characterized in that, The pressure-sensitive collision strip includes: a housing and a pressure-sensitive strip; The pressure-sensitive strip is detachably connected to the inside of the housing; the pressure-sensitive strip is electrically connected to the drive assembly.

6. The fork arm anti-press structure of an AGV cart according to claim 5, characterized in that, The material of the housing is a flexible rubber material.

7. The fork arm anti-pressure structure of an AGV cart according to claim 1, characterized in that, The pressure-sensitive collision strip is in a normally open state when not triggered.

8. The fork arm anti - pressure structure of an AGV cart according to claim 6, characterized in that, A 3M adhesive tape for increasing the connection firmness is further provided on the side of the housing close to the bottom shell.

9. The fork arm anti - pressure structure of an AGV cart according to claim 4, characterized in that, The height distance difference between the limiting portion and the pressure-sensitive collision strip is 2 mm - 5 mm.

10. The fork arm anti-pressure structure of an AGV cart according to claim 1, characterized in that, A receiving groove for receiving the pressure-sensitive collision strip is annularly formed on the side of the pallet close to the bottom shell; the pressure-sensitive collision strip can also be detachably connected to the inner wall of the receiving groove.

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