A light-duty and heavy-duty three-way forklift-type AGV and cargo docking and transfer method

Abstract

The embodiment of the present application discloses a light-duty heavy-load three-way forklift-type AGV, comprising: a vehicle body, fixed support legs arranged at the front of the vehicle body, outrigger legs arranged outside the fixed support legs, a three-way fork assembly arranged at the front of the vehicle body for forking cargo in the front, left, and right directions, a lifting drive assembly for driving the fork assembly to rise and fall, a transverse track, and a transverse drive assembly. The present application utilizes fixed support legs, and when forking heavy cargo, there is no need to rely on a heavier counterweight for balance, and the load torque of the heavy object on the fork is balanced by the support torque provided by the fixed support legs; in addition, the outrigger legs on the fixed support legs are utilized to avoid the risk of the AGV tilting due to the lateral load torque of the heavy object on the fork when the fork and the heavy cargo move sideways; by introducing fixed support legs and outrigger legs, the structure of the AGV can be made compact and lightweight, reducing weight, greatly reducing the pressure of the AGV and its load on the floor, and improving the safety performance of the AGV.

Description

Technical Field

[0001] The present application relates to the field of AGV technology, specifically to a light-duty and heavy-duty three-way forklift-type AGV and a cargo docking and transfer method. Background Art

[0002] A three-way forklift, also known as a three-way stacker or three-way stacking forklift or narrow aisle forklift, is a forklift that can lift and transport goods in front of, on the left and right sides of the forklift. There are two types: manually driven and unmanned. The unmanned three-way forklift is also called a three-way forklift-type AGV, which has the basic functions of an AGV.

[0003] like Figure 1 As shown, a common three-way forklift-style AGV 1 on the market typically has only one pair of forks 2, which need to move close to the ground to pick up palletized cargo from the front and left and right sides. To enable a three-way forklift-style AGV to carry heavy loads, it is inevitably equipped with a heavier counterweight 3 at the rear. This increases its structural dimensions and the operating space within the aisle. It also increases its weight, requiring more drive power and increasing operating costs. Furthermore, the heavier AGV's load on the factory floor increases, making it more dangerous to use the floor.

[0004] The patent (application number: 202122686618.6) proposes a counterweight structure and a three-way forklift with a movable counterweight block. When in use, the counterweight block is moved to change the center of gravity position of the counterweight block, so as to reduce the counterweight of the three-way forklift while keeping the load capacity unchanged. However, the adjustment of the center of gravity of the counterweight block in this patent is limited to the effective projection area of ​​the forklift, the adjustment range is limited, and the weight reduction is not significant. The patent (application number: 202111326981.5) proposes to set a movable bottom plate under the main body of the forklift. When the three-way forklift puts or picks up goods, it first pushes the bottom plate out and presses it on the shelf or against the shelf to share the lateral torque of the goods on the forklift and reduce the counterweight of the forklift. However, when the movable bottom plate described in this patent is pressed on the shelf or against the shelf, there is a situation where additional load is applied to the shelf, which may cause the shelf to tilt or be overloaded and damaged. In addition, the movable bottom plate requires complex transmission and precise control, which is inconvenient to operate.

[0005] Based on the patent (application number: 202211717999.2), this application proposes a light-duty and heavy-duty three-way forklift-type AGV and cargo docking and transfer method, which can effectively solve or alleviate the shortcomings of the existing technology. Summary of the Invention

[0006] The present application provides a light-duty and heavy-duty three-way forklift-type AGV and a cargo docking and transfer method to solve or alleviate one or more technical problems in the prior art.

[0007] As one aspect of the technical solution of the present application, the light-duty and heavy-duty three-way forklift-type AGV provided in the embodiment of the present application includes: a vehicle body, fixed support legs arranged at the front of the vehicle body, a three-way fork assembly arranged at the front of the vehicle body for forking goods in the front, left and right directions, and a lifting drive assembly for driving the fork assembly to rise and fall; the vehicle body has the AGV autonomous navigation walking and safe obstacle avoidance functions.

[0008] Furthermore, the vehicle body includes columns, which constitute a main frame structure of the vehicle body, and the width of the frame structure is smaller than the width of a standard pallet.

[0009] Furthermore, the fixed support leg is aligned with and fixedly connected to the column, and the fixed support leg is fixedly connected to an outrigger leg on its side, and the outrigger leg is used to improve the lateral rigidity and stability of the AGV, and to resist the overturning torque exerted on the AGV axis by heavy cargo; the column constitutes the main frame structure of the vehicle body, and the width of the frame structure is smaller than the width of a standard pallet; two rollers are provided at the front end of the fixed support leg to reduce the friction between it and the ground; the outrigger leg is also provided with a roller to reduce the friction between it and the ground.

[0010] Furthermore, the three-way fork assembly includes a steering drive assembly and a fork, and the drive assembly drives the fork to rotate to the left, right and front of the AGV relative to the vertical axis of the AGV center; the three-way fork assembly also includes a transverse track and a transverse drive assembly, and the transverse drive assembly drives the fork and the steering drive assembly to move to the left or right along the transverse track to achieve forking and moving of the cargo pallet.

[0011] Furthermore, the lifting drive assembly includes a hydraulic drive assembly, a chain transmission assembly and a lifting gantry; the lifting gantry is hingedly connected to the three-way fork assembly.

[0012] As another aspect of the technical solution of the present application, the cargo docking and transfer method based on the light-heavy-load three-way forklift AGV provided in the embodiment of the present application includes a light-heavy-load three-way forklift AGV and a top barless AGV, and includes the following steps.

[0013] Step 1. The light and heavy-load three-way forklift AGV is arranged in the aisle parallel to the shelf by default; when performing the task of unloading goods, the light and heavy-load three-way forklift AGV navigates to the designated position corresponding to the goods in the shelf column; the steering drive component drives the fork to turn sideways and parallel to the cargo pallet; the lifting drive component drives the fork to move in the height direction and align with the cargo pallet; the transverse drive component drives the fork to move along the transverse track and extend into the bottom of the cargo pallet; the lifting drive component drives the three-way fork assembly to continue moving in the height direction to support the cargo pallet; the transverse drive component drives the fork to withdraw along the transverse track and ensure that the center of gravity of the cargo pallet is within the range of the AGV fixed support legs.

[0014] Step 2. When performing the docking and transfer task of the goods, the light and heavy-load three-way forklift AGV moves along the planned path to the docking point outside the aisle. At this time, the top barless AGV has stopped at the position corresponding to the docking point and the cargo pallet. The lateral drive component of the light and heavy-load three-way forklift AGV drives the fork cargo pallet to move to the top of the top barless AGV, and the lifting drive component drives the fork and the cargo to descend. After the pallet contacts the top barless AGV, the lifting drive component continues to drive the fork to descend a short distance, and then the lateral drive component drives the fork to exit the pallet, completing the cargo unloading and docking and transfer tasks.

[0015] Step 3: When executing the task of loading and unloading cargo, the boomless AGV carries the cargo and pallet and navigates to the docking point, and the light and heavy-load three-way forklift AGV waits at the docking point to receive and transfer the cargo and pallet; the fork of the light and heavy-load three-way forklift AGV is aligned with the cargo pallet, and the transverse drive assembly drives the fork to move along the transverse track and extend into the bottom of the cargo pallet; the lifting drive assembly drives the fork to continue moving in the height direction to lift the cargo pallet; the transverse drive assembly drives the fork to withdraw along the transverse track and ensure that the center of gravity of the cargo pallet is within the range of the AGV fixed support legs.

[0016] Step 4. When performing the task of docking, transferring and shelving the goods, the light-duty and heavy-duty three-way forklift-type AGV navigates along the planned path from the docking point to the designated position corresponding to the goods on the shelf row; the lifting drive component drives the fork to move in the height direction; the transverse drive component drives the fork and the goods and pallet to move along the transverse track and extend into the shelf; the lifting drive component drives the fork to descend in the height direction, and the goods pallet contacts the shelf; the lifting drive component drives the fork to continue, and the fork disengages from the pallet; the transverse drive component drives the fork to move out of the shelf along the transverse track, completing the task of docking, transferring and shelving the goods.

[0017] Compared with the prior art, the technical solution of the present application has the following beneficial effects: the present application utilizes fixed support legs, and when forking heavy cargo, there is no need to rely on heavier counterweights for balance, and the load torque of the heavy object on the fork is balanced by the support torque provided by the fixed support legs; in addition, the outrigger legs on the fixed support legs are utilized to avoid the risk of the AGV tipping due to the lateral load torque of the heavy object on the fork when the fork and the heavy cargo move sideways; by introducing fixed support legs and outrigger legs, the structure of the AGV can be made compact and lightweight, reducing weight, greatly reducing the pressure of the AGV and its load on the floor, and improving the safety performance of the AGV. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The picture shows a common three-way forklift AGV on the market.

[0019] Figure 2 Shown is a schematic structural diagram of a light-duty and heavy-duty three-way forklift-type AGV according to an embodiment of the present application.

[0020] Figure 3 Shown is one of the cargo docking and transshipment schematic diagrams of an embodiment of the present application.

[0021] Figure 4 Shown is the second schematic diagram of cargo docking and transshipment in an embodiment of the present application.

[0022] Figure 5 Shown is a schematic diagram of the frame size and tray size of an embodiment of the present application.

[0023] Description of reference numerals:

[0024] 1. Vehicle body; 101. Column; 2. Forks; 3. Counterweight; 4. Fixed support legs; 401. Extension legs; 402. Rollers; 5. Three-way forklift assembly; 501. Steering drive assembly; 502. Forks; 503. Horizontal track; 504. Transverse drive assembly; 6. Lifting drive assembly; 7. Shelf; 8. Rodless AGV; 9. Pallet; 1000. Light-duty and heavy-duty three-way forklift-type AGV. Implementation Method

[0025] In order to help those skilled in the art better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments 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 those skilled in the art without creative work are within the scope of protection of this application.

[0026] In the description of this application, it should be noted that the terms "front", "front end", "front", "rear", "left side", "right side", "front", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on this application.

[0027] For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0028] The embodiments of the present application are further described in detail below with reference to the accompanying drawings.

[0029] refer to Figure 2 and Figure 5, a light-duty heavy-load three-way forklift-type AGV, comprising: a vehicle body 1, a fixed support leg 4 arranged at the front of the vehicle body, a three-way fork assembly 5 arranged at the front of the vehicle body for forking goods in the front, left and right directions, and a lifting drive assembly 6 for driving the fork assembly to rise and fall; the vehicle body has the functions of autonomous navigation and safe obstacle avoidance of AGV. The vehicle body 1 includes a column 101, which constitutes the main frame structure of the vehicle body, and the width w of the frame structure is smaller than the width h of a standard pallet; the fixed support leg is aligned with the column and fixedly connected together, and the fixed support leg is fixedly connected to an outrigger leg 401 on its side, and the outrigger leg is used to improve the lateral rigidity and stability of the AGV, and to resist the overturning torque exerted by heavy-loaded goods on the AGV axis; the column constitutes the main frame structure of the vehicle body, and the width of the frame structure is smaller than the width h of a standard pallet; two rollers 402 are provided at the front end of the fixed support leg 4 to lower it Friction with the ground; the outrigger leg 401 is also provided with a roller to reduce friction with the ground; the three-way fork assembly 5 includes a steering drive assembly 501 and a fork 502, the steering drive assembly 501 drives the fork 502 to rotate relative to the vertical axis of the AGV center to the left, right and front of the AGV; the three-way fork assembly 5 also includes a transverse track 503 and a transverse drive assembly 504, the transverse drive assembly 504 drives the fork 502 and the steering drive assembly 501 to move to the left or right along the transverse track 503 to achieve the forking and movement of the cargo pallet. The lifting drive assembly includes a hydraulic drive assembly, a chain drive assembly and a lifting gantry; the lifting gantry is hingedly connected to the three-way fork assembly.

[0030] This embodiment provides a lightweight, heavy-duty, three-way forklift-type AGV. Due to the use of fixed support legs 4, when the fork 502 picks up a heavy object, the fixed support legs provide a support reaction force opposite to the heavy object. This eliminates the need for a heavy counterweight at the rear of the AGV; it is only necessary to ensure that the columns and structural frame have sufficient rigidity. Because the frame width is smaller than the size of the pallet and fork, outriggers can be configured on both sides of the support legs. The outriggers contact the ground via rollers, providing a support reaction force in the lateral direction to resist the rollover torque generated when the fork and heavy object move to the right or left. The entire AGV has a compact structure, and the reduction of counterweights significantly reduces the mass of the vehicle.

[0031] refer to Figure 3 and Figure 4 The cargo docking and transfer method based on the light-heavy-load three-way forklift AGV provided in the embodiment of the present application includes the light-heavy-load three-way forklift AGV1000 and the top barless AGV8. The specific working principle is as follows.

[0032] First, the light and heavy-load three-way forklift AGV1000 is arranged in the aisle parallel to the shelf by default; when performing the task of unloading goods, the light and heavy-load three-way forklift AGV navigates to the designated position corresponding to the goods in the shelf column; the steering drive component 501 drives the fork 502 to turn sideways and parallel to the cargo pallet; the lifting drive component 6 drives the three-way fork assembly 5 to move in the height direction and align with the cargo pallet; the transverse drive component 504 drives the fork to move along the transverse track 503 and extend into the bottom of the cargo pallet; the lifting drive component 6 drives the fork to continue moving in the height direction to support the cargo pallet; the transverse drive component 504 drives the fork to withdraw along the transverse track 503 and ensures that the center of gravity of the cargo pallet is within the range of the AGV fixed support leg 4.

[0033] Secondly, when performing the docking and transfer tasks of goods, the light-duty and heavy-duty three-way forklift AGV1000 moves along the planned path to the docking point outside the aisle. At this time, the top barless AGV8 has stopped at the docking point corresponding to the cargo pallet. The transverse drive component 504 of the light-duty and heavy-duty three-way forklift AGV drives the fork and the cargo pallet to move directly above the top barless AGV8, and the lifting drive component 6 drives the fork and the cargo to descend. After the pallet contacts the top barless AGV8, the lifting drive component 6 continues to drive the fork to descend a short distance, and then the transverse drive component drives the fork to exit the pallet, completing the cargo unloading and docking and transfer tasks.

[0034] Again, when performing the task of loading and unloading cargo, the top barless AGV8 carries the cargo and pallet and navigates to the docking point, and the light and heavy-load three-way forklift AGV1000 waits at the docking point to receive and transfer the cargo and pallet; the light and heavy-load three-way forklift AGV1000's fork is aligned with the cargo pallet, and the transverse drive component 504 drives the fork to move along the transverse track 503 and extend into the bottom of the cargo pallet; the lifting drive component 6 drives the fork to continue moving in the height direction to lift the cargo pallet; the transverse drive component 504 drives the fork to withdraw along the transverse track 503 and ensures that the center of gravity of the cargo pallet is within the range of the AGV fixed support legs.

[0035] Finally, when performing the task of docking, transferring and shelving the goods, the light-duty and heavy-duty three-way forklift-type AGV1000 navigates along the planned path from the docking point to the designated position corresponding to the goods in the shelf column; the lifting drive component 6 drives the fork to move in the height direction; the transverse drive component 504 drives the fork and the goods and pallet to move along the transverse track 503 and extend into the shelf; the lifting drive component 6 drives the fork to descend in the height direction, and the goods pallet contacts the shelf; the lifting drive component drives the fork to continue, and the fork disengages from the pallet; the transverse drive component 504 drives the fork to move out of the shelf along the transverse track 503, completing the task of docking, transferring and shelving the goods.

[0036] For ordinary technicians in this field, the specific embodiments are only illustrative descriptions of the present application. Obviously, the specific implementation of the embodiments of the present application is not limited to the above-mentioned methods. As long as various non-substantial improvements are made using the method concepts and technical solutions of the present application, or the concepts and technical solutions of the present application are directly applied to other occasions without improvement, they are all within the scope of protection of the present application.

Claims

1. A cargo transfer method based on a light-duty and heavy-duty three-way forklift AGV, characterized in that: It includes light and heavy-load three-way forklift AGV and top-barless AGV. The light and heavy-load three-way forklift AGV includes: a vehicle body, a fixed support leg arranged at the front of the vehicle body, a three-way fork assembly arranged at the front of the vehicle body for forking goods in the front, left and right directions, and a lifting drive assembly for driving the fork assembly to rise and fall; the vehicle body has the functions of autonomous navigation and safe obstacle avoidance of AGV; the vehicle body includes a column, which constitutes the main frame structure of the vehicle body, and the width of the frame structure is smaller than the width of a standard pallet; the fixed support leg is aligned with the column and fixedly connected together, and the fixed support leg is fixedly connected to an outrigger leg on its side, and the outrigger leg is used to improve the lateral rigidity and stability of the AGV, and to resist the heavy load. The overturning torque exerted by the object on the AGV axis; the front end of the fixed support leg is provided with two rollers to reduce the friction between it and the ground; the outrigger leg is also provided with rollers to reduce the friction between it and the ground; the three-way fork assembly includes a steering drive assembly and a fork, and the drive assembly drives the fork to rotate to the left, right and front of the AGV relative to the vertical axis of the AGV center; the three-way fork assembly also includes a transverse track and a transverse drive assembly, and the transverse drive assembly drives the fork and the steering drive assembly to move to the left or right along the transverse track to achieve the forking and movement of the cargo pallet; the lifting drive assembly includes a hydraulic drive assembly, a chain drive assembly and a lifting gantry; the lifting gantry is hinged to the three-way fork assembly; The cargo transfer method includes the following steps: Step 1: The light and heavy-load three-way forklift AGV is arranged in parallel with the shelves in the aisle by default; when performing the task of unloading goods, the light and heavy-load three-way forklift AGV navigates to the designated position corresponding to the goods in the shelf column; the steering drive assembly drives the fork to turn sideways and parallel to the cargo pallet; the lifting drive assembly drives the fork to move in the height direction and align with the cargo pallet; the transverse drive assembly drives the fork to move along the transverse track and extend into the bottom of the cargo pallet; the lifting drive assembly drives the three-way fork assembly to continue moving in the height direction to lift the cargo pallet; the transverse drive assembly drives the fork to withdraw along the transverse track and ensure that the center of gravity of the cargo pallet is within the range of the AGV fixed support legs; Step 2: When performing the docking and transfer task of the goods, the light and heavy-load three-way forklift AGV moves along the planned path to the docking point outside the lane. At this time, the top barless AGV has stopped at the docking point corresponding to the cargo pallet. The traverse drive component of the light and heavy-load three-way forklift AGV drives the fork cargo pallet to move to the top of the top barless AGV, and the lifting drive component drives the fork and the goods to descend. After the pallet contacts the top barless AGV, the lifting drive component continues to drive the fork to descend a short distance, and then the traverse drive component drives the fork to exit the pallet, completing the cargo unloading and docking and transfer tasks; Step 3: When performing the task of loading and unloading cargo, the boomless AGV carries the cargo and pallet and navigates to the docking point. The light and heavy-load three-way forklift AGV waits at the docking point to receive and transfer the cargo and pallet. The fork of the light and heavy-load three-way forklift AGV is aligned with the cargo pallet, and the transverse drive assembly drives the fork to move along the transverse track and extend into the bottom of the cargo pallet. The lifting drive assembly drives the fork to continue moving in the height direction to lift the cargo pallet. The transverse drive assembly drives the fork to withdraw along the transverse track and ensure that the center of gravity of the cargo pallet is within the range of the AGV fixed support legs. Step 4: When performing the docking, transfer and shelving task of the goods, the light-duty and heavy-duty three-way forklift AGV navigates along the planned path from the docking point to the designated position corresponding to the goods on the shelf row; the lifting drive component drives the fork to move in the height direction; The transverse drive assembly drives the fork, cargo and pallet to move along the transverse track and extend into the shelf; the lifting drive assembly drives the fork to descend in the height direction, and the cargo pallet contacts the shelf; the lifting drive assembly drives the fork to continue, and the fork and pallet are out of contact; the transverse drive assembly drives the fork to move out of the shelf along the transverse track, completing the task of docking, transporting and shelving the cargo.

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