High-position pallet fork type AGV

Abstract

The invention discloses a high-position pallet fork type AGV. According to the high-position pallet fork type AGV, the high-position shaking amount is reduced, the weight of a chassis is reduced, and goods can be stably taken and placed. The device comprises a vehicle body, a connecting mechanism is arranged at the high position of the vehicle body, the connecting mechanism comprises a driving mechanism, the driving mechanism can drive a moving seat to move, a force induction sensor is arranged on the moving seat, and a magnetic attraction mechanism is arranged on the force induction sensor. The method is applied to the technical field of AGVs.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV, and in particular to a high-position fork-type AGV. Background Art

[0002] At present, it is necessary to dock the fork-type AGV with the vertical warehouse to achieve the picking and placing of goods. However, when the fork-type AGV with a height of more than 5 meters is used to dock with the vertical warehouse, the high position of the AGV is prone to a lot of shaking. If high-precision picking and placing of goods is required, it cannot be completed due to the large amount of shaking at the high position of the AGV; moreover, in order to ensure that the AGV does not fall when docking at a high position, the chassis of the AGV needs to be made very heavy. When the goods reach 0.5 tons, the chassis must be more than 5 tons, resulting in an overweight chassis. Therefore, it is currently necessary to develop a high-position fork-type AGV that reduces the amount of high-position shaking, reduces the weight of the chassis, and can stably pick up and place goods. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a high-position fork-type AGV that reduces high-position shaking, reduces chassis weight, and can stably pick up and place goods.

[0004] The technical solution adopted by the present invention is: the present invention includes a vehicle body, a connecting mechanism is arranged at a high position of the vehicle body, the connecting mechanism includes a driving mechanism, the driving mechanism can drive the moving seat to move, a force sensing sensor is arranged on the moving seat, and a magnetic attraction mechanism is arranged on the force sensing sensor.

[0005] Furthermore, the vehicle body has a lifting docking end, and the connecting mechanism is arranged at the bottom of the lifting docking end.

[0006] Furthermore, the magnetic attraction mechanism includes an electromagnet, and the electromagnet is arranged on the force sensing sensor through a mounting seat.

[0007] Furthermore, the driving mechanism includes a fixed seat, on which a driving motor and a linear slide are provided, the movable seat is slidably fitted on the linear slide, the driving end of the driving motor is transmitted to a transmission belt assembly, and the transmission belt assembly is connected to the movable seat.

[0008] Furthermore, the transmission belt assembly includes a first transmission gear, a second transmission gear and a synchronous belt, the synchronous belt is cooperatively arranged on the first transmission gear and the second transmission gear, and the first transmission gear is connected to the driving end of the driving motor.

[0009] Furthermore, a sensor is arranged on the movable seat, and a sensor sheet corresponding to the sensor is arranged on the fixed seat.

[0010] Furthermore, there are multiple connecting mechanisms.

[0011] Furthermore, the number of the connecting mechanisms is two, and the two connecting mechanisms are respectively located at two side ends of the lifting docking end.

[0012] Furthermore, the connection mechanism also includes a protective shell, and the driving mechanism and the moving seat are both located in the protective shell.

[0013] The beneficial effects of the present invention are:

[0014] With respect to the deficiencies of the prior art, in the present invention, before picking up and placing goods, the vehicle body extends a magnetic suction mechanism to absorb the shelf column, and the fork-type AGV starts to pick up and place goods only when the suction force reaches the requirement detected by the force sensing sensor; after the picking up and placing of goods is completed, the magnetic suction mechanism is retracted. Therefore, the present invention can be connected to the shelf column through the connecting mechanism located at a high position of the vehicle body, so that the vehicle body can be docked with the shelf column with high precision and stability, reducing the high-position shaking of the vehicle body and avoiding the chassis of the vehicle body from being too heavy, so that the present invention has the advantages of reducing the high-position shaking, reducing the weight of the chassis and being able to pick up and place goods stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention when docking;

[0017] Figure 2 It is a schematic diagram of the planar structure of the present invention when docking;

[0018] Figure 3 Schematic diagram of the three-dimensional structure of the connecting mechanism of the present invention Figure 1 ;

[0019] Figure 4 Schematic diagram of the three-dimensional structure of the connecting mechanism of the present invention Figure 2 ;

[0020] Figure 5 It is a planar structural schematic diagram of the connecting mechanism of the present invention.

[0021] The reference numerals are as follows:

[0022] 1. Car body; 2. Connecting mechanism; 3. Driving mechanism; 5. Moving seat; 6. Force sensing sensor; 7. Magnetic attraction mechanism; 8. Lifting docking terminal; 9. Electromagnet; 10. Mounting seat; 11. Fixed seat; 12. Driving motor; 13. Linear guide rail; 15. Transmission belt assembly; 16. First transmission gear; 17. Second transmission gear; 18. Synchronous belt; 19. Sensor; 20. Sensor sheet; 21. Protective shell.

[0023] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] It should be noted that all directional indications in the embodiments of the present invention, such as up, down, left, right, front, back, clockwise, counterclockwise, etc., are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0026] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0027] like Figures 1 to 5 As shown, in this embodiment, the present invention includes a vehicle body 1, a connection mechanism 2 is arranged at a high position of the vehicle body 1, the connection mechanism 2 includes a driving mechanism 3, the driving mechanism 3 can drive a moving seat 5 to move, a force sensing sensor 6 is arranged on the moving seat 5, and a magnetic attraction mechanism 7 is arranged on the force sensing sensor 6. The driving mechanism 3 can drive the moving seat 5 and the magnetic attraction mechanism 7 to move horizontally and linearly.

[0028] It should be noted that when it is necessary to dock the fork-type AGV with the shelf to pick up and place goods, the driving mechanism 3 drives the moving seat 5 to move toward the shelf column, so that the magnetic suction mechanism 7 can attract the shelf column. At this time, the vehicle body 1 is connected to the shelf, which increases the door frame stiffness of the vehicle body 1. Specifically, when the vehicle body 1 is docked with the shelf at a high position, it is connected to the shelf by relying on the magnetic suction mechanism 7, so that the door frame of the vehicle body 1 has a small amount of shaking, which can ensure high-precision picking and placing of goods, and the accuracy can reach ±10mm; moreover, the connection between the vehicle body 1 and the shelf is achieved through the connection mechanism 2, so that the vehicle body 1 is more stable when docking, and the chassis weight of the vehicle body 1 can be reduced. For example, when the cargo carried on the vehicle body 1 is 0.5 tons, the chassis can be 2.5 tons, thereby significantly reducing the chassis weight of the vehicle body 1;

[0029] It is worth mentioning that when the magnetic suction mechanism 7 attracts the shelf column, the driving mechanism 3 retracts to pull the magnetic suction mechanism 7. At this time, the force sensing sensor 6 will sense the pulling force. When the pulling force reaches the set value and the magnetic suction mechanism 7 does not separate from the adsorbed shelf column, it is determined that the adsorption force of the magnetic suction mechanism 7 meets the requirements and has good stability, and the picking and releasing of goods can be carried out.

[0030] With respect to the deficiencies of the prior art, in the present invention, before picking up and placing goods, the vehicle body 1 extends a magnetic suction mechanism 7 to attract the shelf column, and the fork-type AGV starts to pick up and place goods only when the suction force reaches the requirement detected by the force sensing sensor 6; after the picking up and placing of goods is completed, the magnetic suction mechanism 7 is retracted. Therefore, the present invention can be connected to the shelf column through the connecting mechanism 2 located at a high position of the vehicle body 1, so that the vehicle body 1 can be docked with the shelf column with high precision and stability, reducing the high-position shaking of the vehicle body 1 and avoiding the chassis of the vehicle body 1 from being too heavy, so that the present invention has the advantages of reducing the high-position shaking, reducing the weight of the chassis and being able to pick up and place goods stably.

[0031] In some embodiments, the vehicle body 1 has a lifting docking end 8, and the connecting mechanism 2 is arranged at the bottom of the lifting docking end 8; the number of the connecting mechanisms 2 is two, and the two connecting mechanisms 2 are respectively located at the two side ends of the lifting docking end 8. Specifically, the lifting docking end 8 is connected to the shelf column through the connecting mechanism 2 to achieve docking with the shelf column; in addition, the two connecting mechanisms 2 located at the two side ends of the lifting docking end 8 are magnetically attracted to the two ends of the shelf column at the same time to improve the stability during docking.

[0032] In some embodiments, the magnetic attraction mechanism 7 includes an electromagnet 9, and the electromagnet 9 is arranged on the force sensing sensor 6 through a mounting seat 10. Specifically, the electromagnet 9 is energized to control the electromagnet 9 to be adsorbed on the shelf column, so as to pick up and place goods; after the picking and placing of goods is completed, the electromagnet 9 is powered off to control the electromagnet 9 to be separated from the shelf column.

[0033] In some embodiments, the driving mechanism 3 includes a fixed seat 11, on which a driving motor 12 and a linear slide 13 are provided, the movable seat 5 is slidably fitted on the linear slide 13, the driving end of the driving motor 12 is transmitted to a transmission belt assembly 15, and the transmission belt assembly 15 is connected to the movable seat 5; the transmission belt assembly 15 includes a first transmission gear 16, a second transmission gear 17 and a synchronous belt 18, and the synchronous belt 18 is cooperatively arranged on the first transmission gear 16 and the second transmission gear 17, and the first transmission gear 16 is connected to the driving end of the driving motor 12; a sensor 19 is provided on the movable seat 5, and a sensor sheet 20 corresponding to the sensor 19 is provided on the fixed seat 11.

[0034] In some embodiments, there are multiple connecting mechanisms 2.

[0035] In some embodiments, the connection mechanism 2 further includes a protective shell 21 , and the driving mechanism 3 and the moving seat 5 are both located in the protective shell 21 .

[0036] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A high-position fork-type AGV, characterized in that: The vehicle comprises a vehicle body (1), wherein a connection mechanism (2) is arranged at a high position of the vehicle body (1), wherein the connection mechanism (2) comprises a driving mechanism (3), wherein the driving mechanism (3) can drive a movable seat (5) to move, wherein a force sensing sensor (6) is arranged on the movable seat (5), and wherein a magnetic attraction mechanism (7) is arranged on the force sensing sensor (6).

2. The high-position fork-type AGV according to claim 1, characterized in that: The vehicle body (1) has a lifting docking end (8), and the connecting mechanism (2) is arranged at the bottom of the lifting docking end (8).

3. A high-position fork-type AGV according to claim 1 or 2, characterized in that: The magnetic attraction mechanism (7) comprises an electromagnet (9), and the electromagnet (9) is arranged on the force sensing sensor (6) via a mounting seat (10).

4. The high-position fork-type AGV according to claim 3, characterized in that: The driving mechanism (3) comprises a fixed seat (11), on which a driving motor (12) and a linear slide rail (13) are arranged, and the movable seat (5) is slidably engaged with the linear slide rail (13), and the driving end of the driving motor (12) is driven by a transmission belt assembly (15), and the transmission belt assembly (15) is connected to the movable seat (5).

5. The high-position fork-type AGV according to claim 4, characterized in that: The transmission belt assembly (15) comprises a first transmission gear (16), a second transmission gear (17) and a synchronous belt (18), wherein the synchronous belt (18) is arranged on the first transmission gear (16) and the second transmission gear (17), and the first transmission gear (16) is connected to the driving end of the driving motor (12).

6. The high-position fork-type AGV according to claim 5, characterized in that: The movable seat (5) is provided with a sensor (19), and the fixed seat (11) is provided with a sensor sheet (20) corresponding to the sensor (19).

7. The high-position fork-type AGV according to claim 1, characterized in that: The number of the connecting mechanisms (2) is multiple.

8. The high-position fork-type AGV according to claim 2, characterized in that: The number of the connecting mechanisms (2) is two, and the two connecting mechanisms (2) are respectively located at the two side ends of the lifting docking end (8).

9. The high-position fork-type AGV according to claim 1, characterized in that: The connecting mechanism (2) further comprises a protective shell (21), and the driving mechanism (3) and the moving seat (5) are both located in the protective shell (21).

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