Tractor capable of automatically taking goods

Abstract

The invention provides a tractor capable of automatically taking goods, and belongs to the technical field of warehouse logistics, the tractor comprises a four-way vehicle three-dimensional bin, a plurality of sets of rails are arranged in the four-way vehicle three-dimensional bin, an AGV bracket is arranged at the goods inlet end of the four-way vehicle three-dimensional bin, a plurality of goods bodies are placed on the AGV bracket, and the AGV bracket is connected with the four-way vehicle three-dimensional bin. A tractor assembly used for transporting goods bodies is connected to the rails in a sliding mode, and goods taking positions facilitating goods taking of the tractor assembly are further arranged on the four-way vehicle three-dimensional bin. The variable-pitch servo motor is used for driving the ball screw, flexible and adjustable pallet fork spacing and adaptation to cargoes of multiple specifications are achieved, additional carriers and butt joint equipment are not needed, the movable detachable workbench is matched, the site space requirement is lowered, the anti-tipping mechanism is arranged at the bottom of the side beam of the vehicle body, tipping is prevented, abrasion is reduced, and the working efficiency is improved. According to the overall scheme, the space utilization rate and the warehouse-in and warehouse-out efficiency are improved, and efficient, stable and low-cost warehouse logistics operation is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of warehousing and logistics, and in particular to a tractor capable of autonomously picking up goods. Background Art

[0002] Tractors, four-way shuttles, and other equipment are core components of intelligent warehousing. Through the docking and transfer of tractors, the four-way movement of four-way shuttles, intelligent scheduling, and multi-vehicle collaboration, efficient and dense storage is achieved. In recent years, with the continuous improvement of corporate production and management levels, more and more companies have realized that improved logistics systems can increase production efficiency and reduce distribution costs. Consequently, the number of interfaces between AGVs and high-bay warehouses has gradually increased.

[0003] However, as the demand for storage efficiency becomes increasingly higher, the original docking form limits the number and types of docking ports, and the need to place docking equipment greatly wastes land space.

[0004] The existing docking method between AGV and four-way vehicle requires a special machine to connect the two, resulting in a single cargo type and complex structure. With the rise of four-way vehicle warehouses, the limitation of the docking method leads to the need for more docking interfaces. The single corresponding cargo specifications result in a meaningless increase in the number of docking interfaces, wasting space resources. The diversity of specifications during scheduling leads to a decrease in efficiency. In addition, the currently commonly used fork spacing is fixed. However, there are many cargo specifications on the market and the pallet sizes are also different. Forks with fixed spacing cannot adapt to the diverse cargo needs. This leads to the need to design a variety of special forks or handling equipment for cargo of different specifications in actual applications, which greatly increases the design burden and equipment costs. Moreover, when the cargo specifications change, the original equipment may not be able to be used normally and needs to be re-purchased or modified, further increasing the operating costs. Summary of the Invention

[0005] The object of the present invention is to provide a tractor that can pick up goods autonomously, so as to solve the problems raised in the above background technology.

[0006] Therefore, the present invention has the following technical solution: a tractor capable of autonomously picking up goods, comprising a four-way vehicle stereoscopic warehouse, wherein a plurality of sets of tracks are provided in the four-way vehicle stereoscopic warehouse, an AGV bracket is provided at the inlet end of the four-way vehicle stereoscopic warehouse, a plurality of cargo bodies are placed on the AGV bracket, a tractor assembly for transporting the cargo bodies is slidably connected to the track, and a pickup position is further provided on the four-way vehicle stereoscopic warehouse for facilitating the tractor assembly to pick up the cargo;

[0007] The tractor assembly includes a cargo storage and retrieval assembly slidably connected to a track, and two sets of fork assemblies for forking cargo are fixedly connected to the cargo storage and retrieval assembly. Two sets of lifting assemblies for assisting the two sets of fork assemblies in picking up and placing cargo, and a variable distance assembly for adjusting the distance between the two sets of fork assemblies are also fixedly connected to the cargo storage and retrieval assembly. Anti-tilt assemblies for increasing the movement stability of the cargo storage and retrieval assembly are also fixedly connected to the four corners of the bottom of the cargo storage and retrieval assembly.

[0008] Preferably, the cargo storage and retrieval assembly includes a tractor body, two sets of travel drive motors are fixedly connected to the top of the tractor body, the output ends of the two sets of travel drive motors are fixedly connected to two sets of travel wheel boxes through connecting shafts, and multiple sets of travel wheel boxes are respectively located at the four corners of the top of the tractor body, and the output end of each set of travel wheel boxes is fixedly connected to a guide wheel, and the guide wheel is slidably connected to the track, and the tractor body is slidably connected to the track through the multiple sets of guide wheels;

[0009] A buffer is also fixedly connected to each set of the traveling wheel boxes, an anti-collision touch edge is also fixedly connected between the two sets of the traveling wheel boxes located on the same side of the tractor body, and a power supply mechanism is also fixedly connected to one side of the top of the tractor body.

[0010] Preferably, the two sets of fork assemblies are fixedly connected to the top of the tractor body, and each set of fork assemblies includes a fixed frame, a first fork body and a second fork body, the first fork body is slidably connected to the fixed frame, and the second fork body is slidably connected to the first fork body. The bottoms of the two sets of fixed frames are fixedly connected to a fork extension motor for driving the first fork body and the second fork body to extend, and the pitch change assembly is arranged between the two sets of fixed frames;

[0011] The two sets of second cargo fork bodies are rotatably connected to one side away from each other with two sets of auxiliary components for assisting in fixing the cargo body when picking up and placing cargo.

[0012] Preferably, two groups of cross beams are further provided on the top of the tractor body, and the two groups of cross beams are respectively located at the bottom of the two ends of the two groups of fixing frames, wherein the two ends of one group of fixing frames are respectively fixed to one end of the two groups of cross beams, and the two ends of the other group of fixing frames are respectively slidably connected to the two groups of cross beams, and the two ends of the two groups of cross beams are fixedly connected to connecting blocks, and the sides of the multiple groups of connecting blocks away from the cross beams are provided with roller guide grooves, and the multiple roller guide grooves are respectively engaged with the output ends of adjacent jacking components.

[0013] Preferably, the jacking assembly includes two sets of gear boxes and a jacking drive motor, the two sets of gear boxes are fixedly connected to the tractor body, and the two sets of gear boxes are located on both sides of the two sets of fixed frames, the two sets of gear boxes are rotatably connected to the input gear, the jacking drive motor is fixedly connected to the top of the tractor body, and the output end of the jacking drive motor is fixedly connected to the steering gear, the output end of the steering gear is fixedly connected to the universal coupling, one end of the universal coupling passes through the steering gear and is fixed to the input gear in one set of gear boxes, the other end of the universal coupling passes through the other set of gear boxes and is fixed to the input gear in the gear box, the two sets of gear boxes are also rotatably connected to the synchronous output gear sets, and the synchronous output gear sets are located on both sides of the input gears in adjacent gear boxes, and the two sets of synchronous output gear sets are respectively meshed with the input gears.

[0014] Preferably, two groups of eccentric wheels are fixedly connected to the side close to each other of the two groups of gear boxes, and each group of eccentric wheels is fixed to the output end of the synchronous output gear group in the adjacent eccentric wheels through a connecting shaft. The facing surfaces of multiple groups of eccentric wheels are fixedly connected with roller shafts, and the multiple groups of roller shafts are respectively located at eccentric positions on adjacent eccentric wheels, and the multiple groups of roller shafts are respectively slidably engaged in the multiple groups of roller guide grooves.

[0015] Preferably, the pitch-changing assembly includes a pitch-changing servo motor, which is fixedly connected to the side wall of one group of fixed frames, and the output end of the pitch-changing servo motor is fixedly connected to a reducer, and the output end of the reducer is rotatably connected to a ball screw, and the other end of the ball screw is rotatably connected to the inner wall of the tractor body, and the bottom of the other group of fixed frames is fixedly connected to a synchronization block, and the synchronization block is threadedly connected to the ball screw.

[0016] Preferably, the auxiliary assembly includes multiple groups of auxiliary limit assemblies rotatably connected to the two groups of second fork bodies, each group of the auxiliary limit assemblies is provided with a driving assembly, each group of the second fork bodies is provided with two groups of auxiliary limit assemblies, and the multiple groups of auxiliary limit assemblies are all located on opposite back surfaces of the two groups of second fork bodies;

[0017] The auxiliary limit assembly includes a fixed plate, which is slidably connected to the outer wall of the second fork body, and the bottom of the fixed plate is rotatably connected to the driving gear. The opposite back surfaces of the two groups of the first fork bodies are fixedly connected to two groups of driving teeth for driving adjacent driving gears to rotate. The top of each group of the fixed plates is also rotatably connected to a connecting plate, and the connecting plate is connected to the driving gear at the bottom of the fixed plate. A limiting groove is provided at the top of the connecting plate away from the fixed plate, and a connecting rod is arranged in the limiting groove and is slidably connected to the limiting groove. The top of the connecting rod is fixedly connected to the limiting plate, and a buffer pad is fixedly connected to the side of the limiting plate facing the fixed plate.

[0018] Preferably, the driving assembly includes a micro motor, the micro motor is fixedly connected to the bottom of the connecting plate, the output end of the micro motor is fixedly connected to a first transmission gear, the first transmission gear is rotatably connected to the connecting plate, the connecting plate is also rotatably connected to a second transmission gear, a transmission chain is provided between the first transmission gear and the second transmission gear, the first transmission gear and the second transmission gear are connected by the transmission chain, and a push block is fixedly connected to the transmission chain;

[0019] A push plate is also provided above the transmission chain, and the push plate is slidably connected to the limiting groove, the push block is slidably connected to the push plate, and the top of the push plate is fixed to the connecting rod on the limiting groove.

[0020] Preferably, the anti-tipping assembly is fixedly connected to the bottom of the tractor body, and the anti-tipping assembly includes a fixed block, and the side of the fixed block close to the tractor body is slidably connected to an anti-tipping hook plate, and multiple groups of anti-tipping hook plates are respectively located on both sides of the track, and a hook plate adjustment bolt for adjusting the distance between the anti-tipping hook plate and the track is also provided between the fixed block and the anti-tipping hook plate.

[0021] Compared with the prior art, the present invention has the following advantages:

[0022] The present invention makes the spacing between forks adjustable. The variable-pitch servo motor drives the reducer, which drives the ball screw to move the follower fork installed on the guide rail back and forth to adjust the spacing between the forks, thereby achieving versatility for goods of multiple specifications. Because the fork moves with half of the fork fingers, the fork center will change with the change of goods specifications. Therefore, when picking up goods, the tractor system recalculates the cargo center according to the fork finger movement, so that the goods are always in the fork center. In this way, the fork installed on the vehicle body can be used for pallets and goods of multiple specifications, reducing the design burden and equipment cost increased by the large number of goods specifications. Because the picking method is in the form of a fork, the fork and the goods are in a lifting state during the picking process. When there are goods of multiple specifications, there is no need to consider the carrier and docking equipment separately, which further improves the versatility of the device.

[0023] In the present invention, since the loading and unloading of goods is realized by the vehicle body itself, there is no need to design additional docking equipment. The AGV only needs to transport the goods to the designated station. The workbench or tooling is movable and detachable, which further reduces the site space requirement. At the same time, the vehicle body is streamlined, and a more compact and stable lifting mechanism is designed to reduce the docking height, meeting the docking height of most AGVs on the market. At the same time, due to the universality of multiple specifications, goods can be placed at any station, which greatly improves space utilization and significantly improves the efficiency of warehousing and outbound operations.

[0024] At the same time, the entire picking and placing process is precisely controlled by the system, from fork spacing adjustment, cargo center calculation, to fork extension and retraction, cargo raising and lowering, and auxiliary components to fix and release cargo. All operations are automated, reducing manual intervention, improving work accuracy and reliability, and reducing the risk of errors and accidents caused by human factors.

[0025] In the present invention, an anti-rollover mechanism is designed at the bottom of the vehicle body side beam. During the process of picking up goods, the weight of the goods is greater than the vehicle body, which easily causes the vehicle body to roll over. Therefore, a set of anti-rollover structures consisting of tracks and anti-rollover mechanisms are designed. A similar I-shaped track is selected, and a hook plate mechanism is installed on the vehicle body. The anti-rollover hook plate has a very small movement gap with the track during normal operation, ensuring that no friction is generated when the vehicle body moves, thereby not causing additional energy efficiency loss of the vehicle body. When the forklift picks up heavy goods, the hook plate mechanism is hooked back on the side of the track, thereby preventing rollover caused by the heavy goods. At the same time, the material of the anti-rollover hook plate in contact with the track is self-lubricating material, which has a higher hardness when in surface contact and a lower hardness than the track during movement friction, thereby reducing track wear and reducing subsequent maintenance costs.

[0026] In the present invention, when the fork is extended to pick up the goods, the auxiliary component is synchronously started to fix the side of the goods. When the second fork body extends outward until the driving gear is engaged with the driving teeth, it drives the connecting plate to flip to be perpendicular to the goods. The micro motor drives the transmission chain to make the pushing block drive the limit plate and the buffer pad to contact the side wall of the goods, effectively preventing the goods from shaking or falling during movement. After the fork assembly is retracted to lift the goods, the fixed plate slides down along the outer wall of the second fork body to stagger the driving gear and the driving teeth, ensuring the continuous fixation of the goods during transportation. When the fork assembly is lowered when the goods are delivered, the driving teeth are again at the same level with the driving gear. The fork is retracted and drives the driving gear to rotate in the opposite direction to reset the connecting plate. The micro motor also drives the limit plate and the buffer pad to reset, preparing for the next storage and retrieval. The structural design is exquisite and reasonable, which greatly improves the stability of the goods during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A first perspective schematic diagram of the present invention is shown;

[0028] Figure 2 A schematic diagram of the three-dimensional structure of the cargo storage and retrieval component of the present invention is shown;

[0029] Figure 3 It shows a schematic structural diagram of the cargo storage and retrieval component of the present invention during operation;

[0030] Figure 4 The present invention is shown Figure 3 Side view of the structure at A in the middle;

[0031] Figure 5Shows a schematic structural diagram of the jacking assembly of the present invention;

[0032] Figure 6 Shows a schematic diagram of the structure inside the gearbox of the present invention;

[0033] Figure 7 A schematic structural diagram of the variable distance assembly and the fork assembly of the present invention is shown;

[0034] Figure 8 The schematic diagram of the structure of the present invention when picking up goods is shown;

[0035] Figure 9 The present invention is shown Figure 8 A magnified schematic diagram of the structure at B in the middle;

[0036] Figure 10 The present invention is shown Figure 8 Schematic diagram of the structure at B in the middle;

[0037] Figure 11 The schematic diagram of the structure of the auxiliary limit assembly of the present invention is shown Figure 1 ;

[0038] Figure 12 The schematic diagram of the structure of the auxiliary limit assembly of the present invention is shown Figure 2 ;

[0039] Figure 13 The structure of the drive assembly of the present invention is shown Figure 1 ;

[0040] Figure 14 The structure of the drive assembly of the present invention is shown Figure 2 .

[0041] In the figure: 1. Four-way vehicle stereoscopic warehouse; 11. Pick-up position; 12. Track; 2. AGV bracket; 21. Cargo body; 3. Cargo storage and retrieval assembly; 31. Tractor body; 32. Travel drive motor; 33. Travel wheel box; 34. Buffer; 35. Power supply mechanism; 36. Crossbeam; 37. Connecting block; 38. Roller guide groove; 39. Anti-collision edge; 4. Lifting assembly; 41. Gear box; 42. Eccentric wheel; 43. Roller shaft; 44. Lifting drive motor; 45. Steering gear; 46. Universal joint; 47. Input gear; 48. Synchronous output gear set; 5. Pitch change assembly; 51. Pitch change servo motor; 52. Speed ​​reduction Machine; 53, ball screw; 6, fork assembly; 61, fixed frame; 62, first fork body; 63, second fork body; 64, fork extension motor; 65, drive teeth; 66, synchronization block; 7, auxiliary limit assembly; 71, fixed plate; 72, drive gear; 73, connecting plate; 74, limit slot; 75, connecting rod; 76, limit plate; 77, buffer pad; 8, drive assembly; 81, micro motor; 82, first transmission gear; 83, second transmission gear; 84, transmission chain; 85, push block; 86, push plate; 9, anti-tipping assembly; 91, fixed block; 92, anti-tipping hook plate; 93, hook plate adjustment bolt. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0043] See also Figures 1 to 14 The present invention provides a technical solution for a tractor capable of autonomous cargo pickup: a tractor capable of autonomous cargo pickup, comprising a four-way vehicle stereoscopic warehouse 1, wherein a plurality of sets of tracks 12 are arranged in the four-way vehicle stereoscopic warehouse 1, an AGV bracket 2 is arranged at the cargo inlet end of the four-way vehicle stereoscopic warehouse 1, a plurality of cargo bodies 21 are placed on the AGV bracket 2, a tractor assembly for transporting the cargo bodies 21 is slidably connected to the track 12, and a cargo pickup position 11 for facilitating cargo pickup by the tractor assembly is further provided on the four-way vehicle stereoscopic warehouse 1, the tractor assembly comprises a cargo storage and retrieval assembly 3 slidably connected to the track 12, two sets of fork assemblies 6 for forking cargo are fixedly connected to the cargo storage and retrieval assembly 3, two sets of jacking assemblies 4 for assisting the two sets of fork assemblies 6 in picking up and releasing cargo, and a variable distance assembly 5 for adjusting the distance between the two sets of fork assemblies 6 are also fixedly connected to the cargo storage and retrieval assembly 3, and anti-tilt assemblies 9 for increasing the moving stability of the cargo storage and retrieval assembly 3 are also fixedly connected to the four corners of the bottom of the cargo storage and retrieval assembly 3;

[0044] Specifically, when in use, the cargo body 21 is first transported to a designated site by an AGV or other conveying equipment, and the cargo storage and retrieval component 3 receives a signal and arrives at the designated station;

[0045] After the storage and retrieval component 3 reaches the designated position, the distance-changing component 5 is activated according to the system information to adjust the distance between the fork components 6 to accommodate goods of different specifications. After the distance-changing component 5 is adjusted, the radar scan is used to confirm whether the goods specification information matches and whether the position is correct;

[0046] After everything is in place, the fork assembly 6 is started, the fork is extended to the specified position, the lifting assembly 4 is started, driving the fork assembly 6 to rise, lifting the cargo body 21, and the fork assembly 6 is retracted, and the cargo body 21 is recovered to the cargo storage and retrieval assembly 3. During the recovery process, the position, size, length, width, etc. of the cargo body 21 are checked to ensure that they are within the specified range to ensure the accuracy of the position;

[0047] After the goods are picked up, the storage and retrieval component 3 moves to the designated position, uses radar to detect whether the cargo position meets the requirements for placing the goods, and then drives the fork assembly 6 to place the cargo body 21 in the designated position. After placing it in, the jacking component 4 starts to drive the fork assembly 6 to move down, so that the cargo body 21 is placed on the placing position, and then the fork assembly 6 is retracted to complete a picking and placing operation.

[0048] As an optimization solution for tractors that can pick up goods autonomously, Figure 1-12 As shown, the cargo storage and retrieval component 3 includes a tractor body 31, and two sets of travel drive motors 32 are fixedly connected to the top of the tractor body 31. The output ends of the two sets of travel drive motors 32 are fixedly connected to two sets of travel wheel boxes 33 through connecting shafts. Multiple sets of travel wheel boxes 33 are respectively located at the four corners of the top of the tractor body 31. The output end of each set of travel wheel boxes 33 is fixedly connected to a guide wheel, and the guide wheel is slidably connected to the track 12. The tractor body 31 is slidably connected to the track 12 through multiple sets of guide wheels. Each set of travel wheel boxes 33 is also fixedly connected to a buffer 34, located An anti-collision touch edge 39 is fixedly connected between the two sets of running wheel boxes 33 on the same side of the tractor body 31. A power supply mechanism 35 is also fixedly connected to one side of the top of the tractor body 31. The anti-tilt assembly 9 is fixedly connected to the bottom of the tractor body 31. The anti-tilt assembly 9 includes a fixed block 91. An anti-tilt hook plate 92 is slidably connected to the side of the fixed block 91 close to the tractor body 31. Multiple sets of anti-tilt hook plates 92 are respectively located on both sides of the track 12. A hook plate adjustment bolt 93 for adjusting the distance between the anti-tilt hook plate 92 and the track 12 is also provided between the fixed block 91 and the anti-tilt hook plate 92.

[0049] Specifically, when picking up and placing goods, the travel drive motor 32 is first started, and the travel drive motor 32 drives the travel wheel box 33 to start, so that the guide wheel slides along the track 12, driving the tractor body 31 and the various components thereon to move. After moving to the picking position 11, the travel drive motor 32 is turned off, and the fork assembly 6 is started to pick up the goods. After the picking is completed, the travel wheel box 33 and the guide wheel drive the tractor body 31 and the cargo body 21 on the tractor body 31 to move to the placing position, and the fork assembly 6 extends to place the cargo body 21 on the placing position, completing the picking and placing work.

[0050] In this device, an I-shaped track 12 is selected, and an anti-tipping component 9 is designed at the bottom of the storage and retrieval component 3. During the retrieval process, there is a very small movement gap between the anti-tipping hook plate 92 and the track 12, ensuring that no friction is generated when the storage and retrieval component 3 moves, thereby not causing additional energy efficiency loss of the storage and retrieval component 3. When the fork picks up heavy goods, the anti-tipping hook plate 92 is hooked on the side of the track 12, so as not to cause tipping due to the heavy goods. The material of the contact between the anti-tipping hook plate 92 and the track 12 is self-lubricating material, which has a higher hardness when in surface contact and a lower hardness than the track 12 during movement friction, thereby reducing wear on the track 12 and reducing subsequent maintenance costs.

[0051] As a further optimization solution, Figure 1-12 As shown, the two sets of fork assemblies 6 are fixedly connected to the top of the tractor body 31, and each set of fork assemblies 6 includes a fixed frame 61, a first fork body 62 and a second fork body 63. The first fork body 62 is slidably connected to the fixed frame 61, and the second fork body 63 is slidably connected to the first fork body 62. The bottom of the two sets of fixed frames 61 are fixedly connected to a fork extension motor 64 for driving the first fork body 62 and the second fork body 63 to extend. The pitch change assembly 5 is arranged between the two sets of fixed frames 61. The two sets of second fork bodies 63 are also rotatably connected to the sides away from each other with two sets of auxiliary components for assisting in fixing the cargo body 21 when picking up and placing cargo.

[0052] Specifically, during use, after the tractor body 31 drives the fork assembly 6 to move to the specified position, the fork extension motor 64 is started, driving the first fork body 62 and the second fork body 63 to extend to pick up the goods. When the first fork body 62 and the second fork body 63 are extended, the auxiliary components are started at the same time to fix the side of the cargo body 21, thereby improving the stability of the cargo body 21 during movement.

[0053] As a further optimization solution, Figure 1-12As shown, both ends of the two groups of cross beams 36 are fixedly connected with connecting blocks 37, and multiple groups of connecting blocks 37 are provided with roller guide grooves 38 on the side away from the cross beams 36, and multiple roller guide grooves 38 are respectively connected to the output ends of adjacent jacking assemblies 4. The jacking assembly 4 includes two groups of gear boxes 41 and jacking drive motors 44. The two groups of gear boxes 41 are fixedly connected to the tractor body 31, and the two groups of gear boxes 41 are located on both sides of the two groups of fixed frames 61. The two groups of gear boxes 41 are rotatably connected with input gears 47. The jacking drive motor 44 is fixedly connected to the top of the tractor body 31, and the output end of the jacking drive motor 44 is fixedly connected to the steering gear 45. The output end of the steering gear 45 is fixedly connected to the universal coupling 46. One end of the universal coupling 46 passes through the steering gear 45 and is connected to the input in one of the gear boxes 41. The gears 47 are fixed to each other, and the other end of the universal coupling 46 passes through another set of gear boxes 41 and is fixed to the input gear 47 in the gear box 41. The two sets of gear boxes 41 are also rotatably connected to the synchronous output gear set 48, and the synchronous output gear set 48 is located on both sides of the input gear 47 in the adjacent gear boxes 41. The two sets of synchronous output gear sets 48 are respectively meshed with the input gear 47. The two sets of gear boxes 41 are fixedly connected to the side close to each other with two sets of eccentric wheels 42. Each set of eccentric wheels 42 is fixed to the output end of the synchronous output gear set 48 in the adjacent eccentric wheel 42 through a connecting shaft. The facing surfaces of the multiple sets of eccentric wheels 42 are fixedly connected with roller shafts 43, and the multiple sets of roller shafts 43 are respectively located at eccentric positions on the adjacent eccentric wheels 42. The multiple sets of roller shafts 43 are respectively slidably engaged in the multiple sets of roller guide grooves 38;

[0054] Specifically, when the second fork body 63 is located directly below the cargo body 21, the jacking drive motor 44 is started, and the jacking drive motor 44 drives the universal coupling 46 to rotate through the steering gear 45, and the universal coupling 46 drives the input gear 47 to rotate, and the input gear 47 drives the synchronous output gear set 48 in the gear box 41 to rotate, and the output ends of the two sets of synchronous output gear sets 48 respectively drive the adjacent eccentric wheels 42 to rotate. When the eccentric wheels 42 rotate, the roller shaft 43 on the eccentric wheels 42 slides in the roller guide groove 38 and lifts the connecting block 37 through the roller guide groove 38, so that the crossbeam 36 is lifted, and then the two sets of fork assemblies 6 are lifted, and the cargo body 21 is lifted. After lifting, the fork extension motor 64 drives the first fork body 62 and the second fork body 63 to retract, and the cargo body 21 is recovered to the tractor body 31, and then moved to the loading position through the tractor body 31;

[0055] When the cargo is placed at the loading position, the fork extension motor 64 drives the first fork body 62 and the second fork body 63 to extend, moving the cargo body 21 to the loading position. The lifting drive motor 44 is started again, causing the roller shaft 43 to drive the two sets of crossbeams 36 to descend, causing the fork assembly 6 to descend, and the cargo body 21 falls on the loading position. The fork extension motor 64 drives the first fork body 62 and the second fork body 63 to retract, completing the loading operation.

[0056] The internal gear engagement of the gear box 41 ensures that the output shafts rotate at the same angle and in the same direction. When picking up goods, the internal gear structure offsets the torque of each output shaft when the fork picks up goods, reducing the demand for the motor and improving energy saving. At the same time, the modular design reduces debugging and maintenance costs.

[0057] As a further optimization solution, Figure 1-12 As shown, two groups of cross beams 36 are further provided on the top of the tractor body 31. The two groups of cross beams 36 are respectively located at the bottom of the two ends of the two groups of fixing frames 61. The two ends of one group of fixing frames 61 are respectively fixed to one end of the two groups of cross beams 36, and the two ends of the other group of fixing frames 61 are respectively slidably connected to the two groups of cross beams 36. The pitch-changing assembly 5 includes a pitch-changing servo motor 51, which is fixedly connected to the side wall of one group of fixing frames 61. The output end of the pitch-changing servo motor 51 is fixedly connected to a reducer 52, and the output end of the reducer 52 is rotatably connected to a ball screw 53. The other end of the ball screw 53 is rotatably connected to the inner wall of the tractor body 31. The bottom of the other group of fixing frames 61 is fixedly connected to a synchronization block 66, which is threadedly connected to the ball screw 53.

[0058] Specifically, during use, when the distance between the two sets of fork assemblies 6 needs to be adjusted, the variable pitch servo motor 51 is first started. The variable pitch servo motor 51 drives the ball screw 53 to rotate through the reducer 52. When the ball screw 53 rotates, it drives the synchronous block 66 to move toward or away from the variable pitch servo motor 51. The synchronous block 66 drives the corresponding fixing frame 61 to slide on the two sets of cross beams 36, so that the distance between the two sets of fork assemblies 6 is adjusted to accommodate goods of different specifications.

[0059] As a further optimization solution, Figure 1-14As shown, the auxiliary assembly includes multiple groups of auxiliary limiting assemblies 7 rotatably connected to the two groups of second fork bodies 63, each group of auxiliary limiting assemblies 7 is provided with a driving assembly 8, each group of second fork bodies 63 is provided with two groups of auxiliary limiting assemblies 7, and multiple groups of auxiliary limiting assemblies 7 are located on the opposite back surfaces of the two groups of second fork bodies 63, the auxiliary limiting assembly 7 includes a fixed plate 71, the fixed plate 71 is slidably connected to the outer wall of the second fork body 63, the bottom of the fixed plate 71 is rotatably connected to the driving gear 72, the opposite back surfaces of the two groups of first fork bodies 62 are fixedly connected with two groups of driving teeth 65 for driving adjacent driving gears 72 to rotate, the top of each group of fixed plates 71 is also rotatably connected to a connecting plate 73, and the connecting plate 73 is connected to the driving gear 72 at the bottom of the fixed plate 71, and a limiting groove 74 is provided on the end of the top of the connecting plate 73 away from the fixed plate 71, which is arranged in the limiting groove 74, and a connecting plate is slidably connected on the limiting groove 74. The top of the connecting rod 75 is fixedly connected to the limiting plate 76, and the limiting plate 76 is fixedly connected to the side of the fixing plate 71 with a buffer pad 77. The driving assembly 8 includes a micro motor 81, which is fixedly connected to the bottom of the connecting plate 73. The output end of the micro motor 81 is fixedly connected to the first transmission gear 82, which is rotatably connected to the connecting plate 73. The connecting plate 73 is also rotatably connected to the second transmission gear 83. A transmission chain 84 is provided between the first transmission gear 82 and the second transmission gear 83. The first transmission gear 82 and the second transmission gear 83 are connected through the transmission chain 84. A pushing block 85 is fixedly connected to the transmission chain 84. A pushing plate 86 is further provided above the transmission chain 84, and the pushing plate 86 is slidably connected to the limiting groove 74. The pushing block 85 is slidably connected to the pushing plate 86. The top of the pushing plate 86 is fixed to the connecting rod 75 on the limiting groove 74.

[0060] Specifically, when the two groups of first fork bodies 62 and second fork bodies 63 are extended to pick up goods, the second fork body 63 extends outward relative to the first fork body 62. In the initial state, the two groups of auxiliary limit assemblies 7 on each group of second fork bodies 63 are in the retracted state. When the second fork body 63 extends outward until the driving gear 72 is engaged with the driving teeth 65, the driving gear 72 is driven to rotate under the pull of the second fork body 63 and the push of the driving teeth 65. The driving gear 72 drives the connecting plate 73 to flip in the direction away from the second fork body 63, so that the connecting plate 73 is perpendicular to the second fork body 63. When the connecting plate 73 moves to be perpendicular to both sides of the cargo body 21, the micro motor 81 is started to drive the first transmission gear 82 to rotate. The first transmission gear 82 drives the second transmission gear 83 to rotate through the transmission chain 84. When the transmission chain 84 rotates, the pushing block 85 provided on the transmission chain 84 moves synchronously with the transmission chain 84, pushing the pushing plate 86 to move.

[0061] Initially, the pushing block 85 and the pushing plate 86 are located on the side close to the second transmission gear 83. When the pushing block 85 moves from the second transmission gear 83 toward the first transmission gear 82, the pushing plate 86 is pushed at the same time to drive the connecting rod 75 to move in the direction close to the first transmission gear 82 until the connecting rod 75 drives the limiting plate 76 and the buffer pad 77 to contact the side wall of the cargo body 21. When the pushing block 85 moves to pass over the first transmission gear 82 or the second transmission gear 83, the pushing block 85 will slide laterally along the inner wall of the pushing plate 86, so that the pushing plate 86 will not rotate with the rotation of the pushing block 85, so that the pushing plate 86 always keeps moving horizontally.

[0062] After the cargo body 21 is fixed by the multiple sets of limit plates 76 and buffer pads 77, the lifting drive motor 44 is started to lift the fork assembly 6. When the fixing frame 61, the first fork body 62 and the second fork body 63 are lifted, the fixing plate 71 slides downward along the outer wall of the second fork body 63, causing the drive gear 72 to be staggered from the drive teeth 65. When the fork assembly 6 is lifted to lift the cargo body 21, the first fork body 62 and the second fork body 63 are retracted. At this time, since the drive gear 72 is staggered from the drive teeth 65, the drive gear 72 does not rotate, thereby maintaining the fixation of the cargo body 21.

[0063] When the tractor body 31 drives the fork assembly 6 and the cargo body 21 to move to the cargo placement position, the fork assembly 6 extends, and the jacking drive motor 44 starts to lower the fork assembly 6 to place the cargo body 21 on the cargo placement position. When the fork assembly 6 drops, the driving teeth 65 are at the same level with the driving gear 72 again. At this time, the first fork body 62 and the second fork body 63 are retracted, and the driving teeth 65 will drive the driving gear 72 to rotate in the opposite direction, so that the driving gear 72 drives the connecting plate 73 to reverse and reset. At the same time, the micro motor 81 starts to drive the first transmission gear 82 and the transmission chain 84 to rotate again, so that the push plate 86 drives the limiting plate 76 and the buffer pad 77 through the connecting rod 75 to move to the end of the limiting slot 74 away from the fixed plate 71, so as to facilitate the next storage and retrieval work.

[0064] The working principle of the tractor that can pick up goods autonomously:

[0065] When in use, the cargo body 21 is first transported to the designated site by AGV or other conveying equipment, and the cargo storage and retrieval component 3 receives a signal and starts the travel drive motor 32. The travel drive motor 32 drives the travel wheel box 33 to start, so that the guide wheel slides along the track 12, driving the tractor body 31 and the components thereon to move. After arriving at the designated station, the travel drive motor 32 is turned off, and the variable pitch servo motor 51 is first started. The variable pitch servo motor 51 drives the ball screw 53 to rotate through the reducer 52. When the ball screw 53 rotates, it drives the synchronous block 66 to move toward or away from the variable pitch servo motor 51. The synchronous block 66 drives the corresponding fixed frame 61 to slide on the two sets of crossbeams 36, so that the distance between the two sets of fork assemblies 6 is adjusted to accommodate cargo of different specifications.

[0066] Because the fork assembly 6 moves with half of its fork fingers, the fork center will change as the cargo specifications change. Therefore, when picking up cargo, the system recalculates the cargo center based on the fork finger movement to ensure that the cargo is always at the fork center.

[0067] After the position between the two sets of fixed frames 61 is adjusted, the fork extension motor 64 is started, driving the first fork body 62 and the second fork body 63 to extend for picking up the goods. When the second fork body 63 is directly under the cargo body 21, the jacking drive motor 44 is started to drive the universal coupling 46 to rotate through the steering gear 45, so that the input gear 47 drives the synchronous output gear set 48 in the gear box 41 to rotate. The output ends of the two sets of synchronous output gear sets 48 respectively drive the adjacent eccentric wheels 42 to rotate. When the eccentric wheels 42 rotate, the roller shafts 43 on the eccentric wheels 42 slide in the roller guide grooves 38 and lift the connecting block 37 through the roller guide grooves 38, so that the crossbeam 36 is lifted, thereby lifting the two sets of fork assemblies 6 and lifting the cargo body 21. After lifting, the fork extension motor 64 drives the first fork body 62 and the second fork body 63 to retract, and the cargo body 21 is recovered to the tractor body 31, and then moved to the loading position through the tractor body 31;

[0068] The tractor body 31 and the cargo body 21 on the tractor body 31 are driven to move to the cargo placement position by the traveling wheel box 33 and the guide wheel. The first fork body 62 and the second fork body 63 are extended to place the cargo body 21 on the cargo placement position, completing the cargo placement work. When the first fork body 62 and the second fork body 63 are extended, the auxiliary components are activated at the same time to fix the side of the cargo body 21, thereby improving the stability of the cargo body 21 during movement.

[0069] When the two sets of first fork bodies 62 and second fork bodies 63 are extended to pick up goods, the second fork body 63 extends outward relative to the first fork body 62. When the second fork body 63 extends outward until the driving gear 72 is meshed with the driving teeth 65, it drives the driving gear 72 to rotate, and the driving gear 72 drives the connecting plate 73 to flip in the direction away from the second fork body 63, so that the connecting plate 73 is perpendicular to the second fork body 63. When the connecting plate 73 moves to be perpendicular to the two sides of the cargo body 21, the micro motor 81 is started to drive the first transmission gear 82 to rotate. The first transmission gear 82 drives the second transmission gear 83 to rotate through the transmission chain 84. When the transmission chain 84 rotates, the pushing block 85 provided on the transmission chain 84 moves synchronously with the transmission chain 84, pushing the pushing plate 86 to drive the connecting rod 75 to move in the direction close to the first transmission gear 82 until the connecting rod 75 drives the limiting plate 76 and the buffer pad 77 to contact the side wall of the cargo body 21;

[0070] After the cargo body 21 is fixed by the multiple sets of limit plates 76 and buffer pads 77, the lifting drive motor 44 is started to lift the fork assembly 6. When the fixing frame 61, the first fork body 62 and the second fork body 63 are lifted, the fixing plate 71 slides downward along the outer wall of the second fork body 63, causing the drive gear 72 to be staggered from the drive teeth 65. When the fork assembly 6 is lifted to lift the cargo body 21, the first fork body 62 and the second fork body 63 are retracted. At this time, since the drive gear 72 is staggered from the drive teeth 65, the drive gear 72 does not rotate, thereby maintaining the fixation of the cargo body 21.

[0071] When the tractor body 31 drives the fork assembly 6 and the cargo body 21 to move to the cargo placement position, the fork assembly 6 is extended, and the jacking drive motor 44 is started to lower the fork assembly 6 to place the cargo body 21 on the cargo placement position. When the fork assembly 6 is lowered, the driving teeth 65 are at the same level with the driving gear 72 again. At this time, the first fork body 62 and the second fork body 63 are retracted, and the driving teeth 65 will drive the driving gear 72 to rotate in the opposite direction, so that the driving gear 72 drives the connecting plate 73 to reverse and reset. At the same time, the micro motor 81 is started to drive the first transmission gear 82 and the transmission chain 84 to rotate again, so that the push plate 86 drives the limiting plate 76 and the buffer pad 77 through the connecting rod 75 to move to the end of the limiting groove 74 away from the fixed plate 71, so as to facilitate the next storage and retrieval work.

[0072] An anti-tipping component 9 is designed at the bottom of the storage and retrieval component 3. The anti-tipping hook plate 92 has a very small movement gap with the track 12 during normal operation, ensuring that no friction is generated when the storage and retrieval component 3 moves, thereby not causing additional energy efficiency loss of the storage and retrieval component 3. When the forklift takes heavy goods, the anti-tipping hook plate 92 is hooked on the side of the track 12, so as to avoid tipping caused by heavy goods. The material of the anti-tipping hook plate 92 in contact with the track 12 is self-lubricating material, which has a high hardness when in surface contact and a lower hardness than the track 12 during movement friction, thereby reducing wear on the track 12 and reducing subsequent maintenance costs.

[0073] Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all of them. Those skilled in the art will appreciate that many modifications and variations can be made to the embodiments described herein without departing from the spirit or scope of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making any creative effort shall fall within the scope of protection of the present invention.

Claims

1. A tractor capable of autonomously picking up goods, comprising a four-way vehicle stereoscopic warehouse (1), wherein a plurality of rails (12) are provided in the four-way vehicle stereoscopic warehouse (1), an AGV bracket (2) is provided at the inlet end of the four-way vehicle stereoscopic warehouse (1), and a plurality of cargo bodies (21) are placed on the AGV bracket (2), characterized in that: A tractor assembly for transporting a cargo body (21) is slidably connected to the track (12), and a pickup position (11) is also provided on the four-way vehicle stereoscopic warehouse (1) for facilitating the tractor assembly to pick up cargo; The tractor assembly comprises a cargo storage and retrieval assembly (3) slidably connected to a track (12); two sets of fork assemblies (6) for forking cargo are fixedly connected to the cargo storage and retrieval assembly (3); two sets of lifting assemblies (4) for assisting the two sets of fork assemblies (6) in picking up and releasing cargo, and a variable distance assembly (5) for adjusting the distance between the two sets of fork assemblies (6) are also fixedly connected to the cargo storage and retrieval assembly (3); and anti-tilt assemblies (9) for increasing the moving stability of the cargo storage and retrieval assembly (3) are also fixedly connected to the four corners of the bottom of the cargo storage and retrieval assembly (3).

2. The tractor capable of autonomous cargo pickup according to claim 1, characterized in that: The cargo storage and retrieval assembly (3) includes a tractor body (31), the top of the tractor body (31) is fixedly connected to two sets of travel drive motors (32), the output ends of the two sets of travel drive motors (32) are fixedly connected to two sets of travel wheel boxes (33) through connecting shafts, and multiple sets of travel wheel boxes (33) are respectively located at the four corners of the top of the tractor body (31), and the output end of each set of travel wheel boxes (33) is fixedly connected to a guide wheel, and the guide wheel is slidably connected to the track (12), and the tractor body (31) is slidably connected to the track (12) through the multiple sets of guide wheels; Each set of the traveling wheel boxes (33) is also fixedly connected to a buffer (34), an anti-collision edge (39) is also fixedly connected between the two sets of the traveling wheel boxes (33) located on the same side of the tractor body (31), and a power supply mechanism (35) is also fixedly connected to one side of the top of the tractor body (31).

3. The tractor capable of autonomous cargo pickup according to claim 2, characterized in that: The two sets of fork assemblies (6) are fixedly connected to the top of the tractor body (31), and each set of fork assemblies (6) includes a fixed frame (61), a first fork body (62) and a second fork body (63), the first fork body (62) is slidably connected to the fixed frame (61), and the second fork body (63) is slidably connected to the first fork body (62). The bottoms of the two sets of fixed frames (61) are fixedly connected to a fork extension motor (64) for driving the first fork body (62) and the second fork body (63) to extend, and the pitch change assembly (5) is arranged between the two sets of fixed frames (61); The two sets of second cargo fork bodies (63) are also rotatably connected to the sides away from each other with two sets of auxiliary components for assisting in fixing the cargo body (21) when picking up and placing cargo.

4. The tractor capable of autonomous cargo pickup according to claim 3, characterized in that: Two groups of cross beams (36) are further provided on the top of the tractor body (31). The two groups of cross beams (36) are respectively located at the bottom of the two ends of the two groups of fixing frames (61). The two ends of one group of fixing frames (61) are respectively fixed to one end of the two groups of cross beams (36), and the two ends of the other group of fixing frames (61) are respectively slidably connected to the two groups of cross beams (36). Both ends of the two groups of cross beams (36) are fixedly connected to connecting blocks (37). The sides of the multiple groups of connecting blocks (37) away from the cross beams (36) are provided with roller guide grooves (38), and the multiple roller guide grooves (38) are respectively connected to the output ends of adjacent jacking assemblies (4).

5. The tractor capable of autonomous cargo pickup according to claim 4, characterized in that: The lifting assembly (4) includes two sets of gear boxes (41) and a lifting drive motor (44). The two sets of gear boxes (41) are fixedly connected to the tractor body (31), and the two sets of gear boxes (41) are located on both sides of the two sets of fixed frames (61). The two sets of gear boxes (41) are rotatably connected to input gears (47). The lifting drive motor (44) is fixedly connected to the top of the tractor body (31), and the output end of the lifting drive motor (44) is fixedly connected to the steering gear (45). The output end of the steering gear (45) is fixedly connected to the universal joint (46). One end of the universal coupling (46) passes through the steering gear (45) and is fixed to the input gear (47) in one of the gear boxes (41). The other end of the universal coupling (46) passes through the other gear box (41) and is fixed to the input gear (47) in the gear box (41). Both sets of gear boxes (41) are also rotatably connected to synchronous output gear sets (48), and the synchronous output gear sets (48) are located on both sides of the input gear (47) in the adjacent gear box (41). The two sets of synchronous output gear sets (48) are respectively engaged with the input gear (47).

6. The tractor capable of autonomous cargo pickup according to claim 5, characterized in that: Two sets of eccentric wheels (42) are fixedly connected to the sides of the two sets of gear boxes (41) close to each other, and each set of eccentric wheels (42) is fixed to the output end of the synchronous output gear set (48) in the adjacent eccentric wheels (42) through a connecting shaft. The facing surfaces of the multiple sets of eccentric wheels (42) are fixedly connected to roller shafts (43), and the multiple sets of roller shafts (43) are respectively located at eccentric positions on the adjacent eccentric wheels (42). The multiple sets of roller shafts (43) are respectively slidably engaged in the multiple sets of roller guide grooves (38).

7. The tractor capable of autonomous cargo pickup according to claim 3, characterized in that: The pitch-changing assembly (5) includes a pitch-changing servo motor (51), the pitch-changing servo motor (51) is fixedly connected to the side wall of one set of fixing frames (61), the output end of the pitch-changing servo motor (51) is fixedly connected to a reducer (52), the output end of the reducer (52) is rotatably connected to a ball screw (53), the other end of the ball screw (53) is rotatably connected to the inner wall of the tractor body (31), and the bottom of the other set of fixing frames (61) is fixedly connected to a synchronization block (66), and the synchronization block (66) is threadedly connected to the ball screw (53).

8. The tractor capable of autonomous cargo pickup according to claim 3, characterized in that: The auxiliary components include multiple groups of auxiliary limit components (7) rotatably connected to the two groups of second fork bodies (63), each group of the auxiliary limit components (7) is provided with a driving component (8), each group of the second fork bodies (63) is provided with two groups of auxiliary limit components (7), and the multiple groups of auxiliary limit components (7) are all located on the opposite back surfaces of the two groups of second fork bodies (63); The auxiliary limiting assembly (7) includes a fixed plate (71), the fixed plate (71) is slidably connected to the outer wall of the second fork body (63), the bottom of the fixed plate (71) is rotatably connected to a driving gear (72), the opposite back surfaces of the two groups of the first fork bodies (62) are fixedly connected to two groups of driving teeth (65) for driving adjacent driving gears (72) to rotate, the top of each group of the fixed plates (71) is also rotatably connected to a connecting plate (73), and the connecting plate (73) is connected to the driving gear (72) at the bottom of the fixed plate (71), a limiting groove (74) is provided at one end of the top of the connecting plate (73) away from the fixed plate (71), the limiting groove (74) is provided with a connecting rod (75) slidably connected, the top of the connecting rod (75) is fixedly connected to the limiting plate (76), and the limiting plate (76) is fixedly connected to a buffer pad (77) on the side facing the fixed plate (71).

9. The tractor capable of autonomous cargo pickup according to claim 8, characterized in that: The driving assembly (8) includes a micro motor (81), the micro motor (81) is fixedly connected to the bottom of the connecting plate (73), the output end of the micro motor (81) is fixedly connected to a first transmission gear (82), the first transmission gear (82) is rotatably connected to the connecting plate (73), and the connecting plate (73) is also rotatably connected to a second transmission gear (83), a transmission chain (84) is provided between the first transmission gear (82) and the second transmission gear (83), the first transmission gear (82) and the second transmission gear (83) are transmission-connected via the transmission chain (84), and a push block (85) is fixedly connected to the transmission chain (84); A push plate (86) is further provided above the transmission chain (84), and the push plate (86) is slidably connected to the limiting groove (74), the push block (85) is slidably connected to the push plate (86), and the top of the push plate (86) is fixed to the connecting rod (75) on the limiting groove (74).

10. The tractor capable of autonomous cargo pickup according to claim 2, characterized in that: The anti-tipping assembly (9) is fixedly connected to the bottom of the tractor body (31), and the anti-tipping assembly (9) includes a fixed block (91). The fixed block (91) is slidably connected to an anti-tipping hook plate (92) on a side close to the tractor body (31), and multiple groups of anti-tipping hook plates (92) are respectively located on both sides of the track (12). A hook plate adjustment bolt (93) for adjusting the distance between the anti-tipping hook plate (92) and the track (12) is further provided between the fixed block (91) and the anti-tipping hook plate (92).

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