Roller type AGV capable of lifting and telescopically loading and unloading goods

Abstract

The roller type AGV comprises a feeding device, a shear fork lifting device and a transfer trolley body, the bottom of the shear fork lifting device is connected with the top of the transfer trolley body, the top of the shear fork lifting device is connected with the bottom of the feeding device, the transfer trolley body is arranged on one side of a cargo parking platform, and the cargo parking platform is arranged on one side of the transfer trolley body. A cargo supporting platform and a material fork supporting platform are arranged in the cargo parking platform; the feeding device comprises a bracket, fixed material fork assemblies, telescopic material fork assemblies and a guide plate, the fixed material fork assemblies, the telescopic material fork assemblies and the guide plate are all arranged above the bracket, the telescopic material fork assemblies are arranged between the fixed material fork assemblies, and the guide plate is arranged on the side walls of the fixed material fork assemblies. And the guide plate is arranged between the telescopic material fork assembly and the fixed material fork assembly. The upper space of the feeding and discharging area can be closed, active feeding and discharging work at different height positions can be completed, and rapid and active loading and unloading of goods can be achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of factory transportation, and particularly relates to a roller-type AGV capable of lifting and telescoping for loading and unloading goods. Background Art

[0002] With the rapid development of digitization and intelligent equipment, modern factories have used various automatic guided vehicles (AGVs) to improve the efficiency of transporting materials. At the same time, with the in-depth development of intelligence and the improvement of transportation efficiency, higher requirements have also been put forward for the loading and unloading methods of AGVs. Currently, for AGVs transporting materials in factories, most can only achieve passive loading and unloading of goods through external devices such as overhead cranes or forklifts. Especially when loading and unloading are required in an environment with a closed top space, overhead cranes or forklifts cannot be used at all, and it is very difficult to actively load and unload goods. With the rapid development of intelligent factories, it is very meaningful to develop an AGV that can actively load and unload in an environment with a closed top space.

[0003] The patent number is CN218665297U, and the patent name is an automatic guided pallet handling transport vehicle. This patent is for the transfer of pallet goods, but it will fail for some platforms with a relatively high transportation height and in a closed space, and loading and unloading cannot be carried out. Summary of the Invention

[0004] In view of this, the present invention aims to propose a roller-type AGV capable of lifting and telescoping for loading and unloading goods to solve the problem that in the prior art, when loading and unloading are required in an environment with a closed top space, overhead cranes or forklifts cannot be used, and it is very difficult to actively load and unload goods.

[0005] To achieve the above object, the technical solution of the present invention is realized as follows: A roller-type AGV capable of lifting and telescoping for loading and unloading goods, including a feeding device, a scissor lifting device, and a transfer vehicle body. The bottom of the scissor lifting device is connected to the top of the transfer vehicle body, and the top of the scissor lifting device is connected to the bottom of the feeding device. The transfer vehicle body is arranged on one side of the goods parking platform, and a goods support platform and a fork support platform are arranged in the goods parking platform; The feeding device includes a bracket, a fixed fork assembly, a telescopic fork assembly, and a guide plate. The fixed fork assembly, the telescopic fork assembly, and the guide plate are all arranged above the bracket. The telescopic fork assembly is arranged between the fixed fork assemblies, and the guide plate is arranged on the side wall of the fixed fork assembly and between the telescopic fork assembly and the fixed fork assembly.

[0006] Further, the fixed fork assembly includes a left fixed fork, a middle fixed fork, and a right fixed fork, and the telescopic fork assembly includes a left telescopic fork and a right telescopic fork; The left fixed fork, left telescopic fork, middle fixed fork, right telescopic fork, and right fixed fork are sequentially arranged above the bracket from left to right; Guide plates are provided on one side of the left fixed fork close to the left telescopic fork, on both sides of the middle fixed fork, and on one side of the right fixed fork close to the right telescopic fork.

[0007] Furthermore, two grooves are provided above the bracket, racks are provided in both grooves, and the two racks are respectively located at the bottoms of the left telescopic fork and the right telescopic fork.

[0008] Furthermore, the left fixed fork includes a first fixed roller bracket and a first driving component. The first fixed roller bracket is arranged above the bracket, and the first driving component is arranged on one side of the first fixed roller bracket; The right fixed fork includes a second fixed roller bracket and a second driving component. The second fixed roller bracket is arranged above the bracket, and the second driving component is arranged on one side of the second fixed roller bracket; The middle fixed fork includes a third fixed roller bracket and a plurality of second rollers. The third fixed roller bracket is arranged above the bracket, and the plurality of second rollers are arranged above the third fixed roller bracket through bearings; The left telescopic fork includes a first telescopic roller bracket, a third driving component, a first telescopic component, a first guiding component, and a first lifting device. The first telescopic roller bracket is arranged above the bracket, the third driving component is arranged on one side of the first telescopic roller bracket, the first telescopic component and the first lifting device are arranged at the bottom of the first telescopic roller bracket, and the first guiding component is arranged on the side walls on both sides of the first telescopic roller bracket; The right telescopic fork includes a second telescopic roller bracket, a fourth driving component, a second telescopic component, a second guiding component, and a second lifting device. The second telescopic roller bracket is arranged above the bracket, the fourth driving component is arranged on one side of the second telescopic roller bracket, the second telescopic component and the second lifting device are arranged at the bottom of the second telescopic roller bracket, and the second guiding component is arranged on the side walls on both sides of the second telescopic roller bracket.

[0009] Furthermore, the structures of the first driving component, the second driving component, the third driving component, and the fourth driving component are the same, and each includes a roller driving motor, a roller driving speed reducer, a roller driving motor sprocket, a plurality of first rollers, a plurality of chains, and a plurality of roller sprockets. The roller driving motor and the roller driving speed reducer are arranged on the inner side of the first fixed roller bracket, the second fixed roller bracket, the first telescopic roller bracket, or the second telescopic roller bracket. The output shaft of the roller driving motor extends to the outside of the first fixed roller bracket, the second fixed roller bracket, the first telescopic roller bracket, or the second telescopic roller bracket, and the roller driving motor sprocket is arranged on the output shaft of the roller driving motor; A number of first rollers are arranged above the first fixed roller bracket, the second fixed roller bracket, the first telescopic roller bracket or the second telescopic roller bracket through bearings. A transmission shaft is provided at one end of each of the number of first rollers. A roller sprocket is fixedly connected to the transmission shaft of the first roller at the end far from the roller driving motor, and two roller sprockets are fixedly connected to the remaining transmission shafts. A chain is provided on the roller driving motor sprocket and the adjacent roller sprocket, and also on two adjacent roller sprockets.

[0010] One roller sprocket on the roller adjacent to the roller driving motor is connected to the roller driving motor sprocket through a chain, and the other roller sprocket is connected to the adjacent roller sprocket through a chain. With this connection method, the roller driving motor sprocket and the roller sprockets are connected to each other in pairs through the chain, so that all the first rollers are connected into one body, and then the power is transmitted through the roller driving motor to drive all the first rollers to rotate, realizing the conveyance of the goods on the fixed fork assembly and the telescopic fork assembly.

[0011] The middle fixed fork does not provide power during the conveyance of the goods and only plays a supporting role.

[0012] Furthermore, the structures of the first telescopic assembly and the second telescopic assembly are the same, including a telescopic motor, a telescopic speed reducer, a gear, and a number of support rollers. The telescopic motor and the telescopic speed reducer are arranged on one side inside the first telescopic roller bracket or the second telescopic roller bracket, and are arranged on the side close to the roller driving motor. The output shaft of the telescopic motor extends to the outer bottom of the first telescopic roller bracket or the second telescopic roller bracket, and a gear cooperating with a rack is provided on the output shaft of the telescopic motor. A number of support rollers are rotatably arranged at the bottom of the first telescopic roller bracket or the second telescopic roller bracket through bearings.

[0013] The left telescopic fork and the right telescopic fork are driven by the telescopic motor and the telescopic speed reducer, and by the cooperation of the gear and the rack, the left telescopic fork and the right telescopic fork are telescoped, and horizontally move under the guidance of the horizontal guide groove on the guide plate, and rise or fall under the guidance of the vertical guide groove after extending in place.

[0014] Furthermore, the structures of the first lifting device and the second lifting device are the same. A number of first lifting devices are arranged at the bottom of the first telescopic roller bracket, and the number of first lifting devices and the support rollers at the bottom of the first telescopic roller bracket are arranged at intervals. A number of second lifting devices are arranged at the bottom of the second telescopic roller bracket, and the number of second lifting devices and the support rollers at the bottom of the second telescopic roller bracket are arranged at intervals.

[0015] Further, the first guiding assembly and the second guiding assembly have the same structure, including a plurality of horizontal guiding wheels and a plurality of vertical guiding wheels. The plurality of horizontal guiding wheels are horizontally distributed on both side walls of the first telescopic roller bracket or the second telescopic roller bracket, and the horizontal guiding wheels are arranged below the chain. The vertical guiding wheels are arranged at both ends of both side walls of the first telescopic roller bracket or the second telescopic roller bracket.

[0016] Further, horizontal guiding grooves corresponding to the horizontal guiding wheels and vertical guiding grooves corresponding to the vertical guiding wheels are provided on the outer side of the guiding plate.

[0017] When the left telescopic fork and the right telescopic fork extend outwards, the support roller is in contact with the fork support platform. The horizontal guiding wheels on both sides slide in the horizontal guiding grooves. After the left telescopic fork and the right telescopic fork extend in place, the lifting device extends out and supports on the fork support platform. The vertical guiding wheels on both sides slide in the vertical guiding grooves, thereby lifting the left telescopic fork and the right telescopic fork. After lifting in place, the top heights of the left telescopic fork and the right telescopic fork are flush with the left fixed fork and the right fixed fork.

[0018] The width of the horizontal guiding groove is greater than the diameter of the horizontal guiding wheel, and the width of the vertical guiding groove is greater than the diameter of the vertical guiding wheel, so as to guide the extension and retraction of the left telescopic fork and the right telescopic fork.

[0019] Further, the scissor lifting device includes a passive fork arm, an active fork arm, a lifting upper platform, and a lifting oil cylinder. The lifting upper platform is fixedly arranged below the bracket. The fixed ends of the passive fork arm and the active fork arm are fixed above the vehicle body chassis of the transporter body and below the lifting upper platform through fixed end footrests. The sliding ends of the passive fork arm and the active fork arm are slidably arranged above the vehicle body chassis of the transporter body and below the lifting upper platform through linear guide rails. Both ends of the lifting oil cylinder are hinged to the passive fork arm and the active fork arm.

[0020] The scissor lifting device adopts the prior art.

[0021] Through the drive of the lifting oil cylinder, the lifting of the lifting upper platform is realized, and the overall lifting of the feeding device is completed, so that the height of the feeding device corresponds to that of the goods parking platform.

[0022] The transporter body mainly includes a vehicle body chassis, a driving device, a navigation device, and an electrical control system, and can realize the longitudinal and lateral movement of the AGV, as well as functions such as turning in place and U-turn.

[0023] The transporter body adopts the prior art.

[0024] Compared with the prior art, the roller-type AGV capable of lifting and telescoping for loading and unloading goods according to the present invention has the following advantages: The feeding device arranged on the scissor lifting device of the present invention can complete the enclosure of the upper space of the loading and unloading area and perform active loading and unloading operations at different height positions. Especially for the loading and unloading of the reaction furnace with a closed top space, it can realize the rapid and active loading and unloading of goods without the help of forklifts or other loading and unloading equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 It is a schematic assembly diagram of a roller AGV for lifting, stretching, loading and unloading goods according to an embodiment of the present invention; Figure 2 It is a side view schematic diagram when the first lifting device and the second lifting device according to an embodiment of the present invention are not extended; Figure 3 It is a side view schematic diagram when the first lifting device and the second lifting device according to an embodiment of the present invention are extended; Figure 4 It is an overall schematic diagram of a roller AGV for lifting, stretching, loading and unloading goods according to an embodiment of the present invention; Figure 5 It is a schematic diagram when the left telescopic fork and the right telescopic fork of a roller AGV for lifting, stretching, loading and unloading goods according to an embodiment of the present invention are extended; Figure 6 It is an overall schematic diagram of the feeding device according to an embodiment of the present invention; Figure 7 It is a schematic diagram of the left telescopic fork according to an embodiment of the present invention; Figure 8 It is a schematic diagram of the bottom of the left telescopic fork according to an embodiment of the present invention; Figure 9 It is a schematic diagram of the left fixed fork according to an embodiment of the present invention; Figure 10 It is a schematic diagram of the guide plate according to an embodiment of the present invention.

[0026] DESCRIPTION OF THE REFERENCE NUMERALS: 1. Scissor lift device; 2. Transfer vehicle body; 3. Goods parking platform; 4. Goods support platform; 5. Fork support platform; 6. Bracket; 7. Guide plate; 8. Left fixed fork; 9. Middle fixed fork; 10. Right fixed fork; 11. Left telescopic fork; 12. Right telescopic fork; 13. Rack; 14. First fixed roller bracket; 15. Second fixed roller bracket; 16. Third fixed roller bracket; 17. Second roller; 18. First telescopic roller bracket; 19. Second telescopic roller bracket; 20. Roller drive motor sprocket; 21. First roller; 22. Chain; 23. Roller sprocket; 24. Gear; 25. Support roller; 26. First lifting device; 27. Horizontal guide wheel; 28. Vertical guide wheel; 29. Horizontal guide groove; 30. Vertical guide groove. Detailed implementation manners

[0027] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other.

[0028] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific situations.

[0030] The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0031] As Figures 1 to 10As shown in the figure, a roller - type AGV for lifting and telescoping to load and unload goods includes a feeding device, a scissor - lift device 1, and a transfer vehicle body 2. The bottom of the scissor - lift device 1 is connected to the top of the transfer vehicle body 2, and the top of the scissor - lift device 1 is connected to the bottom of the feeding device. The transfer vehicle body 2 is arranged on one side of the goods parking platform 3, and the goods parking platform 3 is provided with a goods support platform 4 and a fork support platform 5 inside; The feeding device includes a bracket 6, a fixed fork assembly, a telescopic fork assembly, and a guide plate 7. The fixed fork assembly, the telescopic fork assembly, and the guide plate 7 are all arranged above the bracket 6. The telescopic fork assembly is arranged between the fixed fork assemblies, and the guide plate 7 is arranged on the side wall of the fixed fork assembly and between the telescopic fork assembly and the fixed fork assembly.

[0032] The fixed fork assembly includes a left - hand fixed fork 8, a middle fixed fork 9, and a right - hand fixed fork 10. The telescopic fork assembly includes a left - hand telescopic fork 11 and a right - hand telescopic fork 12; The left - hand fixed fork 8, the left - hand telescopic fork 11, the middle fixed fork 9, the right - hand telescopic fork 12, and the right - hand fixed fork 10 are arranged above the bracket 6 in sequence from left to right; Guide plates 7 are provided on one side of the left - hand fixed fork 8 close to the left - hand telescopic fork 11, on both sides of the middle fixed fork 9, and on one side of the right - hand fixed fork 10 close to the right - hand telescopic fork 12.

[0033] Two grooves are provided above the bracket 6, and racks 13 are arranged in both grooves, and the two racks 13 are respectively located at the bottoms of the left - hand telescopic fork 11 and the right - hand telescopic fork 12.

[0034] The left - hand fixed fork 8 includes a first fixed roller bracket 14 and a first driving assembly. The first fixed roller bracket 14 is arranged above the bracket 6, and the first driving assembly is arranged on one side of the first fixed roller bracket 14; The right - hand fixed fork 10 includes a second fixed roller bracket 15 and a second driving assembly. The second fixed roller bracket 15 is arranged above the bracket 6, and the second driving assembly is arranged on one side of the second fixed roller bracket 15; The middle fixed fork 9 includes a third fixed roller bracket 16 and a number of second rollers 17. The third fixed roller bracket 16 is arranged above the bracket 6, and the number of second rollers 17 is arranged above the third fixed roller bracket 16 through bearings; The left telescopic fork 11 includes a first telescopic roller bracket 18, a third drive assembly, a first telescopic assembly, a first guiding assembly, and a first lifting device 26. The first telescopic roller bracket 18 is arranged above the bracket 6. The third drive assembly is arranged on one side of the first telescopic roller bracket 18. The first telescopic assembly and the first lifting device 26 are arranged at the bottom of the first telescopic roller bracket 18. The first guiding assembly is arranged on the side walls on both sides of the first telescopic roller bracket 18; The right telescopic fork 12 includes a second telescopic roller bracket 19, a fourth drive assembly, a second telescopic assembly, a second guiding assembly, and a second lifting device. The second telescopic roller bracket 19 is arranged above the bracket 6. The fourth drive assembly is arranged on one side of the second telescopic roller bracket 19. The second telescopic assembly and the second lifting device are arranged at the bottom of the second telescopic roller bracket 19. The second guiding assembly is arranged on the side walls on both sides of the second telescopic roller bracket 19.

[0035] The first drive assembly, the second drive assembly, the third drive assembly, and the fourth drive assembly have the same structure, including a roller drive motor, a roller drive reducer, a roller drive motor sprocket 20, a plurality of first rollers 21, a plurality of chains 22, and a plurality of roller sprockets 23. The roller drive motor and the roller drive reducer are arranged inside one side of the first fixed roller bracket 14, the second fixed roller bracket 15, the first telescopic roller bracket 18, or the second telescopic roller bracket 19. The output shaft of the roller drive motor extends outside the first fixed roller bracket 14, the second fixed roller bracket 15, the first telescopic roller bracket 18, or the second telescopic roller bracket 19. The roller drive motor sprocket 20 is arranged on the output shaft of the roller drive motor; A plurality of first rollers 21 are arranged above the first fixed roller bracket 14, the second fixed roller bracket 15, the first telescopic roller bracket 18, or the second telescopic roller bracket 19 through bearings. One end of each of the plurality of first rollers 21 is provided with a transmission shaft. A roller sprocket 23 is fixedly connected to the transmission shaft of the first roller 21 at the end far from the roller drive motor, and two roller sprockets 23 are fixedly connected to the remaining transmission shafts; Chains 22 are arranged on the roller drive motor sprocket 20 and the adjacent roller sprocket 23, and on two adjacent roller sprockets 23.

[0036] One roller sprocket 23 on the roller adjacent to the roller drive motor is connected to the roller drive motor sprocket 20 through a chain 22, and the other roller sprocket 23 is connected to the adjacent roller sprocket 23 through a chain 22. With such a connection method, the roller drive motor sprocket 20 and the roller sprockets 23 are connected in pairs through the chains 22, so that all the first rollers 21 are connected into one body. Then, the power is transmitted through the roller drive motor to drive all the first rollers 21 to rotate, realizing the transmission of goods on the fixed fork assembly and the telescopic fork assembly.

[0037] The middle fixed fork 10 does not provide power during cargo transfer and only serves as a support.

[0038] The first telescopic assembly and the second telescopic assembly have the same structure, including a telescopic motor, a telescopic reduction gear, a gear 24, and several support rollers 25. The telescopic motor and the telescopic reduction gear are arranged on the inner side of the first telescopic roller bracket 18 or the second telescopic roller bracket 19, and are arranged on the side close to the roller drive motor. The output shaft of the telescopic motor extends to the outer bottom of the first telescopic roller bracket 18 or the second telescopic roller bracket 19, and a gear 24 that cooperates with the rack 13 is provided on the output shaft of the telescopic motor; Several support rollers 25 are rotatably arranged at the bottom of the first telescopic roller bracket 18 or the second telescopic roller bracket 19 through bearings.

[0039] The left telescopic fork 11 and the right telescopic fork 12 are driven by a telescopic motor and a telescopic reduction gear. By the cooperation of the gear 24 and the rack 13, the left telescopic fork 11 and the right telescopic fork 12 are telescoped, and horizontally move under the guidance of the horizontal guide groove 29 on the guide plate 7, and rise or fall under the guidance of the vertical guide groove 30 after extending in place.

[0040] The first lifting device 26 and the second lifting device have the same structure. Several first lifting devices 26 are arranged at the bottom of the first telescopic roller bracket 18, and several first lifting devices 26 are arranged at intervals with the support rollers 25 at the bottom of the first telescopic roller bracket 18. Several second lifting devices are arranged at the bottom of the second telescopic roller bracket 19, and several second lifting devices are arranged at intervals with the support rollers 25 at the bottom of the second telescopic roller bracket 19.

[0041] The first guiding assembly and the second guiding assembly have the same structure, including several horizontal guiding wheels 27 and several vertical guiding wheels 28. The several horizontal guiding wheels 27 are horizontally distributed on the two side walls of the first telescopic roller bracket 18 or the second telescopic roller bracket 19, and the horizontal guiding wheels 27 are arranged below the chain 22. The vertical guiding wheels 28 are arranged at both ends of the two side walls of the first telescopic roller bracket 18 or the second telescopic roller bracket 19.

[0042] The outer side of the guide plate 7 is provided with a horizontal guide groove 29 corresponding to the horizontal guiding wheel 27 and a vertical guide groove 30 corresponding to the vertical guiding wheel 28.

[0043] When the left telescopic fork 11 and the right telescopic fork 12 extend outwards, the support roller 25 contacts the fork support platform 5, and the horizontal guide wheels 27 on both sides slide in the horizontal guide groove 29. After the left telescopic fork 11 and the right telescopic fork 12 extend in place, the lifting device extends and supports on the fork support platform 5, and the vertical guide wheels 28 on both sides slide in the vertical guide groove 30, thereby lifting the left telescopic fork 11 and the right telescopic fork 12. After the lifting is in place, the top heights of the left telescopic fork 11 and the right telescopic fork 12 are flush with the left fixed fork 8 and the right fixed fork 10.

[0044] The width of the horizontal guide groove 29 is greater than the diameter of the horizontal guide wheel 27, and the width of the vertical guide groove 30 is greater than the diameter of the vertical guide wheel 28, thereby playing a guiding role in the extension and retraction of the left telescopic fork 11 and the right telescopic fork 12.

[0045] The scissor lifting device 1 includes a passive fork arm, an active fork arm, a lifting upper platform, and a lifting oil cylinder. The lifting upper platform is fixedly arranged below the bracket 6. The fixed ends of the passive fork arm and the active fork arm are fixed above the vehicle body chassis of the transporter body 2 and below the lifting upper platform through fixed end footrests. The sliding ends of the passive fork arm and the active fork arm are slidably arranged above the vehicle body chassis of the transporter body 2 and below the lifting upper platform through linear guide rails. The two ends of the lifting oil cylinder are hinged to the passive fork arm and the active fork arm.

[0046] The scissor lifting device 1 adopts the existing technology.

[0047] Through the drive of the lifting oil cylinder, the lifting of the lifting upper platform is realized, and the overall lifting of the feeding device is completed, so that the height of the feeding device corresponds to that of the goods parking platform 3.

[0048] The transporter body 2 mainly includes a vehicle body chassis, a drive device, a navigation device, and an electrical control system, and can realize the longitudinal and lateral movement of the AGV, as well as functions such as turning in place and turning around.

[0049] The transporter body 2 adopts the existing technology.

[0050] In the specific implementation, the process of unloading goods is as follows: The goods are located above the feeding device, the scissor lifting device 1 is in the lowest position, the transporter body 2 moves to the corresponding position of the goods parking platform 3 through the navigation device, and accurate parking positioning can be realized by scanning the ground two-dimensional code through the PGV camera. After the parking positioning is completed, the front end of the feeding device is at a fixed distance from the feeding port of the goods parking platform 3, and the telescopic fork assembly of the feeding device is aligned with the fork support platform 5 in the goods parking platform 3.

[0051] The scissor lift device 1 lifts the feeding device until it stops when the bottom of the support roller 25 under the left telescopic fork 11 and the right telescopic fork 12 is flush with the fork support platform 5. At this time, the height of the first roller 21 above the left telescopic fork 11 and the right telescopic fork 12 is lower than the height of the first roller 21 above the left fixed fork 8 and the right fixed fork 10. Driven by the telescopic motor, the left telescopic fork 11 and the right telescopic fork 12 extend into the cargo parking platform 3 through the gear 24 - rack 13 mechanism. The horizontal guide wheels 27 on both sides of the left telescopic fork 11 and the right telescopic fork 12 slide in the horizontal guide groove 29, ensuring that the left telescopic fork 11 and the right telescopic fork 12 can finally accurately stop on the fork support platform 5 in the cargo parking platform 3.

[0052] When the left telescopic fork 11 and the right telescopic fork 12 extend in place, the first lifting device 26 and the second lifting device extend downward simultaneously. Under the guidance of the vertical guide groove 30, through the combined action of multiple lifting devices, the left telescopic fork 11 and the right telescopic fork 12 are lifted as a whole until the first roller 21 on the left telescopic fork 11 and the right telescopic fork 12 is higher than the cargo support platform 4 in the cargo parking platform 3, but the height of the first roller 21 on the left telescopic fork 11 and the right telescopic fork 12 is still lower than the height of the first roller 21 on the left fixed fork 8 and the right fixed fork 10, that is, the height of the first roller 21 on the left telescopic fork 11 and the right telescopic fork 12 is between the height of the cargo support platform 4 and the height of the first roller 21 on the left fixed fork 8 and the right fixed fork 10.

[0053] Start the roller drive motors in the left fixed fork 8, the right fixed fork 10, the left telescopic fork 11 and the right telescopic fork 12. The goods start to be transported from above the left fixed fork 8, the middle fixed fork 9 and the right fixed fork 10 to above the left telescopic fork 11 and the right telescopic fork 12. After the goods are completely transported into the cargo parking platform 3, stop the roller drive motors, retract the first lifting device 26 and the second lifting device until the left telescopic fork 11 and the right telescopic fork 12 stop on the fork support platform 5. At this time, the height of the cargo support platform 4 is higher than the height of the first roller 21 on the left telescopic fork 11 and the right telescopic fork 12, that is, the goods are placed on the cargo support platform 4.

[0054] Start the telescopic motors in the left telescopic fork 11 and the right telescopic fork 12 to reverse until the left telescopic fork 11 and the right telescopic fork 12 are completely retracted in place. The scissor lift device 1 descends to the original position, and the transporter body 2 drives away from the loading position, waiting for the next instruction. Here, the unloading of the goods is completed.

[0055] The process of loading goods is as follows: Before loading, the goods are located on the goods support platform 4 within the goods parking platform 3. The entire AGV is in the parking area, and the scissor lift device 1 is in the lowest position. When the AGV receives the instruction to load goods, the transfer vehicle body 2 moves to the corresponding position of the goods parking platform 3 through the navigation device, and realizes precise parking positioning by scanning the ground two-dimensional code through the PGV camera. When the parking positioning is completed, the front end of the feeding device is at a fixed distance from the feeding port of the goods parking platform 3, and the telescopic fork assembly of the feeding device aligns with the fork support platform 5 within the goods parking platform 3.

[0056] The scissor lift device 1 raises the feeding device until the bottom of the support rollers 25 below the left telescopic fork 11 and the right telescopic fork 12 is flush with the fork support platform 5 and then stops. At this time, the height of the first rollers 21 above the left telescopic fork 11 and the right telescopic fork 12 is lower than the height of the first rollers 21 above the left fixed fork 8 and the right fixed fork 10. Driven by the telescopic motor, the left telescopic fork 11 and the right telescopic fork 12 extend into the goods parking platform 3 through the gear 24 and rack 13 mechanism. The horizontal guide wheels 27 on both sides of the left telescopic fork 11 and the right telescopic fork 12 slide in the horizontal guide grooves 29 to ensure that the left telescopic fork 11 and the right telescopic fork 12 can finally accurately stop on the fork support platform 5 within the goods parking platform 3.

[0057] When the left telescopic fork 11 and the right telescopic fork 12 extend in place, the first lifting device 26 and the second lifting device extend downward at the same time. Under the guidance of the vertical guide grooves 30, through the combined action of multiple lifting devices, the left telescopic fork 11 and the right telescopic fork 12 are lifted as a whole. When the left telescopic fork 11 and the right telescopic fork 12 lift the goods, the lifting device continues to lift until the bottom of the goods is higher than the first rollers 21 on the left fixed fork 8 and the right fixed fork 10 by a certain height and then stops.

[0058] Start the roller drive motors inside the left fixed fork 8, the right fixed fork 10, the left telescopic fork 11 and the right telescopic fork 12. Since there is a height difference between the first rollers 21 on the left fixed fork 8 and the right fixed fork 10 and the first rollers 21 on the left telescopic fork 11 and the right telescopic fork 12, the goods can be transferred from above the left telescopic fork 11 and the right telescopic fork 12 to above the left fixed fork 8 and the right fixed fork 10. After the goods are completely transferred to the left fixed fork 8 and the right fixed fork 10, stop the roller drive motors, and retract the first lifting device 26 and the second lifting device until the left telescopic fork 11 and the right telescopic fork 12 stop on the fork support platform 5.

[0059] Reverse the telescopic motors inside the left telescopic fork 11 and the right telescopic fork 12 until the left telescopic fork 11 and the right telescopic fork 12 are completely retracted into place, the scissor lift device 1 descends to the original position, and the transporter body 2 drives away from the loading position, waiting for the next instruction. Thus, the loading of the goods is completed.

[0060] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A roller-type AGV capable of lifting and telescoping for loading and unloading goods, characterized in that: It includes a feeding device, a scissor lift device (1), and a transporter body (2). The bottom of the scissor lift device (1) is connected to the top of the transporter body (2), and the top of the scissor lift device (1) is connected to the bottom of the feeding device. The transporter body (2) is arranged on one side of the goods parking platform (3), and a goods support platform (4) and a fork support platform (5) are provided inside the goods parking platform (3). The feeding device includes a bracket (6), a fixed fork assembly, a telescopic fork assembly, and a guide plate (7). The fixed fork assembly, the telescopic fork assembly, and the guide plate (7) are all arranged above the bracket (6). The telescopic fork assembly is arranged between the fixed fork assemblies, and the guide plate (7) is arranged on the side wall of the fixed fork assembly and between the telescopic fork assembly and the fixed fork assembly.

2. The roller AGV capable of lifting and telescoping for loading and unloading goods according to claim 1, wherein: The fixed fork assembly includes a left fixed fork (8), a middle fixed fork (9), and a right fixed fork (10). The telescopic fork assembly includes a left telescopic fork (11) and a right telescopic fork (12). The left fixed fork (8), the left telescopic fork (11), the middle fixed fork (9), the right telescopic fork (12), and the right fixed fork (10) are arranged above the bracket (6) in sequence from left to right. Guide plates (7) are provided on one side of the left fixed fork (8) close to the left telescopic fork (11), on both sides of the middle fixed fork (9), and on one side of the right fixed fork (10) close to the right telescopic fork (12).

3. The roller AGV capable of lifting and telescoping for loading and unloading goods according to claim 1, wherein: Two grooves are provided above the bracket (6), and racks (13) are provided in both grooves, and the two racks (13) are respectively located at the bottoms of the left telescopic fork (11) and the right telescopic fork (12).

4. The roller-type AGV capable of lifting and telescoping for loading and unloading goods according to claim 2, wherein: The left fixed fork (8) includes a first fixed roller bracket (14) and a first driving component. The first fixed roller bracket (14) is arranged above the bracket (6), and the first driving component is arranged on one side of the first fixed roller bracket (14). The right fixed fork (10) includes a second fixed roller bracket (15) and a second driving component. The second fixed roller bracket (15) is arranged above the bracket (6), and the second driving component is arranged on one side of the second fixed roller bracket (15). The middle fixed fork (9) includes a third fixed roller bracket (16) and a plurality of second rollers (17). The third fixed roller bracket (16) is arranged above the bracket (6), and the plurality of second rollers (17) are arranged above the third fixed roller bracket (16) through bearings. The left telescopic fork (11) includes a first telescopic roller bracket (18), a third driving component, a first telescopic component, a first guiding component, and a first lifting device (26). The first telescopic roller bracket (18) is arranged above the bracket (6), the third driving component is arranged on one side of the first telescopic roller bracket (18), the first telescopic component and the first lifting device (26) are arranged at the bottom of the first telescopic roller bracket (18), and the first guiding component is arranged on the side walls on both sides of the first telescopic roller bracket (18). The right telescopic fork (12) includes a second telescopic roller bracket (19), a fourth drive assembly, a second telescopic assembly, a second guiding assembly, and a second lifting device. The second telescopic roller bracket (19) is disposed above the bracket (6), the fourth drive assembly is disposed on one side of the second telescopic roller bracket (19), the second telescopic assembly and the second lifting device are disposed at the bottom of the second telescopic roller bracket (19), and the second guiding assembly is disposed on both side walls of the second telescopic roller bracket (19).

5. The roller AGV capable of lifting and telescoping for loading and unloading goods according to claim 4, wherein: The first drive assembly, the second drive assembly, the third drive assembly, and the fourth drive assembly have the same structure, and each includes a roller drive motor, a roller drive reducer, a roller drive motor sprocket (20), a plurality of first rollers (21), a plurality of chains (22), and a plurality of roller sprockets (23). The roller drive motor and the roller drive reducer are disposed inside one side of the first fixed roller bracket (14), the second fixed roller bracket (15), the first telescopic roller bracket (18), or the second telescopic roller bracket (19). The output shaft of the roller drive motor extends to the outside of the first fixed roller bracket (14), the second fixed roller bracket (15), the first telescopic roller bracket (18), or the second telescopic roller bracket (19), and the roller drive motor sprocket (20) is disposed on the output shaft of the roller drive motor; A plurality of first rollers (21) are disposed above the first fixed roller bracket (14), the second fixed roller bracket (15), the first telescopic roller bracket (18), or the second telescopic roller bracket (19) through bearings. A transmission shaft is provided at one end of each of the plurality of first rollers (21). A roller sprocket (23) is fixedly connected to the transmission shaft of the first roller (21) at the end far from the roller drive motor, and two roller sprockets (23) are fixedly connected to the remaining transmission shafts; Chains (22) are provided on the roller drive motor sprocket (20) and the adjacent roller sprocket (23), and on two adjacent roller sprockets (23).

6. The roller AGV capable of lifting and telescoping for loading and unloading goods according to claim 4, wherein: The first telescopic assembly and the second telescopic assembly have the same structure, and each includes a telescopic motor, a telescopic reducer, a gear (24), and a plurality of support rollers (25). The telescopic motor and the telescopic reducer are disposed inside one side of the first telescopic roller bracket (18) or the second telescopic roller bracket (19), and are disposed on the side close to the roller drive motor. The output shaft of the telescopic motor extends to the outer bottom of the first telescopic roller bracket (18) or the second telescopic roller bracket (19), and a gear (24) engaged with the rack (13) is provided on the output shaft of the telescopic motor; A plurality of support rollers (25) are rotatably disposed at the bottom of the first telescopic roller bracket (18) or the second telescopic roller bracket (19) through bearings.

7. A roller - type AGV capable of lifting and telescoping for loading and unloading goods according to claim 4, characterized in that: The structures of the first lifting device (26) and the second lifting device are the same. A plurality of first lifting devices (26) are arranged at the bottom of the first telescopic roller bracket (18), and the plurality of first lifting devices (26) are arranged at intervals from the support rollers (25) at the bottom of the first telescopic roller bracket (18). A plurality of second lifting devices are arranged at the bottom of the second telescopic roller bracket (19), and the plurality of second lifting devices are arranged at intervals from the support rollers (25) at the bottom of the second telescopic roller bracket (19).

8. A roller-type AGV capable of lifting and telescoping for loading and unloading goods according to claim 4, characterized in that: The structures of the first guiding assembly and the second guiding assembly are the same, and include a plurality of horizontal guiding wheels (27) and a plurality of vertical guiding wheels (28). The plurality of horizontal guiding wheels (27) are horizontally distributed on the two side walls of the first telescopic roller bracket (18) or the second telescopic roller bracket (19), and the horizontal guiding wheels (27) are arranged below the chain (22). The vertical guiding wheels (28) are arranged at both ends of the two side walls of the first telescopic roller bracket (18) or the second telescopic roller bracket (19).

9. A roller-type AGV capable of lifting and telescoping for loading and unloading goods according to claim 1, characterized in that: A horizontal guiding groove (29) corresponding to the horizontal guiding wheel (27) and a vertical guiding groove (30) corresponding to the vertical guiding wheel (28) are arranged on the outer side of the guiding plate (7).

10. The roller AGV capable of lifting and telescoping for loading and unloading goods according to claim 1, wherein: The scissor lifting device (1) includes a passive fork arm, an active fork arm, a lifting upper platform, and a lifting oil cylinder. The lifting upper platform is fixedly arranged below the bracket (6). The fixed ends of the passive fork arm and the active fork arm are fixed above the vehicle body chassis of the transport vehicle body (2) and below the lifting upper platform through fixed end pedestals. The sliding ends of the passive fork arm and the active fork arm are slidably arranged above the vehicle body chassis of the transport vehicle body (2) and below the lifting upper platform through linear guide rails. Both ends of the lifting oil cylinder are hinged to the passive fork arm and the active fork arm.

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