AGV logistics transfer device

Abstract

The invention belongs to the technical field of AGV equipment, and particularly relates to an AGV logistics transfer device which comprises an AGV main vehicle body, a hydraulic lifting system, an energy recovery part and a clutch part. The energy recovery part comprises a hydraulic motor, a generator and an energy storage battery; the clutch part comprises an assembly part which is arranged on the output shaft of the hydraulic motor in a sliding manner; the fixed sleeve is fixedly connected to an input shaft of the generator; the hydraulic motor is arranged to convert gravitational potential energy generated in the hydraulic lifting system into mechanical energy, the mechanical energy is transmitted to the power generator and converted into electric energy to be stored, and the stored electric energy can be used for supplying power to the AGV, so that the function of recycling the gravitational potential energy wasted in a traditional hydraulic system is achieved, the situation of energy waste is improved, and the working efficiency is improved. And in a high-load and high-frequency operation scene, the charging frequency of the AGV is reduced, so that the working efficiency is improved, and the energy utilization rate and the economical efficiency of the AGV can be improved more remarkably.

Description

Technical Field

[0001] The present invention belongs to the field of AGV equipment, in particular to an AGV logistics transfer device. Background Art

[0002] In logistics fields such as e-commerce high-rise warehousing, automobile production, and port containerization, in order to improve the utilization rate of warehousing space and work automation, three-dimensional warehouses are often used to place goods on shelves at different heights, and AGVs (automatic guided vehicles) are used to lift and transfer goods.

[0003] A patent document with announcement number CN113320607B discloses an AGV material transfer device, including an AGV body, a lifting mechanism, a main trailer and a material trailer. The material trailer is provided with a support plate, and the support plate is provided with a material rack. A second avoidance space is left between the material rack and the support plate for the lifting mechanism to be inserted. The AGV material transfer device can complete the traction of the main trailer and the material trailer, and can independently complete the loading and unloading of the material rack.

[0004] The above technical solution still has some problems in practical application. When using AGV for unloading, lifting and lowering movements are often performed. The AGV is equipped with a hydraulic lifting system to control the lifting of goods. When unloading, the AGV is moved to the side of the shelf, and the lifting platform is started and moved up to be flush with the goods. After the goods are placed on the lifting platform, the lifting platform is lowered again, and the goods are unloaded to a lower place. After the lifting platform rises and carries the goods, gravitational potential energy is generated. The traditional hydraulic lifting system uses hydraulic cylinders and hydraulic pumps to lift and lower goods. When the goods fall, the gravitational potential energy is released. In the existing technology, this part of the energy is not effectively recycled and utilized, and there is a problem of energy waste. In high-load, high-frequency continuous operation scenarios, the accumulated energy waste is more serious. The above technical solution has not effectively solved this problem.

[0005] To this end, the present invention provides an AGV logistics transfer device. Summary of the Invention

[0006] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0007] The technical solution adopted by the present invention to solve the technical problem is as follows: an AGV logistics transfer device according to the present invention includes an AGV main body, the AGV main body is provided with a hydraulic lifting system, the hydraulic lifting system includes a lifting platform and a hydraulic cylinder, and also includes an energy recovery unit and a clutch unit;

[0008] The energy recovery unit includes a hydraulic motor, a generator and an energy storage battery provided on the main body of the AGV, and the hydraulic oil in the hydraulic lifting system flows through the hydraulic motor;

[0009] The clutch portion includes: an assembly part slidably mounted on the output shaft of the hydraulic motor; a fixed sleeve fixedly connected to the input shaft of the generator, wherein an assembly groove is formed at the end of the fixed sleeve, and the output shaft of the hydraulic motor, the input shaft of the generator, the assembly part and the assembly groove are coaxial. After the assembly part is moved and inserted into the assembly groove, the output shaft of the hydraulic motor and the input shaft of the generator are driven.

[0010] The hydraulic motor is used to convert the pressure energy and flow rate of the hydraulic oil into rotational mechanical energy and transmit it to the generator. The generator converts the rotational mechanical energy into electrical energy and stores it in the energy storage battery.

[0011] Preferably, the clutch part further includes: an edge plate fixedly connected to the outside of the assembly part; and a clamping plate movably provided on the AGV main body, the clamping plate being clamped with the edge plate, and the clamping plate being used to drive the assembly part to move up and down.

[0012] Preferably, it also includes a correction part, which includes: a slide slidably arranged on the AGV main body, the generator is fixed to the slide; a plurality of rotating plates rotatably arranged on the slide; a bracket fixed to the AGV main body; a plurality of positioning rods movably arranged on the bracket, the top end of the rotating plate is engaged with the positioning rod; and a plurality of positioning springs for fixing the positioning rod on the bracket.

[0013] Preferably, the positioning rod includes: a vertical rod passing through the bracket, and the bracket is provided with a movable groove corresponding to the vertical rod; a holder and a friction plate are respectively arranged at the upper and lower ends of the vertical rod, and the holder and the friction plate are respectively located on the upper and lower sides of the movable groove, and the outer diameter of the friction plate is larger than the size of the movable groove.

[0014] Preferably, the rotating plate is arranged in an inclined shape, and a plurality of the rotating plates are evenly distributed in a ring shape along the assembly groove.

[0015] Preferably, the correction part further includes: a ring plate, through which several of the positioning rods are fixed together as a whole; a pressure plate fixed to the assembly part, the pressure plate is ring-shaped and coaxial with the assembly part, and the pressure plate is used to squeeze the rotating plate to rotate.

[0016] Preferably, the bottom end of the assembly part is provided with a tapered section, and the correction part further includes a notch groove provided on the rotating plate, and after the assembly part is inserted into the assembly groove, the pressure plate is located in the notch groove.

[0017] Preferably, it further includes a center of gravity adjustment part, which includes: a slide rail fixedly connected to the bottom end of the lifting platform; and a counterweight block arranged on the slide rail.

[0018] Preferably, the center of gravity adjustment part also includes: a number of support plates movably inserted into the top of the lifting platform; support springs arranged on the lifting platform for supporting the upward movement of the support plates; and a number of detection units arranged on the top of the lifting platform, the detection units being used to detect the displacement of the support plates along the height direction.

[0019] Preferably, the center of gravity adjustment part also includes: a conduit, the conduit includes two rigid tubes, a flexible tube is connected between the two rigid tubes, the two rigid tubes are respectively fixed to the support plate and the AGV main body, and the card is slidably inserted into the lower rigid tube; a flexible part is arranged inside the conduit, the two ends of the flexible part are respectively connected to the support plate and the card, and after the support plate moves up and down relative to the lifting platform, the card is driven to move up and down by the flexible part.

[0020] The beneficial effects of the present invention are as follows:

[0021] 1. The AGV logistics transfer device described in the present invention converts the gravitational potential energy generated in the hydraulic lifting system into mechanical energy by setting a hydraulic motor, and transmits it to a generator to be converted into electrical energy for storage. The stored electrical energy can be used to power the AGV. In this way, the function of recovering the gravitational potential energy wasted in the traditional hydraulic system is realized, and the energy waste situation is improved. In high-load and high-frequency operation scenarios, the charging frequency of the AGV is reduced, thereby improving work efficiency, and can more significantly improve the energy utilization and economy of the AGV.

[0022] 2. The AGV logistics transfer device described in the present invention cooperates with the clutch part by setting the correction part. During the downward movement of the assembly part, the contact between the pressure plate and the rotating plate can pre-determine whether the generator and the hydraulic motor are coaxial. When the axes are not aligned, the slide is automatically contacted for positioning. After the coaxiality is corrected, the slide and the generator are fixed, ensuring the normal coordination of the hydraulic motor and the generator, improving the problems of abnormal energy recovery and equipment loss caused by the non-alignment, and extending the service life.

[0023] 3. The AGV logistics transfer device described in the present invention adjusts the overall center of gravity of the AGV by arranging pallets and configuration blocks on the lifting platform, so as to be suitable for the handling and unloading of irregular goods and improve the rollover problem caused by the offset of the center of gravity. In addition, the gravity of the goods is used to drive the movement of the assembly parts, perform coaxial correction and cooperate with power generation. This process is not only automatic, but also does not require the additional setting of the power system, thereby reducing power consumption and being more suitable for automated AGV transfer systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below with reference to the accompanying drawings.

[0025] Figure 1is a perspective view of embodiment 1 of the present invention;

[0026] Figure 2 This is the exploded view of the AGV main body, lifting platform and pallet;

[0027] Figure 3 It is a three-dimensional diagram of the hydraulic motor, generator and slide;

[0028] Figure 4 It is a partial cross-sectional view of the hydraulic motor, generator and slide;

[0029] Figure 5 It is an exploded view of the hydraulic motor, generator, slide, assembly and positioning rod;

[0030] Figure 6 This is an exploded view of the bracket, positioning rod and rotating plate;

[0031] Figure 7 This is a bottom view of a single pallet, hydraulic motor and generator;

[0032] Figure 8 This is a bottom view of the lifting platform and counterweight;

[0033] In the figure: 1. AGV main body; 2. Hydraulic lifting system; 21. Lifting platform; 22. Hydraulic cylinder; 3. Energy recovery unit; 31. Hydraulic motor; 32. Generator; 33. Energy storage battery; 4. Clutch unit; 41. Assembly part; 42. Fixing sleeve; 421. Assembly groove; 43. Edge plate; 44. Clamping plate; 5. Correction unit; 51. Slide; 52. Turntable; 53. Bracket; 54. Positioning rod; 541. Vertical rod; 542. Clamping seat; 543. Friction plate; 55. Positioning spring; 56. Ring plate; 57. Pressure plate; 58. Notch groove; 6. Center of gravity adjustment unit; 61. Slide rail; 62. Counterweight block; 63. Support plate; 64. Support spring; 65. Detection unit; 66. Conduit; 661. Rigid tube; 662. Flexible tube. DETAILED DESCRIPTION

[0034] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0035] Example 1

[0036] like Figure 1-5 As shown, an AGV logistics transfer device according to an embodiment of the present invention includes an AGV main body 1, on which a hydraulic lifting system 2 is provided. The hydraulic lifting system 2 includes a lifting platform 21 and a hydraulic cylinder 22, and also includes an energy recovery unit 3 and a clutch unit 4;

[0037] The energy recovery unit 3 includes a hydraulic motor 31, a generator 32 and an energy storage battery 33 provided on the AGV main body 1. The hydraulic oil in the hydraulic lifting system 2 flows through the hydraulic motor 31.

[0038] The clutch unit 4 includes: an assembly part 41 slidably mounted on the output shaft of the hydraulic motor 31; a fixed sleeve 42 fixedly mounted on the input shaft of the generator 32, with an assembly groove 421 formed at the end of the fixed sleeve 42. The output shaft of the hydraulic motor 31, the input shaft of the generator 32, the assembly part 41, and the assembly groove 421 are coaxial. After the assembly part 41 is moved and inserted into the assembly groove 421, the output shaft of the hydraulic motor 31 and the input shaft of the generator 32 are driven.

[0039] The hydraulic motor 31 is used to convert the pressure energy and flow rate of the hydraulic oil into rotational mechanical energy and transmit it to the generator 32 . The generator 32 converts the rotational mechanical energy into electrical energy and stores it in the energy storage battery 33 .

[0040] Specifically, the AGV main body 1 can adopt the existing AGV cart. The AGV main body 1 is equipped with a drive system, a navigation system and a control system. The control system is responsible for receiving tasks, planning paths, and issuing instructions to allow the AGV cart to perform the handling work; the drive system determines the movement mode of the AGV, and its drive mode is selected according to specific work requirements. Single steering wheel drive, two-wheel differential drive or omnidirectional drive can be used; the navigation system determines whether the AGV can accurately reach the target, and the navigation mode can adopt one or more of magnetic strip navigation, laser navigation and visual navigation. In addition, the AGV main body 1 is also equipped with hardware facilities such as a vehicle-mounted controller, a navigation module, a battery module, an obstacle detection module, an alarm module, a charging module, a communication module and a traveling mechanism.

[0041] The hydraulic lifting system 2 also includes an oil tank, a hydraulic pump and a control valve group. The hydraulic pump provides hydraulic oil to the hydraulic cylinder 22 and is driven by an external power supply. It only works when the lifting platform 21 is rising. The hydraulic cylinder 22 is used to control the lifting and lowering of the lifting platform 21. The hydraulic cylinder 22 pushes the lifting platform 21 to rise or retract under the action of gravity. The control valve group includes a directional control valve, a relief valve, a throttle valve, etc. to adjust the flow direction and pressure of the oil. The hydraulic motor 31 is provided with an oil inlet and an oil outlet. The AGV main body 1 is provided with a support mechanism for supporting the hydraulic motor 31. The hydraulic motor 31 is located above the generator 32 The generator 32 can adopt a permanent magnet synchronous motor or a DC motor. The energy recovery part 3 also includes a rectifier / voltage stabilization unit to rectify the AC power output by the generator 32 and adapt it to the energy storage battery 33. The energy storage battery 33 can adopt a supercapacitor or a lithium battery. According to needs, a frequency converter can also be set to dynamically adjust the power generation load to maintain the stable speed of the hydraulic motor 31. The assembly part 41 and the assembly groove 421 are preferably but not limited to friction fit. Other methods that can realize transmission between the assembly part 41 and the fixing sleeve 42 are also suitable for the manufacture of the assembly part 41 and the fixing sleeve 42, such as snap-on or meshing connection.

[0042] In continuous operation scenarios such as e-commerce high-rise warehousing, automobile production, and port containerization, heavier goods such as auto parts are stored on shelves at different heights. When using the AGV logistics transfer device to unload the goods, the AGV main body 1 moves to the side of the shelf, and then raises the lifting platform 21 to align with the high-level goods. Use a manipulator or manual operation to place the goods on the top of the lifting platform 21, and then move the lifting platform 21 downward, start the AGV main body 1 to move, and after transporting the goods to the designated place, the goods can be removed from the lifting platform 21. For example, when the lifting platform 21 is lowered to the lowest point, the goods can be removed from the lifting platform 21 and placed on the ground to complete the unloading work. During the transfer process, the lifting platform 21 automatically rises and falls to adapt to the picking and placing of goods at different heights.

[0043] During the ascending stage of the lifting platform 21 , the assembly part 41 is separated from the fixing sleeve 42 , the hydraulic motor 31 is disconnected from the generator 32 , and the generator 32 does not participate in the work, so as to avoid affecting the ascending work and causing energy waste.

[0044] After the cargo is placed on the lifting platform 21, the lifting platform 21 is unloaded or lowered. When the lifting platform 21 descends under the action of gravity, the gravitational potential energy of the cargo is released. During the descending stage of the lifting platform 21, the assembly part 41 is moved so that the assembly part 41 is assembled with the fixing sleeve 42. The piston rod in the hydraulic cylinder 22 retracts, forcing the hydraulic oil to flow out of the rodless cavity of the hydraulic cylinder 22, switch the oil circuit through the directional control valve, enter the oil inlet of the hydraulic motor 31, and then flow back to the oil tank through the oil outlet of the hydraulic motor 31. During the flow of the hydraulic oil in the hydraulic motor 31, it drives the rotor inside the hydraulic motor 31 to rotate. , causing the output shaft of the hydraulic motor 31 to rotate, converting hydraulic energy into mechanical energy. After the output shaft of the hydraulic motor 31 rotates, it drives the input shaft of the generator 32 to rotate through the clutch part 4, driving the rotor of the generator 32 to rotate, generating current and storing it in the energy storage battery 33. The stored electrical energy can be used to power the AGV. In this way, the function of recovering the gravitational potential energy wasted in the traditional hydraulic system is realized, and the energy waste situation is improved. In high-load and high-frequency operation scenarios, this solution reduces the charging frequency of the AGV, thereby improving work efficiency, and can more significantly improve the energy utilization and economy of the AGV.

[0045] It should be noted that, if necessary, PID feedback control can be set in the AGV to adjust the directional valve opening according to the speed sensor signal, control the oil flow, avoid the platform descent jamming due to power generation resistance, and perform energy recovery without affecting safety; use polytetrafluoroethylene (PTFE) sealing rings to reduce internal leakage and mechanical friction in the hydraulic motor 31; install a radiator in the oil tank to control the oil temperature and avoid efficiency loss due to high temperature.

[0046] like Figure 3-5 As shown, the clutch part 4 also includes: an edge plate 43 fixedly connected to the outside of the assembly part 41; a clamping plate 44 movably provided on the AGV main body 1, the clamping plate 44 is clamped with the edge plate 43, and the clamping plate 44 is used to drive the assembly part 41 to move up and down.

[0047] Specifically, the edge plate 43 is circular in shape. After the clamping plate 44 moves up and down, it drives the assembly part 41 to move up and down through the edge plate 43 without affecting the rotation of the assembly part 41.

[0048] like Figure 3-6 As shown, it also includes a correction part 5, which includes: a slide 51 slidably arranged on the AGV main body 1, and the generator 32 is fixed to the slide 51; a plurality of rotating plates 52 rotatably arranged on the slide 51; a bracket 53 fixed to the AGV main body 1: a plurality of positioning rods 54 movably arranged on the bracket 53, and the top end of the rotating plate 52 is engaged with the positioning rod 54; and a plurality of positioning springs 55 for fixing the positioning rod 54 on the bracket 53.

[0049] Specifically, the output shaft of the hydraulic motor 31 and the input shaft of the generator 32 are rigidly connected through the assembly part 41. The structure is simple but requires strict alignment. If the two are not coaxial, transmission obstruction and abnormal force will occur, resulting in abnormal energy recovery and aggravated equipment loss, reducing the service life of the equipment. In the actual working process, affected by the movement of AGV, structural vibrations such as motors and motors, the hydraulic motor 31 and the generator 32 may be horizontally offset, resulting in misalignment of the output shaft of the hydraulic motor 31 and the input shaft of the generator 32, requiring coaxial correction.

[0050] The slide 51 can move in the horizontal direction. Initially, the slide 51 is fixed on the AGV main body 1. When correction is required, the positioning effect of the slide 51 is released, and then the slide 51 is moved. After the input shaft of the generator 32 moves to be coaxial with the output shaft of the hydraulic motor 31, the slide 51 is fixed again to fix the position of the generator 32 so that the generator 32 and the hydraulic motor 31 can cooperate normally.

[0051] like Figure 4-6 As shown, the positioning rod 54 includes: a vertical rod 541 passing through the bracket 53, and the bracket 53 is provided with a movable groove corresponding to the vertical rod 541; a base 542 and a friction plate 543 respectively arranged at the upper and lower ends of the vertical rod 541, and the base 542 and the friction plate 543 are respectively located on the upper and lower sides of the movable groove, and the outer diameter of the friction plate 543 is larger than the size of the movable groove.

[0052] Specifically, the size of the movable groove is larger than the outer diameter of the vertical rod 541 , and the vertical rod 541 can move horizontally in the movable groove.

[0053] like Figure 3 As shown, the rotating plate 52 is arranged in an inclined shape, and a plurality of the rotating plates 52 are evenly distributed in a ring along the assembly groove 421 .

[0054] Specifically, the bottom end of the rotating plate 52 is rotatably connected to the slide 51. When the rotating plate 52 rotates back and forth, it drives the positioning rod 54 to move up and down. The top of the rotating plate 52 is provided with a round rod inserted into the inside of the clamping seat 542. The two ends of the positioning spring 55 are respectively connected to the clamping seat 542 and the bracket 53. The positioning spring 55 pushes the positioning rod 54 to move upward, and the friction plate 543 is tightly attached to the bracket 53, so that the positioning rod 54 is fixed on the bracket 53. At this time, the positioning rod 54 generates a downward force on the slide 51 through the rotating plate 52, fixing the slide 51 on the AGV main body 1.

[0055] Pressing the bottom end of the rotating plate 52 downwards moves the positioning rod 54 downwards. After the positioning rod 54 moves downwards, the friction plate 543 separates from the bracket 53, releasing the positioning of the slide 51. Then the slide 51 can be moved to adjust the position of the input shaft of the generator 32.

[0056] like Figure 3-6 As shown, the correction part 5 also includes: a ring plate 56, through which several positioning rods 54 are fixedly connected as a whole; a pressure plate 57 fixed on the assembly part 41, the pressure plate 57 is ring-shaped and coaxial with the assembly part 41, and the pressure plate 57 is used to squeeze the rotating plate 52 to rotate.

[0057] Specifically, when one of the pressing plates 57 rotates, it can drive all the positioning rods 54 to move up and down, thereby quickly positioning or releasing the slide 51.

[0058] like Figure 4-6 As shown, the bottom end of the assembly part 41 is provided with a tapered section, and the correction part 5 further includes a notch groove 58 provided on the rotating plate 52 . After the assembly part 41 is inserted into the assembly groove 421 , the pressing plate 57 is located in the notch groove 58 .

[0059] Specifically, when the output shaft of the hydraulic motor 31 and the input shaft of the generator 32 are vertically coaxial, the assembly member 41 can be smoothly inserted into the assembly groove 421 after being moved downward. The output shaft of the hydraulic motor 31 drives the input shaft of the generator 32 to rotate, and the pressure plate 57 is exactly located in all the notches 58. The pressure plate 57 does not contact the rotating plate 52, the rotating plate 52 does not rotate, and the slide 51 remains in position. Therefore, the generator 32 remains in place, thereby avoiding interference with the coordination between the hydraulic motor 31 and the generator 32.

[0060] When the output shaft of the hydraulic motor 31 and the input shaft of the generator 32 are not aligned vertically, the pressure plate 57 is also offset from the notch 58. After the assembly part 41 moves downward, the pressure plate 57 first contacts the top of one or part of the rotating plates 52 and squeezes the rotating plates 52 to rotate. After the rotating plates 52 rotate, the positioning rod 54 is driven downward to release the positioning of the slide 51. Then, the tapered section at the bottom end of the assembly part 41 contacts the assembly groove 421 and drives the slide 51 to move, adjusting the position of the slide 51 and the generator 32 until the output shaft of the hydraulic motor 31, the input shaft of the generator 32, the assembly part 41 and the assembly groove 421 are aligned. 21 are coaxial, and the pressure plate 57 is located just above all the notched grooves 58. The rotating plate 52 and the positioning rod 54 are automatically reset under the action of the positioning spring 55, and the slide 51 is fixed again. The assembly part 41 continues to move downward and is inserted into the assembly groove 421. The output shaft of the hydraulic motor 31 can drive the input shaft of the generator 32 to rotate. In this way, when the hydraulic motor 31 and the generator 32 are not coaxial, the position of the generator 32 is automatically adjusted, the coaxiality is corrected, and the corrected generator 32 is automatically positioned. There is no need to stop the machine for operation, which improves work efficiency and automation.

[0061] Example 2

[0062] like Figure 1-8As shown, compared with Example 1, another embodiment of the present invention is: it also includes a center of gravity adjustment part 6, and the center of gravity adjustment part 6 includes: a slide rail 61 fixedly connected to the bottom end of the lifting platform 21; and a counterweight block 62 provided on the slide rail 61.

[0063] Specifically, for some irregular logistics cargo handling, after the cargo is placed on the lifting platform 21, the overall center of gravity of the AGV cart may shift too much and cause rollover. For this purpose, a counterweight block 62 is set. The number and distribution of the counterweight blocks 62 can be selected by yourself. For example, two counterweight blocks 62 are set and distributed along the annular slide rail 61. By adjusting the position of the counterweight block 62, the overall center of gravity of the AGV cart can be adjusted to improve the rollover problem caused by the center of gravity shift.

[0064] like Figure 2-7 As shown, the center of gravity adjustment part 6 also includes: a number of support plates 63 movably inserted into the top of the lifting platform 21; a support spring 64 provided on the lifting platform 21 for supporting the upward movement of the support plate 63; and a number of detection units 65 provided on the top of the lifting platform 21, and the detection unit 65 is used to detect the displacement of the support plate 63 along the height direction.

[0065] Specifically, the support plates 63 are evenly distributed on the top of the lifting platform 21. The figure shows the support plates 63 evenly distributed along a row. The shape and distribution of the support plates 63 can be changed according to specific work requirements. For example, the support plates 63 can also be arranged in a rectangular array or a ring. The lifting platform 21 is equipped with a control unit for controlling the movement of the counterweight 62, and a detection unit 65 is used to trigger the control unit.

[0066] When using AGV to unload goods, the goods are placed on the pallet 63. The gravity of the goods presses the pallet 63 downward, and the downward movement of each pallet 63 is detected by the detection unit 65. The detection unit 65 is preferably but not limited to a touch pressure sensor. When the center of gravity of the goods is within the normal range, the time difference taken for each pallet 63 to contact the detection unit 65 after moving down is within the set range. At this time, the control unit is not started, and the counterweight block 62 does not need to be moved to adjust the overall center of gravity; when the center of gravity deviation of the goods exceeds the normal range, the time difference taken for each pallet 63 to contact the detection unit 65 after moving down exceeds the set range, then the control unit is started to move the counterweight block 62 to adjust the overall center of gravity. In this way, the function of automatically adjusting the overall center of gravity of the AGV according to the center of gravity of the goods when loading is realized, thereby improving the problem of rollover caused by excessive center of gravity deviation.

[0067] like Figure 2 and 7As shown, the center of gravity adjustment part 6 also includes: a conduit 66, the conduit 66 includes two rigid tubes 661, a flexible tube 662 is connected between the two rigid tubes 661, the two rigid tubes 661 are respectively fixed to the support plate 63 and the AGV main body 1, and the card plate 44 is slidably inserted into the lower rigid tube 661; a flexible member (not shown in the figure) is provided inside the conduit 66, and the two ends of the flexible member are respectively connected to the support plate 63 and the card plate 44, and after the support plate 63 moves up and down relative to the lifting platform 21, the card plate 44 is driven to move up and down by the flexible member.

[0068] Specifically, the flexible tube 662 is preferably made of, but not limited to, a bendable plastic material, and the flexible part is preferably made of, but not limited to, a bendable steel rope with a constant length. After the support plate 63 moves up and down relative to the lifting platform 21, the flexible part drives the card plate 44 to move up and down. During the lifting process of the lifting platform 21, the flexible part bends and deforms, but the position of the card plate 44 remains unchanged, and the lifting and lowering of the lifting platform 21 does not drive the card plate 44 to move up and down.

[0069] It should be noted that other structures that can meet the requirement that the support plate 63 moves up and down relative to the lifting platform 21 and drives the clamping plate 44 to move up and down without being affected by the movement of the lifting platform 21 are suitable for the manufacture of the transmission structure between the support plate 63 and the clamping plate 44.

[0070] Working principle: When using AGV to unload goods, first start the lifting platform 21 to move upward so that the lifting platform 21 is aligned with the goods on the shelf, and then place the goods on the pallet 63. The goods first squeeze the pallet 63 downward. By setting the evenly distributed pallets 63, the center of gravity of the goods is determined, and the counterweight block 62 is moved accordingly, thereby adjusting the overall center of gravity of the AGV to avoid excessive deviation of the overall center of gravity of the AGV;

[0071] After the support plate 63 moves down, it drives the clamping plate 44 to move down, and the clamping plate 44 drives the assembly part 41 to move down. During the downward movement of the assembly part 41, if the output shaft of the hydraulic motor 31 is coaxial with the input shaft of the generator 32, after the assembly part 41 moves down, the pressure plate 57 moves down smoothly to all the notches 58, the pressure plate 57 does not contact the rotating plate 52, and the assembly part 41 can be smoothly inserted into the assembly groove 421; if the output shaft of the hydraulic motor 31 is not coaxial with the input shaft of the generator 32, after the assembly part 41 moves down, the pressure plate 57 is staggered with the notch 58, and the pressure plate 57 first contacts the rotating plate 52 and squeezes the rotating plate 52 to rotate. After the rotating plate 52 rotates, it drives the positioning rod 54 downward, releasing the positioning of the slide 51. Then, the tapered section at the bottom end of the assembly part 41 contacts the assembly groove 421 and drives the slide 51 to move, adjusting the position of the slide 51 and the generator 32 until the output shaft of the hydraulic motor 31 and the input shaft of the generator 32 are coaxial. Subsequently, the assembly part 41 can be smoothly inserted into the assembly groove 421, completing the coaxial detection and correction of the output shaft of the hydraulic motor 31 and the input shaft of the generator 32.

[0072] After the assembly 41 and the fixing sleeve 42 are assembled, the gravitational potential energy of the cargo is released as the lifting platform 21 descends under the action of gravity. During the descent phase of the lifting platform 21, the hydraulic oil flows within the hydraulic motor 31, driving the rotor inside the hydraulic motor 31 to rotate, causing the output shaft of the hydraulic motor 31 to rotate. After the output shaft of the hydraulic motor 31 rotates, the assembly 41 and the fixing sleeve 42 cooperate to drive the input shaft of the generator 32 to rotate, generating current and storing it in the energy storage battery 33. In this way, the gravitational potential energy wasted in the traditional hydraulic system is recovered, improving energy waste. In high-load, high-frequency operation scenarios, this solution reduces the charging frequency of the AGV, thereby improving work efficiency and significantly improving the energy utilization and economic efficiency of the AGV. During use, the device uses the gravity of the cargo to drive the assembly 41 to move, perform coaxial correction, and cooperate in power generation. This process is not only automatic, but also does not require an additional power system, reducing energy consumption and making it more suitable for automated AGV transfer systems.

[0073] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. An AGV logistics transfer device, comprising an AGV main body (1), wherein the AGV main body (1) is provided with a hydraulic lifting system (2), wherein the hydraulic lifting system (2) comprises a lifting platform (21) and a hydraulic cylinder (22), and is characterized in that: It also includes an energy recovery unit (3) and a clutch unit (4); The energy recovery unit (3) includes a hydraulic motor (31), a generator (32) and an energy storage battery (33) provided on the AGV main body (1), and the hydraulic oil in the hydraulic lifting system (2) flows through the hydraulic motor (31); The clutch part (4) comprises: an assembly part (41) slidably arranged on the output shaft of the hydraulic motor (31); A fixed sleeve (42) is fixedly connected to the input shaft of the generator (32), and an assembly groove (421) is provided at the end of the fixed sleeve (42). The output shaft of the hydraulic motor (31), the input shaft of the generator (32), the assembly part (41) and the assembly groove (421) are coaxial. After the assembly part (41) is moved and inserted into the assembly groove (421), the output shaft of the hydraulic motor (31) and the input shaft of the generator (32) are driven. The hydraulic motor (31) is used to convert the pressure energy and flow of the hydraulic oil into rotational mechanical energy and transmit it to the generator (32). The generator (32) converts the rotational mechanical energy into electrical energy and stores it in the energy storage battery (33).

2. The AGV logistics transfer device according to claim 1, characterized in that: The clutch part (4) further comprises: an edge plate (43) fixedly connected to the outer side of the assembly part (41); A card plate (44) is movably arranged on the AGV main body (1), the card plate (44) is engaged with the edge plate (43), and the card plate (44) is used to drive the assembly part (41) to move up and down.

3. The AGV logistics transfer device according to claim 2, characterized in that: The device further comprises a correction unit (5), wherein the correction unit (5) comprises: A slide seat (51) is slidably mounted on the AGV main body (1), and the generator (32) is fixedly connected to the slide seat (51); A plurality of rotating plates (52) rotatably arranged on the slide seat (51); A bracket (53) fixedly connected to the AGV main body (1): a plurality of positioning rods (54) movably arranged on the bracket (53), the top end of the rotating plate (52) being engaged with the positioning rods (54); A plurality of positioning springs (55) for fixing the positioning rod (54) on the bracket (53).

4. The AGV logistics transfer device according to claim 3, characterized in that: The positioning rod (54) comprises: A vertical rod (541) passes through the bracket (53), and the bracket (53) is provided with a movable groove corresponding to the vertical rod (541); A clamping seat (542) and a friction plate (543) are respectively arranged at the upper and lower ends of the vertical rod (541). The clamping seat (542) and the friction plate (543) are respectively located at the upper and lower sides of the movable groove. The outer diameter of the friction plate (543) is larger than the size of the movable groove.

5. The AGV logistics transfer device according to claim 3, characterized in that: The rotating plates (52) are arranged in an inclined shape, and a plurality of the rotating plates (52) are evenly distributed in a ring shape along the assembly groove (421).

6. The AGV logistics transfer device according to claim 3, characterized in that: The correction unit (5) further includes: A ring plate (56), wherein the plurality of positioning rods (54) are fixedly connected as one body via the ring plate (56); A pressing plate (57) is fixedly connected to the assembly part (41), the pressing plate (57) is annular and coaxial with the assembly part (41), and the pressing plate (57) is used to press the rotating plate (52) to rotate.

7. The AGV logistics transfer device according to claim 6, characterized in that: The bottom end of the assembly part (41) is provided with a tapered section, and the correction part (5) further includes a notch groove (58) provided on the rotating plate (52). After the assembly part (41) is inserted into the assembly groove (421), the pressing plate (57) is located in the notch groove (58).

8. The AGV logistics transfer device according to claim 6, characterized in that: It also includes a center of gravity adjustment portion (6), which includes: A slide rail (61) fixedly connected to the bottom end of the lifting platform (21); A counterweight (62) is provided on the slide rail (61).

9. The AGV logistics transfer device according to claim 8, characterized in that: The center of gravity adjustment portion (6) further includes: A plurality of supporting plates (63) movably connected to the top of the lifting platform (21); A support spring (64) provided on the lifting platform (21) for supporting the support plate (63) to move upward; A plurality of detection units (65) are arranged on the top of the lifting platform (21), and the detection units (65) are used to detect the displacement of the supporting plate (63) along the height direction.

10. The AGV logistics transfer device according to claim 9, characterized in that: The center of gravity adjustment part (6) further includes: A conduit (66), the conduit (66) comprising two rigid tubes (661), a flexible tube (662) being connected between the two rigid tubes (661), the two rigid tubes (661) being fixedly connected to the support plate (63) and the AGV main body (1), respectively, and the card plate (44) being slidably inserted into the interior of the lower rigid tube (661); A flexible member is provided inside the conduit (66), and both ends of the flexible member are respectively connected to the support plate (63) and the clamping plate (44). After the support plate (63) moves up and down relative to the lifting platform (21), the clamping plate (44) is driven to move up and down by the flexible member.

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