Rail-mounted automatic guided vehicle provided with folding tray station

Abstract

The invention relates to a rail-mounted automatic guided vehicle provided with a plate folding and stacking station, which belongs to the technical field of automatic warehouse logistics and comprises two groups of guide rail main bodies, and a storing and taking assembly is arranged on the two groups of guide rail main bodies in a sliding manner. The storing and taking assembly comprises a shuttling goods taking assembly arranged on the two guide rail bodies in a sliding mode, a fork assembly arranged in the shuttling goods taking assembly and used for storing and taking goods or trays, and a tray folding and stacking assembly used for stacking the trays. The bottom of the shuttling goods taking assembly is further provided with a plurality of anti-overturning assemblies. When goods are taken, the telescopic pallet forks can quickly fork and move the goods into a vehicle, the goods putting link works according to the types of the goods, the goods circulation time is shortened, the warehouse operation efficiency is improved, tray stacking and tray disassembling work achieves precise operation through cooperation of multiple components, the tray utilization rate is improved, and the safety is guaranteed to be reliable through the rollover prevention mechanism; when the gravity center shifts, the buffer pad is compressed, and the limiting clamping wheel and the forced limiting hook act together, so that rollover is effectively prevented, and the safety of personnel and equipment is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of automated warehousing logistics, and particularly to a rail-guided vehicle configured with a folding pallet station. Background Art

[0002] RGV (Rail Guide Vehicle), also known as a shuttle car, is a rail-guided vehicle that plays a crucial role in modern logistics systems. With its high speed, reliability, and cost-effectiveness, the shuttle car plays a key role in aspects such as material transportation and workshop assembly. When accessing materials, the material inlet and outlet are generally completed by the telescopic movement of the fork. During operation, there is no need for a forklift to drive into the aisle, making it safer. Taking advantage of the fact that the forklift does not need to enter the aisle and its fast operation in the aisle, the operating efficiency of the warehouse is effectively improved. However, during the actual operation process, both materials and empty pallets operate individually, and the fork shuttle car walks back and forth frequently, greatly reducing its working efficiency. At the same time, the folding work of pallets usually needs to be completed by means of an independent folding pallet machine. This not only increases the equipment cost but also makes the transfer process of pallets between different equipment cumbersome, increasing the pallet turnover time and reducing the working efficiency of the fork RGV. Moreover, the independent folding pallet machine occupies additional storage space, making the warehouse layout less compact and further affecting the effective utilization of storage space. Summary of the Invention

[0003] The purpose of the present invention is to provide a rail-guided vehicle configured with a folding pallet station to solve the problems raised in the above background art.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions: A rail-guided vehicle configured with a folding pallet station includes two groups of guide rail bodies. An access component is slidably arranged on the two groups of guide rail bodies. The access component includes a shuttle picking component slidably arranged on the two groups of guide rail bodies, a fork component arranged in the shuttle picking component for accessing goods or pallets, and a folding pallet component for stacking pallets. A plurality of anti-tipping components are also arranged at the bottom of the shuttle picking component. Among them, lifting components are arranged at the bottoms of both the fork component and the folding pallet component, and both groups of lifting components are fixedly connected to the shuttle picking component. A pallet transfer component for stacking pallets in cooperation with the lifting components is also arranged at one end of the top of the shuttle picking component close to the folding pallet component. A conveying chain component for conveying pallets is also fixedly connected in the shuttle picking component.

[0005] Furthermore, the shuttle picking component includes a shuttle picking vehicle body. On both sides of the bottom of the shuttle picking vehicle body, three groups of walking driving devices are fixedly connected. A controller is also arranged at the bottom of the shuttle picking vehicle body. A support plate is fixedly connected to the top of the shuttle picking vehicle body, and the tray transfer component is fixedly arranged on the support plate; A limiting stop bar and a limiting baffle for blocking the movement of the tray are fixedly connected to one side of the shuttle picking vehicle body close to the folding tray component. Two groups of safety limiters and obstacle clearing devices are also fixedly connected to both sides of the bottom of the shuttle picking vehicle body.

[0006] Furthermore, the fork component and the folding tray component are both arranged in the shuttle picking vehicle body. The fork component includes a goods picking rack. Multiple groups of first lifting troughs are fixedly connected to the bottom of the goods picking rack. A first moving slider is fixedly connected to each group of the first lifting troughs. A telescopic fork body for storing and retrieving goods or trays is also fixedly connected to the top of the goods picking rack; The folding tray component includes a lifting frame. A lifting cross bar is fixedly connected to the top of the lifting frame. Multiple groups of second lifting troughs are fixedly connected to the bottom of the lifting frame. A second moving slider is fixedly connected to each group of the second lifting troughs; Fixed guiding strips adapted to multiple groups of first moving sliders and second moving sliders are also fixedly connected to the inner side wall of the shuttle picking vehicle body. Multiple groups of the first moving sliders and the second moving sliders are respectively slidably connected to adjacent fixed guiding strips.

[0007] Furthermore, each group of the lifting components includes a reduction motor and a gear box. The reduction motor and the gear box are both fixedly connected in the shuttle picking vehicle body. Output shafts are arranged on both sides of the reduction motor. Cam groups are fixedly connected to both ends of the two output shafts. Multiple groups of the cam groups are respectively slidably clamped on adjacent first moving sliders and second moving sliders; A driving gear is fixedly connected to the output end of the reduction motor. The driving gear is rotatably connected in the gear box. Gear groups are also arranged on both sides of the driving gear, and the gear groups on both sides are both meshed with the driving gear. Reduction wheels are also fixedly connected to the two output shafts, and the two reduction wheels are respectively meshed with the adjacent gear groups.

[0008] Furthermore, the tray transfer component includes a driving motor and two groups of guide rail sliders. The two groups of guide rail sliders are both fixedly connected to the support plate. The driving motor is located directly above the two groups of guide rail sliders and between the two groups of guide rail sliders. A synchronous gear is fixedly connected to the output end of the driving motor. Synchronous racks are slidably connected to the two groups of guide rail sliders, and the two synchronous racks are both meshed with the synchronous gear on the driving motor; Between two groups of the synchronous racks, a transition plate is fixedly connected between adjacent guide rail sliders. At both ends of the two groups of transition plates away from each other, a connecting plate is fixedly connected. At both ends of each group of connecting plates, a rocker is hinged.

[0009] Furthermore, the pallet transfer assembly further includes multiple groups of driving gears and driven gears rotatably connected to the main body of the shuttle truck. And each group of driven gears meshes with the adjacent driving gear. One ends of the multiple groups of rockers close to the adjacent driving gears are all hinged to the driving gears. At the bottom of each group of driven gears, a hook release rotating shaft is fixedly connected. At the bottom of each group of hook release rotating shafts, a hook is fixedly connected.

[0010] Furthermore, the conveying chain assembly includes two fixing frames, both of which are fixedly connected to the main body of the shuttle truck. In both of the two fixing frames, a conveying chain is arranged. On one side of one of the two fixing frames, a conveying chain motor is fixedly connected. In both of the two fixing frames, a sprocket is fixedly connected. The output end of the conveying chain motor is fixedly connected with a transmission shaft, and the other end of the transmission shaft is fixedly connected to the sprockets in the two fixing frames respectively. In both of the two fixing frames, a lubrication assembly is also arranged.

[0011] Furthermore, the lubrication assembly includes a collection box, a synchronous disk and a piston cylinder. The collection box and the piston cylinder are both fixedly connected inside the fixing frame, and a filter cotton is arranged in the collection box. The synchronous disk is fixedly connected to the adjacent sprocket. On the side of the synchronous disk away from the sprocket, a first connecting rod is fixedly hinged. The other end of the first connecting rod is hinged to a second connecting rod. The other end of the second connecting rod is fixedly connected to a synchronous plate. A piston rod is slidably connected in the piston cylinder, and the end of the piston rod away from the piston cylinder is fixedly connected to the synchronous plate; The collection box further includes a fixing plate fixedly connected to the inner side wall of the fixing frame. On the side of the fixing plate close to the conveying chain, two groups of lubricating cotton are fixedly connected, and the two groups of lubricating cotton are respectively located on both sides of the conveying chain. The liquid inlet end of the second connecting rod is connected to the collection box through a hose, and the liquid outlet end of the second connecting rod is connected to the two groups of lubricating cotton through a hose.

[0012] Furthermore, multiple groups of anti-overturning assemblies are respectively fixedly connected to the adjacent traveling driving devices, and each group of anti-overturning assemblies is located on both sides of the adjacent guide rail main body. The anti-overturning assembly includes multiple groups of buffer pads fixedly connected to the four corners of the traveling driving device. At the bottom of each group of buffer pads, a caster shaft is fixedly connected. On the side of each group of caster shafts close to the guide rail main body, a limit caster is arranged. On the traveling driving device at the middle upper part of the main body of the shuttle truck, two groups of forced anti-side overturning mechanisms are also fixedly connected.

[0013] Furthermore, the forced rollover prevention mechanism includes two groups of forced limit mounting plates fixedly connected to both sides of adjacent walking drive devices. Both ends of the two groups of forced limit mounting plates are fixedly connected with forced limit shafts. The bottom of each group of forced limit shafts is fixedly connected with a forced limit hook. Multiple groups of forced limit hooks are respectively located on both sides of adjacent guide rail bodies.

[0014] Compared with the prior art, the above scheme has the following beneficial effects: 1. The present invention has efficient functions of goods handling and pallet stacking and unstacking. When picking up goods, the shuttle goods truck body can move to the docking interface, the telescopic fork body quickly extends to pick up the goods, and a series of actions such as the reduction motor driving the goods rack and the fork to move up and retract are carried out, quickly moving the goods into the shuttle goods truck body. In the goods discharging link, according to whether the picked-up item is a material, a single pallet or a pallet group, the fork can output the material, stack the pallets or output the pallets to the designated area according to the corresponding instructions. This flexible and efficient storage and retrieval method greatly shortens the turnover time of goods in the warehouse and improves the overall operation efficiency of the warehouse.

[0015] 2. In the pallet stacking work, through the coordinated operation of components such as the reduction motor, the driving motor, the synchronous gear and the synchronous rack, the precise stacking of pallets can be realized. A series of actions from lifting the pallet group, flipping the hook to pallet conveying and hook resetting are completed in one go, ensuring the stability and accuracy of the stacking process. In the pallet unstacking work, the reduction motor lifts the pallet group to the designated position, the hook fixes the pallet group, and through the lowering of the lifting frame and the action of the conveying chain assembly, the individual separation and conveying of the pallets are realized. This pallet stacking and unstacking function enables the pallets to be flexibly combined and split according to actual needs, improves the utilization rate of pallets, and reduces the idleness and waste of pallets.

[0016] 3. In terms of safety, the configured rollover prevention mechanism provides reliable guarantee for the operation of the equipment. When the shuttle goods truck body is walking normally, the buffer pad can not only increase the contact force of the walking wheels, but also play a role in walking shock absorption and stability. When the telescopic fork body extends to pick up goods and causes the center of gravity to shift, the buffer pad of the buffer type rollover prevention mechanism is compressed to the limit, and the limit caster wheel catches the guide rail body, preventing the risk of rollover. The setting of the forced limit hook further effectively limits the roll of the shuttle goods truck body and prevents the occurrence of rollover accidents, ensuring the safety of operators and equipment.

[0017] 4. In the present invention, the design of the conveyor chain assembly ensures the smoothness of pallet conveying. The conveyor chain motor drives the sprockets in two sets of fixing frames to rotate simultaneously through a transmission shaft, thereby driving the conveyor chain to rotate. The cooperation of multiple sprockets ensures the stable conveying of the pallet by the conveyor chain. At the same time, the lubrication system composed of components such as a synchronous disc, a connecting rod, and a piston cylinder can automatically convey the lubricating fluid to the lubricating cotton to lubricate the conveyor chain in real time, reducing the wear and failure rate of the chain, extending the service life of the equipment, and ensuring the continuous and stable progress of the conveying work. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of the first perspective of the present invention; Figure 2 is a schematic structure of the shuttle picking component in the present invention Figure 1 ; Figure 3 in the present invention Figure 2 is an enlarged schematic diagram of the structure at position A; Figure 4 is a schematic structure of the shuttle picking component in the present invention Figure 2 ; Figure 5 is a schematic structural diagram of the forklift component in the present invention; Figure 6 is a bottom view schematic diagram of the forklift component in the present invention; Figure 7 is a schematic structural diagram of the folding tray component in the present invention; Figure 8 is a bottom view schematic diagram of the folding tray component in the present invention; Figure 9 is a schematic structural diagram of the reduction motor and the gearbox in the present invention; Figure 10 is a schematic diagram of the internal structure of the gearbox in the present invention; Figure 11 is a schematic structural diagram of the conveyor chain assembly in the present invention; Figure 12 is a partial schematic diagram of the internal structure of the fixing frame in the present invention; Figure 13 is a schematic diagram of the internal structure of the fixing frame in the present invention; Figure 14 is a schematic structural diagram of the anti - tipping component in the present invention; Figure 15 in the present invention Figure 1 is an enlarged schematic diagram of the structure at position B; Figure 16 is a side view schematic diagram of the anti - tipping component and the traveling drive device in the present invention; Figure 17 is a schematic diagram of the pallet equipped on the shuttle picking component in the present invention; Figure 18 Schematic diagram of the pallet group equipped on the shuttle picking component in the present invention; Figure 19 Schematic diagram of the pallet group and materials equipped on the shuttle picking component in the present invention.

[0019] In the figure: 1. Rail main body; 2. Shuttle picking component; 21. Shuttle truck main body; 22. Travel driving device; 23. Controller; 24. Limit stop bar; 25. Limit baffle; 26. Safety limiter; 27. Obstacle clearer; 28. Fixed guide strip; 29. Support plate; 3. Fork component; 31. Goods picking rack; 32. First jacking trough; 33. First moving slider; 34. Telescopic fork main body; 4. Folding tray component; 41. Jacking frame; 42. Jacking cross bar; 43. Second jacking trough; 44. Second moving slider; 5. Pallet transfer component; 51. Driving motor; 52. Rail slider; 53. Synchronous rack; 54. Transition plate; 55. Connecting plate; 56. Rocker; 57. Driving gear; 58. Driven gear; 59. Hook rotating shaft; 6. Conveyor chain component; 61. Fixed frame; 62. Conveyor chain motor; 63. Transmission shaft; 64. Conveyor chain; 65. Sprocket; 7. Jacking component; 71. Reducing motor; 72. Gear box; 73. Cam group; 74. Output shaft; 75. Driving gear; 76. Gear group; 77. Reducing wheel; 8. Collection box; 81. Synchronous disc; 82. First connecting rod; 83. Second connecting rod; 84. Piston barrel; 85. Synchronous plate; 86. Fixed plate; 9. Anti - tipping component; 91. Forced limit mounting plate; 92. Buffer pad; 93. Forced limit shaft; 94. Forced limit hook; 95. Caster shaft; 96. Limit caster. Detailed implementation manners

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0021] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "top surface", "bottom surface", etc. are based on the orientation or positional relationships shown in the accompanying drawings. These are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated position or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not require or imply any actual relationship, sequence or relative importance between these entities or operations. Embodiment 1

[0022] Refer to Figure 1-19, An orbital automatic guided vehicle configured with a folding tray station, comprising two sets of guide rail bodies 1. An access component is slidably arranged on the two sets of guide rail bodies 1. The access component includes a shuttle picking component 2 slidably arranged on the two sets of guide rail bodies 1, a fork component 3 arranged in the shuttle picking component 2 for accessing goods or pallets, and a folding tray component 4 for stacking pallets. A plurality of anti-tipping components 9 are also arranged at the bottom of the shuttle picking component 2. Among them, lifting components 7 are arranged at the bottoms of both the fork component 3 and the folding tray component 4, and the two sets of lifting components 7 are fixedly connected to the shuttle picking component 2. At one end of the top of the shuttle picking component 2 close to the folding tray component 4, a pallet transfer component 5 for cooperating with the lifting component 7 to stack pallets is also arranged. A conveying chain component 6 for conveying pallets is fixedly connected in the shuttle picking component 2. The shuttle picking component 2 includes a shuttle picking truck main body 21. Three sets of walking driving devices 22 are fixedly connected to both sides of the bottom of the shuttle picking truck main body 21. A controller 23 is also arranged at the bottom of the shuttle picking truck main body 21. A support plate 29 is fixedly connected to the top of the shuttle picking truck main body 21. The pallet transfer component 5 is fixedly arranged on the support plate 29. A limiting stop bar 24 and a limiting baffle 25 for blocking the movement of pallets are fixedly connected to one side of the shuttle picking truck main body 21 close to the folding tray component 4. Two sets of safety limiters 26 and obstacle clearing devices 27 are also fixedly connected to both sides of the bottom of the shuttle picking truck main body 21; Specifically, the fork component 3 and the folding tray component 4 adopt a parallel layout. On the premise of not affecting the original operation channel, the space occupation is minimized as much as possible. When stacking trays, the fork component 3 forks the tray, and then it is transferred to the folding tray component 4 station by the conveying chain component 6 to complete the stacking. The pallet group is stored at the folding tray component 4 station. When unstacking, the fork component 3 still forks the pallet group, and then it is transferred to the folding tray component 4 station by the conveying chain component 6 to complete the unstacking. The unstacked pallets are transferred to the fork component 3 by the conveying chain component 6 for subsequent work.

[0023] In this embodiment, both the fork component 3 and the folding tray component 4 are arranged in the shuttle picking truck main body 21. The fork component 3 includes a shelf 31. A plurality of first lifting trough bodies 32 are fixedly connected to the bottom of the shelf 31. A first moving slider 33 is fixedly connected to each group of first lifting trough bodies 32. A telescopic fork main body 34 for accessing goods or pallets is fixedly connected to the top of the shelf 31. The folding tray component 4 includes a lifting frame 41. A lifting cross bar 42 is fixedly connected to the top of the lifting frame 41. A plurality of second lifting trough bodies 43 are fixedly connected to the bottom of the lifting frame 41. A second moving slider 44 is fixedly connected to each group of second lifting trough bodies 43. Fixed guiding strips 28 adapted to the plurality of first moving sliders 33 and second moving sliders 44 are also fixedly connected to the inner side wall of the shuttle picking truck main body 21. The plurality of first moving sliders 33 and second moving sliders 44 are respectively slidably connected to the adjacent fixed guiding strips 28; Specifically, during operation, when pallet stacking is required, the telescopic forklift body 34 on the storage rack 31 first extends to fork the pallet. The lifting assembly 7 drives the storage rack 31 and the telescopic forklift body 34 to move upward, causing the telescopic forklift body 34 to drive the pallet upward. Then, the telescopic forklift body 34 is retracted, which can drive the pallet to move into the shuttle truck body 21. When the movement is in place, the lifting assembly 7 drives the storage rack 31 and the telescopic forklift body 34 to move downward, so that the pallet falls on the conveying chain assembly 6. The pallet is transported to the lifting frame 41 through the conveying chain assembly 6 for pallet stacking work; When pallet unstacking is performed, first, the stacked pallet group is still transported into the shuttle truck body 21 through the telescopic forklift body 34, and then transported to the lifting frame 41 through the conveying chain assembly 6. The pallets are sequentially removed through the lifting frame 41. Each removed pallet is then transported to the storage rack 31 through the conveying chain assembly 6 and sent out through the telescopic forklift body 34.

[0024] In this embodiment, each set of lifting assemblies 7 includes a reduction motor 71 and a gearbox 72. The reduction motor 71 and the gearbox 72 are both fixedly connected to the shuttle truck body 21. Output shafts 74 are arranged on both sides of the reduction motor 71. Cam groups 73 are fixedly connected to both ends of the two output shafts 74. Multiple sets of cam groups 73 are respectively slidably clamped on the adjacent first moving sliders 33 and second moving sliders 44. The output end of the reduction motor 71 is fixedly connected to a driving gear 75. The driving gear 75 is rotatably connected to the gearbox 72. Gear groups 76 are also arranged on both sides of the driving gear 75, and the gear groups 76 on both sides are both meshed with the driving gear 75. Reduction wheels 77 are also fixedly connected to the two output shafts 74, and the two reduction wheels 77 are respectively meshed with the adjacent gear groups 76; Specifically, after the telescopic forklift body 34 forks the pallet, the reduction motor 71 at the bottom of the storage rack 31 is started, so that the reduction motor 71 drives the driving gear 75 in the gearbox 72 to rotate. The driving gear 75 drives the two reduction wheels 77 to rotate through the two gear groups 76, causing the two output shafts 74 to rotate synchronously. When the two output shafts 74 rotate, the cam groups 73 at both ends push the first lifting groove body 32 at the bottom of the storage rack 31, so that the first lifting groove body 32 pushes the first moving slider 33 to move upward along the fixed guiding strip 28. Further, the storage rack 31 and the telescopic forklift body 34 move upward synchronously, and the telescopic forklift body 34 lifts the pallet; After the telescopic forklift body 34 moves the pallet into the shuttle truck body 21, the reduction motor 71 is started again, and the output shaft 74 rotates again, causing the first lifting groove body 32 and the first moving slider 33 to move downward, so that the storage rack 31 and the telescopic forklift body 34 move downward, and the pallet falls on the conveying chain assembly 6; When the lifting frame 41 performs pallet unstacking or stacking work, the reduction motor 71 at the bottom of the lifting frame 41 is also started to perform the above movements.

[0025] In this embodiment, the tray transfer assembly 5 includes a driving motor 51 and two sets of guide rail sliders 52. The two sets of guide rail sliders 52 are both fixedly connected to the support plate 29. The driving motor 51 is located directly above the two sets of guide rail sliders 52 and between the two sets of guide rail sliders 52. The output end of the driving motor 51 is fixedly connected with a synchronous gear. Two synchronous racks 53 are slidably connected to the two sets of guide rail sliders 52 respectively. The two synchronous racks 53 are both meshed with the synchronous gear on the driving motor 51. A transition plate 54 is fixedly connected between the two synchronous racks 53 on adjacent guide rail sliders 52. Connecting plates 55 are fixedly connected to the mutually remote ends of the two transition plates 54. Rocker arms 56 are hinged to both ends of each connecting plate 55. The tray transfer assembly 5 further includes a plurality of driving gears 57 and driven gears 58 rotatably connected to the main body 21 of the shuttle truck. Each driven gear 58 is meshed with an adjacent driving gear 57. The ends of the plurality of rocker arms 56 close to the adjacent driving gears 57 are hinged to the driving gears 57. A hook release rotating shaft 59 is fixedly connected to the bottom of each driven gear 58. A hook is fixedly connected to the bottom of each hook release rotating shaft 59; Specifically, when performing the tray stacking operation, first start the reduction motor 71 to drive the tray group on the lifting frame 41 and the lifting cross bar 42 to move upward. At the same time, start the driving motor 51. The driving motor 51 drives the two synchronous racks 53 to slide towards each other through the synchronous gear. The two synchronous racks 53 drive the two connecting plates 55 to move through the transition plates 54 at the same time, so that the two connecting plates 55 pull the two rocker arms 56 to retract. The plurality of rocker arms 56 simultaneously pull the adjacent driving gears 57 to rotate, so that the driving gears 57 drive the driven gears 58 to rotate. The driven gears 58 drive the hook release rotating shafts 59 and the hooks to flip to the reset position (the hooks rotate out of the tray lifting space). At this time, the lifting frame 41 is moved to the tray stacking in-place position through the lifting assembly 7. The hooks are flipped to the inserted state under the action of the driving motor 51. At this time, the lifting frame 41 is lowered through the lifting assembly 7, and the trays are hung on the hooks (reference can be made to Figure 18 ). The trays on the telescopic fork main body 34 are conveyed onto the lifting frame 41 under the action of the conveying chain assembly 6. When the trays contact the limit stop rod 24 and the limit baffle 25, the conveying chain assembly 6 stops. The reduction motor 71 is started again to drive the lifting frame 41 to move upward, so that the trays on the lifting frame 41 contact the trays on the hooks and push them upward. Stop at the initial tray stacking position, and separate the hooks from the tray group. At this time, the driving motor 51 is driven to drive the hook release rotating shaft 59 to rotate in the reverse direction, and the hooks can be flipped and reset; The deceleration motor 71 drives the lifting frame 41 and the tray group to continue to lift until reaching the position where the trays are stacked in place and then stops. Then, the driving motor 51 is started. The driving motor 51 drives two synchronous racks 53 to slide towards each other through synchronous gears. The two synchronous racks 53 simultaneously drive two connecting plates 55 to move through a transition plate 54, causing the two connecting plates 55 to pull multiple rocker arms 56 to retract. The multiple rocker arms 56 simultaneously pull the adjacent driving gears 57 to rotate, causing the driving gears 57 to drive the driven gears 58 to rotate. The driven gears 58 drive the hook rotating shaft 59 and the hook to flip to the inner insertion state. At this time, the lifting frame 41 is lowered to the original position of the stacked trays through the lifting assembly 7, and the trays are hung on the hooks, thus completing a tray stacking operation. When the tray unstacking operation is carried out, the deceleration motor 71 lifts the tray group to the position where the trays are stacked in place. At this time, the hooks are disengaged from the trays. Under the action of the driving gears 57 and the driven gears 58, the hooks rotate to the reset position. The deceleration motor 71 lowers the tray group to the initial position of the stacked trays. Under the action of the driving gears 57 and the driven gears 58, the hooks rotate to the bottom of the penultimate tray. The deceleration motor 71 drives the lifting frame 41 to continue to lower to the original position of the stacked trays. At this time, the bottom tray falls on the conveying chain assembly 6, and the upper tray group is fixed above by the hooks. The bottom tray is conveyed to the telescopic fork body 34 under the action of the conveying chain assembly 6 for the telescopic fork body 34 to convey. This process is repeated to achieve the tray unstacking operation.

[0026] In this embodiment, the conveying chain assembly 6 includes two groups of fixing frames 61. The two groups of fixing frames 61 are both fixedly connected to the shuttle truck body 21. Conveying chains 64 are arranged in both groups of fixing frames 61. A conveying chain motor 62 is fixedly connected to one side of one group of fixing frames 61. Sprockets 65 are fixedly connected to both groups of fixing frames 61. The output end of the conveying chain motor 62 is fixedly connected to a transmission shaft 63. The other end of the transmission shaft 63 is respectively fixed to the sprockets 65 in the two fixing frames 61. Lubrication assemblies are also arranged in both groups of fixing frames 61. Specifically, when the conveying operation is carried out, first, the conveying chain motor 62 is started. The conveying chain motor 62 drives the sprockets 65 in both groups of fixing frames 61 to rotate through the transmission shaft 63, causing the sprockets 65 to drive the conveying chains 64 to rotate. Through the cooperation of multiple groups of sprockets in the fixing frames 61, the conveying chains 64 can stably convey the trays.

[0027] In this embodiment, the lubrication assembly includes a collection box 8, a synchronous disk 81 and a piston cylinder 84. The collection box 8 and the piston cylinder 84 are both fixedly connected within the fixing frame 61, and a filter cotton is provided in the collection box 8. The synchronous disk 81 is fixed to the adjacent sprocket 65. One side of the synchronous disk 81 away from the sprocket 65 is fixedly hinged with a first connecting rod 82. The other end of the first connecting rod 82 is hinged with a second connecting rod 83. The other end of the second connecting rod 83 is fixedly connected with a synchronous plate 85. A piston rod is slidably connected in the piston cylinder 84, and the end of the piston rod away from the piston cylinder 84 is fixedly connected with the synchronous plate 85. The collection box 8 further includes a fixing plate 86 fixedly connected to the inner side wall of the fixing frame 61. Two groups of lubricating cotton are fixedly connected to the side of the fixing plate 86 close to the conveying chain 64, and the two groups of lubricating cotton are respectively located on both sides of the conveying chain 64. The liquid inlet end of the second connecting rod 83 is connected to the collection box 8 through a hose, and the liquid outlet end of the second connecting rod 83 is connected to the two groups of lubricating cotton through a hose; Specifically, when the two groups of sprockets 65 rotate simultaneously, the two groups of sprockets 65 synchronously drive the two synchronous disks 81 to rotate. The two synchronous disks 81 pull the first connecting rod 82 and the second connecting rod 83 to reciprocate. The second connecting rod 83 pulls the piston rod in the piston cylinder 84 to reciprocate and suck, so that the piston cylinder 84 continuously conveys the lubricating liquid to the lubricating cotton on the fixing plate 86 to lubricate the conveying chain 64 passing through the lubricating cotton; At the same time, through the arranged collection box 8, the dripping lubricating liquid can be collected when the conveying chain 64 moves, and the impurities can be filtered through the filter cotton for reuse, reducing waste.

[0028] In this embodiment, multiple groups of anti-overturning assemblies 9 are respectively fixedly connected to the adjacent traveling driving devices 22, and each group of anti-overturning assemblies 9 is located on both sides of the adjacent guide rail body 1. The anti-overturning assembly 9 includes multiple groups of buffer pads 92 fixedly connected to the four corners of the traveling driving device 22. A caster shaft 95 is fixedly connected to the bottom of each group of buffer pads 92. A limit caster 96 is arranged on one side of each caster shaft 95 close to the guide rail body 1. Two groups of forced anti-side overturning mechanisms are also fixedly connected to the traveling driving device 22 in the middle upper part of the shuttle truck body 21. The forced anti-side overturning mechanism includes two groups of forced limit mounting plates 91 fixedly connected to both sides of the adjacent traveling driving device 22. Forced limit shafts 93 are fixedly connected to both ends of the two groups of forced limit mounting plates 91. A forced limit hook 94 is fixedly connected to the bottom of each group of forced limit shafts 93. Multiple groups of forced limit hooks 94 are respectively located on both sides of the adjacent guide rail body 1; Specifically, to ensure the working safety of the overall operation, on the one hand, a safety limiter 26 and a clearance eliminator 27 are configured on the main body 21 of the shuttle goods truck. On the other hand, an anti-rollover mechanism is also configured, including a buffer type and a forced type. The buffer type anti-rollover mechanism mainly consists of a buffer pad 92, a caster shaft 95, and a limit caster 96. The buffer pad 92 can increase the contact force of the walking wheels when the main body 21 of the shuttle goods truck is walking normally, and can also increase the walking shock absorption and stability. When the telescopic fork main body 34 extends to pick up goods, due to the offset of the center of gravity, the whole vehicle has the risk of rollover. The buffer pad 92 of the buffer type anti-rollover mechanism is compressed to the limit, and the limit caster 96 catches the guide rail main body 1 to prevent the risk of rollover. In the forced type anti-rollover mechanism, the forced limit shaft 93 and the forced limit hook 94 are welded together. The forced limit hooks 94 are distributed outside the guide rail main body 1. When the main body 21 of the shuttle goods truck is walking normally, there is a gap between the forced limit hooks 94 and the guide rail main body 1, which does not affect the walking of the main body 21 of the shuttle goods truck. When it is necessary to extend the telescopic fork main body 34 to pick up goods, due to the offset of the center of gravity, the whole vehicle tilts to one side. The gap between the forced limit hooks 94 outside the guide rail main body 1 and the guide rail is reduced to zero, and the forced limit hooks 94 catch the guide rail main body 1, effectively restricting the further tilting of the main body 21 of the shuttle goods truck and preventing the risk of rollover.

[0029] The working principle of the present invention: First, according to the working instruction, the main body 21 of the shuttle goods truck walks to the docking interface. The telescopic fork main body 34 extends to pick up the goods. The reduction motor 71 drives the goods rack 31 and the telescopic fork main body 34 to move upward. The telescopic fork main body 34 retracts, driving the goods to move into the main body 21 of the shuttle goods truck. The telescopic fork main body 34 descends. At this time, the material is loaded on the tray or the tray is stored in the fork position. If the picked item is a material, the main body 21 of the shuttle goods truck runs to the goods discharging interface position according to the instruction, and the telescopic fork main body 34 acts in the reverse direction to output the material. If it is a single tray, it will stack the trays or output the tray according to the instruction. If stacking trays, it will follow the stacking tray working process. If discharging the tray, it will output to the tray area according to the instruction. If a pallet group is picked up, it will be moved to the pallet disassembling and stacking component 4 for pallet disassembling. When performing the pallet stacking operation, first start the reduction motor 71. The reduction motor 71 drives the pallet group on the lifting frame 41 and the lifting crossbar 42 to move upward. Then start the driving motor 51. The driving motor 51 drives two synchronous racks 53 to slide towards each other through the synchronous gears. The two synchronous racks 53 drive two connecting plates 55 to move through the transition plate 54, causing the two rocker arms 56 to retract. Multiple rocker arms 56 simultaneously pull the adjacent driving gears 57 to rotate, and drive the driven gears 58 to rotate. The driven gears 58 drive the hook rotating shaft 59 and the hook to flip to the reset position (the hook rotates out of the pallet lifting space). At this time, then move the lifting frame 41 to the pallet stacking in-place position through the lifting assembly 7. Start the driving motor 51 to drive the hook to flip to the inserted state. At this time, lower the lifting frame 41 through the lifting assembly 7, and the pallet is hung on the hook; The pallet on the telescopic fork body 34 is conveyed onto the lifting frame 41 under the action of the conveying chain assembly 6. Start the reduction motor 71 again to drive the lifting frame 41 to move upward, so that the pallet on the lifting frame 41 contacts the pallet on the hook and is jacked up. Stop when reaching the initial pallet stacking position, and disconnect the hook from the pallet group. At this time, drive the hook rotating shaft 59 to rotate in the reverse direction through the driving motor 51, and the hook can be flipped back to the reset position; Drive the lifting frame 41 and the pallet group to continue to lift until reaching the pallet stacking in-place position and then stop by the reduction motor 71. Then start the driving motor 51 to drive the two synchronous racks 53 to drive the two connecting plates 55 to move, causing multiple rocker arms 56 to retract. The two rocker arms 56 respectively drive the adjacent driving gears 57 to rotate. The driving gears 57 drive the hook rotating shaft 59 and the hook to flip through the driven gears 58, making the hook flip to the inserted state. At this time, lower the lifting frame 41 to the original pallet stacking position through the lifting assembly 7, and the pallet is hung on the hook, and one pallet stacking operation can be completed; When performing the pallet unstacking operation, the reduction motor 71 jacks up the pallet group to the pallet stacking in-place position. At this time, the hook is disengaged from the pallet and rotates to the reset state under the action of the driving gear 57 and the driven gear 58. The reduction motor 71 lowers the pallet group to the initial pallet stacking position. The hook rotates to the bottom of the second-to-last pallet under the action of the driving gear 57 and the driven gear 58. The reduction motor 71 drives the lifting frame 41 to continue to lower to the original pallet stacking position. At this time, the bottom pallet falls onto the conveying chain assembly 6, and the upper pallet group is fixed above by the hook. The bottom pallet is conveyed onto the telescopic fork body 34 under the action of the conveying chain assembly 6 for the telescopic fork body 34 to convey. Repeat this process to complete the pallet unstacking operation; When carrying out the conveying work, first start the conveying chain motor 62. The conveying chain motor 62 drives the sprockets 65 in two groups of fixing frames 61 to rotate simultaneously through the transmission shaft 63, so that the sprockets 65 drive the conveying chain 64 to rotate. Through the cooperation of multiple groups of sprockets in the fixing frame 61, the conveying chain 64 can stably convey the pallets. When the two sprockets 65 rotate simultaneously, the two sprockets 65 synchronously drive the two synchronous discs 81 to rotate. The two synchronous discs 81 pull the first connecting rod 82 and the second connecting rod 83 to reciprocate. The second connecting rod 83 pulls the piston rod in the piston cylinder 84 to reciprocate and suck, so that the piston cylinder 84 continuously conveys the lubricating fluid to the lubricating cotton on the fixing plate 86 to lubricate the conveying chain 64 passing through the lubricating cotton; To ensure the working safety of the overall operation, an anti-rollover mechanism is configured. The buffer pad 92 can increase the contact force of the walking wheels when the main body 21 of the shuttle truck is walking normally, and can also increase the walking shock absorption and stability. When the telescopic fork main body 34 extends to pick up goods, due to the offset of the center of gravity, the whole vehicle has the risk of rollover. The buffer pad 92 of the buffer type anti-rollover mechanism is compressed to the limit, and the limit clamping wheel 96 clamps the guide rail main body 1 to prevent the rollover risk; At the same time, when the main body 21 of the shuttle truck is walking normally, there is a gap between the forced limit hook 94 and the guide rail main body 1. When it is necessary to extend the telescopic fork main body 34 to pick up goods, due to the offset of the center of gravity, the whole vehicle tilts to one side. The gap between the forced limit hook 94 outside the guide rail main body 1 and the guide rail is reduced to zero, and the forced limit hook 94 clamps the guide rail main body 1, effectively restricting the further tilting of the main body 21 of the shuttle truck and preventing the rollover risk.

[0030] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention should be subject to the scope defined by the claims.

Claims

1. An orbital automatic guided vehicle configured with a folding tray station, characterized in that It includes two groups of guide rail bodies (1), and an access component is slidably arranged on the two groups of guide rail bodies (1). The access component includes a shuttle picking component (2) slidably arranged on the two groups of guide rail bodies (1), a fork component (3) arranged in the shuttle picking component (2) for accessing goods or pallets, and a folding pallet component (4) for stacking pallets. A plurality of anti-overturning components (9) are also arranged at the bottom of the shuttle picking component (2); Among them, lifting components (7) are arranged at the bottoms of the fork component (3) and the folding pallet component (4), and the two lifting components (7) are both fixedly connected to the shuttle picking component (2). A pallet transfer component (5) for stacking pallets in cooperation with the lifting component (7) is also arranged at one end of the top of the shuttle picking component (2) close to the folding pallet component (4). A conveying chain component (6) for conveying pallets is also fixedly connected in the shuttle picking component (2).

2. The rail-guided automated guided vehicle with a configured folding tray station according to claim 1, characterized in that, The shuttle picking component (2) includes a shuttle picking vehicle body (21). Three walking driving devices (22) are fixedly connected to both sides of the bottom of the shuttle picking vehicle body (21). A controller (23) is also arranged at the bottom of the shuttle picking vehicle body (21). A support plate (29) is fixedly connected to the top of the shuttle picking vehicle body (21), and the pallet transfer component (5) is fixedly arranged on the support plate (29); A limit stop bar (24) and a limit baffle (25) for blocking the movement of the pallet are fixedly connected to one side of the shuttle picking vehicle body (21) close to the folding pallet component (4). Two safety limiters (26) and obstacle cleaners (27) are also fixedly connected to both sides of the bottom of the shuttle picking vehicle body (21); The conveying chain component (6) includes two fixing frames (61). The two fixing frames (61) are both fixedly connected in the shuttle picking vehicle body (21). Conveying chains (64) are arranged in the two fixing frames (61). A conveying chain motor (62) is fixedly connected to one side of one of the fixing frames (61). Sprockets (65) are fixedly connected in the two fixing frames (61). The output end of the conveying chain motor (62) is fixedly connected to a transmission shaft (63). The other end of the transmission shaft (63) is respectively fixed to the sprockets (65) in the two fixing frames (61). Lubrication components are also arranged in the two fixing frames (61).

3. The rail-type automatic guided vehicle with a configured folding tray station according to claim 2, wherein, The fork component (3) and the folding pallet component (4) are both arranged in the shuttle picking vehicle body (21). The fork component (3) includes a goods picking rack (31). A plurality of first lifting groove bodies (32) are fixedly connected to the bottom of the goods picking rack (31). A first moving slider (33) is fixedly connected to each first lifting groove body (32). A telescopic fork body (34) for accessing goods or pallets is also fixedly connected to the top of the goods picking rack (31); The folding tray assembly (4) includes a lifting frame (41), a top of the lifting frame (41) is fixedly connected with a lifting crossbar (42), a bottom of the lifting frame (41) is fixedly connected with multiple groups of second lifting troughs (43), and each group of the second lifting troughs (43) is fixedly connected with a second moving slider (44). An inner sidewall of the shuttle truck body (21) is further fixedly connected with fixed guiding strips (28) adapted to multiple groups of first moving sliders (33) and second moving sliders (44), and the multiple groups of first moving sliders (33) and second moving sliders (44) are respectively slidably connected to adjacent fixed guiding strips (28).

4. The rail-type automatic guided vehicle with a configured folding tray station according to claim 3, wherein, Each group of the lifting assemblies (7) includes a reduction motor (71) and a gearbox (72), the reduction motor (71) and the gearbox (72) are both fixedly connected in the shuttle truck body (21), output shafts (74) are arranged on two sides of the reduction motor (71), both ends of the two output shafts (74) are fixedly connected with cam groups (73), and the multiple groups of cam groups (73) are respectively slidably clamped on adjacent first moving sliders (33) and second moving sliders (44). An output end of the reduction motor (71) is fixedly connected with a driving gear (75), the driving gear (75) is rotatably connected in the gearbox (72), gear groups (76) are further arranged on both sides of the driving gear (75), and the gear groups (76) on both sides are both meshed with the driving gear (75). Reduction wheels (77) are also fixedly connected to the two output shafts (74), and the two reduction wheels (77) are respectively meshed with adjacent gear groups (76).

5. The rail type automatic guided vehicle with a configured folding tray station according to claim 4, characterized in that, The tray transfer assembly (5) includes a driving motor (51) and two groups of guide rail sliders (52), the two groups of guide rail sliders (52) are both fixedly connected to a support plate (29), the driving motor (51) is located directly above the two groups of guide rail sliders (52) and between the two groups of guide rail sliders (52), an output end of the driving motor (51) is fixedly connected with a synchronous gear, synchronous racks (53) are slidably connected to the two groups of guide rail sliders (52), and the two groups of synchronous racks (53) are both meshed with the synchronous gear on the driving motor (51). Transition plates (54) are further fixedly connected between the two groups of synchronous racks (53) and adjacent guide rail sliders (52), connection plates (55) are fixedly connected to one ends of the two groups of transition plates (54) away from each other, and rockers (56) are hinged to both ends of each group of connection plates (55). The tray transfer assembly (5) further includes multiple groups of driving gears (57) and driven gears (58) rotatably connected to the shuttle truck body (21), and each group of driven gears (58) is meshed with an adjacent driving gear (57). One ends of the multiple groups of rockers (56) close to the adjacent driving gears (57) are hinged to the driving gears (57), a hook rotating shaft (59) is fixedly connected to the bottom of each group of driven gears (58), and a hook is fixedly connected to the bottom of each group of hook rotating shafts (59).

6. The rail-type automatic guided vehicle configured with a folding tray station according to claim 2, wherein, The lubrication assembly includes a collection box (8), a synchronous disk (81) and a piston cylinder (84). The collection box (8) and the piston cylinder (84) are both fixedly connected within a fixing frame (61), and a filter cotton is provided in the collection box (8).

7. The rail-type automatic guided vehicle with a configured folding tray station according to claim 6, wherein, The synchronous disk (81) is fixed to an adjacent sprocket (65). One side of the synchronous disk (81) away from the sprocket (65) is fixedly hinged with a first connecting rod (82), and the other end of the first connecting rod (82) is hinged with a second connecting rod (83).

8. The rail-guided automated guided vehicle configured with a folding tray station according to claim 7, wherein, The other end of the second connecting rod (83) is fixedly connected with a synchronous plate (85). A piston rod is slidably connected in the piston cylinder (84), and one end of the piston rod away from the piston cylinder (84) is fixed to the synchronous plate (85). The collection box (8) further includes a fixing plate (86) fixedly connected to the inner side wall of the fixing frame (61). Two groups of lubricating cotton are fixedly connected to one side of the fixing plate (86) close to the conveying chain (64), and the two groups of lubricating cotton are respectively located on both sides of the conveying chain (64). The liquid inlet end of the second connecting rod (83) is connected to the collection box (8) through a hose, and the liquid outlet end of the second connecting rod (83) is connected to the two groups of lubricating cotton through a hose.

9. The rail-type automatic guided vehicle with a configured folding tray station according to claim 2, wherein Multiple groups of the anti-tipping assemblies (9) are respectively fixedly connected to adjacent traveling driving devices (22), and each group of the anti-tipping assemblies (9) is located on both sides of an adjacent guide rail body (1). The anti-tipping assembly (9) includes multiple groups of buffer pads (92) fixedly connected to the four corners of the traveling driving device (22). The bottom of each group of the buffer pads (92) is fixedly connected with a caster shaft (95). A limiting caster (96) is provided on one side of each group of the caster shafts (95) close to the guide rail body (1). Two groups of forced anti-side-tipping mechanisms are also fixedly connected to the traveling driving device (22) located in the upper middle part of the shuttle truck body (21).

10. The rail-type automatic guided vehicle configured with a folding tray station according to claim 9, wherein, The forced anti-side-tipping mechanism includes two groups of forced limiting mounting plates (91) fixedly connected to both sides of an adjacent traveling driving device (22). Both ends of the two groups of forced limiting mounting plates (91) are fixedly connected with forced limiting shafts (93). The bottom of each group of the forced limiting shafts (93) is fixedly connected with a forced limiting hook (94). Multiple groups of the forced limiting hooks (94) are respectively located on both sides of an adjacent guide rail body (1).

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