A tractor capable of autonomous pick-up

Abstract

The application provides a tractor capable of autonomously taking goods, and belongs to the technical field of warehouse logistics. The tractor comprises a four-way vehicle stereoscopic warehouse. A plurality of groups of tracks are arranged in the four-way vehicle stereoscopic warehouse. An AGV bracket is arranged at a goods inlet end of the four-way vehicle stereoscopic warehouse. A plurality of goods bodies are placed on the AGV bracket. A tractor assembly for transporting the goods bodies is slidably connected to the tracks. The four-way vehicle stereoscopic warehouse is further provided with a goods taking position facilitating the tractor assembly to take goods. The application drives a ball screw through a variable-distance servo motor, so that the distance between the forks is flexibly adjustable, and the tractor is suitable for goods of multiple specifications. In addition, the tractor does not need an additional carrier and a docking device. The tractor is matched with a movable and detachable workbench, so that the space requirement of the site is reduced. A rollover prevention mechanism is arranged at the bottom of the side beam of the vehicle body, so that rollover is prevented and wear is reduced. The overall scheme improves the space utilization and the in-and-out warehouse efficiency, and realizes efficient, stable and low-cost warehouse logistics operation.

Description

Technical Field

[0001] This invention relates to the field of warehousing and logistics technology, specifically to a tractor unit capable of autonomously picking up goods. Background Technology

[0002] Tractor-type vehicles and four-way shuttles are core equipment in the field of intelligent warehousing. Through the docking and transfer of tractor-type vehicles and the four-way movement of four-way shuttles, efficient and dense storage is achieved through intelligent scheduling and multi-vehicle collaboration. In recent years, with the continuous improvement of enterprise production and management levels, more and more enterprises have realized that improving logistics systems can increase production efficiency and reduce distribution costs. Therefore, the number of interfaces between AGVs and automated warehouses is gradually increasing.

[0003] However, as the requirements for storage efficiency become increasingly stringent, the existing docking methods limit the number and types of interfaces, and the need to place docking equipment results in a significant waste of land space.

[0004] The existing AGV and four-way vehicle docking methods require dedicated machines to connect the two, resulting in a single type of cargo and a complex structure. With the rise of four-way vehicle automated warehouses, the limitations of the docking method lead to the need for more interfaces. Furthermore, the single cargo specifications result in a meaningless increase in the number of interfaces, wasting space resources. The diversity of specifications during scheduling leads to a decrease in efficiency. Moreover, the commonly used fork spacing is fixed, but the market has a wide variety of cargo specifications and pallet sizes. Fixed-spacing forks cannot meet the diverse cargo needs. This leads to the need to design multiple special forks or handling equipment for different cargo specifications in practical applications, which greatly increases the design burden and equipment costs. In addition, when cargo specifications change, the original equipment may not be able to function properly, requiring repurchase or modification, further increasing operating costs. Summary of the Invention

[0005] The purpose of this invention is to provide a tractor unit capable of autonomously picking up goods, in order to solve the problems mentioned in the background art.

[0006] Therefore, the present invention provides the following technical solution: a tractor unit capable of autonomously picking up goods, comprising a four-way vehicle storage compartment, wherein multiple sets of tracks are provided inside the four-way vehicle storage compartment, an AGV bracket is provided at the loading end of the four-way vehicle storage compartment, multiple cargo bodies are placed on the AGV bracket, a tractor unit for transporting the cargo bodies is slidably connected on the tracks, and a picking position is also provided on the four-way vehicle storage compartment for convenient retrieval of goods by the tractor unit;

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

[0008] Preferably, the storage and retrieval component includes a tractor body, two sets of travel drive motors are fixedly connected to the top of the tractor body, and the output ends of the two sets of travel drive motors are fixedly connected to two sets of travel wheel boxes through connecting shafts. Multiple sets of travel wheel boxes are 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. The tractor body is slidably connected to the track through multiple sets of guide wheels.

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

[0010] Preferably, both sets of fork assemblies are fixedly connected to the top of the tractor body. 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. A fork extension motor for driving the first fork body and the second fork body to extend is fixedly connected to the bottom of both sets of fixed frames. The pitch conversion assembly is disposed between the two sets of fixed frames.

[0011] Each of the two sets of second fork bodies, on the side away from each other, is also rotatably connected to two sets of auxiliary components for assisting in fixing the main body of the goods during loading and unloading.

[0012] Preferably, the top of the tractor body is also provided with two sets of crossbeams. The two sets of crossbeams are located at the bottom of the two sets of fixed frames. The two ends of one set of fixed frames are fixed to one end of the two sets of crossbeams respectively. The two ends of the other set of fixed frames are slidably connected to the two sets of crossbeams respectively. Both ends of the two sets of crossbeams are fixedly connected with connecting blocks. Roller guide grooves are opened on the side of the multiple sets of connecting blocks away from the crossbeams, and the multiple roller guide grooves are respectively engaged with the output end of the adjacent lifting components.

[0013] Preferably, the lifting assembly includes two sets of gearboxes and a lifting drive motor. Both sets of gearboxes are fixedly connected to the tractor body and are located on both sides of two sets of fixed frames. Each set of gearboxes has an input gear rotatably connected to it. The lifting drive motor is fixedly connected to the top of the tractor body, and the output end of the lifting drive motor is fixedly connected to a steering gear. The output end of the steering gear is fixedly connected to a universal coupling. One end of the universal coupling passes through the steering gear and is fixed to the input gear in one set of gearboxes. The other end of the universal coupling passes through the other set of gearboxes and is fixed to the input gear in that gearbox. Both sets of gearboxes also have synchronous output gear sets rotatably connected to them, and the synchronous output gear sets are located on both sides of the input gear in the adjacent gearboxes. The two sets of synchronous output gear sets mesh with the input gears respectively.

[0014] Preferably, two sets of eccentric wheels are fixedly connected to the sides of the two sets of gearboxes that are close to each other. Each set of eccentric wheels is fixed to the output end of the synchronous output gear set in the adjacent eccentric wheel through a connecting shaft. Roller shafts are fixedly connected to the facing surfaces of the multiple sets of eccentric wheels, and the multiple sets of roller shafts are respectively located at the eccentric position on the adjacent eccentric wheels. The multiple sets of roller shafts are respectively slidably engaged in the multiple sets 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 set of fixed frames. A reducer is fixedly connected to the output end of the pitch-changing servo motor, and a ball screw is rotatably connected to the output end of the reducer. The other end of the ball screw is rotatably connected to the inner wall of the tractor body. A synchronizing block is fixedly connected to the bottom of the other set of fixed frames, and the synchronizing block is threaded onto the ball screw.

[0016] Preferably, the auxiliary components include multiple sets of auxiliary limiting components rotatably connected to the two sets of second fork bodies. Each set of auxiliary limiting components is provided with a driving component. Each set of second fork bodies is provided with two sets of auxiliary limiting components, and the multiple sets of auxiliary limiting components are located on opposite sides of the two sets of second fork bodies.

[0017] The auxiliary limiting component includes a fixed plate, which is slidably connected to the outer wall of the second fork body. A drive gear is rotatably connected to the bottom of the fixed plate. Two sets of drive teeth for driving the adjacent drive gears are fixedly connected to the opposite sides of the two sets of first fork bodies. A connecting plate is rotatably connected to the top of each fixed plate, and the connecting plate is connected to the drive gear at the bottom of the fixed plate. A limiting groove is opened at the top of the connecting plate away from the fixed plate. A connecting rod is slidably connected to the limiting groove. A limiting plate is fixedly connected to the top of the connecting rod. A buffer pad is fixedly connected to the side of the limiting plate facing the fixed plate.

[0018] Preferably, the drive assembly includes a micro motor, which is fixedly connected to the bottom of the connecting plate. A first transmission gear is fixedly connected to the output end of the micro motor. The first transmission gear is rotatably connected inside the connecting plate. A second transmission gear is also rotatably connected to the connecting plate. 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 transmission chain. 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 in the limiting groove. The push block is slidably connected in the push plate, and the top of the push plate is fixed to the connecting rod on the limiting groove.

[0020] Preferably, the anti-rollover assembly is fixedly connected to the bottom of the tractor body. The anti-rollover assembly includes a fixing block, and an anti-rollover hook plate is slidably connected to the side of the fixing block near the tractor body. Multiple sets of anti-rollover hook plates are located on both sides of the track. A hook plate adjusting bolt for adjusting the distance between the anti-rollover hook plate and the track is also provided between the fixing block and the anti-rollover hook plate.

[0021] Compared with the prior art, the beneficial effects of this application include:

[0022] This invention makes the fork spacing adjustable. A variable-pitch servo motor drives a reducer, which in turn drives a ball screw to move the follower forks mounted on the guide rail back and forth to adjust the fork spacing, achieving versatility for multiple specifications of goods. Because the fork moves on one side, the fork center will change with the specifications of the goods. Therefore, during picking up the goods, the tractor system recalculates the center of the goods based on the movement of the fork, ensuring that the goods are always centered on the forks. In this way, the forks mounted on the vehicle body can achieve versatility for multiple specifications of pallets and goods, reducing the design burden and equipment costs caused by numerous specifications of goods. Since the picking method is in the form of forks, the forks and goods are in a lifting state during the picking process. When multiple specifications of goods are present, there is no need to consider additional carriers and docking equipment, further improving the versatility of the device.

[0023] In this invention, since the picking and placing of goods is achieved by the vehicle itself, there is no need to design additional docking equipment. The AGV simply transports the goods to the designated station. The workbench or tooling is movable and detachable, further reducing the space requirements. At the same time, the vehicle body is simplified, and a more compact and stable lifting mechanism is designed to reduce the docking height and meet the docking height of most AGVs on the market. In addition, because it is universal for multiple specifications, goods can be placed at any station, greatly improving space utilization and significantly improving the efficiency of inbound and outbound operations.

[0024] Meanwhile, the entire picking and placing process is precisely controlled by the system. From adjusting the fork spacing and calculating the center of the goods, to extending and retracting the forks, raising and lowering the goods, and fixing and releasing the goods with auxiliary components, all operations are automated, reducing manual intervention, improving the accuracy and reliability of the work, and reducing the risk of errors and accidents caused by human factors.

[0025] In this invention, an anti-tipping mechanism is designed at the bottom of the vehicle body side beam. During the loading process, the weight of the goods is greater than that of the vehicle body, which can easily cause the vehicle body to tip over. Therefore, an anti-tipping structure consisting of a track and an anti-tipping mechanism is designed. A track similar to an I-beam is selected. At the same time, a hook plate mechanism is installed on the vehicle body. The anti-tipping 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, thus preventing additional energy efficiency loss. When the forks pick up heavy goods, the hook plate mechanism hooks back onto the side of the track, thus preventing tipping caused by the excessive weight of the goods. At the same time, the material in contact with the anti-tipping hook plate and the track is a self-lubricating material with high hardness when in surface contact and lower hardness than the track during movement friction, reducing track wear and reducing later maintenance costs.

[0026] In this invention, when the forks extend to pick up goods, the auxiliary components simultaneously activate to fix the side of the goods. When the second fork extends outward until the drive gear meshes with the drive teeth, it drives the connecting plate to flip so that it is perpendicular to the goods. The micro motor drives the transmission chain to make the push block drive the limiting 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 retracts and lifts the goods, the fixing plate slides down along the outer wall of the second fork body to make the drive gear and drive teeth misalign, ensuring continuous fixation of the goods during transportation. When the fork assembly is lowered to reach the loading position, the drive teeth are once again at the same level as the drive gear. The forks retract and drive the drive gear to rotate in the opposite direction to reset the connecting plate. The micro motor also drives the limiting plate and buffer pad to reset, preparing for the next loading and unloading. The structure is ingenious and reasonable, greatly improving the stability of goods movement. Attached Figure Description

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

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

[0029] Figure 3 This diagram illustrates the structure of the 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 point A;

[0031] Figure 5A schematic diagram of the lifting assembly of the present invention is shown;

[0032] Figure 6 A schematic diagram of the internal structure of the gearbox of the present invention is shown;

[0033] Figure 7 A schematic diagram of the structure of the pitch control assembly and fork assembly of the present invention is shown;

[0034] Figure 8 A schematic diagram of the structure of the present invention during the picking process is shown;

[0035] Figure 9 The present invention is shown. Figure 8 Enlarged schematic diagram of the structure at point B;

[0036] Figure 10 The present invention is shown. Figure 8 A three-dimensional schematic diagram of the structure at point B in the middle;

[0037] Figure 11 A schematic diagram of the auxiliary limiting component of the present invention is shown. Figure 1 ;

[0038] Figure 12 A schematic diagram of the auxiliary limiting component of the present invention is shown. Figure 2 ;

[0039] Figure 13 A schematic diagram of the structure of the driving component of the present invention is shown. Figure 1 ;

[0040] Figure 14 A schematic diagram of the structure of the driving component of the present invention is shown. Figure 2 .

[0041] In the diagram: 1. Four-way automated storage and retrieval system; 11. Picking position; 12. Track; 2. AGV bracket; 21. Cargo body; 3. Storage and retrieval assembly; 31. Tractor body; 32. Drive motor; 33. 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. Gearbox; 42. Eccentric wheel; 43. Roller shaft; 44. Lifting drive motor; 45. Steering gear; 46. Universal coupling; 47. Input gear; 48. Synchronous output gear set; 5. Pitch conversion assembly; 51. Pitch conversion servo motor; 52. Reduction gear. 53. Ball screw; 6. Fork assembly; 61. Fixing frame; 62. First fork body; 63. Second fork body; 64. Fork extension motor; 65. Drive gear; 66. Synchronizing block; 7. Auxiliary limiting assembly; 71. Fixing plate; 72. Drive gear; 73. Connecting plate; 74. Limiting groove; 75. Connecting rod; 76. Limiting 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. Fixing block; 92. Anti-tipping hook plate; 93. Hook plate adjusting bolt. Detailed Implementation

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

[0043] Please see Figures 1 to 14 This invention provides a technical solution for a tractor capable of autonomously retrieving goods: a tractor capable of autonomously retrieving goods includes a four-way vehicle storage unit 1, which is equipped with multiple sets of tracks 12. An AGV bracket 2 is provided at the loading end of the four-way vehicle storage unit 1, and multiple cargo bodies 21 are placed on the AGV bracket 2. A tractor assembly for transporting the cargo bodies 21 is slidably connected to the tracks 12. The four-way vehicle storage unit 1 is also provided with a retrieval position 11 for facilitating the tractor assembly to retrieve goods. The tractor assembly includes a storage and retrieval component 3 slidably connected to the tracks 12. Two sets of fork assemblies 6 for picking up goods are fixedly connected to the storage and retrieval component 3. Two sets of lifting components 4 for assisting the two sets of fork assemblies 6 in picking up and placing goods are also fixedly connected to the storage and retrieval component 3. A pitch-changing component 5 for adjusting the distance between the two sets of fork assemblies 6 is also fixedly connected to the storage and retrieval component 3. Anti-tipping components 9 for increasing the movement stability of the storage and retrieval component 3 are also fixedly connected to the four corners of the bottom of the storage and retrieval component 3.

[0044] Specifically, in use, the main body of the goods 21 is first transported to the designated station by AGV or other conveying equipment, and the storage and retrieval component 3 receives the signal and arrives at the designated workstation;

[0045] After the storage and retrieval component 3 reaches the designated position, the variable pitch component 5 is activated according to the system information to adjust the spacing of the fork assembly 6 to accommodate goods of different specifications. After the variable pitch component 5 is adjusted, radar scanning is used to confirm whether the goods specification information matches and whether the position is correct.

[0046] Once everything is in place, the fork assembly 6 is activated, the forks extend to the designated position, the lifting assembly 4 is activated, driving the fork assembly 6 to rise and lift the cargo body 21. The fork assembly 6 is then retracted, and the cargo body 21 is retrieved onto the storage and retrieval assembly 3. During the retrieval process, the position, size, length, width, etc. of the cargo body 21 are checked to ensure that they are within the specified range, thus ensuring the accuracy of the position.

[0047] After the goods are retrieved, the storage and retrieval component 3 moves to the designated position. After the radar detects whether the storage location meets the requirements for placing the goods, it drives the fork assembly 6 to place the main body of the goods 21 into the designated position. After placement, the lifting component 4 starts to drive the fork assembly 6 to move down, so that the main body of the goods 21 is placed on the placement position. Then the fork assembly 6 is retracted, completing one retrieval and placement operation.

[0048] As an optimized solution for tractor units capable of autonomous cargo retrieval, such as Figure 1-12 As shown, the storage and retrieval assembly 3 includes a tractor body 31. Two sets of drive motors 32 are fixedly connected to the top of the tractor body 31. The output ends of the two sets of drive motors 32 are fixedly connected to two sets of wheel boxes 33 via connecting shafts. Multiple wheel boxes 33 are located at the four corners of the top of the tractor body 31. The output end of each wheel box 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 via multiple sets of guide wheels. Each wheel box 33 is also fixedly connected to a buffer 34. A collision protection edge 39 is fixedly connected between two sets of wheel boxes 33 on the same side of the tractor body 31. A power supply mechanism 35 is fixedly connected to one side of the top of the tractor body 31. An anti-tipping assembly 9 is fixedly connected to the bottom of the tractor body 31. The anti-tipping assembly 9 includes a fixing block 91. An anti-tipping hook plate 92 is slidably connected to the side of the fixing block 91 near the tractor body 31. Multiple anti-tipping hook plates 92 are located on both sides of the track 12. A hook plate adjusting bolt 93 for adjusting the distance between the anti-tipping hook plate 92 and the track 12 is also provided between the fixing block 91 and the anti-tipping hook plate 92.

[0049] Specifically, when performing the picking and placing of goods, the travel drive motor 32 is first started, which drives the travel wheel box 33 to start, causing the guide wheel to slide along the track 12, which drives the tractor body 31 and its components to move. After moving to the picking position 11, the travel drive motor 32 is turned off, and the fork assembly 6 starts to pick up the goods. After picking up the goods, the travel wheel box 33 and the guide wheel drive the tractor body 31 and the goods body 21 on the tractor body 31 to the placing position. The fork assembly 6 extends to place the goods body 21 on the placing position, completing the picking and placing of goods.

[0050] This device uses an I-shaped track 12 and an anti-tipping component 9 is designed at the bottom of the storage and retrieval component 3. During the retrieval process, the anti-tipping hook plate 92 has a very small movement gap with the track 12, ensuring that the storage and retrieval component 3 will not generate friction when it moves, thus preventing additional energy efficiency loss. When the forks pick up heavy goods, the anti-tipping hook plate 92 is hooked on the side of the track 12, thus preventing tipping caused by the weight of the goods. The material in contact between the anti-tipping hook plate 92 and the track 12 is a self-lubricating material with high hardness when in surface contact and lower hardness than the track 12 during movement friction, reducing wear on the track 12 and reducing later maintenance costs.

[0051] As a further optimization plan, such as Figure 1-12 As shown, both sets of fork assemblies 6 are fixedly connected to the top of the tractor body 31. 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 both sets of fixed frames 61 is 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 conversion assembly 5 is disposed between the two sets of fixed frames 61. On the side of the two sets of second fork bodies 63 that are far apart from each other, two sets of auxiliary components for auxiliary fixing of the cargo body 21 during loading and unloading are rotatably connected.

[0052] Specifically, during use, when the tractor body 31 moves the fork assembly 6 to the designated position, the fork extension motor 64 starts, driving the first fork body 62 and the second fork body 63 to extend for picking up goods. When the first fork body 62 and the second fork body 63 extend, the auxiliary components start at the same time to fix the side of the cargo body 21, thereby improving the stability of the cargo body 21 when it moves.

[0053] As a further optimization plan, such as Figure 1-12As shown, both ends of the two sets of crossbeams 36 are fixedly connected to connecting blocks 37. Roller guide grooves 38 are provided on the side of the connecting blocks 37 away from the crossbeams 36, and these roller guide grooves 38 are respectively engaged with the output ends of adjacent lifting components 4. The lifting component 4 includes two sets of gearboxes 41 and a lifting drive motor 44. Both sets of gearboxes 41 are fixedly connected to the tractor body 31, and are located on both sides of the two sets of fixed frames 61. Input gears 47 are rotatably connected to both sets of gearboxes 41. The lifting drive motor 44 is fixedly connected to the top of the tractor body 31, and a steering gear 45 is fixedly connected to the output end of the lifting drive motor 44. A universal coupling 46 is fixedly connected to the output end of the steering gear 45. One end of the universal coupling 46 passes through the steering gear 45 and connects to the input gear in one of the gearboxes 41. Gear 47 is fixed, and the other end of universal coupling 46 passes through to another gearbox 41 and is fixed to the input gear 47 in the gearbox 41. Both gearboxes 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 gearboxes 41. The two synchronous output gear sets 48 are respectively meshed with the input gear 47. Two sets of eccentric wheels 42 are fixedly connected to the side of the two gearboxes 41 that are close to each other. 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. Roller shafts 43 are fixedly connected to the facing surfaces of multiple sets of eccentric wheels 42, and multiple sets of roller shafts 43 are respectively located at the eccentric position on the adjacent eccentric wheels 42. Multiple sets of roller shafts 43 are respectively slidably engaged in multiple sets of roller guide grooves 38.

[0054] Specifically, when the second fork body 63 is directly below the cargo body 21, the lifting drive motor 44 is started. The lifting drive motor 44 drives the universal coupling 46 to rotate through the steering gear 45. The universal coupling 46 drives the input gear 47 to rotate. The input gear 47 drives the synchronous output gear set 48 in the gearbox 41 to rotate. The output ends of the two sets of synchronous output gear sets 48 drive the adjacent eccentric wheels 42 to rotate respectively. 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, thereby raising the two sets of fork assemblies 6 and raising the cargo body 21. After being raised, 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 retrieved onto the tractor body 31. Then, the tractor body 31 moves the cargo to the loading position.

[0055] When the goods reach the unloading position, the fork extension motor 64 drives the first fork body 62 and the second fork body 63 to extend, moving the main body of the goods 21 to the unloading position. The lifting drive motor 44 starts 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 main body of the goods 21 to fall into the unloading position. The fork extension motor 64 drives the first fork body 62 and the second fork body 63 to retract, completing the unloading operation.

[0056] The internal gear meshing of gearbox 41 ensures that the output shafts rotate at the same angle and in the same direction. When picking up goods, the internal gear structure counteracts the torque of each output shaft when the forks pick up goods, reducing the demand on the motor and improving energy saving. At the same time, the modular design reduces debugging and maintenance costs.

[0057] As a further optimization plan, such as Figure 1-12 As shown, the top of the tractor body 31 is also provided with two sets of crossbeams 36. The two sets of crossbeams 36 are located at the bottom of the two sets of fixed frames 61 respectively. The two ends of one set of fixed frames 61 are fixed to one end of the two sets of crossbeams 36 respectively. The two ends of the other set of fixed frames 61 are slidably connected to the two sets of crossbeams 36 respectively. The pitch conversion assembly 5 includes a pitch conversion servo motor 51. The pitch conversion servo motor 51 is fixedly connected to the side wall of one set of fixed frames 61. The output end of the pitch conversion 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. The bottom of the other set of fixed frames 61 is fixedly connected to a synchronizing block 66. The synchronizing block 66 is threadedly connected to the ball screw 53.

[0058] Specifically, when it is necessary to adjust the distance between the two sets of fork assemblies 6 during use, the variable pitch servo motor 51 is started first. 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 synchronizing block 66 to move towards or away from the variable pitch servo motor 51. The synchronizing block 66 drives the corresponding fixing frame 61 to slide on the two sets of crossbeams 36, so that the distance between the two sets of fork assemblies 6 can be adjusted to accommodate goods of different specifications.

[0059] As a further optimization plan, such as Figure 1-14As shown, the auxiliary components include multiple sets of auxiliary limiting components 7 rotatably connected to two sets of second fork bodies 63. Each set of auxiliary limiting components 7 is equipped with a drive component 8. Each set of second fork bodies 63 is equipped with two sets of auxiliary limiting components 7, and the multiple sets of auxiliary limiting components 7 are located on opposite sides of the two sets of second fork bodies 63. The auxiliary limiting components 7 include a fixing plate 71, which is slidably connected to the outer wall of the second fork body 63. A drive gear 72 is rotatably connected to the bottom of the fixing plate 71. Two sets of drive teeth 65 for driving the adjacent drive gear 72 are fixedly connected to opposite sides of the two sets of first fork bodies 62. A connecting plate 73 is also rotatably connected to the top of each set of fixing plates 71, and the connecting plate 73 is connected to the drive gear 72 at the bottom of the fixing plate 71. A limiting groove 74 is opened at the top of the connecting plate 73 away from the fixing plate 71, and the connecting plate 73 is disposed in the limiting groove 74. A connecting plate 74 is slidably connected to the limiting groove 74. A rod 75 is connected to a limiting plate 76 at its top. A buffer pad 77 is fixedly connected to the side of the limiting plate 76 facing the fixing plate 71. The drive assembly 8 includes a micro motor 81, which is fixedly connected to the bottom of the connecting plate 73. A first transmission gear 82 is fixedly connected to the output end of the micro motor 81. The first transmission gear 82 is rotatably connected to the connecting plate 73. A second transmission gear 83 is also rotatably connected to the connecting plate 73. 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 by transmission through the transmission chain 84. A push block 85 is fixedly connected to the transmission chain 84. A push plate 86 is also provided above the transmission chain 84. The push plate 86 is slidably connected to the limiting groove 74. The push block 85 is slidably connected to the push plate 86. The top of the push plate 86 is fixed to the connecting rod 75 on the limiting groove 74.

[0060] Specifically, when the two sets of first fork bodies 62 and second fork bodies 63 extend to pick up goods, the second fork body 63 extends outward relative to the first fork body 62. In the initial state, the two sets of auxiliary limiting components 7 on each set of second fork bodies 63 are in the retracted state. When the second fork body 63 extends outward to the point where the drive gear 72 meshes with the drive teeth 65, the drive gear 72 will rotate under the pull of the second fork body 63 and the push of the drive teeth 65. The drive gear 72 will cause the connecting plate 73 to rotate 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 starts 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 push block 85 set on the transmission chain 84 moves synchronously with the transmission chain 84, pushing the push plate 86 to move.

[0061] Initially, the push block 85 and the push plate 86 are located on the side close to the second transmission gear 83. When the push block 85 moves from the second transmission gear 83 toward the first transmission gear 82, it simultaneously pushes the push plate 86 to drive the connecting rod 75 to move toward 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 push block 85 moves past the first transmission gear 82 or the second transmission gear 83, the push block 85 will slide laterally along the inner wall of the push plate 86, so that the push plate 86 will not rotate with the rotation of the push block 85, so that the push plate 86 always remains horizontal.

[0062] After the cargo body 21 is fixed by multiple sets of limiting plates 76 and buffer pads 77, the lifting drive motor 44 starts to raise the fork assembly 6. When the fixing frame 61, the first fork body 62 and the second fork body 63 are raised, the fixing plate 71 will slide downward relative to the outer wall of the second fork body 63, so that the drive gear 72 and the drive teeth 65 are misaligned. After the fork assembly 6 is raised and the cargo body 21 is raised, the first fork body 62 and the second fork body 63 are retracted. At this time, since the drive gear 72 and the drive teeth 65 are misaligned, the drive gear 72 will not rotate, thus maintaining the fixation of the cargo body 21.

[0063] When the tractor body 31 moves the fork assembly 6 and the cargo body 21 to the loading position, the fork assembly 6 extends, and the lifting drive motor 44 starts to lower the fork assembly 6, placing the cargo body 21 on the loading position. When the fork assembly 6 lowers, the drive teeth 65 are once again at the same level as the drive gear 72. At this time, the first fork body 62 and the second fork body 63 retract, and the drive teeth 65 will drive the drive gear 72 to rotate in the opposite direction, causing the drive gear 72 to drive the connecting plate 73 to reverse and reset. At the same time, the micro motor 81 starts again to drive the first transmission gear 82 and the transmission chain 84 to rotate, causing the push plate 86 to move the limit plate 76 and the buffer pad 77 to the end of the limit groove 74 away from the fixed plate 71 through the connecting rod 75, so as to facilitate the next loading and unloading operation.

[0064] The working principle of this self-retrieving tractor:

[0065] In use, the main body of the goods 21 is first transported to the designated station by AGV or other conveying equipment. The storage and retrieval component 3 receives the signal and starts the walking drive motor 32. The walking drive motor 32 drives the walking wheel box 33 to start, so that the guide wheel slides along the track 12, driving the tractor body 31 and its components to move. After reaching the designated work station, the walking drive motor 32 is turned off. The variable pitch servo motor 51 is started first. 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 synchronization block 66 to move towards or away from the variable pitch servo motor 51. The synchronization 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 components 6 can be adjusted to accommodate goods of different specifications.

[0066] Because the fork assembly 6 moves on one side of the fork fingers, the fork center will change with the size of the goods. Therefore, when picking up goods, the system recalculates the center of the goods based on the movement of the fork fingers to ensure that the goods are always in the center of the fork.

[0067] After the positions of the two sets of fixed frames 61 are 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 goods. When the second fork body 63 is directly below the main body of the goods 21, the lifting drive motor 44 is started, driving the universal coupling 46 to rotate through the steering gear 45, causing the input gear 47 to drive the synchronous output gear set 48 in the gearbox 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 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, causing the crossbeam 36 to lift, thereby raising the two sets of fork assemblies 6 and raising the main body of the goods 21. After being raised, the fork extension motor 64 drives the first fork body 62 and the second fork body 63 to retract, and the main body of the goods 21 is retrieved onto the tractor body 31, and then moved to the loading position by the tractor body 31.

[0068] The tractor body 31 and the cargo body 21 on the tractor body 31 are moved to the loading position by the travel wheel box 33 and the guide wheel. The first fork 62 and the second fork 63 extend to place the cargo body 21 on the loading position, completing the loading and unloading work. When the first fork 62 and the second fork 63 extend, the auxiliary components are activated at the same time to fix the side of the cargo body 21 and improve the stability of the cargo body 21 when it moves.

[0069] When the two sets of first fork bodies 62 and second fork bodies 63 extend 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 to the point where the drive gear 72 meshes with the drive teeth 65, it will drive the drive gear 72 to rotate. The drive gear 72 will drive the connecting plate 73 to rotate 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 starts 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 push block 85 set on the transmission chain 84 moves synchronously with the transmission chain 84, pushing the push plate 86 to drive the connecting rod 75 to move towards 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 multiple sets of limiting plates 76 and buffer pads 77, the lifting drive motor 44 starts to raise the fork assembly 6. When the fixing frame 61, the first fork body 62 and the second fork body 63 are raised, the fixing plate 71 will slide downward relative to the outer wall of the second fork body 63, so that the drive gear 72 and the drive teeth 65 are misaligned. After the fork assembly 6 is raised and the cargo body 21 is raised, the first fork body 62 and the second fork body 63 are retracted. At this time, since the drive gear 72 and the drive teeth 65 are misaligned, the drive gear 72 will not rotate, thus maintaining the fixation of the cargo body 21.

[0071] When the tractor body 31 moves the fork assembly 6 and the cargo body 21 to the loading position, the fork assembly 6 extends, and the lifting drive motor 44 starts to lower the fork assembly 6, placing the cargo body 21 on the loading position. When the fork assembly 6 lowers, the drive teeth 65 are once again at the same level as the drive gear 72. At this time, the first fork body 62 and the second fork body 63 retract, and the drive teeth 65 will drive the drive gear 72 to rotate in the opposite direction, causing the drive gear 72 to drive the connecting plate 73 to reverse and reset. At the same time, the micro motor 81 starts again to drive the first transmission gear 82 and the transmission chain 84 to rotate, causing the push plate 86 to move the limit plate 76 and the buffer pad 77 to the end of the limit groove 74 away from the fixed plate 71 through the connecting rod 75, which is convenient for the next storage and retrieval operation.

[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 rail 12 during normal operation, ensuring that the storage and retrieval component 3 will not generate friction during movement, thus preventing additional energy efficiency loss. When the forks pick up heavy goods, the anti-tipping hook plate 92 is hooked on the side of the rail 12, thus preventing tipping caused by the weight of the goods. The material in contact between the anti-tipping hook plate 92 and the rail 12 is a self-lubricating material with high hardness when in surface contact and lower hardness than the rail 12 during movement friction, reducing wear on the rail 12 and reducing later maintenance costs.

[0073] Obviously, the described embodiments are only a part of the embodiments of the present invention, and not 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 skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

Claims

1. A tractor-trailer capable of autonomous pickup, comprising a four-way vehicle storage compartment (1), wherein the four-way vehicle storage compartment (1) is provided with multiple sets of tracks (12), and the loading end of the four-way vehicle storage compartment (1) is provided with an AGV rack (2), wherein multiple cargo bodies (21) are placed on the AGV rack (2), characterized in that: A tractor assembly for transporting the main body of goods (21) is slidably connected on the track (12), and a retrieval position (11) is also provided on the four-way vehicle storage compartment (1) to facilitate the retrieval of goods by the tractor assembly. The tractor assembly includes a cargo storage and retrieval assembly (3) slidably connected to the rail (12). The cargo storage and retrieval assembly (3) is fixedly connected to two sets of fork assemblies (6) for picking up goods. The cargo storage and retrieval assembly (3) is also fixedly connected to two sets of lifting assemblies (4) for assisting the two sets of fork assemblies (6) in picking up and placing goods, and a pitch adjustment assembly (5) for adjusting the distance between the two sets of fork assemblies (6). The four corners of the bottom of the cargo storage and retrieval assembly (3) are also fixedly connected to anti-tipping assemblies (9) for increasing the movement stability of the cargo storage and retrieval assembly (3). The storage and retrieval component (3) includes a tractor body (31). Two sets of walking drive motors (32) are fixedly connected to the top of the tractor body (31). The output ends of the two sets of walking drive motors (32) are fixedly connected to two sets of walking wheel boxes (33) through connecting shafts. Multiple sets of walking wheel boxes (33) are located at the four corners of the top of the tractor body (31). The output end of each set of walking 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 the walking wheel boxes (33) is also fixedly connected to a buffer (34), and a collision protection edge (39) is fixedly connected between the two sets of walking wheel boxes (33) located 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). Both sets of fork assemblies (6) are fixedly connected to the top of the tractor body (31). 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 both sets of fixed frames (61) is 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 conversion assembly (5) is disposed between the two sets of fixed frames (61). The two sets of second fork bodies (63) are also rotatably connected to each other on the side away from each other, and are used to help fix the main body (21) of the goods when picking up and putting down the goods; The auxiliary components include multiple sets of auxiliary limiting components (7) rotatably connected to two sets of second fork bodies (63). Each set of auxiliary limiting components (7) is provided with a drive component (8). Each set of second fork bodies (63) is provided with two sets of auxiliary limiting components (7), and the multiple sets of auxiliary limiting components (7) are located on opposite sides of the two sets of second fork bodies (63). The auxiliary limiting component (7) includes a fixing plate (71), which is slidably connected to the outer wall of the second fork body (63). A drive gear (72) is rotatably connected to the bottom of the fixing plate (71). Two sets of drive teeth (65) for driving the adjacent drive gears (72) are fixedly connected to the opposite sides of the two sets of first fork bodies (62). A connecting plate (73) is rotatably connected to the top of each set of fixing plates (71). The connecting plate (73) is connected to the drive gear (72) at the bottom of the fixing plate (71). A limiting groove (74) is opened at the top of the connecting plate (73) away from the fixing plate (71). A connecting rod (75) is slidably connected to the limiting groove (74). A limiting plate (76) is fixedly connected to the top of the connecting rod (75). A buffer pad (77) is fixedly connected to the side of the limiting plate (76) facing the fixing plate (71). The drive 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 a first transmission gear (82), which is rotatably connected to the connecting plate (73). A second transmission gear (83) is also rotatably connected to the connecting plate (73). 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 by transmission through the transmission chain (84). A push block (85) is fixedly connected to the transmission chain (84). A push plate (86) is also provided above the transmission chain (84), and the push plate (86) is slidably connected in the limiting groove (74). The push block (85) is slidably connected in the push plate (86), and the top of the push plate (86) is fixed to the connecting rod (75) on the limiting groove (74).

2. The tractor unit capable of autonomous cargo retrieval according to claim 1, characterized in that: The top of the tractor body (31) is also provided with two sets of crossbeams (36). The two sets of crossbeams (36) are located at the bottom of the two sets of fixed frames (61). The two ends of one set of fixed frames (61) are fixed to one end of the two sets of crossbeams (36), and the two ends of the other set of fixed frames (61) are slidably connected to the two sets of crossbeams (36). Both ends of the two sets of crossbeams (36) are fixedly connected with connecting blocks (37). Roller guide grooves (38) are opened on the side of the multiple sets of connecting blocks (37) away from the crossbeams (36), and multiple roller guide grooves (38) are respectively engaged with the output end of the adjacent lifting components (4).

3. The self-retrieving tractor unit according to claim 2, characterized in that: The lifting assembly (4) includes two sets of gearboxes (41) and a lifting drive motor (44). Both sets of gearboxes (41) are fixedly connected to the tractor body (31), and are located on both sides of two sets of fixed frames (61). Each set of gearboxes (41) has an input gear (47) rotatably connected to it. The lifting drive motor (44) is fixedly connected to the top of the tractor body (31), and a steering gear (45) is fixedly connected to the output end of the lifting drive motor (44). A universal coupling (46) is fixedly connected to the output end of the steering gear (45). 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 gearboxes (41). The other end of the universal coupling (46) passes through another gearbox (41) and is fixed to the input gear (47) in the gearbox (41). Both gearboxes (41) are rotatably connected to a 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 gearboxes (41). The two synchronous output gear sets (48) mesh with the input gear (47) respectively.

4. A tractor unit capable of autonomous cargo retrieval according to claim 3, characterized in that: Two sets of eccentric wheels (42) are fixedly connected to each other on the side of the two sets of gearboxes (41). 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. Roller shafts (43) are fixedly connected to the facing surfaces of multiple sets of eccentric wheels (42). The multiple sets of roller shafts (43) are located at the eccentric position on the adjacent eccentric wheel (42). The multiple sets of roller shafts (43) are slidably engaged in multiple sets of roller guide grooves (38).

5. A tractor unit capable of autonomous cargo retrieval according to claim 1, characterized in that: The variable pitch assembly (5) includes a variable pitch servo motor (51), which is fixedly connected to the side wall of one of the fixed frames (61). The output end of the variable pitch 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 set of fixed frames (61) is fixedly connected to a synchronizing block (66), which is threaded onto the ball screw (53).

6. The tractor unit capable of autonomous cargo retrieval according to claim 1, characterized in that: The anti-rollover assembly (9) is fixedly connected to the bottom of the tractor body (31). The anti-rollover assembly (9) includes a fixing block (91). The fixing block (91) is slidably connected to an anti-rollover hook plate (92) on the side of the tractor body (31). Multiple sets of anti-rollover hook plates (92) are located on both sides of the track (12). A hook plate adjusting bolt (93) for adjusting the distance between the anti-rollover hook plate (92) and the track (12) is also provided between the fixing block (91) and the anti-rollover hook plate (92).

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