Climbing AGV fork truck

Abstract

The present application relates to the technical field of vehicles, and specifically discloses a climbing AGV forklift, which comprises a moving base, a carrying mechanism and a climbing mechanism. The moving base comprises a bearing seat, a moving shell and moving wheels, the moving shell is connected with the bearing seat, and the moving wheels are connected with the moving shell; the carrying mechanism is arranged on the bearing seat and is used for picking up goods on a goods shelf; the climbing mechanism comprises a gear and a climbing driving component, the gear is rotatably connected with the moving shell and is used for engaging with a rack on the goods shelf, and the climbing driving component is arranged on the moving shell and is used for driving the gear to rotate so as to climb along the rack. When it is necessary to pick up goods by climbing, the gear of the climbing mechanism is engaged with the rack on the goods shelf, so that the climbing driving component drives the gear to rotate, and the gear climbs along the rack, and then the carrying mechanism can be used to pick up goods after climbing to a certain height, and the forklift does not need to be matched with other devices, thereby improving work efficiency and saving manufacturing cost.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more specifically, to a climbing AGV forklift. Background Technology

[0002] AGV (Automated Guided Vehicle) forklifts are typically used as logistics handling equipment for palletized goods. Currently, AGV forklifts can only lift and transfer objects on pallets as a whole. In actual operation, goods often need to be removed from the shelves by other devices before being transferred by the forklift. This separate operation process greatly reduces work efficiency and increases costs.

[0003] In summary, how to effectively solve the problem that conventional AGV forklifts cannot pick up goods at different heights is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a climbing AGV forklift, the structural design of which can effectively solve the problem that conventional AGV forklifts are unable to pick up goods at different heights.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A climbing AGV forklift, comprising:

[0007] A movable base includes a support base, a movable outer shell, and movable wheels. The movable outer shell is connected to the support base, and the movable wheels are connected to the movable outer shell.

[0008] A handling mechanism, located on the support seat, is used to retrieve goods from the shelf;

[0009] The climbing mechanism includes a gear and a climbing drive component. The gear is rotatably connected to the movable housing for meshing with a rack on the shelf. The climbing drive component is located on the movable housing and is used to drive the gear to rotate so as to climb along the rack.

[0010] Optionally, in the above-mentioned climbing AGV forklift, the climbing mechanism further includes:

[0011] Two hook holders are provided in pairs on both sides of the gear, and the hook holders are connected to the movable housing. The front end of each hook holder has a mounting groove, and hooks are rotatably connected in the mounting grooves. The hooks on both sides of the gear can rotate to engage or disengage with the grooves on both sides of the rack.

[0012] Two locking components are respectively provided on the hook seat to lock the hook into the groove.

[0013] Optionally, in the above-mentioned climbing AGV forklift, the locking component includes:

[0014] The card block is slidably connected in the mounting groove. One of the tail end of the card block and the bottom of the mounting groove is provided with an electromagnet, and the other is provided with a permanent magnet, so as to magnetically attract the card block or push the card block forward to reset.

[0015] A trigger plate, located at the front end of the locking block, is used to be pushed by the rack to move backward relative to the hook seat and push the locking block backward, so as to push the tail end of the hook located in the mounting groove to rotate and make the front end of the hook engage with the groove.

[0016] Optionally, in the above-mentioned climbing AGV forklift, the front end face of the trigger plate is an arc surface.

[0017] Optionally, in the above-mentioned climbing AGV forklift, the locking component further includes a reset elastic element disposed between the trigger plate and the locking block, for providing a force for the trigger plate to move forward.

[0018] Optionally, in the above-mentioned climbing AGV forklift, the upper and lower ends of the card block are respectively provided with guide rods, and the reset elastic element is a reset spring sleeved on the guide rod.

[0019] Optionally, in the above-mentioned climbing AGV forklift, a roller is rotatably connected to the end face of the hook near the gear.

[0020] Optionally, in the above-mentioned climbing AGV forklift, a switching shaft is rotatably connected to the carrier via a switching drive component. The switching shaft is fixedly connected to the movable housing to change the direction in which the climbing mechanism drives the carrier to move.

[0021] Optionally, in the above-mentioned climbing AGV forklift, the transport mechanism includes:

[0022] A fixed base is provided on the bearing base;

[0023] The robotic arm includes multiple interconnected rotating arms, with the first rotating arm fixed to the fixed base and the last rotating arm equipped with a vacuum suction cup.

[0024] Optionally, in the above-mentioned climbing AGV forklift, the moving wheels are Mecanum wheels.

[0025] The climbing AGV forklift provided by this invention includes a mobile base, a transport mechanism, and a climbing mechanism. The mobile base includes a support seat, a mobile housing, and mobile wheels. The mobile housing is connected to the support seat, and the mobile wheels are connected to the mobile housing. The transport mechanism is located on the support seat and is used to retrieve goods from the rack. The climbing mechanism includes a gear and a climbing drive component. The gear is rotatably connected to the mobile housing and is used to mesh with a rack on the rack. The climbing drive component is located on the mobile housing and is used to drive the gear to rotate so that it can climb along the rack.

[0026] The climbing AGV forklift provided by this invention allows for easy access to goods by moving the base. This movement engages the gears of the climbing mechanism with the racks on the shelf, causing the climbing drive to rotate and climb the racks. Once a certain height is reached, the goods can be retrieved via the handling mechanism. In summary, the climbing AGV forklift provided by this invention overcomes the problem of conventional AGV forklifts being unable to climb and retrieve goods. It eliminates the need for other devices to remove goods from shelves, improving work efficiency and saving on manufacturing costs. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the structure of a climbing AGV forklift according to a specific embodiment of the present invention;

[0029] Figure 2 for Figure 1 Another perspective illustration;

[0030] Figure 3 for Figure 1 Another angle of the diagram;

[0031] Figure 4 for Figure 1 The main view;

[0032] Figure 5 for Figure 1 Side view;

[0033] Figure 6 for Figure 1 Top view;

[0034] Figure 7 for Figure 1 Schematic diagram of the climbing mechanism;

[0035] Figure 8 for Figure 7 Another perspective illustration;

[0036] Figure 9 for Figure 7 Top view;

[0037] Figure 10 for Figure 7 The main view.

[0038] The following labels are shown in the attached diagram:

[0039] 10. Support base, 11. Mechanical arm, 12. Vacuum suction cup, 13. Fixed base, 14. Switching shaft, 15. Moving shell, 16. Moving wheel, 17. Hook holder, 18. Gear, 19. Trigger plate, 20. Guide rod, 21. Hook, 22. Tip roller, 23. Locking block, 24. Side roller. Detailed Implementation

[0040] This invention discloses a climbing AGV forklift to enable picking up goods at different heights.

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] Please see Figures 1-10 , Figures 1-3 This is a structural schematic diagram of a climbing AGV forklift from different perspectives according to a specific embodiment of the present invention; Figures 4-6 for Figure 1 The three views; Figures 7-10 for Figure 1 A schematic diagram of the climbing mechanism.

[0043] In one specific embodiment, the climbing AGV forklift provided by the present invention includes a mobile base, a handling mechanism, and a climbing mechanism. The mobile base includes a support seat 10, a mobile housing 15, and mobile wheels 16. The support seat 10 supports the handling mechanism and, consequently, the goods. The mobile housing 15 is connected to the support seat 10, which can be connected via a conventional fixing method or as an integrated structure. The mobile wheels 16 are connected to the mobile housing 15 and drive the support seat 10 to move. The mobile wheels 16 can specifically be Mecanum wheels to achieve omnidirectional movement. The handling mechanism is located on the support seat 10 and is used to retrieve goods from the rack. The climbing mechanism includes a gear 18 and a climbing drive component. The gear 18 is rotatably connected to the mobile housing 15 and engages with a rack on the rack. The climbing drive component is located on the mobile housing 15 and drives the gear 18 to rotate and climb along the rack. Specifically, the mobile housing 15 can have two sections: one section is connected to the Mecanum wheels via a power unit, and the other section houses the climbing mechanism.

[0044] Understandably, in order to cooperate with climbing AGV forklifts, racks are installed on the racks. The racks are specifically fixed on the end face of the racks and protrude outwards by a radius no less than that of the Mecanum wheel, so as to avoid interference between the racks and the Mecanum wheel during climbing.

[0045] The climbing AGV forklift provided by this invention allows for easy access to goods by moving the base. This movement engages the gear 18 of the climbing mechanism with the rack on the shelf, causing the climbing drive component to rotate and propel the gear 18 up the rack. Once a certain height is reached, the goods can be retrieved via the handling mechanism. In summary, the climbing AGV forklift provided by this invention overcomes the problem of conventional AGV forklifts being unable to climb and retrieve goods. It eliminates the need for other devices to remove goods from shelves, improving work efficiency and saving costs. Furthermore, the use of gear 18 in conjunction with the rack for climbing results in a simple structure and high climbing reliability.

[0046] In one embodiment, the hook 21 climbing mechanism further includes two hook seats 17 and two locking components. The two hook seats 17 are paired and located on both sides of the gear 18, and are connected to the movable housing 15. Each hook seat 17 has a mounting groove at its front end, within which a hook 21 is rotatably connected. The hooks 21 on both sides of the gear 18 can rotate to engage or disengage with the grooves on both sides of the rack. Specifically, the rear ends of the hook seats 17 can be fixedly connected to the movable housing 15, and the rear ends of the two hook seats 17 can be located on either side of the gear 18, or they can be connected as a single unit. The two locking components are located on the movable housing 15 and are used to lock the hooks 21 into their respective grooves. Correspondingly, grooves are provided on both sides of the rack of the shelf to engage with the hooks 21; these grooves can be located at the root of the rack. When it is necessary to climb to retrieve goods, the movement of the base causes the gear 18 of the climbing mechanism to mesh with the rack on the shelf. At the same time, the hooks 21 on both sides of the gear 18 can engage with the grooves on both sides of the rack, and the locking component locks the hooks 21 at the current angle. During the process of the gear 18 climbing along the rack, the hooks 21 can limit the axial displacement of the gear 18 to maintain reliable meshing with the rack, further improving the stability and reliability of climbing.

[0047] In one embodiment, the locking component includes a locking block 23 and a trigger plate 19. The locking block 23 is slidably connected within the mounting groove. One end of the locking block 23 and the bottom of the mounting groove are equipped with an electromagnet, and the other with a permanent magnet, to magnetically attract the locking block 23 or push it forward to reset. The trigger plate 19 is located at the front end of the locking block 23 and is used to be pushed backward relative to the hook holder 17 by the force of the rack, thus pushing the locking block 23 backward to rotate the tail end of the hook 21 located within the mounting groove and engage the front end of the hook 21 with the groove. In other words, one end of the mounting groove opening is rotatably connected to the hook 21, and the other end is slidably connected to the locking block 23. Specifically, the permanent magnet can be located on the end face of the locking block 23 located inside the hook holder 17, and the corresponding electromagnet can be located at the bottom of the mounting groove of the hook holder 17. When the AGV needs to climb to retrieve goods, the movement of the moving wheel 16 moves the climbing AGV to the climbing position. The moving wheel 16 then moves the AGV to the corresponding position, causing the gear 18 to gradually mesh with the rack mounted on the shelf. During meshing, the rack gradually pushes the trigger plate 19, causing the locking block 23 to move backward. This movement pushes the hook 21 to the other end of the rotating shaft, i.e., the end located in the mounting groove, causing the hook 21 to rotate inward. This allows the hook 21 to engage with the corresponding groove at the root of the rack and slide along the groove as the AGV climbs. Furthermore, by controlling the polarity of the electromagnet, it generates a magnetic attraction with the permanent magnet, keeping the hook 21 at its current angle to prevent it from falling during climbing. When it is necessary to release the hook 21 from the groove, the polarity of the electromagnet is controlled to generate a repulsive force with the permanent magnet, pushing the hook 21 back to its original position and disengaging it from the groove. By changing the polarity of the electromagnet, the card block 23 can switch between maintaining the current position and resetting, making operation and control convenient.

[0048] The locking component adopts the above-described structure, which is compact, occupies little space, has a clever fit, and provides reliable locking. In other embodiments, the locking component can also be a buckle provided on the hook 21. When the hook 21 is rotated to engage with the groove, the buckle engages with the slot on the movable housing 15, thereby locking the hook 21 at the current angle.

[0049] In one embodiment, the locking component further includes a reset elastic element disposed between the trigger plate 19 and the locking block 23, for providing a force for the trigger plate 19 to move forward. Specifically, the upper and lower ends of the locking block 23 are respectively provided with guide rods 20, the outer end face of the guide rods 20 is fixedly connected to the trigger plate 19, and the reset elastic element is a reset spring sleeved on the guide rods 20, one end of the reset spring being fixed to the bottom of the mounting groove. When climbing to retrieve goods, the moving wheel 16 moves the climbing AGV forklift to the climbing position. The moving wheel 16 then moves the climbing AGV forklift to the corresponding position, causing the gear 18 to gradually mesh with the rack on the shelf. During meshing, the trigger plate 19 is gradually pushed, causing the locking block 23 to move backward under the guidance of the guide rod 20, overcoming the elastic force of the return spring. During this movement, the other end of the hook handle 21's rotating shaft, i.e., the part of the hook handle 21 located in the mounting groove, is pushed, causing the hook handle 21 to rotate inward. This allows the hook handle 21 to engage with the corresponding groove at the root of the rack and slide along the groove as the climbing AGV forklift climbs. Additionally, by controlling the polarity of the electromagnet, it generates a magnetic attraction with the permanent magnet, keeping the hook handle 21 at the current angle to prevent it from falling during climbing. When it is necessary to release the hook handle 21 from the groove, the polarity of the electromagnet is controlled to generate a repulsive force with the permanent magnet, pushing the hook handle 21 back to its original position and disengaging it from the groove. The restoring force of the reset spring can push the locking block 23 to move the trigger plate 19 forward and reset it. The reset spring facilitates the reset of the locking block 23 and the trigger plate 19, and the guide post guides the reset spring, making its deformation smooth. In other embodiments, the reset elastic element can also be made of other elastic materials or structural components that can provide restoring force.

[0050] In one embodiment, the front end face of the trigger plate 19 is curved. This reduces the contact area with the rack, thereby reducing friction and facilitating the climbing of the AGV forklift.

[0051] In one embodiment, a roller is rotatably connected to the end face of the hook 21 near the gear 18. The roller directly contacts the rack to reduce friction and facilitate climbing by the AGV forklift. Specifically, the front end of the hook 21 near the gear 18 has a V-shaped concave surface, and the rear end connected to the concave surface is flat. The roller includes a side roller 24 and a tip roller 22. The tip roller 22 is positioned corresponding to the two sides of the V-shape, while the side roller 24 is positioned on the aforementioned flat surface. The side roller 24 and the tip roller 22 directly contact the rack to reduce friction. Multiple rollers can be configured. To facilitate roller installation, multiple slots are provided on the end face of the hook 21 near the gear 18, and the rollers are rotatably installed within these slots.

[0052] In one embodiment, a switching shaft 14 is rotatably connected to the support 10 via a switching drive component. The switching shaft 14 is fixedly connected to the movable housing 15 to change the direction of movement of the support 10 driven by the climbing mechanism. Correspondingly, racks are provided on the shelf for different operating directions, such as racks along the horizontal and vertical directions. A rotatable rack is provided at the intersection of the horizontal and vertical directions to facilitate the engagement of the horizontal and vertical racks when switching between horizontal and vertical movements. When the climbing AGV forklift needs to climb to retrieve goods, the gear 18 meshes with the racks on the shelf, and the positional relationship between the two can be fixed by the guide rod 20. When it needs to move laterally after climbing to a high position, the rotation of the switching shaft 14 drives the movable housing 15 to rotate. The movable housing 15 then drives the gear 18 and the rack at the corresponding node of the gear 18 to rotate together by an angle to complete the engagement of the horizontal and vertical racks, thereby enabling lateral movement. The switching drive component can specifically be a motor or other drive equipment.

[0053] In one embodiment, a switching shaft 14 is rotatably connected to each of the four corners of the support base 10 via a switching drive component, and the axes of the four switching shafts 14 are parallel. The rotation axis of the gear 18 of the climbing mechanism connected to each switching shaft 14 is perpendicular to the axis of the switching shaft 14. By providing climbing mechanisms at the four corners of the support base 10, the support base 10 can be subjected to force around its perimeter during the climbing process, making its movement more stable.

[0054] In one embodiment, the handling mechanism includes a fixed base 13 and a robotic arm 11. The fixed base 13 is located on a support base 10. The robotic arm 11 includes multiple interconnected rotating arms, with the first rotating arm fixed to the fixed base 13 and the last rotating arm equipped with a vacuum suction cup 12. The vacuum suction cup 12 can move with the movement of the robotic arm 11 to the object to be grasped, adsorb it, and then be brought back to the support base 10 as the robotic arm 11 swings. Specifically, multiple vacuum suction cups 12 are arranged in parallel to enhance adsorption stability and strength. Using this structure, the handling mechanism can adsorb the side of the target goods when multiple goods are placed on a shelf, thus transporting them to the equipment, overcoming the problem that traditional AGV carts can only handle goods on an entire shelf.

[0055] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0056] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A climbing AGV forklift, characterized in that, include: The movable base includes a support base (10), a movable housing (15), and movable wheels (16). The movable housing (15) is connected to the support base (10), and the movable wheels (16) are connected to the movable housing (15). A handling mechanism, located on the support (10), is used to pick up goods from the shelf; The climbing mechanism includes a gear (18) and a climbing drive component. The gear (18) is rotatably connected to the movable housing (15) for meshing with a rack on the shelf. The climbing drive component is located on the movable housing (15) for driving the gear (18) to rotate to climb along the rack. The climbing mechanism also includes: Two hook holders (17) are provided on both sides of the gear (18) in pairs, and the hook holders (17) are connected to the movable housing (15). The front ends of the two hook holders (17) are respectively provided with mounting grooves, and hooks (21) are rotatably connected in the mounting grooves respectively. The hooks (21) on both sides of the gear (18) can rotate to approach or move away to engage or disengage with the grooves on both sides of the rack. Two locking components are respectively provided on the hook seat (17) for locking the hook (21) into the groove; The locking component includes: The card block (23) is slidably connected in the mounting groove. One of the tail end of the card block (23) and the bottom of the mounting groove is provided with an electromagnet, and the other is provided with a permanent magnet, so as to magnetically attract the card block (23) or push the card block (23) forward to reset. A trigger plate (19) is located at the front end of the locking block (23) and is used to move backward relative to the hook seat (17) by the push force of the rack and push the locking block (23) to move backward, so as to push the tail end of the hook (21) located in the mounting groove to rotate and make the front end of the hook (21) engage with the groove.

2. The climbing AGV forklift according to claim 1, characterized in that, The front end face of the trigger plate (19) is curved.

3. The climbing AGV forklift according to claim 1, characterized in that, The locking component also includes a reset elastic element, which is disposed between the trigger plate (19) and the locking block (23) to provide a force for the trigger plate (19) to move forward.

4. The climbing AGV forklift according to claim 3, characterized in that, The upper and lower ends of the card block (23) are respectively provided with guide rods (20), and the reset elastic element is a reset spring sleeved on the guide rods (20).

5. The climbing AGV forklift according to claim 1, characterized in that, The hook (21) is rotatably connected to a roller on the end face near the gear (18).

6. The climbing AGV forklift according to any one of claims 1-5, characterized in that, A switching shaft (14) is rotatably connected to the support (10) via a switching drive component. The switching shaft (14) is fixedly connected to the movable housing (15) to change the direction of movement of the support (10) driven by the climbing mechanism.

7. The climbing AGV forklift according to any one of claims 1-5, characterized in that, The transport mechanism includes: A fixed seat (13) is provided on the bearing seat (10); The robotic arm (11) includes multiple connected rotating arms, with the first rotating arm fixed to the fixed base (13) and the last rotating arm equipped with a vacuum suction cup (12).

8. The climbing AGV forklift according to any one of claims 1-5, characterized in that, The moving wheel (16) is a Mecanum wheel.

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