Climbing type AGV

Abstract

The utility model relates to the technical field of storage and transportation equipment, in particular to a climbing type AGV which is characterized in that two telescopic assemblies are arranged on the two opposite sides of a vehicle body respectively, two climbing wheels are further arranged at the two ends of each telescopic assembly respectively, and a first driving source drives the two telescopic assemblies to synchronously move back to back. The second driving source drives the climbing wheels to rotate so that the whole vehicle body can be driven to ascend or descend, the function that the vehicle body climbs the goods shelf is achieved, and therefore the climbing height of the climbing type AGV depends on the set height of the climbing strips on the goods shelf, and the climbing height of the climbing type AGV depends on the set height of the climbing strips on the goods shelf. Therefore, the climbing type AGV can be suitable for goods shelves of any height, and the structure of the climbing type AGV does not need to be changed to adapt to goods shelves of different heights.

Description

Technical Field

[0001] The utility model relates to the technical field of storage and transportation equipment, in particular to a climbing AGV. Background Art

[0002] At present, in the warehousing industry, stackers or shuttles are generally used to store and retrieve goods on three-dimensional shelves, and AGVs or conveyor lines are used to transport goods. Since the AGV walking route is flexible and can be modified, it has gradually become a widely used automated handling equipment. Generally, AGVs can only walk on the road and cannot climb shelves to store and retrieve goods directly. Stackers or shuttles are needed to store and retrieve goods.

[0003] China's invention patent application "CN113753451A" discloses an AGV trolley that can climb multi-layer shelves. A fixed rod, a movable rod that can move up and down along the fixed rod, a locking device and a driving device are installed on the AGV trolley. The driving device drives the movable rod to extend and then fixes one end of the movable rod to the shelf through the locking device. The driving device then drives the movable rod to retract to drive the AGV trolley and the fixed rod to rise. Obviously, the climbing height of the AGV trolley in this scheme depends on the sum of the lengths of the fixed rod and the movable rod, and the climbing height is limited. Utility Model Content

[0004] To achieve the above-mentioned purpose, the utility model provides a climbing AGV, including a vehicle body, two telescopic components are respectively provided on opposite sides of the vehicle body, two climbing wheels are respectively provided at both ends of the telescopic components, a first driving source is provided on the vehicle body, the first driving source is used to drive the two telescopic components to move synchronously toward or away from each other, so that the climbing wheels are retracted into the vehicle body or extended from the vehicle body along with the telescopic components, and a second driving source is also provided on the telescopic component, the second driving source is used to drive the two climbing wheels to rotate forward and reverse synchronously.

[0005] In some possible embodiments, the telescopic assembly includes a movable connecting rod and two mounting seats respectively arranged at both ends of the movable connecting rod, the climbing wheel is rotatably arranged on the mounting seat, a plurality of first guide wheels and a plurality of second guide wheels are arranged at one end of the mounting seat close to the vehicle body, two spaced-apart guide seats are arranged in the vehicle body, guide grooves are opened on the inner sides of the two guide seats relative to each other, the first guide wheel is accommodated in the guide groove, and the second guide wheel is located on the inner side of the guide seat.

[0006] In some possible embodiments, a third guide wheel and a fourth guide wheel are further provided at one end of the mounting seat away from the vehicle body, the third guide wheel is used to abut against a shelf, a vertical climbing bar is provided on the shelf, and the fourth guide wheel is disposed on two opposite sides of the climbing bar.

[0007] In some possible embodiments, the two climbing wheels are connected via a universal shaft.

[0008] In some possible embodiments, the output end of the first driving source is connected to a swing rod, and a first hinge rod, a second hinge rod and a third hinge rod are arranged between the swing rod and the movable connecting rod, the two ends of the first hinge rod are respectively hinged to the end of the swing rod and the middle of the movable connecting rod, one end of the second hinge rod is hinged to the position of the first hinge rod close to the swing rod, the other end of the second hinge rod is hinged to one end of the third hinge rod, and the other end of the third hinge rod is hinged to the position on the movable connecting rod close to the hinge point of the first hinge rod and the movable connecting rod.

[0009] In some possible embodiments, a limit baffle is further provided on one end of the swing rod close to the first hinge rod, and the limit baffle is provided on one side of the swing rod and extends along the length direction of the swing rod.

[0010] In some possible embodiments, the output end of the second driving source is connected to a speed reducer and a driving gear in sequence, the climbing wheel is fixedly connected to a driven gear, and the driving gear is meshedly connected to the driven gear.

[0011] In some possible embodiments, the climbing wheel is a gear or a sprocket, and a vertical climbing bar is provided on the side of the shelf, and the climbing bar corresponds to a rack or a chain.

[0012] Compared with the prior art, the beneficial effect of the present invention is that the climbing AGV of the present invention is provided with two telescopic components on opposite sides of the vehicle body, and two climbing wheels are provided at both ends of the telescopic components. The first driving source drives the two telescopic components to move synchronously in opposite directions, so that the climbing wheels can extend from the vehicle body along with the telescopic components and engage with the climbing bars on the shelf side. The second driving source drives the climbing wheels to rotate to drive the entire vehicle body to rise or fall, thereby realizing the function of the vehicle body climbing the shelf. It can be seen that the climbing height of the climbing AGV of the present invention depends on the setting height of the climbing bar on the shelf, so it can be applied to shelves of any height, and there is no need to change the structure of the climbing AGV to adapt to shelves of different heights. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0014] Figure 1 A three-dimensional structural diagram of a climbing AGV provided in an embodiment of the utility model;

[0015] Figure 2 A three-dimensional structural diagram of a climbing AGV hidden body frame provided in an embodiment of the utility model;

[0016] Figure 3 for Figure 2 The enlarged schematic diagram of point A in the middle;

[0017] Figure 4 for Figure 2 The enlarged schematic diagram of point B in the middle;

[0018] Figure 5 This is a front view of the structure in the climbing state provided by an embodiment of the utility model.

[0019] Figure numerals: vehicle body 10, first driving source 11, second driving source 12, guide seat 13, guide groove 14, telescopic assembly 20, movable connecting rod 21, mounting seat 22, first guide wheel 23, second guide wheel 24, third guide wheel 25, fourth guide wheel 26, climbing wheel 30, universal joint 31, driven gear 32, swing rod 40, first articulated rod 41, second articulated rod 42, third articulated rod 43, limit baffle 44, reducer 45, driving gear 46, shelf 50, climbing bar 51. DETAILED DESCRIPTION

[0020] 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.

[0021] Reference Figures 1 to 5A climbing AGV shown in the figure includes a vehicle body 10, two telescopic assemblies 20 are respectively arranged on opposite sides of the vehicle body 10, two climbing wheels 30 are respectively arranged at both ends of the telescopic assemblies 20, and a first driving source 11 is also installed on the vehicle body 10. The first driving source 11 can drive the two telescopic assemblies 20 to move toward each other synchronously, so that the climbing wheels 30 are retracted into the vehicle body 10 along with the telescopic assemblies 20. The first driving source 11 can also drive the two telescopic assemblies 20 to move in opposite directions synchronously, so that the climbing wheels 30 are extended from the vehicle body 10 along with the telescopic assemblies 20. The climbing wheel 30 is engaged and connected with the climbing bar 51 on the side of the shelf 50. For the convenience of expression, this embodiment defines that the first driving source 11 drives the two telescopic components 20 to move toward or away from each other in the horizontal lateral direction; the telescopic component 20 is also provided with a second driving source 12, and the second driving source 12 can drive the two climbing wheels 30 to rotate synchronously, so that the climbing wheels 30 engage and rotate relative to the climbing bar 51 and drive the vehicle body 10 to rise or fall. It can be seen that the higher the climbing bar 51 on the side of the shelf 50 is set, the higher the climbing AGV of the present application can climb.

[0022] It should be noted that the climbing AGV of this application needs to be applied in specific situations. Figure 5 As shown, in this specific case, the distance between two adjacent shelves 50 is equivalent to the width of the climbing AGV of the present application, and climbing bars 51 are provided on the inner sides of the two adjacent shelves 50, so that after the two telescopic components 20 are synchronously extended from the vehicle body 10, the climbing wheels 30 thereon can be engaged and connected with the corresponding climbing bars 51 to ensure that the vehicle body 10 can rise or fall smoothly.

[0023] In some possible embodiments, reference Figure 2 and Figure 3 As shown, the telescopic assembly 20 includes a moving connecting rod 21 and two mounting seats 22 respectively arranged at both ends of the moving connecting rod 21, and the climbing wheel 30 is rotatably arranged on the mounting seat 22. The end of the mounting seat 22 close to the vehicle body 10 is provided with a plurality of first guide wheels 23 and a plurality of second guide wheels 24. Two spaced guide seats 13 are fixedly installed on the vehicle body 10, and guide grooves 14 are provided on the opposite inner sides of the two guide seats 13. The first guide wheel 23 is accommodated in the guide groove 14, so that the mounting seat 22 and the vehicle body 10 play a role of mutual support, that is, in the plane When moving on the ground, the vehicle body 10 supports the mounting seat 22 so that the mounting seat 22 can move horizontally with the vehicle body 10. When climbing, the mounting seat 22 cooperates with the guide groove 14 through the first guide wheel 23 to support the vehicle body 10, so that the vehicle body 10 can rise or fall along the shelf 50 with the mounting seat 22; a plurality of second guide wheels 24 are arranged on the opposite sides of the mounting seat 22 and are located on the inner sides of the two guide seats 13. The second guide wheels 24 on both sides of the mounting seat 22 cooperate with the inner sides of the guide seats 13 to limit the horizontal and longitudinal movement of the mounting seat 22 relative to the vehicle body 10.

[0024] In some possible embodiments, reference Figure 3 As shown, a third guide wheel 25 and a fourth guide wheel 26 are further provided at one end of the mounting seat 22 away from the vehicle body 10. There are two sets of the third guide wheel 25 and the fourth guide wheel 26 and they are mirror-imaged on the opposite sides of the climbing wheel 30. The first driving source 11 drives the mounting seat 22 to extend from the vehicle body 10 to the side where the third guide wheel 25 abuts against the shelf 50 by moving the connecting rod 21. At this time, the two fourth guide wheels 26 are also located on the opposite sides of the climbing bar 51, respectively, thereby limiting the horizontal and longitudinal movement of the climbing AGV relative to the shelf 50 to ensure that the climbing wheel 30 can be accurately engaged with the climbing bar 51 to avoid the risk of the climbing wheel 30 escaping from the climbing bar 51 along the horizontal and longitudinal direction and causing the climbing AGV to fall from a high altitude.

[0025] In some possible embodiments, reference Figures 1 to 3 As shown, the two climbing wheels 30 on the same telescopic assembly 20 are connected by a universal shaft 31. Specifically, one of the climbing wheels 30 is connected to the second driving source 12, while the other climbing wheel 30 is connected to the climbing wheel 30 by the universal shaft 31, so that the second driving source 12 can synchronously drive the two climbing wheels 30 to rotate forward and reverse. Furthermore, in actual use, the distances that the two climbing wheels 30 extend from the vehicle body 10 are not strictly equal. In order to ensure stable power transmission of the second driving source 12, the present embodiment particularly adopts a universal shaft 31 structure.

[0026] It should be noted that there are many ways in which the first driving source 11 drives the two telescopic components 20 to move toward or away from each other synchronously. Among them, the most commonly used is that the first driving source 11 is a reversible motor, and a driving gear is installed at the output end of the first driving source 11. The two telescopic components 20 are provided with two racks meshing with the driving gear, and the two racks are arranged on two opposite sides of the driving gear. When the first driving source 11 drives the driving gear forward or reversely, the two telescopic components 20 can be synchronously driven to move toward or away from each other through the two racks.

[0027] In some possible embodiments, reference Figure 4As shown, the output end of the first driving source 11 is connected to the swing rod 40, and a first hinge rod 41, a second hinge rod 42 and a third hinge rod 43 are also arranged between the swing rod 40 and the moving connecting rod 21, wherein the two ends of the first hinge rod 41 are respectively hinged to one end of the swing rod 40 and the middle part of the moving connecting rod 21, one end of the second hinge rod 42 is hinged to a section of the first connecting rod close to the swing rod 40, the other end of the second hinge rod 42 is hinged to one end of the third hinge rod 43, and the other end of the third hinge rod 43 is hinged to the position of the moving connecting rod 21 close to the first hinge rod 41 and the hinged position thereof; the first driving source 11 of this embodiment drives the two telescopic components 20 to move synchronously toward or away from each other through the rocker slider structure, and due to the quick return characteristics of the planar connecting rod mechanism, the retraction stroke of the telescopic component 20 is faster than its extension stroke, thereby improving efficiency.

[0028] Furthermore, in order to ensure that the extension distances of the two climbing wheels 30 are equal, one end of the second hinged rod 42 should be hinged to the midpoint of the movable connecting rod 21 .

[0029] In some possible embodiments, reference Figure 4 As shown, a limit baffle 44 is also provided on one end of the swing rod 40 close to the first hinge rod 41. The limit baffle 44 is provided on one side of the swing rod 40 and extends along the length direction of the swing rod 40. Its purpose is to avoid the problem that the first driving source 11 drives the swing rod 40 to rotate to a dead point position, thereby preventing it from being able to drive the telescopic assembly 20 to extend.

[0030] In some possible embodiments, reference Figure 2 As shown, the output end of the second driving source 12 is connected to a reducer 45 and a driving gear 46 in sequence, a driven gear 32 is fixedly connected to one of the climbing wheels 30, the driving gear 46 is meshedly connected with the driven gear 32 to drive the climbing wheel 30 to rotate, and the climbing wheel 30 is connected to the other climbing wheel 30 through a universal shaft 31.

[0031] In some possible embodiments, the climbing wheel 30 is a gear or a sprocket, and the climbing bar 51 on the side of the shelf 50 is correspondingly a rack or a chain arranged vertically.

[0032] The above is only a specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A climbing AGV, comprising a vehicle body, characterized in that: Two telescopic components are provided on opposite sides of the vehicle body, and two climbing wheels are provided at both ends of the telescopic components. A first driving source is provided on the vehicle body, and the first driving source is used to drive the two telescopic components to move synchronously toward or away from each other, so that the climbing wheels can be retracted into the vehicle body or extended from the vehicle body along with the telescopic components. A second driving source is also provided on the telescopic component, and the second driving source is used to drive the two climbing wheels to rotate forward and reverse synchronously.

2. A climbing AGV according to claim 1, characterized in that: The telescopic assembly includes a movable connecting rod and two mounting seats respectively arranged at both ends of the movable connecting rod, the climbing wheel is rotatably arranged on the mounting seat, a plurality of first guide wheels and a plurality of second guide wheels are arranged at one end of the mounting seat close to the vehicle body, two spaced-apart guide seats are arranged in the vehicle body, guide grooves are opened on the opposite inner sides of the two guide seats, the first guide wheel is accommodated in the guide groove, and the second guide wheel is located on the inner side of the guide seat.

3. A climbing AGV according to claim 2, characterized in that: The mounting seat is further provided with a third guide wheel and a fourth guide wheel at one end away from the vehicle body. The third guide wheel is used to abut against a shelf, on which a vertical climbing bar is provided. The fourth guide wheels are arranged on two opposite sides of the climbing bar.

4. The climbing AGV according to claim 1, characterized in that: The two climbing wheels are connected via a cardan shaft.

5. The climbing AGV according to claim 2, characterized in that: The output end of the first driving source is connected to a swing rod, and a first hinge rod, a second hinge rod and a third hinge rod are arranged between the swing rod and the movable connecting rod, the two ends of the first hinge rod are respectively hinged to the end of the swing rod and the middle of the movable connecting rod, one end of the second hinge rod is hinged to the position of the first hinge rod close to the swing rod, the other end of the second hinge rod is hinged to one end of the third hinge rod, and the other end of the third hinge rod is hinged to a position on the movable connecting rod close to the hinge point of the first hinge rod and the movable connecting rod.

6. A climbing AGV according to claim 5, characterized in that: A limit baffle is also provided on one end of the swing rod close to the first hinge rod. The limit baffle is provided on one side of the swing rod and extends along the length direction of the swing rod.

7. The climbing AGV according to claim 1, characterized in that: The output end of the second driving source is connected to a speed reducer and a driving gear in sequence, the climbing wheel is fixedly connected to a driven gear, and the driving gear is meshedly connected to the driven gear.

8. The climbing AGV according to claim 1, characterized in that: The climbing wheel is a gear or a sprocket, and a vertical climbing bar is arranged on the side of the shelf, and the climbing bar corresponds to a rack or a chain.

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