Stacking type AGV

Abstract

The utility model discloses a stacking type AGV which comprises a vehicle body and a door frame arranged on the vehicle body, a cargo carrying table is connected to the door frame in a sliding mode, a pallet fork and a supporting fork are arranged on the cargo carrying table, and the supporting fork and the pallet fork are arranged in parallel. The pallet forks comprise the first bottom fork connected with the cargo carrying table and at least one sliding pallet fork connected to the first bottom fork in a sliding mode. The supporting fork comprises a second bottom fork connected with the cargo carrying table and at least one sliding supporting fork connected to the second bottom fork in a sliding mode, the balance fork is arranged, in the cargo loading and stacking process, stable supporting can be provided for the vehicle body through stretching-out of the supporting fork, and therefore the cargo loading and stacking efficiency is improved. The problem of inclination of the vehicle body is avoided, and the safety performance is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of warehousing and handling, in particular to a stacking type AGV. Background Art

[0002] AGV (automated guided vehicle) is an automatic guided vehicle, which is equipped with an automatic guidance device and can automatically drive along a specified guidance route. AGV has a wide range of uses and can replace manual labor in handling, stacking, and destacking.

[0003] Existing storage equipment includes stackers, AGV forklifts, manned forklifts, etc. When used between shelves, they are often small in size due to limited space. When stacking higher and heavier goods or pallets, the forks usually need to be extended horizontally to the shelves to complete the stacking. At this time, the forks will form a cantilever structure, causing the AGV body to be unstable and prone to tipping, which in turn creates serious safety hazards. Utility Model Content

[0004] The purpose of the utility model is to provide a stacking AGV to solve the problems raised in the above background technology.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A stacking AGV, comprising a vehicle body and a gantry arranged on the vehicle body, a cargo platform slidably connected to the gantry, a cargo fork and a support fork arranged on the cargo platform, and the support fork and the cargo fork are arranged in parallel;

[0007] The cargo fork comprises a first bottom fork connected to the cargo platform and at least one sliding cargo fork slidably connected to the first bottom fork;

[0008] The supporting fork comprises a second bottom fork connected to the cargo platform and at least one sliding supporting fork slidably connected to the second bottom fork.

[0009] As a further solution of the utility model: the vehicle body includes a vehicle body, a navigation sensor is provided at the bottom of the vehicle body, a safety edge touch and obstacle avoidance sensor is provided on the outside of the vehicle body, and an alarm device is provided on the door frame.

[0010] As a further solution of the utility model: a power cabinet is provided on the vehicle body, a battery is provided in the power cabinet, a human-machine interface and a control cabinet are provided on the power supply, and the navigation sensor, safety touch edge, obstacle avoidance sensor, human-machine interface and alarm device are all connected to the control cabinet signal.

[0011] As a further solution of the utility model: the door frame includes two parallel columns, a lifting screw is provided on the inner side of the column, and a driving part for driving the lifting screw to rotate is provided on one side of the column. The driving part includes a first transmission motor arranged on one side of the column, and the first transmission motor is connected to the lifting screw through the transmission part.

[0012] As a further solution of the utility model: the cargo platform includes a cargo platform body, and both sides of the cargo platform body are slidably connected to the columns up and down, and lifting brackets are provided on both sides of the cargo platform body, and lifting nuts are fixedly connected to the lifting brackets, and the lifting nuts are threadedly connected to the lifting screw.

[0013] As a further solution of the utility model: guide rails are provided on both sides of the lifting screw, the guide rails are arranged parallel to the lifting screw, and a guide rail slider is provided on the outer side of the lifting bracket, and the guide rail slider is connected to the guide rail in an up and down sliding manner.

[0014] As a further solution of the utility model: the cargo platform includes a cargo platform body, and an adjusting motor and four fork fine-adjustment nuts are provided at the upper end of the cargo platform body. The adjusting motor is dynamically connected to the four fork fine-adjustment nuts through a transmission chain. Two first bottom forks are provided and the two first bottom forks are arranged in parallel. Two fork lifting and fine-adjustment screws are provided at the lower end of each of the first bottom forks, and the fork lifting and fine-adjustment screws are threadedly connected to the fork fine-adjustment nut.

[0015] As a further solution of the utility model: the sliding fork includes a first middle fork and a first upper fork, the first middle fork is slidably connected to the first bottom fork, the first upper fork is slidably connected to the first middle fork, the first middle fork and the first bottom fork, the first upper fork and the first middle fork are connected by a first telescopic chain transmission, the first telescopic transmission chains on both sides are dynamically connected by a transmission shaft, and one end of the transmission shaft is connected to a second transmission motor via a main transmission chain.

[0016] As a further solution of the utility model: the sliding support fork includes a second middle fork and a second upper fork, the second middle fork is slidably connected to the second bottom fork, the second upper fork is slidably connected to the second middle fork, and the second bottom forks on both sides are provided with support fork telescopic transmission parts that drive the second middle fork and the second double-layer to slide, the support fork telescopic transmission parts on both sides are power-connected through a second telescopic transmission chain, the support fork telescopic transmission part on one side is power-connected to a telescopic motor, and an obstacle detection sensor is provided at the end of the second upper fork.

[0017] Compared with the prior art, the beneficial effects of the utility model are:

[0018] 1. This application sets a balancing fork, which can provide a stable support for the vehicle body by extending the support fork during loading and stacking, thereby avoiding the problem of tilting of the vehicle body and improving safety performance;

[0019] 2. The present application provides an adjustment structure between the cargo platform and the cargo fork, so that the height of the cargo fork on the cargo platform can be adjusted to adapt to changes in the height of the pallet. The present application can be used for pallets of different types and sizes, thereby improving the universal performance of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of this embodiment;

[0021] Figure 2 This is a schematic diagram of the vehicle body structure of this embodiment;

[0022] Figure 3 This is a schematic diagram of the door frame structure of this embodiment;

[0023] Figure 4 This is a schematic diagram of the cargo platform structure of this embodiment;

[0024] Figure 5 This is a schematic diagram of the fork structure of this embodiment;

[0025] Figure 6 This is an exploded view of the fork in this embodiment;

[0026] Figure 7 This is a schematic diagram of the support fork structure of this embodiment;

[0027] Figure 8 This is an exploded view of the support fork of this embodiment.

[0028] In the figure:

[0029] 1-car body, 11-car body, 12-power cabinet, 13-battery, 14-navigation sensor, 15-safety edge, 16-obstacle avoidance sensor, 17-human-machine interface, 18-control cabinet;

[0030] 2-gantry, 21-column, 22-lifting screw, 23-guide rail, 24-transmission chain, 25-alarm device, 26-first transmission motor;

[0031] 3-cargo platform, 31-cargo platform body, 32-guide rail slider, 33-lifting bracket, 34-fork fine-adjusting nut, 35-chain, 36-adjusting motor, 37-lifting nut;

[0032] 4-fork, 41-first bottom fork, 42-first middle fork, 43-first upper fork, 44-first telescopic transmission chain, 45-transmission shaft, 46-second transmission motor, 47-main transmission chain, 48-fork lifting fine-tuning screw;

[0033] 5-support fork, 51-second bottom fork, 52-second middle fork, 53-second upper fork, 54-second telescopic transmission chain, 55-obstacle detection sensor, 56-telescopic motor. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0035] See also Figure 1-6 In an embodiment of the utility model, a stacking AGV includes a vehicle body 1 and a gantry 2 arranged on the vehicle body 1, a cargo platform 3 is slidably connected to the gantry 2, a cargo fork 4 and a supporting fork 5 are provided on the cargo platform 3, and the supporting fork 5 and the cargo fork 4 are arranged parallel to each other.

[0036] The vehicle body 1 includes a vehicle body 11, a navigation sensor 14 is provided at the bottom of the vehicle body 11, a safety touch edge 15 and an obstacle avoidance sensor 16 are provided on the outside of the vehicle body 11, a power cabinet 12 is provided on the vehicle body 11, a battery 13 is provided in the power cabinet 12, a human-machine interface 17 and a control cabinet 18 are provided on the power supply 12, and the navigation sensor 14, the safety touch edge 15, the obstacle avoidance sensor 16, and the human-machine interface 17 are all connected to the control cabinet 18 by signal.

[0037] The gantry 2 includes two parallel columns 21, a lifting screw 22 is provided on the inner side of the column 21, guide rails 23 are provided on both sides of the lifting screw 22, the guide rails 23 are arranged parallel to the lifting screw 22, one side of the column 21 is provided with a driving part for driving the lifting screw 22 to rotate, the driving part includes a first transmission motor 26 arranged on one side of the column, the first transmission motor 26 is connected to the lifting screw 22 through the transmission part, an alarm device 25 is provided on the outer side of the column 21, and the alarm device 25 is connected to the control cabinet 18 by signal.

[0038] The cargo platform 3 includes a cargo platform body 31, on which a sensor for identifying the height and position of the shelf is installed. Both sides of the cargo platform body 31 are connected to the columns 21 for up and down sliding. Lifting brackets 33 are provided on both sides of the cargo platform body 31. Lifting nuts 37 are fixedly connected to the lifting brackets 33. The lifting nuts 37 are threadedly connected to the lifting screw 22. A guide rail slider 32 is provided on the outer side of the lifting bracket 33. The guide rail slider 32 is connected to the guide rail 23 for up and down sliding, thereby realizing the up and down sliding connection between the cargo platform body 31 and the column 21.

[0039] The fork 4 includes a first bottom fork 41 connected to the cargo platform 3 and at least one sliding fork slidably connected to the first bottom fork 41. In the present embodiment, the sliding fork includes a first middle fork 42 and a first upper fork 43. The first middle fork 42 is slidably connected to the first bottom fork 41, and the first upper fork 43 is slidably connected to the first middle fork 42. An adjusting motor 36 and four fork fine-tuning nuts 34 are provided at the upper end of the cargo platform body 31. The adjusting motor 36 is power-connected to the four fork fine-tuning nuts 34 through a transmission chain. Two first bottom forks 41 are provided and the two first bottom forks 41 are arranged in parallel. Two fork lifting and fine-tuning screws 48 are provided at the lower end of each first bottom fork 41. The fork lifting and fine-tuning screws 48 are threadedly connected to the fork fine-tuning nuts 34, so that the height of the two forks can be fine-tuned by four fine-tuning screw and nut mechanisms.

[0040] The first middle fork 42 is slidably connected to the first bottom fork 41, the first upper fork 43 is slidably connected to the first middle fork 42, the first middle fork 42 and the first bottom fork 41, the first upper fork 43 and the first middle fork 42 are connected by a first telescopic chain 44, the first telescopic transmission chains 44 on both sides are connected by power through a transmission shaft 45, one end of the transmission shaft 45 is connected to the second transmission motor 46 through a main transmission chain 47, the sliding connection structure and transmission mechanism between the first middle fork 42 and the first bottom fork 41, the first upper fork 43 and the first middle fork 42 are all existing technologies in the field of forklift technology, and will not be repeated again.

[0041] The supporting fork 5 comprises a second bottom fork 51 connected to the cargo platform 3 and at least one sliding supporting fork slidably connected to the second bottom fork 51, the sliding supporting fork comprises a second middle fork 52 and a second upper fork 53, the second middle fork 52 is slidably connected to the second bottom fork 51, the second upper fork 53 is slidably connected to the second middle fork 52, and the second bottom forks 51 on both sides are provided with supporting fork telescopic transmission parts for driving the second middle fork 52 and the second double layer 53 to slide, the supporting forks telescopic transmission parts on both sides are power-connected through a second telescopic transmission chain 54, the supporting fork telescopic transmission part on one side is power-connected to a telescopic motor 56, and an obstacle detection sensor 55 is provided at the end of the second upper fork 53.

[0042] When the utility model is in use, the height of the two forks is first adjusted by the adjustment device between the cargo platform body 31 and the fork 4. During the adjustment, the adjustment motor 36 and the chain 35 drive the fork fine-tuning nut 34 to rotate, and the fork fine-tuning nut 34 rotates relative to the fork lifting fine-tuning screw 48, thereby driving the fork to move up and down. After the height adjustment of the fork 4 is completed, the controller 18 controls the vehicle body 1 to move to the front of the goods or pallets to be stacked, and then the second transmission motor 46 drives the first upper fork 43 to extend relative to the first middle fork 42, and the first middle fork 42 extends relative to the first bottom fork 41, thereby extending the first upper fork 43 to the bottom of the goods or pallets, and starting the first transmission motor 26. The lifting screw rod 22 is driven to rotate by the first transmission motor 26, thereby driving the cargo platform body 31 to move upward. When the bottom of the goods or pallet leaves the ground, the rise of the cargo platform body 31 is stopped, and then the fork 4 is retracted to move the goods or pallets to the top of the cargo platform body 31, and then the goods or pallets can be moved to the corresponding shelf position through the vehicle body 1.

[0043] When reaching the corresponding position, the first transmission motor 26 is started again to drive the cargo platform body 31 to move upward until it reaches the required height, that is, the stacking height, and then the telescopic motor 56 is driven to drive the supporting fork 5 to extend, and the second upper fork 53 of the supporting fork 5 is extended and the far end of the second upper fork 53 is overlapped on the shelf, and then a balanced support structure is formed through the shelf and the door frame 2, and then the second transmission motor 46 is started, and the fork 4 is driven to extend by the second transmission motor 46, so as to move the goods or pallets on the fork 4 to the corresponding shelf.

[0044] In addition, the present embodiment is also provided with a navigation sensor 14, a safety edge 15, an obstacle avoidance sensor 16, and an alarm device 25, which can improve the safety performance of the vehicle.

[0045] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0046] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A stacking AGV, characterized in that: The vehicle comprises a vehicle body (1) and a gantry (2) arranged on the vehicle body (1); a cargo platform (3) is slidably connected to the gantry (2); a cargo fork (4) and a support fork (5) are arranged on the cargo platform (3); and the support fork (5) and the cargo fork (4) are arranged in parallel. The cargo fork (4) comprises a first bottom fork (41) connected to the cargo platform (3) and at least one sliding cargo fork slidably connected to the first bottom fork (41); The supporting fork (5) comprises a second bottom fork (51) connected to the cargo platform (3) and at least one sliding supporting fork slidably connected to the second bottom fork (51).

2. A stacking AGV according to claim 1, characterized in that: The vehicle body (1) comprises a vehicle body (11), a navigation sensor (14) is provided at the bottom of the vehicle body (11), a safety touch edge (15) and an obstacle avoidance sensor (16) are provided on the outer side of the vehicle body (11), and an alarm device (25) is provided on the door frame (2).

3. A stacking AGV according to claim 2, characterized in that: The vehicle body (11) is provided with a power cabinet (12), a battery (13) is provided in the power cabinet (12), a human-machine interface (17) and a control cabinet (18) are provided on the power cabinet (12), and the navigation sensor (14), the safety touch edge (15), the obstacle avoidance sensor (16), the human-machine interface (17), and the alarm device (25) are all in signal communication with the control cabinet (18).

4. The stacking AGV according to claim 1, characterized in that: The door frame (2) comprises two parallel columns (21), a lifting screw (22) is provided inside the column (21), a driving unit for driving the lifting screw (22) to rotate is provided on one side of the column (21), and the driving unit comprises a first transmission motor (26) arranged on one side of the column, and the first transmission motor (26) is connected to the lifting screw (22) through the transmission unit.

5. The stacking AGV according to claim 4, characterized in that: The cargo platform (3) comprises a cargo platform body (31), both sides of which are slidably connected to the upright posts (21) up and down, and both sides of the cargo platform body (31) are provided with lifting brackets (33), and the lifting brackets (33) are fixedly connected with lifting nuts (37), and the lifting nuts (37) are threadedly connected to the lifting screw (22).

6. The stacking AGV according to claim 5, characterized in that: Guide rails (23) are provided on both sides of the lifting screw (22), and the guide rails (23) are arranged in parallel with the lifting screw (22). A guide rail slider (32) is provided on the outer side of the lifting bracket (33), and the guide rail slider (32) is connected to the guide rail (23) in an up-and-down sliding manner.

7. The stacking AGV according to claim 1, characterized in that: The cargo platform (3) comprises a cargo platform body (31), an upper end of the cargo platform body (31) is provided with an adjustment motor (36) and four fork fine-adjustment nuts (34), the adjustment motor (36) is connected to the four fork fine-adjustment nuts (34) by a transmission chain, two first bottom forks (41) are provided and the two first bottom forks (41) are arranged in parallel, and two fork lifting fine-adjustment screws (48) are provided at the lower end of each first bottom fork (41), and the fork lifting fine-adjustment screws (48) are threadedly connected to the fork fine-adjustment nuts (34).

8. The stacking AGV according to claim 1, characterized in that: The sliding fork comprises a first middle fork (42) and a first upper fork (43); the first middle fork (42) is slidably connected to the first bottom fork (41); the first upper fork (43) is slidably connected to the first middle fork (42); the first middle fork (42) and the first bottom fork (41), as well as the first upper fork (43) and the first middle fork (42) are transmission-connected via a first telescopic transmission chain (44); the first telescopic transmission chains (44) on both sides are power-connected via a transmission shaft (45); one end of the transmission shaft (45) is connected to a second transmission motor (46) via a main transmission chain (47).

9. The stacking AGV according to claim 1, characterized in that: The sliding support fork comprises a second middle fork (52) and a second upper fork (53); the second middle fork (52) is slidably connected to the second bottom fork (51); the second upper fork (53) is slidably connected to the second middle fork (52); the second bottom forks (51) on both sides are provided with support fork telescopic transmission parts for driving the second middle fork (52) and the second upper fork (53) to slide; the support fork telescopic transmission parts on both sides are connected by power through a second telescopic transmission chain (54); the support fork telescopic transmission part on one side is connected by power to a telescopic motor (56); and an obstacle detection sensor (55) is provided at the end of the second upper fork (53).

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