An AGV trolley with a lifting structure

Abstract

The present invention provides an AGV trolley with a lifting structure, comprising an AGV trolley body, a lifting gantry provided on the AGV trolley body, a fork bucket slidably provided on the lifting gantry, a baffle provided on the fork bucket near the lifting gantry, and an adjusting pulley group provided between the fork bucket and the lifting gantry. The adjusting pulley group is used to adjust the posture of the fork bucket so that the fork bucket tilts toward one side of the lifting gantry when rising, so that the cargo abuts against the baffle, thereby improving the stability of the cargo, thereby preventing the AGV trolley from separating from the fork bucket during movement, and when the fork bucket descends, the fork bucket returns to its initial horizontal state, so that the cargo can be placed horizontally and the cargo can be stacked together more stably.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV transport trolleys, in particular to an AGV trolley with a lifting structure. Background Art

[0002] An AGV (Automated Guided Vehicle) is a transport vehicle equipped with an electromagnetic or optical automatic navigation system, capable of traveling along a prescribed path and featuring safety features and various loading and unloading functions. These industrial vehicles require no driver and are powered by rechargeable batteries. Their path and behavior are typically controlled by a computer or by an electromagnetic path-following system (EMF) attached to the floor. The AGV relies on information provided by the EMF to control movement and actions.

[0003] For example, Chinese patent CN221090608U discloses an AGV trolley composite robot that can take and discharge materials. This solution adjusts the position of the carrier plate, and then the driving mechanism drives the slider. The first cylinder on the slider moves, and the first cylinder adjusts the side panels according to the width of the goods. The side panels are inserted into both sides of the goods, and then the output end of the second cylinder extends. The driving mechanism drives the slider to slide back and drag the goods onto the carrier plate. When unloading, the slider can be pushed down. This solves the problem that other machine models are needed to assist in loading and unloading, and other equipment is needed at designated locations during loading and unloading, which affects processing efficiency.

[0004] However, although the above solution solves the problem that affects processing efficiency, when the AGV is transporting, the lifting mechanism is in a horizontal state and the goods are placed on the lifting mechanism. When the AGV moves backward, the lifted goods tend to fall forward, which is not stable enough during transportation. When lifting goods at a higher height, the materials are prone to tilting, or the goods are not placed properly on the lifting mechanism, which may cause the goods to fall. Summary of the Invention

[0005] Based on this, it is necessary to provide an AGV trolley with a lifting structure to address the problem that the goods are unstable on the lifting platform when the current AGV trolley is transporting goods.

[0006] The above purpose is achieved through the following technical solutions:

[0007] An AGV trolley with a lifting structure, comprising:

[0008] An AGV trolley body, wherein a lifting gantry is vertically provided on the front side of the AGV trolley body, a fork bucket is slidably provided on the lifting gantry, the fork bucket slides along the lifting gantry, and the fork bucket is used to lift goods;

[0009] a baffle, the baffle being located at the connection between the fork bucket and the lifting mast, the baffle being used to abut against the cargo;

[0010] An adjusting pulley block, the adjusting pulley block being located between the lifting gantry and the fork bucket, and being used for adjusting the posture of the fork bucket;

[0011] The adjusting pulley block is configured such that when the fork bucket lifts the cargo, the adjusting pulley block adjusts the fork bucket from a horizontal state to an inclined state close to the lifting mast; when the fork bucket descends, the adjusting pulley block resets the fork bucket to a horizontal state;

[0012] The adjusting pulley assembly includes a first pulley and a second pulley distributed up and down, the first pulley is located above the second pulley and the rotating shafts of the first pulley and the second pulley are fixedly connected to the fork bucket, vertical tracks are provided on both sides of the lifting mast, the first pulley rolls in contact with one side of the vertical track close to the fork bucket, and the second pulley rolls in contact with the other side of the vertical track;

[0013] An eccentric sleeve is provided for rotation inside the first pulley, and the eccentric sleeve is located between the first pulley and the first pulley shaft. When the fork bucket rises, the first pulley drives the eccentric sleeve to rotate by a preset angle so that the shaft of the first pulley moves away from the side wall of the vertical track. When the fork bucket descends, the first pulley drives the eccentric sleeve to rotate in the opposite direction by a preset angle to reset.

[0014] Furthermore, a first tooth groove and a second tooth groove are formed on the inner circumferential surface of the first pulley, the first tooth groove and the second tooth groove are arranged along the axial direction of the eccentric shaft, and the first tooth groove and the second tooth groove are in opposite directions. The eccentric sleeve is provided with a first through hole and a second through hole along the axial direction thereof, a first limiting rod is provided in the first through hole, one end of the first limiting rod is located in the first tooth groove, a second limiting rod is provided in the second through hole, and one end of the second limiting rod is located in the second tooth groove;

[0015] When the fork bucket rises, the first pulley is located in the first tooth groove through the first limiting rod to drive the eccentric sleeve to rotate; when the fork bucket descends, the first pulley is located in the second tooth groove through the second limiting rod to drive the eccentric sleeve to rotate in the opposite direction.

[0016] Furthermore, an arc-shaped groove is provided on the outer wall of the rotating shaft of the first pulley, and a first limit groove and a second limit groove are provided in the arc-shaped groove. After the fork bucket rises and drives the eccentric shaft sleeve to rotate by a preset angle, the first limit rod enters the first limit groove to stop driving the eccentric shaft sleeve to rotate; after the fork bucket descends and drives the eccentric shaft sleeve to rotate in the opposite direction by a preset angle, the second limit rod enters the second limit groove to stop driving the eccentric shaft sleeve to rotate in the opposite direction.

[0017] Furthermore, the first limiting groove and the second limiting groove are magnetic, and the first limiting rod is adsorbed in the first limiting groove after passing through the first limiting groove, and the second limiting rod is adsorbed in the second limiting groove after passing through the second limiting groove.

[0018] Furthermore, magnets are provided in both the first limiting groove and the second limiting groove.

[0019] Furthermore, the first limiting rod and the second limiting rod are both capable of extension and contraction, and the extension and contraction lengths are the same, which is the length required to be able to disengage from the first tooth groove or the second tooth groove.

[0020] Furthermore, a driving assembly is provided on the AGV trolley body, and the driving assembly is used to drive the fork bucket to move up and down.

[0021] Furthermore, the driving assembly includes a hydraulic cylinder, which is fixedly arranged on the AGV trolley body, and the hydraulic rod of the hydraulic cylinder is fixedly connected to the lifting gantry. The hydraulic cylinder drives the lifting gantry to move when the hydraulic rod is extended and retracted to drive the fork bucket to move up and down.

[0022] Furthermore, the lifting gantry includes an inner gantry and an outer gantry, the inner gantry is slidably connected to the outer gantry, and a vertical track is located at the connection between the inner gantry and the outer gantry;

[0023] The bottom of the outer mast is fixedly set on the AGV trolley body, one end of the hydraulic rod of the hydraulic cylinder is fixedly connected to the top of the inner mast, a first fixed shaft is provided on the baffle, a second fixed shaft is provided on the AGV trolley body, a roller is provided on the top of the inner mast, a connecting belt is fixedly connected to the first fixed shaft, one end of the connecting belt is fixedly connected to the second fixed shaft after passing around the roller, when the hydraulic rod of the hydraulic cylinder is extended to drive the inner mast to move upward, the connecting belt pulls the fork bucket to move upward.

[0024] The beneficial effects of the present invention are:

[0025] The present invention tilts the fork bucket toward one side of the lifting gantry when it rises, so that the cargo abuts against the baffle, thereby improving the stability of the cargo, thereby preventing the fork bucket from separating from the fork bucket during the movement of the AGV. When the fork bucket descends, the fork bucket returns to its initial horizontal state, so that the cargo can be placed horizontally and stacked more stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic structural diagram of an AGV with a lifting structure provided by one embodiment of the present invention;

[0027] Figure 2 A schematic structural diagram of a lifting gantry and fork bucket of an AGV with a lifting structure provided in one embodiment of the present invention;

[0028] Figure 3 for Figure 2 Right view in;

[0029] Figure 4 for Figure 3 A cross-sectional view of an AGV with a lifting structure provided in an embodiment of the present invention taken along AA in its initial state;

[0030] Figure 5 for Figure 3 A cross-sectional view of an AGV with a lifting structure provided in an embodiment of the present invention taken along line BB in its initial state;

[0031] Figure 6 for Figure 4 A partial enlarged view of part C of the AGV with a lifting structure provided in one embodiment;

[0032] Figure 7 for Figure 5 A partial enlarged view of part D of the AGV with a lifting structure provided in one embodiment;

[0033] Figure 8 A partial cross-sectional view along BB of an AGV with a lifting structure provided by one embodiment of the present invention when the fork bucket is in an ascending state;

[0034] Figure 9 A partial cross-sectional view along AA of an AGV with a lifting structure provided by one embodiment of the present invention when the fork bucket is in an ascending state;

[0035] Figure 10 for Figure 8 A partial enlarged view of part E of the AGV trolley with a lifting structure provided in an embodiment;

[0036] Figure 11 for Figure 9 A partial enlarged view of part F of the AGV trolley with a lifting structure provided in one embodiment;

[0037] Figure 12 This is a structural schematic diagram of the fork bucket of an AGV with a lifting structure provided by one embodiment of the present invention in the raised state.

[0038] in:

[0039] 100, AGV body; 110, lifting gantry; 111, inner gantry; 112, outer gantry; 113, vertical track; 120, first connecting plate; 130, second connecting plate;

[0040] 200, fork bucket; 210, baffle; 220, first fixed shaft; 230, first pulley; 231, first tooth groove; 232, second tooth groove; 240, eccentric bushing; 241, first through hole; 242, second through hole; 243, first limiting rod; 244, second limiting rod; 250, arcuate groove; 251, first limiting groove; 252, second limiting groove; 260, second pulley; 270, second fixed shaft; 280, roller;

[0041] 300. Hydraulic cylinder; 310. Hydraulic rod. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0043] The serial numbers assigned to components herein, such as "first," "second," etc., are used solely to distinguish the objects being described and do not convey any sequential or technical meaning. References to "connection" and "coupling" herein, unless otherwise specified, include both direct and indirect connections (couplings). In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like, indicating positions or relationships, are based on those shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They are not intended to indicate or imply that the device or element referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention.

[0044] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0045] Refer to the following Figures 1-12 To describe an AGV trolley with a lifting structure provided by this application.

[0046] An AGV with a lifting structure, suitable for lifting and transporting cargo, includes an AGV body 100. A lifting gantry 110 is vertically mounted on the front of the AGV body 100. A fork bucket 200 is slidably mounted on the lifting gantry 110. The fork bucket 200 is used to carry cargo and slides on the lifting gantry 110 to lift or lower the cargo, thereby lifting and placing the cargo. A baffle 210 is provided on the fork bucket 200. The baffle 210 is located near the lifting gantry 110 and is used to abut the cargo on the fork bucket 200 to prevent it from tipping over.

[0047] When the fork bucket 200 is lifted, the fork bucket 200 is tilted in the direction close to the lifting mast 110 so that the fork bucket 200 can abut against the baffle 210 when lifting the cargo. When the fork bucket 200 is lifted, the fork bucket 200 is in a tilted state, and the abutment of the baffle 210 can make the cargo firmly located on the fork bucket 200. When the AGV trolley moves backward, the fork bucket 200 is tilted in the backward direction, that is, tilted in the direction close to the lifting mast 110, so the fork bucket 200 can reduce the forward tilting of the cargo caused by the backward movement of the trolley, thereby preventing the cargo from falling off. At the same time, when the AGV trolley moves, the cargo is supported by the fork bucket 200 and the baffle 210, so that it can transport and carry the cargo smoothly.

[0048] When the fork bucket 200 descends, the fork bucket 200 returns to a horizontal state, so that the fork bucket 200 can stack the goods stably when placing the goods, so that the goods can be placed neatly.

[0049] Specifically, the adjustment pulley group includes a first pulley 230 and a second pulley 260 distributed in the upper and lower parts. The rotating shafts of the first pulley 230 and the second pulley 260 are fixedly connected to the fork bucket 200, and the first pulley 230 is located above the second pulley 260. Vertical rails 113 are provided on both sides of the lifting door frame 110. The first pulley 230 and the second pulley 260 are both located in the vertical rails 113. The first pulley 230 is in rolling contact with one side of the vertical rail 113 close to the fork bucket 200, and the second pulley 260 is in rolling contact with the other side. An eccentric sleeve 240 is rotatably provided inside the first pulley 230. The eccentric sleeve 240 is also rotatably provided on the rotating shaft of the first pulley 230. The wall thickness of the eccentric sleeve 240 is different, that is, the center of the circle of the eccentric sleeve 240 is eccentrically provided, and the eccentric sleeve 240 is eccentrically sleeved on the rotating shaft of the first pulley 230. As shown in FIG. Figure 4-Figure 7 As shown, in the initial state, when the fork bucket 200 is in a horizontal state, the thicker side wall of the eccentric sleeve 240 is close to the top and the thinner side wall is close to the bottom. When the fork bucket 200 rises, the eccentric sleeve 240 rotates counterclockwise by a preset angle so that the thicker side wall of the eccentric sleeve 240 moves toward the direction close to the fork bucket 200, that is, Figures 7 to 10 The state shown in FIG. 1 changes, thereby causing the rotating shaft of the first pulley 230 to move in a direction perpendicular to the side wall of the vertical track 113 away from the fork bucket 200, forming a state as shown in FIG. Figure 8 and Figure 9 In the state shown, the rotating shaft of the second pulley 260 is not eccentrically arranged, that is, the rotating shaft of the first pulley 230 pulls the fork bucket 200 to tilt toward the lifting door frame 110, so that the cargo on the fork bucket 200 abuts against the baffle 210 to stabilize the cargo.

[0050] When the fork bucket 200 is reset, that is, when the fork bucket 200 moves from top to bottom, the eccentric sleeve 240 moves from Figure 11 State changes to Figure 6 state, thereby resetting the eccentric sleeve 240, that is, making the fork bucket 200 horizontal.

[0051] Specifically, a first tooth groove 231 and a second tooth groove 232 are provided on the inner circumference of the first pulley 230. The first tooth groove 231 and the second tooth groove 232 are coaxial, that is, the first tooth groove 231 and the second tooth groove 232 are distributed along the axial direction of the eccentric sleeve 240, and the first tooth groove 231 and the second tooth groove 232 are in opposite directions, that is, the tooth tips in the first tooth groove 231 and the second tooth groove 232 are in opposite directions. A first through hole 241 and a second through hole 242 are opened on the thicker side wall of the eccentric sleeve 240 along its axial direction. The first through hole 241 and the second through hole 242 both extend along the radial direction of the eccentric sleeve 240. A first limiting rod 243 is provided in the first through hole 241, and a second limiting rod 244 is provided in the second through hole 242. The first limiting rod 243 and the second limiting rod 244 are elastic and can be retracted and retracted.

[0052] The specific elastic setting is that the middle parts of the first limiting rod 243 and the second limiting rod 244 are both provided with springs.

[0053] like Figure 6 and Figure 7 As shown, an arc groove 250 is provided on the outer circumference of the rotating shaft of the first pulley 230. The arc groove 250 is a third of a circular arc. A first limiting groove 251 and a second limiting groove 252 are provided in the arc groove 250. The first limiting groove 251 and the first through hole 241 are in the same plane, and the second limiting groove 252 and the second through hole 242 are in the same plane. Figure 7 The first limiting groove 251 is located at the left end of the arc groove 250. Figure 10 The second limiting groove 252 is shown located at the right end of the arc-shaped groove 250 .

[0054] In the initial state, the fork bucket 200 does not rise, and the states of the first limiting rod 243 and the second limiting rod 244 are as follows: Figure 6 and Figure 7As shown, the upper end of the first limiting rod 243 is located in the first tooth groove 231, and the lower end of the first limiting rod 243 abuts against the arc groove 250, while the upper end of the second limiting rod 244 is not located in the second tooth groove 232, and the lower end of the second limiting rod 244 is located in the second limiting groove 252. When the fork bucket 200 rises, the first pulley 230 rolls counterclockwise on the inner wall of the vertical track 113. At this time, the first pulley 230 drives the first limiting rod 243 to rotate. Since the first limiting rod 243 is located in the first through hole 241 and the upper end of the first limiting rod 243 is located in the first tooth groove 231, the first pulley 230 rotates counterclockwise to drive the first limiting rod 243, and the first limiting rod 243 drives the eccentric sleeve 240 to rotate counterclockwise. At the same time, since the second limiting rod 244 is located in the second through hole 242, the inclined surface at the lower end of the second limiting rod 244 cooperates with the inclined surface in the second limiting groove 252, so that the second limiting rod 244 can be disengaged from the second limiting groove 252 when it rotates counterclockwise. The second limiting rod 244 rotates synchronously with the eccentric sleeve 240 to make one end of the second limiting rod 244 disengage from the second limiting groove 252. When the eccentric sleeve 240 rotates a preset angle (the preset angle refers to the angle of the circumferential angle corresponding to the arc groove 250), as shown in FIG. Figure 7 and Figure 10 As shown, the first limiting rod 243 in the first through hole 241 rotates from the right end to the left end of the arc groove 250 and then enters the first limiting groove 251, and the upper end of the first limiting rod 243 is disengaged from the first tooth groove 231, and the first pulley 230 continues to rotate counterclockwise. Since the upper end of the first limiting rod 243 is disengaged from the first tooth groove 231, the first pulley 230 no longer drives the eccentric sleeve 240 to continue to rotate counterclockwise through the first limiting rod 243.

[0055] like Figure 11 As shown, the upper end of the second limiting rod 244 is located in the second tooth groove 232. As the first pulley 230 rotates counterclockwise, the inclined surface on the upper end of the second limiting rod 244 cooperates with the inclined surface in the second tooth groove 232, enabling the second tooth groove 232 to rotate counterclockwise relative to the second limiting rod 244. Specifically, when the first pulley 230 rotates counterclockwise, the second tooth groove 232 pushes the second limiting rod 244 to shorten. The shortened length is just the length required to allow the upper end of the second limiting rod 244 to disengage from the second tooth groove 232, thereby preventing the second limiting rod 244 from affecting the counterclockwise rotation of the first pulley 230.

[0056] After the fork bucket 200 transports the goods to the designated location, it needs to put down the goods. At this time, the fork bucket 200 moves downward, and the first pulley 230 rotates clockwise on the side wall of the vertical track 113. The changes of the eccentric shaft sleeve 240 on the inner periphery of the first pulley 230 are as follows. Figure 10 Status to Figure 7 Changes in status and Figure 11 Status to Figure 6Changes in status.

[0057] Specifically, such as Figure 11 Status to Figure 6 The change in state is caused by the limiting effect of the second limiting rod 244 on the eccentric sleeve 240 in the second tooth groove 232. The specific limiting effect is that when the second limiting rod 244 is located in the second tooth groove 232, the second tooth groove 232 can only rotate counterclockwise relative to the second limiting rod 244, and cannot rotate clockwise relative to the second limiting rod 244. Therefore, when the first pulley 230 rotates clockwise, it drives the second limiting rod 244, and then drives the eccentric sleeve 240 to rotate clockwise. After the second limiting rod 244 slides from the left end to the right end of the arc groove 250, the lower end of the second limiting rod 244 enters the second limiting groove 252 so that the upper end of the second limiting rod 244 is separated from the second tooth groove 232. At this time, the thicker side of the eccentric sleeve 240 side wall is located at the top, that is, the eccentric sleeve 240 returns to its initial state, that is, returns to Figure 6 When the fork bucket 200 continues to move downward, the first pulley 230 continues to rotate clockwise, but the second limiting rod 244 is separated from the second tooth groove 232, so the first pulley 230 no longer drives the eccentric shaft sleeve 240 to continue to rotate clockwise.

[0058] The specific changes of the first limiting rod 243 are as follows Figure 10 Status to Figure 7 As the state of the eccentric sleeve 240 changes, the first limiting rod 243 on the eccentric sleeve 240 moves to the right synchronously when the eccentric sleeve 240 rotates clockwise, so that the lower end of the first limiting rod 243 is disengaged from the first limiting groove 251, and the upper end of the first limiting rod 243 re-enters the first tooth groove 231. When the eccentric sleeve 240 rotates the preset angle, it returns to the Figure 7 In the state shown, the first limiting rod 243 moves from the left end to the right end in the arc groove 250. When the first pulley 230 continues to rotate clockwise, the first tooth groove 231 pushes the inclined surface of the upper end of the first limiting rod 243, causing the first limiting rod 243 to shorten. Since the first limiting rod 243 is elastic, the first limiting rod 243 does not block the clockwise rotation of the first pulley 230.

[0059] In a further embodiment, both the first limiting groove 251 and the second limiting groove 252 have magnets, and the lower ends of the first limiting rod 243 and the second limiting rod 244 can be adsorbed by the magnets, so when the first limiting rod 243 moves into the first limiting groove 251, it can be adsorbed by the magnet, thereby preventing the first limiting rod 243 from disengaging from the first limiting groove 251 and affecting the counterclockwise rotation of the first pulley 230 when the first pulley 230 continues to rotate counterclockwise; when the second limiting rod 244 moves into the second limiting groove 252, it can be adsorbed by the magnet, thereby preventing the second limiting rod 244 from disengaging from the second limiting groove 252 and affecting the clockwise rotation of the second pulley 260 when the first pulley 230 continues to rotate clockwise.

[0060] In a further embodiment, the lifting gantry 110 of the present application includes an inner gantry 111 and an outer gantry 112. The inner gantry 111 and the outer gantry 112 are both vertically arranged, and the inner gantry 111 is nested in the outer gantry 112. The inner gantry 111 and the outer gantry 112 can slide up and down relative to each other, and the vertical track 113 is located at the sliding connection between the inner gantry 111 and the outer gantry 112.

[0061] Specifically, the drive assembly drives the inner mast 111 to rise, thereby driving the fork bucket 200 to rise. The bottom of the outer mast 112 is fixedly mounted on the AGV body 100 and is arranged vertically. The drive assembly includes a hydraulic cylinder 300, which is vertically mounted on the AGV body 100 and fixedly mounted near the outer mast 112, but not connected to the outer mast 112. The upper end of the hydraulic rod 310 of the hydraulic cylinder 300 is connected to the top of the inner mast 111. Specifically, a first connecting plate 120 is provided at the connection point, which connects the top of the inner mast 111 and the top of the hydraulic rod 310. When the hydraulic cylinder 300 is working, the hydraulic rod 310 moves up and down to drive the inner mast 111 to move up and down.

[0062] The fork bucket 200 is fixedly connected to the rotating shafts of the first pulley 230 and the second pulley 260, as shown in FIG. Figure 2In the illustrated connection state, the rotating shafts of the first pulley 230 and the second pulley 260 are bent and fixedly connected to the fork bucket 200. To facilitate connection, a second connecting plate 130 is fixedly mounted on the fork bucket 200. The rotating shafts of the first pulley 230 and the second pulley 260 are both connected to the second connecting plate 130 and are arranged vertically, i.e., the rotating shaft of the first pulley 230 is located above the second rotating shaft. A first fixed shaft 220 is fixedly mounted on the baffle 210, a roller 280 is rotatably mounted on the first connecting plate 120, and a second fixed shaft 270 is fixedly mounted above the AGV body 100. A connecting belt (not shown) is fixedly connected to the first fixed shaft 220, and the other end of the connecting belt passes over the roller 280 and is fixed to the second fixed shaft 270. When the inner mast 111 rises, the roller 280 is driven to rise synchronously, so that the connecting belt connected to the first fixed shaft 220 pulls the first fixed shaft 220 to rise, and the fork bucket 200 rises, thereby starting to lift the goods.

[0063] The specific working process of an AGV with a lifting structure provided by this application is described in combination with the above embodiments:

[0064] When the AGV moves to the cargo, the hydraulic cylinder 300 starts to work, and the hydraulic rod 310 of the hydraulic cylinder 300 rises, thereby driving the inner door frame 111 to rise, and the roller 280 on the inner door frame 111 rises synchronously to pull the connecting belt. Since one end of the connecting belt (not shown in the figure) is fixed to the AGV car body 100 through the second fixed shaft 270, and the other end is fixed to the baffle 210 of the fork bucket 200 through the first fixed shaft 220, the connecting belt pulls the fork bucket 200 to rise.

[0065] When the fork bucket 200 rises, the first pulley 230 and the second pulley 260 connected to the fork bucket 200 both roll within the vertical track 113. Since the first pulley 230 rolls on one side of the vertical track 113 near the fork bucket 200, the first pulley 230 rotates counterclockwise. Conversely, the second pulley 260 rotates clockwise because it is on the other side of the vertical track 113. As the first pulley 230 rotates counterclockwise, the eccentric bushing 240 inside the first pulley 230 rotates counterclockwise in sync with the first limiting rod 243.

[0066] In the initial state, the upper end of the first limiting rod 243 is located in the first tooth groove 231, and the lower end of the first limiting rod 243 abuts against the arc groove 250, while the upper end of the second limiting rod 244 is not located in the second tooth groove 232, and the lower end of the second limiting rod 244 is located in the second limiting groove 252. When the fork bucket 200 rises, the first pulley 230 rolls counterclockwise on the inner wall of the vertical track 113. At this time, the first pulley 230 drives the first limiting rod 243 to rotate counterclockwise. Since the first limiting rod 243 is located in the first through hole 241, the first limiting rod 243 drives the eccentric sleeve 240 to rotate counterclockwise. At the same time, since the second limiting rod 244 is located in the second through hole 242, the second limiting rod 244 and the eccentric sleeve 240 rotate synchronously so that one end of the second limiting rod 244 is separated from the second limiting groove 252. When the eccentric sleeve 240 rotates by a preset angle (the preset angle refers to the angle of the circumferential angle corresponding to the arc groove 250), as shown in FIG. Figure 10 and Figure 12 As shown, the first limiting rod 243 in the first through hole 241 rotates from the right end to the left end of the arc groove 250 and then enters the first limiting groove 251, and the upper end of the first limiting rod 243 is disengaged from the first tooth groove 231, and the first pulley 230 continues to rotate counterclockwise. Since one end of the first limiting rod 243 is disengaged from the first tooth groove 231, the first pulley 230 no longer drives the eccentric sleeve 240 to continue to rotate counterclockwise through the first limiting rod 243.

[0067] The lower end of the second limiting rod 244 is located in the second limiting groove 252. Since the first pulley 230 rotates counterclockwise and the inclined surface of the second limiting rod 244 cooperates with the second tooth groove 232, when the first pulley 230 rotates counterclockwise, the second tooth groove 232 pushes the second limiting rod 244 to shorten, thereby preventing the second limiting rod 244 from affecting the counterclockwise rotation of the first pulley 230.

[0068] After the fork bucket 200 transports the goods to the designated location, it needs to put down the goods. At this time, the fork bucket 200 moves downward, and the first pulley 230 rotates clockwise on the side wall of the vertical track 113. The changes of the eccentric shaft sleeve 240 on the inner periphery of the first pulley 230 are as follows. Figure 10 and Figures 11 to 6 and Figure 7 The status changes shown.

[0069] Specifically, such as Figure 11 Status to Figure 6As the state changes, the first pulley 230 rotates clockwise and drives the eccentric sleeve 240 to rotate clockwise through the second limiting rod 244. After the second limiting rod 244 slides from the left end of the arc groove 250 to the right end, the lower end of the second limiting rod 244 enters the second limiting groove 252 so that the upper end of the second limiting rod 244 is separated from the second tooth groove 232. At this time, the thicker side of the eccentric sleeve 240 side wall is located at the top, that is, the eccentric sleeve 240 returns to its initial state, that is, returns to Figure 6 When the fork bucket 200 continues to move downward, the first pulley 230 continues to rotate clockwise, but the second limiting rod 244 is separated from the second tooth groove 232, so the first pulley 230 no longer drives the eccentric shaft sleeve 240 to continue to rotate clockwise.

[0070] The specific changes of the first limiting rod 243 are as follows Figure 10 Status to Figure 7 As shown in the change of the state, the first limiting rod 243 on the eccentric sleeve 240 moves to the right synchronously when the eccentric sleeve 240 rotates clockwise, so that the lower end of the first limiting rod 243 is disengaged from the first limiting groove 251, and the upper end of the first limiting rod 243 re-enters the first tooth groove 231. When the eccentric sleeve 240 rotates the preset angle, it returns to the Figure 7 In the state shown, the first limiting rod 243 moves from the left end to the right end in the arc groove 250. When the first pulley 230 continues to rotate clockwise, the first tooth groove 231 pushes the inclined surface of the upper end of the first limiting rod 243, causing the first limiting rod 243 to shorten. Since the first limiting rod 243 is elastic, the first limiting rod 243 does not block the clockwise rotation of the first pulley 230.

[0071] By tilting the fork bucket 200 toward one side of the lifting gantry 110 when rising, the goods are brought into contact with the baffle 210, thereby improving the stability of the goods and preventing the goods from falling off the fork bucket 200 during the movement of the AGV. When the fork bucket 200 descends, the fork bucket 200 returns to its initial horizontal state, so that the goods can be stacked more neatly when placed.

[0072] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0073] The above-described embodiments merely illustrate several embodiments of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. An AGV with a lifting structure, characterized in that: include: An AGV trolley body, wherein a lifting gantry is vertically provided on the front side of the AGV trolley body, a fork bucket is slidably provided on the lifting gantry, the fork bucket slides along the lifting gantry, and the fork bucket is used to lift goods; a baffle, the baffle being located at the connection between the fork bucket and the lifting mast, the baffle being used to abut against the cargo; An adjusting pulley block, the adjusting pulley block being located between the lifting gantry and the fork bucket, and being used for adjusting the posture of the fork bucket; The adjusting pulley block is configured such that when the fork bucket lifts the cargo, the adjusting pulley block adjusts the fork bucket from a horizontal state to an inclined state close to the lifting mast; when the fork bucket descends, the adjusting pulley block resets the fork bucket to a horizontal state; The adjusting pulley assembly includes a first pulley and a second pulley distributed up and down, the first pulley is located above the second pulley and the rotating shafts of the first pulley and the second pulley are fixedly connected to the fork bucket, vertical tracks are provided on both sides of the lifting mast, the first pulley rolls in contact with one side of the vertical track close to the fork bucket, and the second pulley rolls in contact with the other side of the vertical track; An eccentric sleeve is provided for rotation inside the first pulley, and the eccentric sleeve is located between the first pulley and the first pulley shaft. When the fork bucket rises, the first pulley drives the eccentric sleeve to rotate by a preset angle so that the shaft of the first pulley moves away from the side wall of the vertical track. When the fork bucket descends, the first pulley drives the eccentric sleeve to rotate in the opposite direction by a preset angle to reset.

2. The AGV with a lifting structure according to claim 1, characterized in that: A first tooth groove and a second tooth groove are formed on the inner circumferential surface of the first pulley, the first tooth groove and the second tooth groove are arranged along the axial direction of the eccentric shaft, and the first tooth groove and the second tooth groove are in opposite directions. The eccentric sleeve is provided with a first through hole and a second through hole along the axial direction thereof, a first limiting rod is provided in the first through hole, one end of the first limiting rod is located in the first tooth groove, a second limiting rod is provided in the second through hole, and one end of the second limiting rod is located in the second tooth groove; When the fork bucket rises, the first pulley is located in the first tooth groove through the first limiting rod to drive the eccentric sleeve to rotate; when the fork bucket descends, the first pulley is located in the second tooth groove through the second limiting rod to drive the eccentric sleeve to rotate in the opposite direction.

3. The AGV with a lifting structure according to claim 2, characterized in that: An arc-shaped groove is provided on the outer wall of the rotating shaft of the first pulley, and a first limit groove and a second limit groove are provided in the arc-shaped groove. After the fork bucket rises and drives the eccentric shaft sleeve to rotate by a preset angle, the first limit rod enters the first limit groove to stop driving the eccentric shaft sleeve to rotate; after the fork bucket descends and drives the eccentric shaft sleeve to rotate in the opposite direction by a preset angle, the second limit rod enters the second limit groove to stop driving the eccentric shaft sleeve to rotate in the opposite direction.

4. The AGV with a lifting structure according to claim 3, characterized in that: The first limiting groove and the second limiting groove are magnetic. The first limiting rod is adsorbed in the first limiting groove after passing through the first limiting groove, and the second limiting rod is adsorbed in the second limiting groove after passing through the second limiting groove.

5. The AGV with a lifting structure according to claim 4, characterized in that: Magnets are arranged in the first limiting groove and the second limiting groove.

6. The AGV with a lifting structure according to claim 4, characterized in that: The first limiting rod and the second limiting rod are both capable of extension and contraction, and the extension and contraction lengths are the same, which is the length required to disengage from the first tooth groove or the second tooth groove.

7. The AGV with a lifting structure according to claim 1, characterized in that: The AGV trolley body is provided with a driving assembly, and the driving assembly is used to drive the fork bucket to move up and down.

8. The AGV with a lifting structure according to claim 7, characterized in that: The driving assembly includes a hydraulic cylinder, which is fixedly arranged on the AGV trolley body. The hydraulic rod of the hydraulic cylinder is fixedly connected to the lifting gantry. The hydraulic cylinder drives the lifting gantry to move when the hydraulic rod is extended and retracted, thereby driving the fork bucket to move up and down.

9. The AGV with a lifting structure according to claim 8, characterized in that: The lifting gantry includes an inner gantry and an outer gantry, the inner gantry is slidably connected to the outer gantry, and a vertical track is located at the connection between the inner gantry and the outer gantry; The bottom of the outer mast is fixedly set on the AGV trolley body, one end of the hydraulic rod of the hydraulic cylinder is fixedly connected to the top of the inner mast, a first fixed shaft is provided on the baffle, a second fixed shaft is provided on the AGV trolley body, a roller is provided on the top of the inner mast, a connecting belt is fixedly connected to the first fixed shaft, one end of the connecting belt is fixedly connected to the second fixed shaft after passing around the roller, when the hydraulic rod of the hydraulic cylinder is extended to drive the inner mast to move upward, the connecting belt pulls the fork bucket to move upward.

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