Bearing batch handling device

Abstract

The utility model discloses a bearing batch handling device relates to automatic handling of goods technical field, aims at solving the problem of traditional AGV handling bearing, because the oil in the oil collecting groove of the storage rack leads to the easy deviation of goods shelf, and the uneven road surface causes the problem of gravity imbalance and overturning. The device comprises a vehicle body, an auxiliary module and an anti-inclination sensor. The bottom of the vehicle body is provided with a driving mechanism composed of an omni-directional wheel and a driven wheel, at least two supporting plates are arranged at the top in intervals, and the bottom of the supporting plate is provided with a rear wheel and an independent jacking mechanism. The auxiliary module comprises three groups of infrared sensors forming a U-shaped induction area, a camera and a three-color lamp. During operation, the control computer plans the route, the infrared sensor avoids obstacles, the jacking mechanism adjusts the lifting of the rear wheel to realize the insertion and lifting of the supporting plate and the storage rack; the anti-inclination sensor monitors the inclination state, triggers the jacking mechanism to adjust the level of the supporting plate, and avoids overturning. The device improves the ground adaptability, handling safety and operation flexibility, and is suitable for harsh working environments such as oil stains.

Description

Technical Field

[0001] This application relates to the field of automated cargo handling technology, and in particular to a bearing batch handling device. Background Technology

[0002] Currently, AGVs (Automated Guided Vehicles) are widely used in the bearing handling industry. With the continuous improvement of automation levels in manufacturing, the application scenarios of AGVs are becoming increasingly complex, often requiring them to complete tasks in harsh environments such as oil stains and water damage. However, traditional AGV designs primarily focus on optimizing navigation accuracy and load capacity, with relatively insufficient consideration for adaptability to ground environments and special handling scenarios. In actual bearing handling operations, AGVs typically operate in autonomous driving mode, automatically transporting goods between two points along pre-set routes.

[0003] Reference Figure 1 Specifically, in bearing handling scenarios, bearings are typically stored in dedicated racks 91, which often employ a multi-layered stacking design. To prevent oil leakage from the surface or interior of the bearings while they are stationary within the racks 91, a storage rack 92 is commonly installed below the racks 91. This storage rack 92 has a groove at its top, forming a dedicated oil collection trough 921. The rack 91 is placed directly above the oil collection trough 921, allowing any leaked oil from the bearings to be collected in real time, thus preventing the oil from spreading to the external environment. Simultaneously, most mainstream storage racks 92 on the market are equipped with support legs 922 at their bottom. These legs elevate the storage rack 92 to a certain height, allowing the AGV's support plate 13 to smoothly insert into the bottom of the storage rack 92, thereby completing the overall lifting and handling of the storage rack 92 and the rack 91.

[0004] However, the aforementioned structure presents significant risks: because the multi-layered shelves are placed directly on the oil collection tank of the storage rack, as oil gradually accumulates in the tank, it significantly reduces the friction between the shelves and the storage rack, causing the shelves to easily shift on the rack surface. Especially when the AGV transports the storage rack across uneven surfaces, the lubrication of the oil exacerbates the tendency of the shelves to shift in one direction, directly causing the AGV's overall center of gravity to deviate. In this state, even on surfaces with only a slight incline, the risk of the AGV tipping over is greatly increased, posing a serious threat to the safety of transport operations. Utility Model Content

[0005] To overcome the above-mentioned technical problems, this application provides a bearing batch handling device.

[0006] A bearing bulk handling device includes a vehicle body, an auxiliary module, and an anti-tilt sensor. A drive mechanism is fixedly installed at the bottom of the vehicle body, and at least two support plates are spaced apart on the vehicle body. Each support plate has a rear wheel at its bottom, and a lifting mechanism for driving the rear wheel to rise and fall is also fixedly installed at the bottom of the support plate. The lifting mechanism can drive the rear wheel at the bottom of the corresponding support plate to rise and fall individually.

[0007] By adopting the above technical solution, the vehicle body serves as the basic support structure, providing an installation carrier for each component. The drive mechanism enables the overall movement of the device, meeting the position adjustment requirements of handling operations. At least two support plates can adapt to multi-layer shelves and racks, ensuring stable placement of goods. The independent lifting mechanism can adjust the rear wheel height of the corresponding support plate, providing a structural foundation for dealing with uneven road surfaces and correcting the tilt of the device. This can initially solve the problem of imbalance caused by shelf offset and uneven road surfaces in traditional AGVs.

[0008] Furthermore, the drive mechanism includes an omnidirectional wheel and a driven wheel. The omnidirectional wheel is fixedly installed at the bottom of the vehicle body near the front end, and at least two driven wheels are provided, symmetrically distributed at the bottom of the vehicle body near the rear end.

[0009] By adopting the above technical solutions, the omnidirectional wheels have the ability to move forward, backward, laterally, and rotate in place, which can greatly improve the mobility of the device in complex spaces such as narrow workshops and dense shelves. It is convenient to accurately dock with the bottom of the storage rack. The symmetrically distributed driven wheels at the rear end can balance the weight of the vehicle body, reduce the load pressure on the omnidirectional wheels, and at the same time ensure the straight-line stability of the device during movement, avoid deviation, and improve the positional accuracy of the handling process.

[0010] Furthermore, the lifting mechanism includes a driving component, a driving rod, and a supporting rod; the driving component is fixedly installed at the bottom of the support plate, one end of the driving rod is hinged to the output end of the driving component via a pivot, and the other end of the driving rod is rotatably mounted with a rear wheel via an axle; the supporting rod is fixedly installed at the bottom of the support plate and located on one side of the driving component, the end of the supporting rod away from the support plate is hinged to a first connecting rod via a pivot, and the end of the first connecting rod away from the supporting rod is hinged to the middle position of the driving rod via a pivot.

[0011] By adopting the above technical solution, the drive component can provide a stable linear driving force, which is transmitted to the drive rod through the rotating shaft. The drive rod, as the core transmission component, is connected to the drive component at one end and the rear wheel is installed at the other end, realizing the conversion of driving force to the lifting action of the rear wheel. The hinge structure formed by the bearing rod and the first connecting rod can limit the movement trajectory of the drive rod, avoid left and right deviation or jamming when the rear wheel is lifted, ensure that the lifting process is smooth and reliable, and provide precise control for the height adjustment of the support plate.

[0012] Furthermore, a second connecting rod is hinged to the bottom of the support plate via a pivot, and the end of the second connecting rod away from the support plate is hinged to the middle position of the drive rod via the pivot.

[0013] By adopting the above technical solution, the structural stability and load-bearing capacity of the lifting mechanism are enhanced: the second link and the first link form a double hinge constraint in the middle of the drive rod, which can disperse the stress generated during the lifting of the rear wheel and prevent the single link from deforming or being damaged due to excessive force. At the same time, the double constraint can further optimize the movement trajectory of the drive rod, ensuring that the rear wheel always lifts and lowers in the preset direction, preventing the support plate from tilting, improving the load-bearing adaptability of the device to heavy-duty racks and storage racks, and extending the service life of the lifting mechanism.

[0014] Furthermore, the support plate is provided with a groove for placing the rear wheel, the shape of which is adapted to the outer contour of the rear wheel.

[0015] By adopting the above technical solution, the take-up and drop-off trough can be retracted when the rear wheels are raised, avoiding excessive protrusion of the rear wheels from the bottom of the support plate, which could affect the overall height of the device or interfere with ground debris. Simultaneously, the adaptable shape of the take-up and drop-off trough ensures that even when the rear wheels are raised to their highest position, they remain in contact with the ground to support the support plate, keeping the upper surface of the support plate flat at all times. This provides a stable bearing surface for the shelving and storage racks, preventing goods from shifting or tipping over due to uneven support surfaces.

[0016] Furthermore, the auxiliary module includes infrared sensors, and three sets of infrared sensors are provided. The three sets of infrared sensors are fixedly installed at the front end and left and right sides of the vehicle body, respectively. The sensing range of the three sets of infrared sensors is rectangular, and the sensing range of the three sets of infrared sensors is connected to form a U-shaped area.

[0017] By adopting the above technical solution, three sets of infrared sensors cover the front and left and right sides of the vehicle body, forming a U-shaped sensing area that can monitor obstacles in the device's driving path without blind spots. When an obstacle enters the sensing area, the infrared sensors can quickly send a trigger signal to the control system, allowing the system to promptly control the drive mechanism to stop or turn, effectively avoiding collisions and improving the safety of handling operations, especially suitable for scenarios where visibility is obstructed in oily environments.

[0018] Furthermore, the auxiliary module also includes a control computer, a camera, and a tri-color light. The control computer is fixedly installed inside the vehicle body and has a built-in navigation system. The camera is fixedly installed at the front of the vehicle body, and the tri-color light is fixedly installed on the top of the control computer.

[0019] By adopting the above technical solutions, the control computer's built-in navigation system can automatically plan the optimal driving route, reducing manual intervention and improving handling efficiency. The front-end camera can collect environmental images in real time, providing the control computer with detailed visual information to assist in identifying complex road conditions or shelf locations, improving environmental perception accuracy. Three-color lights can intuitively display the device's operating status, allowing operators to quickly grasp the operating situation, promptly handle abnormalities, and achieve precise management of the handling process.

[0020] Furthermore, the vehicle body is also equipped with a manual operating lever.

[0021] By adopting the above technical solution, when the automatic navigation system malfunctions, the working environment is complex, or precise fine-tuning of the device's position is required, the operator can directly control the device's direction and speed via a manual control lever, compensating for the limitations of the automatic control mode. This design enhances the device's adaptability, ensuring that the handling task can still be completed when the automatic mode fails, thus avoiding work interruption.

[0022] In summary, this application includes at least one of the following beneficial technical effects: 1. The independent lifting mechanism allows for individual adjustment of the rear wheel height of each support plate. Combined with real-time monitoring by anti-tilt sensors, it can quickly correct tilting caused by uneven road surfaces. Simultaneously, the combination of omnidirectional wheels and driven wheels enhances movement stability, effectively preventing imbalance caused by shelf misalignment, significantly reducing the risk of tipping, and adapting to bearing handling needs in harsh environments such as oily conditions.

[0023] 2. A U-shaped sensing area formed by three sets of infrared sensors provides collision warnings, while the collaboration between the camera and the control computer enhances environmental perception accuracy. Three-color lights visually display the operating status, creating a multi-dimensional safety protection system. Furthermore, a manual control lever provides emergency operation plans for abnormal situations, further ensuring the safety and controllability of the handling process.

[0024] 3. The omnidirectional wheels allow for all-around movement, making it suitable for operations in confined spaces. The independent lifting mechanism can accommodate support legs of storage racks at different heights, and the manual operating lever can meet the needs of special scenarios. The overall structure of the device combines automatic and manual modes, meeting various scenarios in the batch handling of bearings, thus offering greater adaptability. Attached Figure Description

[0025] Figure 1 The main exhibits are existing shelving and storage racks; Figure 2 It is a three-dimensional view of the conveying device, mainly showing the overall structure of the conveying device; Figure 3 This is a three-dimensional view of the conveying device from another perspective, mainly showing the overall structure of the conveying device; Figure 4 The main exhibits are the drive mechanism and the lifting mechanism; Figure 5 yes Figure 4 The enlarged view at point A in the middle mainly shows the specific structure of the lifting mechanism; Figure 6 The main focus is on demonstrating the sensing range of the infrared sensor, where B indicates the sensing area.

[0026] Explanation of reference numerals in the attached drawings: 1. Vehicle body; 11. Omnidirectional wheel; 12. Driven wheel; 13. Support plate; 131. Retrieval slot; 132. Rear wheel; 41. Drive component; 42. Drive rod; 421. First link; 422. Second link; 43. Bearing rod; 2. Manual operating lever; 5. Infrared sensor; 6. Camera; 7. Control computer; 8. Tri-color light; 91. Shelf; 92. Storage rack; 921. Oil collection tank; 922. Support leg. Detailed Implementation

[0027] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. The components of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0028] This application discloses a bearing batch handling device, including a vehicle body 1, an auxiliary module, and an anti-tilt sensor.

[0029] Reference Figure 2 and Figure 3 The vehicle body 1 serves as the main support structure of the entire transport device, and a drive mechanism is fixedly installed at its bottom to drive the overall movement of the vehicle body 1. At least two support plates 13 are spaced apart on the vehicle body 1; in this embodiment, two support plates 13 are provided. Each support plate 13 has a rear wheel 132 at its bottom, and a lifting mechanism for driving the rear wheel 132 to rise and fall is also fixedly installed at the bottom of the support plate 13. The lifting mechanism can individually drive the rear wheel 132 at the bottom of the corresponding support plate 13 to rise and fall along an arc-shaped trajectory.

[0030] Reference Figure 4Specifically, the drive mechanism includes omnidirectional wheels 11 and driven wheels 12. The omnidirectional wheels 11 are fixedly installed at the bottom of the vehicle body 1 near the front end, and at least two driven wheels 12 are provided, symmetrically distributed at the bottom of the vehicle body 1 near the rear end. The omnidirectional wheels 11 enable the vehicle body 1 to move in all directions, including forward, backward, lateral movement, and rotation in place, significantly improving the maneuverability and flexibility of the transport device in confined spaces.

[0031] Reference Figure 5 In this embodiment, the lifting mechanism specifically includes a driving component 41, a driving rod 42, and a supporting rod 43. The driving component 41 is fixedly installed at the bottom of the support plate 13. In this embodiment, the driving component 41 is specifically configured as a hydraulic cylinder. One end of the driving rod 42 is hinged to the output end of the driving component 41 via a pivot, and the other end of the driving rod 42 is rotatably mounted with a rear wheel 132 via an axle. The supporting rod 43 is fixedly installed at the bottom of the support plate 13 and located on one side of the driving component 41. The end of the supporting rod 43 away from the support plate 13 is hinged to a first connecting rod 421 via a pivot, and the end of the first connecting rod 421 away from the supporting rod 43 is hinged to the middle position of the driving rod 42 via a pivot.

[0032] Reference Figure 5 Furthermore, to enhance the stability and reliability of the lifting mechanism, a second connecting rod 422 is hinged to the bottom of the support plate 13 via a pivot. The end of the second connecting rod 422 away from the support plate 13 is hinged to the middle of the drive rod 42 via the pivot. When the drive unit 41 is activated, its output end drives the drive rod 42 to rotate around the hinge point via the pivot. At the same time, the first connecting rod 421 and the second connecting rod 422, under the constraints of the support rod 43 and the support plate 13 respectively, constrain the movement trajectory of the drive rod 42, causing it to move along an arc-shaped trajectory, thereby enabling the rear wheel 132 to achieve the technical effect of lifting and lowering.

[0033] Reference Figure 5 In addition, the support plate 13 is provided with a take-up slot 131 for placing the rear wheel 132. The shape of the take-up slot 131 is adapted to the outer contour of the rear wheel 132. When the lifting mechanism drives the rear wheel 132 to rise to the highest position, the rear wheel 132 can enter the take-up slot 131. However, in order to ensure that the support plate 13 is always supported by the rear wheel 132, the rear wheel 132 is still in contact with the ground when it rises to the highest position, thereby ensuring that the upper surfaces of the two support plates 13 remain flat, which facilitates stable support of goods.

[0034] Reference Figure 2 and Figure 3 The auxiliary module includes an infrared sensor 5, which is provided in three sets. The three sets of infrared sensors 5 are respectively fixedly installed at the front end and the left and right sides of the vehicle body 1.

[0035] Reference Figure 6 , Figure 6 The letter B indicates the sensing range of infrared sensor 5. The sensing ranges of all three sets of infrared sensors 5 are rectangular, and when connected, they form a U-shaped area. When the transport device is in motion, if an obstacle enters the U-shaped sensing area, the infrared sensor 5 will immediately send a trigger signal to the control system. Upon receiving the signal, the control system will stop the drive mechanism or change its direction of travel, effectively preventing collisions.

[0036] Reference Figure 2 and Figure 3 The auxiliary module also includes a control computer 7, a camera 6, and a tri-color light 8. The control computer 7 has a built-in navigation system, the camera 6 is fixedly mounted on the front of the vehicle body 1, and the tri-color light 8 is fixedly mounted on the top of the control computer 7. The control computer 7 plans the optimal driving route through the navigation system and controls the drive mechanism to drive precisely along the planned route. The camera 6 is used to collect images of the surrounding environment in real time and transmit the images to the control computer 7. The control computer 7 analyzes and processes the images, further improving the environmental perception capability of the handling device. The tri-color light 8 is used to intuitively display the working status of the handling device; for example, green indicates normal operation, yellow indicates warning, and red indicates malfunction.

[0037] Reference Figure 2 and Figure 3 To enhance the safety of the transport device, an anti-tilt sensor is installed inside the vehicle body 1. Specifically, this anti-tilt sensor is a three-axis tilt sensor, integrating a gyroscope and an accelerometer to monitor the tilt status of the transport device in real time. When the transport device tilts during operation, the anti-tilt sensor immediately sends a tilt signal to the control computer 7. Upon receiving the signal, the control computer 7 stops the drive mechanism and issues a warning signal via a three-color indicator light 8, effectively preventing the transport device from tipping over.

[0038] Reference Figure 2 and Figure 3 In addition, to meet the needs of manual operation in special circumstances, a manual operating lever 2 is also provided on the vehicle body 1. When it is necessary to manually control the handling device, the operator can control the moving direction and speed of the handling device through the manual operating lever 2, which improves the flexibility and adaptability of the handling device.

[0039] The implementation principle of this application embodiment is as follows: First, before the handling operation begins, the lifting mechanism is in its initial state, and the rear wheels 132 support the support plate 13, keeping the upper surface of the support plate 13 flat.

[0040] When the handling operation needs to begin, the control computer 7 plans the driving route according to the built-in navigation system and controls the omnidirectional wheels 11 and driven wheels 12 to rotate, thereby driving the vehicle body 1 to travel along the planned route. During the journey, the infrared sensor 5 monitors the surrounding environment in real time. If an obstacle enters the U-shaped sensing area, the infrared sensor 5 will immediately send a signal to the control computer 7. After receiving the signal, the control computer 7 will control the drive mechanism to stop or change the direction of travel to ensure the safe operation of the handling device.

[0041] Once the transport device reaches its destination, the control computer 7 stops the drive mechanism and starts the lifting mechanism. Specifically, the output end of the drive member 41 drives the drive rod 42 to rotate around the hinge point. Simultaneously, the first link 421 and the second link 422, constrained by the bearing rod 43 and the support plate 13 respectively, limit the movement trajectory of the drive rod 42, allowing the rear wheel 132 to move along an arc-shaped trajectory toward the receiving slot 131. As the rear wheel 132 moves into the receiving slot 131, the support plate 13 gradually moves downward. The drive mechanism starts moving, inserting the support plate 13 into the bottom of the receiving rack 92. Then, the output end of the drive member 41 drives the drive rod 42 to rotate in the opposite direction around the hinge point, causing the rear wheel 132 to rotate out of the receiving slot 131 along an arc-shaped trajectory, gradually moving the support plate 13 upward until the upper surface of the support plate 13 is flat.

[0042] During the transport and movement of goods, if the transport device tilts due to uneven road surfaces, the anti-tilt sensor will immediately send a signal to the control computer 7. Upon receiving the signal, the control computer 7 will control the drive mechanism to stop and issue a warning signal via the tri-color light 8 to remind the operator to handle the situation promptly. Subsequently, the control computer 7 will control the lifting mechanism corresponding to the lower support plate 13 after the tilt to lift the lower support plate 13 upwards, keeping the upper surfaces of both support plates 13 level. Alternatively, the lower support plate 13 can be lowered.

[0043] When manual control of the handling device is required, the operator can control the direction and speed of movement of the handling device through the manual control lever 2, which improves the flexibility and adaptability of the handling device.

[0044] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A bearing batch handling device, characterized in that, The vehicle includes a vehicle body (1), an auxiliary module and an anti-tilt sensor. A drive mechanism is fixedly installed at the bottom of the vehicle body (1). At least two support plates (13) are installed on the vehicle body (1). Each support plate (13) has a rear wheel (132) at its bottom. A lifting mechanism for driving the rear wheel (132) to rise and fall is also fixedly installed at the bottom of the support plate (13). The lifting mechanism can drive the rear wheel (132) at the bottom of the corresponding support plate (13) to rise and fall independently. The lifting mechanism includes a driving component (41), a driving rod (42), and a supporting rod (43); The drive component (41) is fixedly installed at the bottom of the support plate (13). One end of the drive rod (42) is hinged to the output end of the drive component (41) through a rotating shaft. The other end of the drive rod (42) is rotatably mounted with the rear wheel (132) through a wheel axle. The bearing rod (43) is fixedly installed at the bottom of the support plate (13) and located on one side of the drive member (41). The end of the bearing rod (43) away from the support plate (13) is hinged to the first connecting rod (421) through a pivot. The end of the first connecting rod (421) away from the bearing rod (43) is hinged to the middle position of the drive rod (42) through a pivot. The bottom of the support plate (13) is also hinged to a second connecting rod (422) via a pivot. The end of the second connecting rod (422) away from the support plate (13) is hinged to the middle position of the drive rod (42) via a pivot.

2. The bearing batch handling device according to claim 1, characterized in that, The drive mechanism includes an omnidirectional wheel (11) and a driven wheel (12). The omnidirectional wheel (11) is fixedly installed at the bottom of the vehicle body (1) near the front end. There are at least two driven wheels (12), which are symmetrically distributed at the bottom of the vehicle body (1) near the rear end.

3. The bearing batch handling device according to claim 1, characterized in that, The support plate (13) is provided with a take-up slot (131) for placing the rear wheel (132), and the shape of the take-up slot (131) is adapted to the outer contour of the rear wheel (132).

4. The bearing batch handling device according to claim 1, characterized in that, The auxiliary module includes an infrared sensor (5), which is provided in three sets. The three sets of infrared sensors (5) are fixedly installed on the front end and left and right sides of the vehicle body (1), respectively. The sensing range of the three sets of infrared sensors (5) is rectangular, and the sensing range of the three sets of infrared sensors (5) is connected to form a U-shaped area.

5. A bearing batch handling device according to claim 3, characterized in that, The auxiliary module also includes a control computer (7), a camera (6) and a tri-color light (8). The control computer (7) is fixedly installed inside the vehicle body (1) and has a built-in navigation system. The camera (6) is fixedly installed at the front of the vehicle body (1) and the tri-color light (8) is fixedly installed on the top of the control computer (7).

6. The bearing batch handling device according to claim 1, characterized in that, The vehicle body (1) is also equipped with a manual operating lever (2).

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