An AGV forklift

Abstract

The utility model provides an AGV forklift, which comprises: a forklift frame, a fork assembly, a fork lifting system and a differential drive system, wherein the fork assembly, the fork lifting system and the differential drive system are all arranged on the forklift frame; the differential drive system is located at the bottom of the forklift frame, and the differential drive system comprises two independent drive assemblies, each of which comprises a wheel frame, a mobile drive component, a reducer, a travel wheel and a shock absorbing mechanism, the mobile drive component is fixed on the wheel frame, the input end of the reducer is connected to the output end of the mobile drive component, the output end of the reducer is connected to the travel wheel, one end of the wheel frame is hingedly connected to the forklift frame, and the other end of the wheel frame is connected to the forklift frame through the shock absorbing mechanism. The AGV forklift improves the stability of the vehicle during driving.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent warehousing and logistics equipment, in particular to an AGV forklift. Background Art

[0002] With the rapid development of my country's manufacturing and logistics industries, storage in automated warehouses has become a basic need in all walks of life. With the widespread application of AGV products, AGV forklifts are gradually being used in the field of unmanned operations. AGV forklifts are used for the distribution of raw materials on production lines, the transportation of semi-finished products and finished products, and palletizing in factory warehouses. In industrial production, they can replace people to do certain monotonous, frequent, labor-intensive, repetitive and long-term operations or operations in dangerous and harsh environments.

[0003] Existing AGV forklifts generally use a steering wheel mechanism to achieve driving. The steering wheel integrates a driving motor, a steering motor, a reducer and other integrated mechanical structures, integrating product, walking, traction and steering functions, and can load and haul heavier goods. At present, although the steering wheel has the advantage of high integration, the AGV forklift using the steering wheel will slip or jam during the turning process, making the AGV forklift unstable during the turning process. Therefore, how to improve the stability of the AGV forklift during the turning process is a technical problem that needs to be solved urgently. Utility Model Content

[0004] In view of this, the utility model provides an AGV forklift to solve one or more technical problems existing in the prior art.

[0005] According to one aspect of the utility model, an AGV forklift is disclosed, the AGV forklift comprising: a forklift frame, a fork assembly, a fork lifting system and a differential drive system, wherein the fork assembly, the fork lifting system and the differential drive system are all arranged on the forklift frame;

[0006] The differential drive system is located at the bottom of the forklift frame, and the differential drive system includes two independent drive components, each of the drive components includes a wheel frame, a mobile drive component, a reducer, a traveling wheel and a shock absorbing mechanism, the mobile drive component is fixed on the wheel frame, the input end of the reducer is connected to the output end of the mobile drive component, the output end of the reducer is connected to the traveling wheel, one end of the wheel frame is hingedly connected to the forklift frame, and the other end of the wheel frame is connected to the forklift frame through the shock absorbing mechanism.

[0007] In some embodiments of the utility model, the fork lifting system includes a lifting drive component and a gear rack transmission mechanism, the lifting drive component is fixed on the fork assembly, the rack of the gear rack transmission mechanism is vertically fixed on the forklift frame, and the gear of the gear rack transmission mechanism is arranged on the fork assembly.

[0008] In some embodiments of the present invention, the fork assembly includes two fork bodies and a fork fixing plate, the two fork bodies are fixed to the bottom ends of the fork fixing plate, and a guide assembly is provided between the fork fixing plate and the forklift frame.

[0009] In some embodiments of the utility model, the fork lifting system includes a transmission shaft, the transmission shaft is rotatably supported on the fork fixing plate, the gear of the rack and pinion transmission mechanism is fixed on the transmission shaft, and the lifting drive component and the transmission shaft are transmitted through a transmission mechanism.

[0010] In some embodiments of the present invention, the guide assembly is a pulley and slide groove mechanism, the pulley is arranged on the fork fixing plate, and the slide groove is arranged on the forklift frame.

[0011] In some embodiments of the present invention, the wheel frame is hingedly connected to the bottom plate of the forklift frame via a rotating shaft.

[0012] In some embodiments of the utility model, the shock absorbing mechanism includes two shock absorbing springs, which are arranged in parallel, one end of the shock absorbing spring is connected to the wheel frame, and the other end of the shock absorbing spring is connected to the bottom plate of the forklift frame.

[0013] In some embodiments of the present invention, the pulleys are arranged on both sides of the fork fixing plate, and the slide grooves are located on both sides of the forklift frame.

[0014] In some embodiments of the present invention, the AGV forklift includes a support leg and a universal wheel, the support leg is fixed on the forklift frame, and the support leg and the fork body are located on the same side.

[0015] In some embodiments of the present invention, the moving drive component and the lifting drive component are both motors.

[0016] The AGV forklift disclosed in the embodiment of the utility model has a differential drive system including two independent drive components, each of which includes a wheel frame, a mobile drive component, a reducer, a travel wheel and a shock absorbing mechanism. The mobile drive component is fixed on the wheel frame, and one end of the wheel frame is hingedly connected to the forklift frame, and the other end of the wheel frame is connected to the forklift frame through the shock absorbing mechanism. This structure can make the two travel wheels rotate differentially when the AGV forklift turns, preventing the forklift from slipping or jamming during the turning process, and ensuring the driving stability of the AGV forklift. In addition, a shock absorbing mechanism is provided between the wheel frame and the forklift frame of the drive component of the AGV forklift, and the shock absorbing mechanism further improves the driving stability of the AGV forklift.

[0017] In addition to the above, the fork lifting system of the AGV forklift of the present application adopts a gear rack mechanism, which not only ensures the parking accuracy of the fork and improves the cargo handling efficiency, but also further improves the lifting stability of the fork during cargo handling.

[0018] Additional advantages, purposes, and features of the present invention will be partially described in the following description, and will become partially apparent to those skilled in the art after studying the following, or may be learned from the practice of the present invention. The purposes and other advantages of the present invention can be achieved and obtained by the structures specifically pointed out in the written description and its claims and the drawings.

[0019] Those skilled in the art will understand that the purposes and advantages that can be achieved by the present invention are not limited to the above specific description, and the above and other purposes that can be achieved by the present invention will be more clearly understood based on the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of the present application, and do not constitute a limitation of the present invention. The components in the drawings are not drawn to scale, but are only for the purpose of illustrating the principles of the present invention. In order to facilitate the illustration and description of some parts of the present invention, the corresponding parts in the drawings may be enlarged, that is, they may become larger relative to other components in the exemplary device actually manufactured according to the present invention. In the drawings:

[0021] Figure 1 The figure is a schematic structural diagram of an AGV forklift according to an embodiment of the utility model.

[0022] Figure 2 This is a bottom view of an AGV forklift according to an embodiment of the present utility model.

[0023] Figure 3 This is a first partial schematic diagram of an AGV forklift after removing the bottom side panels of the forklift frame of an embodiment of the utility model.

[0024] Figure 4 This is a second partial schematic diagram of an AGV forklift according to an embodiment of the present utility model.

[0025] Figure 5 The figure is a schematic structural diagram of a fork assembly of an AGV forklift according to an embodiment of the utility model.

[0026] Reference numerals:

[0027] Forklift frame 100 wheel frame 210 moving drive component 220 reducer 230 travel wheel 240 shock absorption mechanism 250 lifting drive component 310 gear 320 rack 330 transmission shaft 340 fork body 410 fork fixing plate 420 pulley 350 slide 360 ​​leg 510 universal wheel 520 traction chain mechanism 610 DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the embodiment of the utility model more clear, the embodiment of the utility model is further described in detail below in conjunction with the accompanying drawings. Here, the illustrative embodiment of the utility model and its description are used to explain the utility model, but are not used as a limitation of the utility model.

[0029] It should be noted here that in order to avoid obscuring the present invention due to unnecessary details, only the structures and / or processing steps closely related to the scheme according to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0030] It should be emphasized that the terms “include / comprises / has” when used herein refer to the presence of features, elements, steps or components, but do not exclude the presence or addition of one or more other features, elements, steps or components.

[0031] It should also be noted that the directional nouns in this specification are relative to the position directions shown in the drawings; if there is no special explanation, the term "connection" in this article can refer to not only direct connection, but also indirect connection with an intermediate. Direct connection means that two parts are connected without the help of an intermediate part, and indirect connection means that two parts are connected with the help of other parts.

[0032] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the accompanying drawings, the same reference numerals represent the same or similar components.

[0033] Figure 1 FIG. 1 is a schematic diagram of the structure of an AGV forklift according to an embodiment of the present invention. Figure 1As shown, the AGV forklift at least includes a forklift frame 100, a fork assembly, a fork lifting system and a differential drive system, wherein the fork assembly, the fork lifting system and the differential drive system are all arranged on the forklift frame 100. Figure 2 The differential drive system is located at the bottom of the forklift frame 100, and the differential drive system includes two independent drive components, each of which includes a wheel frame 210, a mobile drive component 220, a reducer 230, a traveling wheel 240 and a shock absorbing mechanism 250. The mobile drive component 220 is fixed on the wheel frame 210, the input end of the reducer 230 is connected to the output end of the mobile drive component 220, and the output end of the reducer 230 is connected to the traveling wheel 240. One end of the wheel frame 210 is hingedly connected to the forklift frame 100, and the other end of the wheel frame 210 is connected to the forklift frame 100 through the shock absorbing mechanism 250.

[0034] In this embodiment, the AGV forklift is driven by two independent drive components, and the driving components of each drive component drive the corresponding driving wheel 240 to realize the forward, backward or turning of the AGV forklift. When the AGV forklift receives a signal to advance or retreat, the two driving components of the form drive components rotate synchronously and in the same direction, and drive the corresponding driving wheels 240 to rotate through their respective reducers 230; and when the AGV forklift receives a signal to turn, the two driving components ensure that the inner driving wheel 240 has a lower speed, while the outer driving wheel 240 has a higher speed, so as to ensure that the inner and outer driving wheels 240 have the same torque during the turning process. In this embodiment, the two driving wheels 240 are driven by two independent form drive components, and the speeds of the inner and outer driving wheels 240 can be adjusted according to the driving conditions of the forklift and the change of the turning radius of the forklift, so that the forklift can be driven straight or turned, and the occurrence of sliding during the turning process or the occurrence of turning jamming caused by too small a turning radius can be prevented. Furthermore, the two traveling wheels 240 may be rubber-coated wheels, and the two traveling driving components may be motors.

[0035] In some embodiments of the present invention, the wheel frame 210 is hingedly connected to the bottom plate of the forklift frame 100 via a rotating shaft. Figure 3 An axial hole is provided on the upper left end of the wheel frame 210, and the rotating shaft is passed through the axial hole. Further, both ends of the rotating shaft are supported on the bottom side panels of the forklift frame 100. When the AGV forklift travels on a bumpy road, this structure allows the drive assembly to have a slight rotation relative to the forklift frame 100 to adjust the state of the drive assembly, thereby reducing the degree of bumps during the driving process of the AGV forklift.

[0036] Furthermore, the shock absorbing mechanism 250 includes two shock absorbing springs, which are arranged in parallel, one end of each shock absorbing spring is connected to the wheel frame 210, and the other end of each shock absorbing spring is connected to the bottom plate of the forklift frame 100. Figure 3 The shock absorbing spring is located on the right side of the wheel frame 210, and the right bottom end of the wheel frame 210 has a connecting ear, and the specific shock absorbing spring is fixedly connected to the connecting ear. In this embodiment, the two shock absorbing springs are spaced and inclined. It can be understood that the number of shock absorbing springs in this embodiment is only an example, and in other embodiments, there can be more shock absorbing springs.

[0037] In another embodiment, the AGV forklift further includes a leg 510 and a universal wheel 520. Figure 2 As shown, the leg 510 is fixed on the forklift frame 100 , and the leg 510 and the fork body 410 are located on the same side.

[0038] In some embodiments of the utility model, the fork lifting system includes a lifting drive component 310 and a gear 320 and rack 330 transmission mechanism. The lifting drive component 310 is fixed on the fork assembly, the rack 330 of the gear 320 and rack 330 transmission mechanism is vertically fixed on the forklift frame 100, and the gear 320 of the gear 320 and rack 330 transmission mechanism is arranged on the fork assembly.

[0039] refer to Figure 5 , the fork assembly includes two fork bodies 410 and a fork fixing plate 420, and the two fork bodies 410 are fixed to the bottom end of the fork fixing plate 420. Exemplarily, the lifting drive component 310 is fixed on the fork fixing plate 420 of the fork assembly, and the lifting drive component 310 and the fork body 410 are respectively located on both sides of the fork fixing plate 420; specifically, the lifting drive component 310 can be a motor, in which case the motor is fixed to the fork fixing plate 420 through a motor bracket, and the gear 320 of the gear 320 rack 330 transmission mechanism is also disposed on the fork fixing plate 420. In this embodiment, the lifting drive component 310 drives the gear 320 to rotate, and due to the meshing action of the gear 320 rack 330, the fork assembly rises or falls as the gear 320 rotates.

[0040] In order to further improve the stability of the fork assembly during the lifting process, a guide assembly is provided between the fork fixing plate 420 and the forklift frame 100. The guide assembly is provided between the fork fixing plate 420 and the forklift frame 100, and plays a guiding role during the lifting and lowering movement of the fork fixing plate 420.

[0041] refer to Figure 1, the guide assembly is a pulley 350 slide groove 360 ​​mechanism, the pulley 350 is arranged on the fork fixing plate 420, and the slide groove 360 ​​is arranged on the forklift frame 100. When the fork assembly performs a lifting motion along the forklift frame 100, the pulley 350 slides in the slide groove 360. It can be understood that in this embodiment, setting the guide assembly as the pulley 350 slide groove 360 ​​mechanism is only a preferred example. In other embodiments, the guide assembly can also be other types of mechanisms that can achieve a guiding effect except the pulley 350 slide groove 360 ​​mechanism.

[0042] Furthermore, the pulleys 350 are arranged on both sides of the fork fixing plate 420, the slide grooves 360 are located on both sides of the forklift frame 100, and the slide grooves 360 are arranged vertically. Figure 1 As shown, the shape of the fork fixing plate 420 can be rectangular, and two pulleys 350 are respectively provided on the two side plates of the fork fixing plate 420. The two pulleys 350 are arranged at an interval, and the two pulleys 350 on each side are both located in the slide groove 360, so that when the fork assembly moves up and down, the two pulleys 350 on each side slide in the slide groove 360.

[0043] Figure 4 FIG. 2 is a second partial schematic diagram of an AGV forklift according to an embodiment of the utility model. Figure 4 As shown, there are two groups of gear 320 rack 330 transmission mechanisms, and two racks 330 are arranged on the forklift frame 100 in parallel and at intervals, and each rack 330 is arranged vertically. For example, the two racks 330 can be respectively arranged at positions close to both sides of the forklift frame 100, and the gears 320 used to mesh with the two racks 330 are arranged on the fork fixing plate 420 as driving gears 320.

[0044] In one embodiment, the fork lifting system further includes a transmission shaft 340, the transmission shaft 340 is rotatably supported on the fork fixing plate 420, the gear 320 of the gear 320 rack 330 transmission mechanism is fixed on the transmission shaft 340, and the lifting drive component 310 and the transmission shaft 340 are transmitted through the transmission mechanism. Figure 4, a shaft seat is provided on the fork fixing plate 420, and the transmission shaft 340 is arranged on the shaft seat. In order to ensure the reliable rotation of the transmission shaft 340, a bearing is provided between the transmission shaft 340 and the shaft seat, so that the transmission shaft 340 is supported for rotation by the bearing. The transmission shaft 340 is arranged horizontally, and two gears 320 for meshing with the rack 330 are respectively fixed at both ends of the transmission shaft 340; further, in order to enable the lifting drive component 310 to drive the transmission shaft 340 to rotate, a mechanical transmission mechanism is provided between the lifting drive component 310 and the transmission shaft 340. The mechanical transmission mechanism can be a chain transmission mechanism. In this case, sprockets are provided on the transmission shaft 340 and the output shaft of the lifting drive component 310. When the output shaft of the lifting drive component 310 rotates, the sprocket fixed on the output shaft of the lifting drive component 310 serves as a driving sprocket. Further, the driving sprocket drives the driven sprocket on the transmission shaft 340 to rotate through the chain. The driven sprocket is fixedly connected to the transmission shaft 340, that is, the transmission shaft 340 and the driven sprocket rotate synchronously; further, since the two gears 320 are respectively fixed at both ends of the transmission shaft 340, the two gears 320 rotate synchronously with the transmission shaft 340, and based on the meshing action of the gear 320 and the rack 330, the lifting and lowering movement of the fork assembly is realized.

[0045] Furthermore, in order to ensure the lifting stability of the fork assembly, the fork lifting system also includes a traction chain mechanism 600, one end of which is connected to the top of the forklift frame 100, and the other end is connected to the top of the fork fixing plate 420 of the fork assembly.

[0046] In the above embodiment, when the AGV fork is used to pick up the goods, the fork is first placed at the bottom of the goods, and the lifting drive component 310 is further started to make the lifting drive component 310 rotate forward. Due to the meshing action of the gear 320 and the rack 330, when the rack 330 is fixed, the rotational motion of the gear 320 is converted into the lifting motion of the fork assembly. When the goods are lifted to a certain height, the lifting drive component 310 stops rotating, and the goods can be stabilized at this height. The lifting drive component 310 used can be a motor with a self-locking function, which can prevent the goods from falling back due to gravity based on the self-locking function. Further, the AGV forklift is driven by a differential drive system. When the AGV forklift transports the goods to the target position, the lifting drive component 310 rotates counterclockwise, and the fork assembly descends, and the noon on the fork is transported to the target position.

[0047] Through the above embodiments, it can be found that the AGV forklift adopts a differential drive system to drive the travel wheels, and the differential drive system includes two independent drive components, each of which includes a wheel frame, a mobile drive component, a reducer, a travel wheel and a shock absorbing mechanism. The mobile drive component is fixed on the wheel frame, and one end of the wheel frame is hingedly connected to the forklift frame, and the other end of the wheel frame is connected to the forklift frame through the shock absorbing mechanism; this structure can make the two travel wheels rotate differentially when the AGV forklift turns, preventing the forklift from slipping or jamming during the turning process, and ensuring the driving stability of the AGV forklift. In addition, a shock absorbing mechanism is provided between the wheel frame and the forklift frame of the drive component of the AGV forklift, and the shock absorbing mechanism further improves the driving stability of the AGV forklift.

[0048] In addition, the fork lifting system of the AGV forklift of the present application adopts a rack and pinion mechanism, which not only ensures the parking accuracy of the fork and improves the cargo handling efficiency, but also further improves the lifting stability of the fork during cargo handling.

[0049] In the present invention, features described and / or illustrated for one embodiment may be used in the same manner or in a similar manner in one or more other embodiments, and / or combined with features of other embodiments or replace features of other embodiments.

[0050] The above-listed embodiments show and describe the basic principles and main features of the utility model, but the utility model is not limited to the above-mentioned embodiments. Any modifications, equivalent changes and modifications made to the utility model by those skilled in the art without making any creative work should fall within the scope of protection of the technical solution of the utility model.

Claims

1. An AGV forklift, characterized in that: The AGV forklift comprises: a forklift frame, a fork assembly, a fork lifting system and a differential drive system, wherein the fork assembly, the fork lifting system and the differential drive system are all arranged on the forklift frame; The differential drive system is located at the bottom of the forklift frame, and the differential drive system includes two independent drive components, each of which includes a wheel frame, a mobile drive component, a reducer, a traveling wheel and a shock absorbing mechanism. The mobile drive component is fixed on the wheel frame, the input end of the reducer is connected to the output end of the mobile drive component, the output end of the reducer is connected to the traveling wheel, one end of the wheel frame is hingedly connected to the forklift frame, and the other end of the wheel frame is connected to the forklift frame through the shock absorbing mechanism.

2. The AGV forklift according to claim 1, characterized in that: The fork lifting system includes a lifting drive component and a gear rack transmission mechanism. The lifting drive component is fixed on the fork assembly. The rack of the gear rack transmission mechanism is vertically fixed on the forklift frame. The gear of the gear rack transmission mechanism is arranged on the fork assembly.

3. The AGV forklift according to claim 2, characterized in that: The fork assembly comprises two fork bodies and a fork fixing plate. The two fork bodies are fixed to the bottom ends of the fork fixing plate. A guide assembly is provided between the fork fixing plate and the forklift frame.

4. The AGV forklift according to claim 3, characterized in that: The fork lifting system comprises a transmission shaft, the transmission shaft is rotatably supported on the fork fixing plate, the gear of the rack and pinion transmission mechanism is fixed on the transmission shaft, and the lifting drive component and the transmission shaft are transmitted through the transmission mechanism.

5. The AGV forklift according to claim 3, characterized in that: The guide assembly is a pulley and slideway mechanism, the pulley is arranged on the fork fixing plate, and the slideway is arranged on the forklift frame.

6. The AGV forklift according to claim 1, characterized in that: The wheel frame is hingedly connected to the bottom plate of the forklift frame via a rotating shaft.

7. The AGV forklift according to claim 6, characterized in that: The shock absorbing mechanism comprises two shock absorbing springs, which are arranged in parallel, one end of the shock absorbing spring is connected to the wheel frame, and the other end of the shock absorbing spring is connected to the bottom plate of the forklift frame.

8. The AGV forklift according to claim 5, characterized in that: The pulleys are arranged on both sides of the fork fixing plate, and the slide grooves are located on both sides of the forklift frame.

9. The AGV forklift according to claim 3, characterized in that: The AGV forklift comprises a support leg and a universal wheel, wherein the support leg is fixed on the forklift frame, and the support leg and the fork body are located on the same side.

10. The AGV forklift according to claim 3, characterized in that: The moving driving component and the lifting driving component are both motors.

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