Transfer trolley with automatic jacking function

Abstract

The utility model provides a transfer trolley with an automatic jacking function, which is characterized in that a chassis frame comprises an upper frame and a lower frame which are vertically distributed at an interval, the upper frame and the lower frame are fixed through stand columns, and supporting wheels are arranged on two opposite sides of the chassis frame; a plurality of lifting mechanisms are arranged below the jacking piece, and the lower ends of the lifting mechanisms are correspondingly connected with the upper frame; driving wheels corresponding to the supporting wheels are arranged on the chassis frame and rotationally connected to a bridge, one end of the bridge is hinged to the lower frame, and the other end of the bridge is connected with the upper frame through a damping mechanism; a shell is arranged on the periphery of the chassis frame, and a controller and a laser obstacle avoidance module are arranged on the shell. The chassis frame forms the assembling space through the upper frame and the lower frame and is used for assembling the lifting mechanism, so that the transfer trolley is provided with the lifting mechanism, the structure is simple, the integration degree is high, the lifting mechanism is borne on the upper frame when not used, and the stability of the transfer trolley is guaranteed.

Description

Technical Field

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

[0002] AGV trolleys, also known as automatic guided transport vehicles, are industrial vehicles that load goods automatically or manually, automatically drive along a set route or tow a cargo trolley to a designated location, and then load and unload goods automatically or manually. The existing AGV trolleys do not have a lifting function when transporting and lifting loads. Generally, lifting equipment is required for transportation or a lifting mechanism is placed on the AGV trolley. This method easily leads to unstable lifting operation, and the trolley structure is also relatively complex and not light enough.

[0003] Therefore, it is necessary to provide an improved technical solution to the above-mentioned deficiencies in the prior art. Utility Model Content

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art, and the present invention provides a transfer vehicle with an automatic lifting function.

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

[0006] A transfer vehicle with an automatic lifting function, comprising:

[0007] A chassis frame, the chassis frame comprising an upper frame and a lower frame spaced apart from each other, the upper frame and the lower frame being fixed by uprights, and support wheels being provided on opposite sides of the chassis frame;

[0008] A lifting frame, wherein a plurality of lifting mechanisms are provided below the lifting member, and the lower ends of the lifting mechanisms are correspondingly connected to the upper frame;

[0009] Driving wheels, the chassis frame is provided with driving wheels between corresponding supporting wheels, the driving wheels are rotatably connected to the bridge frame, one end of the bridge frame is hinged to the lower frame, and the other end is connected to the upper frame through a shock absorbing mechanism;

[0010] The chassis frame is surrounded by a shell, and a controller and a laser obstacle avoidance module are arranged on the shell.

[0011] Preferably, the lifting mechanism includes a screw and a rotating seat, the rotating seat is arranged on the inner side of the lifting frame, the screw is connected to the rotating seat by rotation, the upper end of the screw is correspondingly connected to a sprocket, the chassis frame is provided with a screw sleeve corresponding to the lower end of the screw, and the sprockets corresponding to the multiple screws are connected through the same transmission chain;

[0012] A lifting motor is provided in the middle of the lifting frame, and the lifting motor is correspondingly connected to the transmission chain.

[0013] Preferably, the lifting frame is a square frame, an installation station corresponding to the lifting motor is provided in the middle of the lifting frame, and a material tray is fixed on the upper surface of the lifting frame.

[0014] Preferably, the support wheels are universal wheels, the two support wheels on one side of the chassis frame are connected to the lower frame, the two support wheels on the other side of the chassis frame are connected to the two ends of the support frame, and the middle part of the support wheel is hinged to the upper frame.

[0015] Preferably, a battery slot is provided inside the chassis frame to accommodate a battery for supplying power to the controller, laser obstacle avoidance module, drive wheels and lifting mechanism.

[0016] Preferably, the shock absorbing mechanism includes a telescopic rod and a shock absorbing spring, two ends of the telescopic rod are hinged to the upper frame and the bridge frame respectively, and a shock absorbing spring is sleeved on the outside of the telescopic rod.

[0017] Preferably, a safety edge rubber strip is provided on the outer periphery of the shell.

[0018] Beneficial effect: The chassis frame forms an assembly space through the upper frame and the lower frame for assembling the lifting mechanism, so that the transfer vehicle itself has a lifting mechanism with a simple structure and a high degree of integration. The lifting mechanism is carried on the upper frame when not in use, thereby ensuring the stability of the transfer vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings constituting part of this application are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an improper limitation of the present invention.

[0020] Figure 1 This is a schematic diagram of the mechanism of the transfer vehicle in the specific embodiment provided by the utility model;

[0021] Figure 2 This is a schematic diagram of the distribution of the lifting mechanism in the specific embodiment provided by the utility model;

[0022] Figure 3 This is a schematic diagram of the internal structure of the transfer vehicle in a specific embodiment provided by the present utility model;

[0023] Figure 4 This is a schematic diagram of the drive wheel assembly in a specific embodiment provided by the present utility model.

[0024] In the figure: 1. Material tray; 2. Laser obstacle avoidance module; 3. Housing; 4. Safety edge strip; 5. Lifting frame; 6. Sprocket; 7. Transmission chain; 8. Lifting motor; 9. Shock-absorbing spring; 10. Telescopic rod; 11. Screw; 12. Screw sleeve; 13. Lower frame; 14. Upper frame; 15. Drive wheel; 16. Support frame; 17. Support wheel; 18. Bridge frame; 19. Drive motor; 20. Articulated seat. DETAILED DESCRIPTION

[0025] The following is a clear and complete description of the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of the present invention.

[0026] In the description of the present invention, the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present invention. The terms "connected" and "connected" used in the present invention should be understood in a broad sense. For example, they can be fixed connections or detachable connections; they can be directly connected or indirectly connected through intermediate components. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0027] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0028] like Figure 1-4 As shown, a transfer vehicle with an automatic jacking function includes a chassis frame, a jacking frame 5, a driving wheel 15 and a shell 3. The chassis frame includes an upper frame 14 and a lower frame 13 spaced apart in an upper and lower manner. The upper frame 14 and the lower frame 13 are both welded from square steel. The width of the upper frame 14 is smaller than the lower frame 13, so that auxiliary modules such as the driving wheel 15 and the bridge 18 can be arranged inside the lower frame 13, and the lower frame 13 is used for protection, thereby avoiding collision and damage when the transfer vehicle is automatically running. The upper frame 14 and the lower frame 13 are fixed by columns to form an assembly space between the upper frame 14 and the lower frame 13, and support wheels 17 are provided on opposite sides of the chassis frame. There are four support wheels 17, thereby improving the stability of the transfer vehicle.

[0029] There are multiple lifting mechanisms under the jacking part. The lifting mechanisms are located inside the transfer vehicle. There are four lifting mechanisms. The lower ends of the lifting mechanisms are connected to the upper frame 14, specifically to both sides of the upper frame 14. The length of the jacking part is adapted to the upper frame 14, so that the jacking part can be placed above the upper frame 14, thereby avoiding the lifting mechanism from being stressed in the non-jacking state. The chassis frame is provided with a driving wheel 15 between the corresponding support wheels 17. The driving wheel 15 is rotatably connected to the middle of the bridge 18. One end of the bridge 18 is connected by a hinged seat 20 It is hinged on the lower frame 13, which is provided with an installation position corresponding to the articulated seat 20. The articulated seat 20 is provided with a support bearing corresponding to the bridge frame 18. The other end of the bridge frame 18 is connected to the upper frame 14 through a shock-absorbing mechanism. The driving wheel 15 forms a seesaw structure with one end of the bridge frame 18 as a fulcrum to adapt to uneven road conditions and ensure sufficient grip. The chassis frame is surrounded by a shell 3. The shell 3 is a sheet metal part fixed by splicing and bolts. A controller and a laser obstacle avoidance module 2 are provided on the shell 3. The laser obstacle avoidance module 2 can be set at two opposite corners of the transfer vehicle or all four corners. The laser obstacle avoidance module 2 is a laser obstacle avoidance sensor. When an obstacle is detected in the direction of travel, a signal is transmitted to the controller. The driving wheel 15 is correspondingly connected to the drive motor 19. The controller controls the drive motor 19, and the AGV automatically slows down and stops. When the obstacle is removed, the AGV automatically resumes moving. The laser obstacle sensor uses an area scanning sensor with a maximum detection range of 3 meters. Three different distances can be set as deceleration zones, stop zones, and emergency stop zones. The laser obstacle sensor is only effective in automatic operation, and the alarm stops when it detects an object in the area. To ensure the recognition accuracy of the laser obstacle sensor, its mirror surface must be cleaned regularly to ensure it is free of dust.

[0030] In an optional embodiment, the lifting mechanism includes a screw 11 and a rotating seat. The main body of the lifting frame 5 is a square structure welded from square steel. Four lifting mechanisms are provided, and the four rotating seats are respectively provided at the inner corners of the lifting frame 5. The screw 11 is connected to the rotating seat by rotation. The rotating seat is plate-shaped, and the screw 11 is rotatably connected through a flange and a bearing. The upper end of the screw 11 is correspondingly connected to the sprocket 6. The chassis frame is provided with a screw sleeve 12 corresponding to the lower end of the screw 11. The screw sleeve 12 is fixed on the inner side of the lower frame 13. The sprockets 6 corresponding to the multiple screws 11 are connected through the same transmission chain 7, thereby realizing synchronous drive. A lifting motor 8 is provided in the middle of the lifting frame 5, and the main shaft of the lifting motor 8 is correspondingly connected to the sprocket 6, thereby correspondingly connecting the transmission chain 7, thereby realizing synchronous drive of the four lifting mechanisms to meet stable lifting requirements.

[0031] The lifting frame 5 is a square frame. An installation station corresponding to the lifting motor 8 is provided in the middle of the lifting frame 5. The installation station is a horizontal bar. A material tray 1 is fixed on the upper surface of the lifting frame 5, so that special items can be placed. When the material tray 1 needs to be lifted, the lifting motor 8 works to distribute the power evenly to the four screws 11 through the chain transmission system to rotate. After the material tray 1 is lifted smoothly, the AGV carries the material tray 1 for transportation.

[0032] The lifting motor 8 is located at the center of the lifting frame 5 , and the transmission chain 7 is bent toward the middle and then wrapped around the sprocket 6 corresponding to the lifting motor 8 .

[0033] The support wheels 17 are universal wheels, which can meet the multi-directional driving requirements. The two support wheels 17 on one side of the chassis frame are connected to the lower frame 13, thereby achieving stable support for the support wheels 17 and ensuring that the transfer vehicle will not overturn. The two support wheels 17 on the other side of the chassis frame are connected to the two ends of the support frame 16, and the middle part of the support frame 16 is hinged to the upper frame 14 to form a wheel bridge, thereby improving the adaptability of the transfer vehicle to the terrain to a certain extent.

[0034] In an optional embodiment, the lower frame 13 of the chassis frame is provided with a bottom plate or a support rod, and a battery slot is provided inside the chassis frame. The battery slot can be set on the chassis frame near the two support wheels 17 fixed to the lower frame 13 to assemble a battery to power the controller, the laser obstacle avoidance module 2, the driving wheel 15 and the lifting mechanism.

[0035] Safety edge strips 4 are installed around the outer perimeter of the housing 3. These are flexible, bendable strips or circular rings fixed to the outer perimeter of the AGV. When an external operator (or other component) strikes these flexible safety edges, they compress and transmit a signal to the control system, which applies braking measures to protect the equipment and surrounding personnel. During forward, reverse, forward left, or forward right rotation modes, an obstacle contact will cause the vehicle to stop and alarm, indicating the presence of an obstacle.

[0036] One side of the main body of the safety touch edge strip 4 is an arc-shaped closed end, with the triggering side away from the transfer vehicle. An assembly strip is provided on the edge of the transfer vehicle, and assembly grooves are provided on the upper and lower sides of the assembly strip. The safety touch edge strip 4 extends out of an assembly port corresponding to the assembly strip, and the assembly port is provided with a convex strip corresponding to the assembly groove. An elastic thixotropic cavity extending along its length is provided inside the safety touch edge strip 4. The thixotropic cavity and the main body of the safety touch edge strip 4 are integrally formed. Two metal strips are provided inside the thixotropic cavity. The two metal strips are correspondingly connected to the controller. The two metal strips are distributed on both sides of the thixotropic cavity at intervals in the horizontal direction. When the safety touch edge strip 4 is squeezed, the two metal strips touch together, and a trigger signal is sent to the controller to determine that the transfer vehicle has touched an obstacle.

[0037] The core of the AGV electrical system is the controller. It controls the differential travel and steering of the two drive wheels 15 via isolated CAN communication. It connects to the onboard touchscreen and handheld touchscreen located within the housing 3 via an Ethernet port. The controller connects to ribbon navigation sensors, batteries, buzzers, expansion modules, optical communication sensors, and other components via a 485 interface, enabling it to issue warnings when obstacles or other dangerous situations occur. It also controls components such as laser obstacle avoidance, safety edge sensors, electric rollers, beamforming, blocking motors, and light strips via digital I / O.

[0038] The chip of the AGV dedicated controller adopts a safe, reliable, multi-core high-performance architecture, with a protection level of IP65, an operating temperature range of -40℃ to 80℃, and an EMC index of industrial level 3B or above. It complies with IEEE802.3 standard protocol and TCP standard protocol.

[0039] The AGV controller's low-speed 485 serial port (9600bps) can be connected to peripheral communication devices by setting different slave addresses to read and send data. For example, it can read battery voltage, current, remaining power, and alarm information. It can also control the buzzer to play different volumes and types of prompts based on different AGV actions. It can also increase the controller's input and output points through external expansion modules, and establish communication with the dispatching system through optical communication sensors.

[0040] The AGV controller's digital I / O module connects to devices such as laser obstacle avoidance sensors and safety edges. For example, digital outputs can be used to switch the laser obstacle avoidance sensor's protection zone, while digital inputs can be used to detect the distance within the AGV's range of obstacles.

[0041] In an optional embodiment, the shock-absorbing mechanism includes a telescopic rod 10 and a shock-absorbing spring 9. The ends of the telescopic rod 10 are hingedly connected to an upper frame 14 and a bridge 18, respectively. The upper frame 14 is provided with corresponding installation stations, and the shock-absorbing spring 9 is sleeved on the exterior of the telescopic rod 10. Driven by the shock-absorbing spring 9, the bridge 18 forms a seesaw structure to adapt to uneven road conditions and ensure sufficient grip. The shock-absorbing spring 9 also acts as a buffer to reduce vibration during the transfer vehicle's movement.

[0042] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are within the scope of protection of the pending claims of the present invention.

Claims

1. A transfer vehicle with automatic lifting function, characterized in that: include: A chassis frame, the chassis frame comprising an upper frame and a lower frame spaced apart from each other, the upper frame and the lower frame being fixed by uprights, and support wheels being provided on opposite sides of the chassis frame; A lifting frame, wherein a plurality of lifting mechanisms are provided below the lifting member, and the lower ends of the lifting mechanisms are correspondingly connected to the upper frame; Driving wheels, the chassis frame is provided with driving wheels between corresponding supporting wheels, the driving wheels are rotatably connected to the bridge frame, one end of the bridge frame is hinged to the lower frame, and the other end is connected to the upper frame through a shock absorbing mechanism; The chassis frame is surrounded by a shell, and a controller and a laser obstacle avoidance module are arranged on the shell.

2. The transfer vehicle with automatic lifting function according to claim 1, characterized in that: The lifting mechanism includes a screw and a rotating seat, the rotating seat is arranged on the inner side of the lifting frame, the screw is connected to the rotating seat by rotation, the upper end of the screw is correspondingly connected to the sprocket, the chassis frame is provided with a screw sleeve corresponding to the lower end of the screw, and the sprockets corresponding to the multiple screws are connected by the same transmission chain; A lifting motor is provided in the middle of the lifting frame, and the lifting motor is correspondingly connected to the transmission chain.

3. The transfer vehicle with automatic lifting function according to claim 2, characterized in that: The lifting frame is a square frame, and an installation station corresponding to the lifting motor is provided in the middle of the lifting frame, and a material tray is fixed on the upper surface of the lifting frame.

4. The transfer vehicle with automatic lifting function according to claim 1, characterized in that: The support wheels are universal wheels. The two support wheels on one side of the chassis frame are connected to the lower frame, and the two support wheels on the other side of the chassis frame are connected to the two ends of the support frame. The middle part of the support wheel is hinged to the upper frame.

5. The transfer vehicle with automatic lifting function according to claim 1, characterized in that: A battery slot is provided inside the chassis frame to accommodate a battery for supplying power to the controller, laser obstacle avoidance module, drive wheels and lifting mechanism.

6. The transfer vehicle with automatic lifting function according to claim 1, characterized in that: The shock absorbing mechanism comprises a telescopic rod and a shock absorbing spring. The two ends of the telescopic rod are hinged to the upper frame and the bridge frame respectively. The shock absorbing spring is sleeved on the outside of the telescopic rod.

7. The transfer vehicle with automatic lifting function according to claim 1, characterized in that: A safety edge rubber strip is provided on the outer periphery of the shell.

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