Carrying vehicle and material carrying system

Abstract

The utility model discloses a carrying vehicle and a material carrying system, the carrying vehicle comprises a moving part, the moving part is provided with a walking mechanism, the moving part is provided with a transfer mechanism, the transfer mechanism comprises a lifting assembly and a grabbing assembly driven by the lifting assembly to move up and down, the moving part is internally provided with a containing space, and the grabbing assembly is arranged in the containing space. The lifting assembly can drive the grabbing assembly to move downwards from the interior of the containing space to the position below the moving part to grab materials and can drive the grabbing assembly to lift the grabbed materials into the containing space. According to the structure of the carrying vehicle, when the carrying vehicle walks on the track, the main body structure is located above the track, so that the space, needing to be occupied by the carrying vehicle, below the track can be greatly reduced, and a buffer area can be conveniently and directly arranged at the position closer to the lower portion of the track.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of automatic handling, especially to a carrier and a material handling system. BACKGROUND

[0002] In various automated factories, various automated handling equipment is used to carry materials, and a crown block handling system is a commonly used handling system.

[0003] Patent documents with authorization announcement numbers CN117131884B and CN114126988B disclose a crown block handling system.

[0004] In these structures, the crown block is suspended on the track, and the main structure of the crown block needs to occupy a large height space, which greatly reduces the use space below the track, which is not conducive to setting a buffer area below the track. UTILITY MODEL CONTENT

[0005] The utility model aims to solve the above problems in the prior art and provides a carrier and a material handling system.

[0006] The utility model achieves the above-mentioned purpose through the following technical solutions.

[0007] The carrier comprises a moving part, the lower part of the moving part has a walking mechanism, the moving part is provided with a transfer mechanism, the transfer mechanism comprises a lifting assembly and a grabbing assembly driven by the lifting assembly to move up and down, the moving part has a receiving space, the lifting assembly can drive the grabbing assembly to move down from the receiving space to grab materials below the moving part and can drive the grabbing assembly to lift the grabbed materials into the receiving space.

[0008] Preferably, the walking mechanism comprises a first walking assembly driving the moving part to translate in a first direction and a second walking assembly driving the moving part to translate in a second direction, the first direction and the second direction are perpendicular, the first walking wheels of the first walking assembly and the second walking wheels of the second walking assembly are arranged on four sides of a rectangular frame, when the first walking wheels move on the track, the second walking wheels are located above the track, and when the second walking wheels move on the track, the first walking wheels are located above the track.

[0009] Preferably, in the two pairs of concentrically arranged first walking wheels, at least one pair is driven by a hub motor; and in the two pairs of concentrically arranged second walking wheels, at least one pair is driven by a hub motor.

[0010] Preferably, the first walking wheels on the same side are arranged on a first lifting frame, the first lifting frame is movably arranged on the frame in the vertical direction and is connected with a first switching driving mechanism for driving the first lifting frame to move up and down relative to the frame;

[0011] Preferably, the second walking wheels on the same side are arranged on a second lifting frame, the second lifting frame is movably arranged on the frame in the vertical direction and is connected with a second switching driving mechanism for driving the second lifting frame to move up and down relative to the frame.

[0012] Preferably, when the first walking wheels move on the track, a first limiting mechanism is arranged on the frame and cooperates with the first lifting frame to limit the frame from moving downward relative to the first lifting frame.

[0013] Preferably, when the second walking wheels move on the track, a second limiting mechanism is arranged on the frame and cooperates with the second lifting frame to limit the frame from moving downward relative to the second lifting frame.

[0014] Preferably, the first lifting frame and / or the second lifting frame are arranged in guide holes on the frame.

[0015] Preferably, the first lifting frame and / or the second lifting frame are arranged with notches on the top, the first limiting mechanism and / or the second limiting mechanism are limited from moving downward by a stopper which can extend into the notches from outside the notches.

[0016] Preferably, the first lifting frame and / or the second lifting frame are arranged with a fall-preventing mechanism.

[0017] Preferably, the lifting assembly is arranged on a rotating mechanism for driving the lifting assembly to rotate around a vertical axis.

[0018] The material handling system comprises the handling vehicle as any of the above.

[0019] The advantages of the technical scheme of the utility model mainly include:

[0020] The structure of the handling vehicle makes the main body structure above the track when the handling vehicle moves on the track, thereby greatly reducing the space below the track occupied by the handling vehicle, and facilitating the direct arrangement of the buffer area at a closer height below the track.

[0021] The handling vehicle makes the transfer mechanism arranged in the moving part, thereby greatly reducing the size of the entire handling vehicle, and when the handling vehicle moves on the track, only the grid between two parallel tracks is occupied, without occupying more grids between tracks, greatly reducing the influence on the movement of other handling vehicles, and facilitating the more efficient operation of the handling system.

[0022] The center of gravity of the carrying vehicle is located in the middle region of the moving part, and the carrying vehicle has better running stability, especially after grabbing the materials, compared with the prior art in which the center of gravity is deviated to one side of the moving part.

[0023] The structure design of the first walking assembly, the second walking assembly, the first lifting frame, the second lifting machine, the first switching driving mechanism and the second switching driving mechanism of the carrying vehicle can minimize the required size and space, thereby creating a basic condition for setting a receiving space in the carrying vehicle to accommodate materials and ensuring the function realization of the carrying vehicle.

[0024] The carrying vehicle is provided with the first limiting mechanism and / or the second limiting mechanism, which can effectively limit the downward movement of the frame when walking, effectively reducing the stress of the first switching driving mechanism and the second switching driving mechanism when moving, and being conducive to ensuring the long-term stable operation of the mechanism.

[0025] The structure of the carrying vehicle can be provided with the anti-falling mechanism at the first lifting frame and / or the second lifting frame to protect the materials in the storage space, avoid the falling of the materials, and improve the safety of material conveying. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is a top view of the carrying vehicle of the utility model;

[0027] Figure 2 is a front view of the carrying vehicle of the utility model;

[0028] Figure 3 is a schematic view of the carrying vehicle on the track;

[0029] Figure 4 is a schematic view of the carrying vehicle in which the grabbing assembly of the transfer mechanism moves downward to grab the materials;

[0030] Figure 5 is a schematic view of the carrying vehicle in which the materials are grabbed into the carrying vehicle. DETAILED DESCRIPTION

[0031] The purpose, advantages and characteristics of the utility model will be illustrated and explained through the non-restrictive description of the preferred embodiments. These embodiments are only typical examples of the application of the technical scheme of the utility model, and any technical scheme formed by equivalent replacement or equivalent transformation falls within the scope of the utility model.

[0032] In the description of the solution, it should be noted that the terms "center," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience and simplification of description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0033] Example 1

[0034] The transport vehicle disclosed in this utility model will now be described in conjunction with the accompanying drawings, as shown in the attached drawings. Figure 1 - Appendix Figure 5 As shown, it includes a moving part 100, the lower part of which has a walking mechanism. The walking mechanism includes a first walking component that drives the moving part 100 to translate along a first direction D1 and a second walking component that drives the moving part 100 to translate along a second direction D2. The first direction D1 and the second direction D2 are perpendicular.

[0035] As attached Figure 1 Appendix Figure 2 As shown, the moving part 100 includes a rectangular frame 110. Each side of the frame 110 can be a horizontally arranged mounting plate with sufficient thickness and width. Support rods 120 are respectively arranged at the four corners of the top of the frame 110. A top plate 130 is provided on a group of support rods 120. Of course, a partition can be provided between the top plate 130 and the frame 110 to achieve four-sided enclosure. Furthermore, various electrical components required for the transport vehicle, such as controllers, can be installed on the frame and support rods 120.

[0036] The first and second traveling components are mounted on the frame 110. The first traveling wheels 140 of the first traveling component are mounted on two opposite mounting plates of the frame 110, and the second traveling wheels 150 of the second traveling component are mounted on two other mounting plates of the frame 110. Preferably, there are four first traveling wheels 140, and their axes extend along a second direction D2. Two first traveling wheels 140 on one mounting plate are distributed in a first direction D1 and correspond one-to-one with two first traveling wheels 140 on the other mounting plate. Correspondingly, there are also four second traveling wheels 150, and their axes extend along a first direction D1. Two second traveling wheels 150 on one mounting plate are distributed in a second direction D2 and correspond one-to-one with two second traveling wheels 150 on the other mounting plate.

[0037] In order to simplify the structure and facilitate driving, at least one pair of the two concentrically arranged first traveling wheels 140 is driven by a hub motor; at least one pair of the two concentrically arranged second traveling wheels 150 is driven by a hub motor.

[0038] Of course, in other embodiments, if the size of the transport vehicle allows, the two first traveling wheels 140 located on the same mounting plate can also be driven by a motor located outside the first traveling wheels. In this case, the motor can drive the two first traveling wheels 140 on the same mounting plate to rotate synchronously through a transmission mechanism consisting of a chain and sprocket or a synchronous belt and synchronous pulley. Similarly, the two second traveling wheels 150 located on the same mounting plate can also be driven by a single motor. Of course, each first traveling wheel and each second traveling wheel can also be driven by a separate motor located outside its own mounting plate.

[0039] To prevent the first and second wheels from contacting the track 300 during movement and affecting stability, therefore, as shown in the attached... Figure 3 As shown, when the first traveling wheel 140 moves on the track 300, the gap of the second traveling wheel 150 is above the track 300; when the second traveling wheel 150 moves on the track 300, the gap of the first traveling wheel 140 is above the track 300. In specific implementation, the first traveling wheel 140 or the second traveling wheel 150 can be raised or lowered, or both the first traveling wheel 140 and the second traveling wheel 150 can be raised or lowered.

[0040] For details, please see the attached document. Figure 1 Appendix Figure 2 As shown, two first walking wheels 140 on the same side can be mounted on a first lifting frame 160. The first lifting frame 160 is movably mounted on the frame 110 in the vertical direction and is connected to a first switching drive mechanism 170 that drives it to move up and down relative to the frame 110.

[0041] And / or, the second traveling wheel 150 on the same side is mounted on a second lifting frame 180, the second lifting frame 180 being movably mounted on the frame 110 in the vertical direction and connected to a second switching drive mechanism 190 that drives it to move up and down relative to the frame 110.

[0042] The specific shapes of the first lifting frame 160 and the second lifting frame 180 can be set as needed, and they can be set on the side of the frame 110 via guide rails. The first switching drive mechanism 170 and the second switching drive mechanism 190 can be, for example, electric rods arranged in the vertical direction, or other devices or mechanisms capable of generating vertical movement, such as a structure in which a lead screw and a motor cooperate. In this case, the screw of the lead screw rotates in place, and the nut of the lead screw moves up and down along the screw and connects to the first lifting frame or the second lifting frame.

[0043] When only the first lifting frame 160 is allowed to move up and down, the first lifting frame 160 can move up so that the bottom of the first walking wheel 140 on it is above the bottom of the second walking wheel 150 at a fixed height, at which time movement can be carried out by the second walking wheel 150; when the first lifting frame 160 moves down and the first walking wheel 140 comes into contact with the track 300, as the first lifting frame continues to move down, the frame 110 can be lifted up so that the second walking wheel 150 is lifted and separated from the track 300, at which time movement can be carried out by the first walking wheel 140. When only the second lifting frame 180 is allowed to move up and down, the principle of switching between the first walking wheel 140 and the second walking wheel 150 is the same as above, and will not be described here.

[0044] As shown in the accompanying drawings, in order to make the structure more compact, the first lifting frame 160 is substantially a convex-shaped and vertically arranged plate, and the mounting plate is provided with a guide hole matched with the upper convex part 161 of the first lifting frame 160, so that the upper convex part 161 of the first lifting frame 160 can move up and down in the guide hole on the frame 110. Figure 2

[0045] At the same time, the first switching drive mechanism 170 driving the first lifting frame 160 includes a lead screw connected to the first lifting frame 160, one end of the screw rod 171 of the lead screw is connected to the first lifting frame 160, the connection position of the screw rod 171 and the first lifting frame is located at the side of the upper convex part 161, and the screw rod 171 can pass through the through hole extending in the vertical direction provided on the frame 110; the nut 172 of the lead screw can be rotatably arranged on the frame 110 by a bearing, and the nut 172 is connected to a motor 173 driving its rotation, the motor 173 can be connected to the nut 172 through a gear mechanism, or can be connected to the nut 172 through a transmission mechanism 174 composed of a synchronous belt and a synchronous wheel. When the motor 173 drives the nut 172 to rotate in place, the screw rod 171 of the lead screw moves in the vertical direction to drive the first lifting frame 160 to move up and down. Of course, the lead screw can also be replaced by a screw rod 171 and a nut.

[0046] In addition, in a more preferred embodiment, in order to maintain the power balance on both sides of the first lifting frame 160, the first lifting frame 160 can be connected to two first switching drive mechanisms 170 symmetrically distributed on both sides of the upper convex part, and the two first switching drive mechanisms 170 can each have a motor 173. Of course, in a more preferred embodiment, the two first switching drive mechanisms 170 can share one motor 173, at which time the motor 173 can drive the two nuts or nuts 172 to rotate synchronously through a synchronous mechanism 175 composed of a synchronous belt and a synchronous wheel. ​

[0047] When the second lifting frame 180 is movable up and down, its shape is consistent with the first lifting frame, and the frame is also provided with a through hole for the upper protruding part of the second lifting frame 180 to pass through. The structure of the second switching driving mechanism 190 for driving the second lifting frame to move up and down is the same as that of the first switching driving mechanism 170, which will not be described here.

[0048] As shown in the accompanying drawings Figure 1 , the accompanying drawings Figure 2 , in order to ensure that the first walking wheel 140 or the second walking wheel 150 walks, the frame 110 will not move downward relative to the first lifting frame 160 or the second lifting frame 180, and at the same time, reduce the stress of the lead screw or screw 171. When the first walking wheel 140 moves on the track 300, the frame 110 is provided with a first limiting mechanism 101 cooperating with the first lifting frame 160 to limit the downward movement of the frame 110 relative to the first lifting frame 160.

[0049] And / or, when the second walking wheel 150 moves on the track 300, the frame 110 is provided with a second limiting mechanism 102 cooperating with the second lifting frame 180 to limit the downward movement of the frame 110 relative to the second lifting frame 180.

[0050] The first limiting mechanism 101 can be, for example, an electromagnetic lock or an electric rod provided at the top of the frame 110. The locking tongue of the electromagnetic lock or the push rod of the electric rod, i.e. the blocking piece 103, extends out and is attached to the top surface of the first lifting frame 160 when the first walking wheel 140 moves on the track 300. At this time, the locking tongue or the push rod is limited by the top surface of the first lifting frame 160 and cannot move downward, and correspondingly, the frame 110 is limited and cannot move downward. When it is necessary to enable the first lifting frame 160 to move relative to the frame 110, the blocking piece 103 of the first limiting mechanism 101 is retracted, i.e. moved out to the outside of the first lifting frame 160, so that the first lifting frame 160 can be driven upward again by the first switching driving mechanism 170.

[0051] In order to better simplify the structure, as shown in the accompanying drawings Figure 1 , the accompanying drawings Figure 2 , the top of the first lifting frame 160 is provided with a notch 162. When the first walking wheel 140 walks on the track 300, the bottom of the notch of the first lifting frame 160 is flush with the top surface of the mounting plate where it is located, so that the blocking piece 103 of the first limiting mechanism can extend into the notch from the outside of the notch and the bottom of the blocking piece is attached to the bottom of the notch to limit the downward movement of the frame 11. The top of the second lifting frame 180 can also be provided with the notch, and the structure of the second limiting mechanism is the same as that of the first limiting mechanism, which will not be described here.

[0052] As shown in the accompanying drawings Figure 2 , the mobile part 100 is provided with a transfer mechanism 200, the transfer mechanism 200 includes a lifting assembly 210 and a grabbing assembly 220 driven by the lifting assembly 210 to move up and down, the mobile part 100 has a receiving space S, the receiving space S extends in the vertical direction within the range enclosed by the frame 110, for example, the range extending in the vertical direction is between the bottom of the top plate 130 and the bottom of the lower one of the first lifting frame and the second lifting frame.

[0053] The lifting assembly 210 drives the grabbing assembly 220 to move down from the receiving space S in the mobile part 100 below the mobile part 100 to grab the material A, and the grabbing assembly 220 can drive the material A to be grabbed to be lifted into the receiving space S. The specific structure of the lifting assembly 210 and the grabbing assembly 220 is known technology, which will not be repeated here, and the lifting assembly 210 is arranged on a rotating mechanism 230 that drives it to rotate around the vertical direction, for example, a known rotating platform, the rotating mechanism 230 is arranged at the bottom of the top plate 130.

[0054] As shown in the accompanying drawings Figure 2 , the first lifting frame 160 and / or the second lifting frame 180 is provided with a falling prevention mechanism 104 for preventing the material from falling from the receiving space S. The falling prevention mechanism 104 can be arranged at the bottom or the inner side of the first lifting frame 160 and / or the second lifting frame 180 close to the bottom, the falling prevention mechanism 104 for example includes four electric rods arranged on two first lifting frames 160 and opposite to each other, of course, other feasible structures can also be used. When the material A needs to be grabbed, the telescopic rod of the falling prevention mechanism 104 is retracted to avoid, when the material A is extracted into the receiving space S, the telescopic rod of the falling prevention mechanism 104 is extended and reaches the bottom of the material A so that the material A can be limited.

[0055] Embodiment 2

[0056] The embodiment discloses a material handling system, including a handling vehicle as described above.

[0057] The utility model still has many kinds of implementation manners, all technical schemes formed by using equivalent transformation or equivalent transformation, fall in the protection scope of the utility model.

Claims

1. A transport vehicle, including a moving part, characterized in that: The lower part of the moving part has a walking mechanism, and the moving part is provided with a transfer mechanism. The transfer mechanism includes a lifting component and a gripping component that is driven to move up and down by the lifting component. The moving part has a receiving space. The lifting component can drive the gripping component to move down from the receiving space to below the moving part to grip materials and can drive the gripping component to lift the gripped materials up into the receiving space.

2. The transport vehicle according to claim 1, characterized in that: The walking mechanism includes a first walking component that drives the moving part to translate along a first direction and a second walking component that drives the moving part to translate along a second direction. The first direction and the second direction are perpendicular. The first walking wheel of the first walking component and the second walking wheel of the second walking component are disposed on the four sides of a rectangular frame. When the first walking wheel moves on the track, the gap between the second walking wheel and the track is above the track. When the second walking wheel moves on the track, the gap between the first walking wheel and the track is above the track.

3. The transport vehicle according to claim 2, characterized in that: Of the two pairs of concentrically arranged first traveling wheels, at least one pair is driven by a hub motor; of the two pairs of concentrically arranged second traveling wheels, at least one pair is driven by a hub motor.

4. The transport vehicle according to claim 2, characterized in that: The first traveling wheel on the same side is mounted on a first lifting frame. The first lifting frame is movable in the vertical direction on the frame and is connected to a first switching drive mechanism that drives it to move up and down relative to the frame. And / or, the second traveling wheel on the same side is mounted on a second lifting frame, the second lifting frame being movably mounted on the frame in a vertical direction and connected to a second switching drive mechanism that drives it to move up and down relative to the frame.

5. The transport vehicle according to claim 4, characterized in that: When the first traveling wheel moves on the track, the frame is provided with a first limiting mechanism that cooperates with the first lifting frame to limit the downward movement of the frame relative to the first lifting frame; And / or, when the second traveling wheel moves on the track, the frame is provided with a second limiting mechanism that cooperates with the second lifting frame to limit the downward movement of the frame relative to the second lifting frame.

6. The transport vehicle according to claim 5, characterized in that: The first lifting frame and / or the second lifting frame pass through guide holes in the frame.

7. The transport vehicle according to claim 6, characterized in that: The top of the first lifting frame and / or the second lifting frame is provided with a notch, and the first limiting mechanism and / or the second limiting mechanism restrict the downward movement of the frame by a stop that can be inserted into the notch from the outside of the notch.

8. The transport vehicle according to claim 4, characterized in that: The first lifting frame and / or the second lifting frame are equipped with a fall protection mechanism.

9. The transport vehicle according to any one of claims 1-8, characterized in that: The lifting assembly is mounted on a rotating mechanism that drives it to rotate about a vertical axis.

10. A material handling system, characterized in that: Includes the transport vehicle as described in any one of claims 1-9.

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