Pallet fork type AGV

Abstract

The utility model relates to a pallet fork type AGV. The pallet fork type AGV comprises a rack; the cantilever lifting mechanism is arranged on the rack and used for lifting the tray; the supporting arm stretching mechanism is arranged on the rack and used for bearing a tray; and the walking driving mechanism is used for driving the AGV to walk, move and steer. By arranging the supporting extension arm mechanism, before a cantilever lifting mechanism of the AGV lifts a tray, an extension arm is unfolded so as to increase the contact area between the trolley and the ground, and when a cantilever lifts the tray, the stability of the trolley can be effectively improved, and the trolley is prevented from toppling over; and after the tray is lifted by the cantilever, the cantilever is retracted and is positioned below the tray to support the tray, so that the cantilever driving mechanism does not need to output driving force for supporting the tray, and the power loss of the cantilever driving mechanism is effectively reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic handling equipment, in particular to a fork-type AGV. Background Art

[0002] AGV, also known as Automatic Guided Vehicle, is widely used in the field of logistics and warehousing to realize automatic handling of goods.

[0003] At present, during the handling process, the existing fork-type AGV inserts the cantilever into the pallet under the goods, and drives the cantilever through the motor to lift the pallet and the goods on the pallet off the ground, and the AGV transfers the goods to the palletizing area for storage. During the handling process, the weight of the goods and the pallet is completely supported by the cantilever, and the motor continuously provides driving force for the cantilever, resulting in large power loss, and the motor continues to work, which seriously affects the service life of the motor. Utility Model Content

[0004] In view of the shortcomings of the prior art mentioned above, the purpose of the utility model is to provide a fork-type AGV, which is used to solve the problem that during the transportation process of the existing AGV, the weight of the goods and pallets are completely supported by the cantilever, the motor continuously provides driving force for the cantilever, the power loss is large, and the motor continues to work, which seriously affects the service life of the motor.

[0005] In order to achieve the above-mentioned purpose and other related purposes, the utility model provides a fork-type AGV, comprising:

[0006] frame;

[0007] A cantilever lifting mechanism is arranged on the frame, the cantilever lifting mechanism comprises a cantilever driving module and a cantilever, the cantilever driving module is used to drive the cantilever to move along the height direction of the frame, and the cantilever is used to lift the pallet;

[0008] A support arm mechanism, arranged on the frame, the support arm mechanism comprising an arm drive module and an arm, the arm drive module is used to drive the arm to move along the length direction of the frame, and the arm is used to carry the tray;

[0009] The travel driving mechanism comprises a travel driving wheel set and an auxiliary steering wheel set. The travel driving wheel set is arranged on the frame, and the auxiliary steering wheel set is arranged on the extension arm.

[0010] Optionally, the cantilever lifting mechanism further includes a distance detection sensor, and the distance detection sensor is used to detect the distance between the goods on the pallet and the rack.

[0011] Optionally, an anti-collision device is provided on the frame, and the anti-collision device protrudes along the width direction of the frame and is consistent with the extension direction of the cantilever.

[0012] Optionally, the extension arm includes a connecting arm, a supporting arm and a bearing arm, the supporting arm is slidably arranged on the frame, one end of the supporting arm along the length direction of the frame is connected to the connecting arm, one end of the connecting arm along the height direction of the frame is connected to the bearing arm, and the bearing arm extends along the width direction of the frame and is consistent with the extension direction of the cantilever.

[0013] Optionally, a plurality of reinforcing ribs are provided at the connection between the support arm and the connecting arm.

[0014] Optionally, the cantilever drive module and the extension arm drive module are both screw drive modules driven by motors.

[0015] Optionally, the travel driving wheel set includes a travel driving component, a travel steering driving component, a steering gear, a travel mounting bracket and a travel wheel;

[0016] The steering gear is arranged on the frame, the travel mounting bracket is rotatably connected to the steering gear, the travel wheel is arranged on the travel mounting bracket, the travel driving component is coaxially arranged with the travel wheel, and the travel driving component is used to drive the travel wheel to rotate;

[0017] The travel steering drive component is arranged on the mounting bracket, and a travel steering drive gear is connected to the output shaft of the travel steering drive component. The travel steering drive gear is meshed with the teeth of the steering gear. The travel steering drive component is used to drive the mounting bracket to rotate.

[0018] Optionally, the auxiliary steering wheel set is arranged at one end of the carrying arm away from the frame in the length direction;

[0019] The auxiliary steering wheel group includes an auxiliary steering drive component, a worm, a turbine, a rotating shaft and an auxiliary wheel mounting frame. The auxiliary steering drive component is arranged on the supporting arm, and the output shaft of the auxiliary steering drive component is connected with the worm. The worm is rotatably arranged on the supporting arm, and the rotating shaft is rotatably arranged on the supporting arm. The auxiliary wheel mounting bracket is connected with the rotating shaft, the turbine is arranged on the rotating shaft, and the turbine is meshed with the tooth pattern of the worm. An auxiliary wheel is rotatably provided on the auxiliary wheel mounting frame, and the auxiliary steering drive component is used to drive the auxiliary wheel mounting frame to rotate.

[0020] Optionally, a loading platform is provided on the frame, and the loading platform is used to load AGV batteries.

[0021] Optionally, a navigator mounting bracket is provided on the frame, and the navigator mounting bracket includes a main body bracket, a reinforcing rib plate is connected between the main body bracket and the frame, and a navigator is provided at one end of the main body bracket away from the frame in the height direction.

[0022] As described above, the utility model has the following beneficial effects: a fork-type AGV proposed in the present application, during the process of transporting goods, the AGV moves to the position of the pallet, and drives the arm to extend through the arm drive module to increase the contact area between the AGV and the ground to improve the stability of the vehicle, and drives the cantilever through the cantilever drive module to lift the pallet so that the pallet is off the ground. After the pallet is off the ground, the arm drive module drives the arm to retract the arm, and the arm is located under the pallet. The cantilever drive module drives the cantilever to descend, and the pallet is placed on the arm, and the arm bears the weight of the pallet and the goods on the pallet. The present application sets a supporting arm mechanism. Before the cantilever lifting mechanism of the AGV performs pallet lifting, the arm is unfolded to increase the contact area between the trolley and the ground. When the cantilever lifts the pallet, it can effectively improve the stability of the trolley and prevent the trolley from tipping over. After the cantilever lifts the pallet, the arm is retracted and located under the pallet to support the pallet, so that the cantilever drive module does not need to continuously provide driving force for the cantilever to support the pallet, effectively reducing the power loss of the cantilever drive module and avoiding continuous work of the cantilever drive module during transportation, thereby reducing battery power loss, extending battery life, and avoiding frequent battery replacement of the trolley, which affects work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The diagram shows a schematic diagram of the fork-type AGV structure shown in an embodiment of the present application;

[0024] Figure 2 The first perspective schematic diagram of the internal structure of the fork-type AGV shown in the embodiment of the present application is shown;

[0025] Figure 3 The second perspective schematic diagram of the internal structure of the fork-type AGV shown in the embodiment of the present application is shown;

[0026] Figure 4 The structure diagram of the walking driving wheel set shown in the embodiment of the present application is shown;

[0027] Figure 5 Shown is a schematic diagram of the structure of an auxiliary steering wheel set shown in an embodiment of the present application.

[0028] Description of Reference Numerals

[0029] Frame 1, loading platform 101, navigator mounting bracket 102, main bracket 102a, reinforcing rib plate 102b, cantilever lifting mechanism 2, cantilever drive module 201, cantilever 202, distance detection sensor 203, anti-collision device 204, support arm extension mechanism 3, arm extension drive module 301, arm extension 302, connecting arm 302a, supporting arm 302b, bearing arm 302c, reinforcing rib 302d, walking drive mechanism 4, walking drive wheel group 401, walking drive component 401a, walking steering drive component 401b, steering gear 401c, walking mounting bracket 401d, walking wheel 401e, walking steering drive gear 401f, auxiliary steering wheel group 402, auxiliary steering drive component 402a, worm 402b, turbine 402c, rotating shaft 402d, auxiliary wheel mounting bracket 402e, auxiliary wheel 402f, battery 5, navigator 6. DETAILED DESCRIPTION

[0030] The following is an explanation of the implementation of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0031] See also Figures 1 to 5 . It should be noted that the illustrations provided in this embodiment only illustrate the basic concept of the utility model in a schematic manner, so the diagram only shows the components related to the utility model rather than being drawn according to the number, shape and size of the components during actual implementation. During actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated. The structure, proportion, size, etc. illustrated in the drawings attached to this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the utility model, so they have no technical substantive significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in the utility model without affecting the effect and purpose that can be achieved by the utility model. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" cited in this specification are only for the convenience of description and are not used to limit the scope of the implementation of the present utility model. Changes or adjustments to their relative relationships should be regarded as the scope of the implementation of the present utility model without substantially changing the technical content.

[0032] Before describing the embodiments of the utility model in detail, the application environment of the utility model is described first. The technology of the utility model is mainly applied to the technical field of automatic handling equipment. The utility model is used to solve the problem that during the handling process of the existing fork-type AGV, the weight of the goods and the pallet is completely supported by the cantilever, and the motor continuously provides driving force for the cantilever, resulting in large power loss, and the motor continuously works, which seriously affects the service life of the motor.

[0033] Please combine Figures 1 to 5 As shown, the utility model provides a fork-type AGV.

[0034] In an exemplary embodiment of the present application, the fork-type AGV includes: a frame 1; a cantilever lifting mechanism 2, which is arranged on the frame 1, and the cantilever lifting mechanism 2 includes a cantilever driving module 201 and a cantilever 202, the cantilever driving module 201 is used to drive the cantilever 202 to move along the height direction of the frame 1, and the cantilever 202 is used to lift the pallet; a support arm mechanism 3, which is arranged on the frame 1, and the support arm mechanism 3 includes an arm driving module 301 and an arm 302, the arm driving module 301 is used to drive the arm 302 to move along the length direction of the frame 1, and the arm 302 is used to carry the pallet; a walking drive mechanism 4, including a walking drive wheel group 401 and an auxiliary steering wheel group 402, the walking drive wheel group 401 is arranged on the frame 1, and the auxiliary steering wheel group 402 is arranged on the arm 302.

[0035] In this embodiment, during the cargo handling process, the AGV moves to the location of the pallet, and drives the arm 302 to extend through the arm drive module 301 to increase the contact area between the AGV and the ground to improve the stability of the vehicle. The cantilever drive module 201 drives the cantilever 202 to lift the pallet so that the pallet is off the ground. After the pallet is off the ground, the arm drive module 301 drives the arm 302 to retract, and the arm 302 is located under the pallet. The cantilever drive module 201 drives the cantilever 202 to descend and place the pallet on the arm 302, and the arm 302 bears the weight of the pallet and the cargo on the pallet. In this embodiment, a supporting arm extension mechanism 3 is provided. Before the cantilever lifting mechanism 2 of the AGV performs pallet lifting, the extension arm 302 is unfolded to increase the contact area between the trolley and the ground. When the cantilever 202 lifts the pallet, the stability of the trolley can be effectively improved to prevent the trolley from tipping over. After the cantilever 202 lifts the pallet, the extension arm 302 is retracted and located under the pallet to support the pallet, so that the cantilever drive module 201 does not need to continuously provide driving force for the cantilever 202 to support the pallet, thereby effectively reducing the power loss of the cantilever drive module 201 and avoiding the cantilever drive module 201 to continuously work during transportation, thereby reducing the power loss of the battery 5, extending the service life of the battery 5, and avoiding frequent replacement of the battery 5 for the trolley, which affects the working efficiency.

[0036] In an exemplary embodiment of the present application, the cantilever lifting mechanism 2 further includes a distance detection sensor 203 , and the distance detection sensor 203 is used to detect the distance between the goods on the pallet and the rack 1 .

[0037] In this embodiment, in order for the cantilever 202 to lift the pallet, the trolley needs to be driven to move by the travel drive mechanism 4 of the trolley so that the cantilever 202 is located under the pallet. When the trolley approaches the goods on the pallet, the distance detection sensor 203 detects the distance between the AGV frame 1 and the goods on the pallet. The distance detection element sends the detected distance back to the system, and the system determines the stopping position of the trolley based on the distance, thereby avoiding a collision between the trolley frame 1 and the goods on the pallet, and avoiding the risk of damage to the trolley and dumping of the goods due to the collision.

[0038] In an exemplary embodiment of the present application, an anti-collision device 204 is provided on the frame 1 , and the anti-collision device 204 protrudes along the width direction of the frame 1 and is consistent with the extension direction of the cantilever 202 .

[0039] In this embodiment, the anti-collision device 204 includes a support rod and an anti-collision block. The support rod is connected between the frame 1 and the anti-collision block. The support rod extends along the width direction of the frame 1 so that the anti-collision block protrudes from the frame 1 to avoid direct collision between the goods on the pallet and the AGV.

[0040] In an exemplary embodiment of the present application, the extension arm 302 includes a connecting arm 302a, a supporting arm 302b and a bearing arm 302c. The supporting arm 302b is slidably set on the frame 1. One end of the supporting arm 302b along the length direction of the frame 1 is connected to the connecting arm 302a. One end of the connecting arm 302a along the height direction of the frame 1 is connected to the bearing arm 302c. The bearing arm 302c extends along the width direction of the frame 1 and is consistent with the extension direction of the cantilever 202.

[0041] In this embodiment, the support arm 302b is extended along the length direction of the frame 1, and the connecting arms 302a on the left and right sides of the frame 1 are arranged along the height direction of the frame 1. Two support arms 302b are connected to the connecting arms 302a on the left and right sides, and the support arms 302b provide support for the connecting arms 302a along the height direction of the frame 1. The end of the connecting arm 302a close to the ground along the height direction of the frame 1 is connected to the load-bearing arm 302c, and the load-bearing arm 302c extends along the width direction of the frame 1 and is consistent with the extension direction of the cantilever 202.

[0042] In an exemplary embodiment of the present application, a plurality of reinforcing ribs 302d are provided at the connection between the support arm 302b and the connecting arm 302a.

[0043] In this embodiment, the connection stability between the supporting arm 302b and the connecting arm 302a is further improved.

[0044] In an exemplary embodiment of the present application, the cantilever drive module 201 and the arm extension drive module 301 are both motor-driven screw drive modules.

[0045] In this embodiment, the screw transmission module includes a screw, a slider and a telescopic rod. The telescopic rod is connected to the slider, the slider is threadedly connected to the screw, the screw is connected to the output shaft of the motor, and one end of the telescopic rod along the axial direction is connected to the connecting arm 302a. The motor drives the screw to rotate, so that the slider moves along the axial direction of the screw, thereby driving the telescopic rod to extend or retract, driving the connecting arm 302a to expand or retract along the length direction of the frame 1, so that the extension arm 302 is expanded or retracted.

[0046] In an exemplary embodiment of the present application, the walking drive wheel group 401 includes a walking drive component 401a, a walking steering drive component 401b, a steering gear 401c, a walking mounting bracket 401d and a walking wheel 401e; the steering gear 401c is arranged on the frame 1, the walking mounting bracket 401d is rotatably connected to the steering gear 401c, the walking wheel 401e is arranged on the walking mounting bracket 401d, the walking drive component 401a is coaxially arranged with the walking wheel 401e, and the walking drive component 401a is used to drive the walking wheel 401e to rotate; the walking steering drive component 401b is arranged on the mounting bracket, and the walking steering drive gear 401f is connected to the output shaft of the walking steering drive component 401b, the walking steering drive gear 401f is meshed with the steering gear 401c, and the walking steering drive component 401b is used to drive the mounting bracket to rotate.

[0047] In this embodiment, the travel driving component 401a drives the travel wheel 401e to rotate in the circumferential direction, thereby driving the trolley to move, and the travel steering drive component 401b drives the travel mounting bracket 401d to rotate, causing the travel wheel 401e to turn, thereby causing the trolley to turn and move.

[0048] In an exemplary embodiment of the present application, the auxiliary steering wheel group 402 is arranged at one end of the carrying arm 302c away from the frame 1 along the length direction; the auxiliary steering wheel group 402 includes an auxiliary steering drive component 402a, a worm 402b, a turbine 402c, a rotating shaft 402d and an auxiliary wheel mounting frame 402e, the auxiliary steering drive component 402a is arranged on the carrying arm 302c, the output shaft of the auxiliary steering drive component 402a is connected to the worm 402b, the worm 402b is rotatably arranged on the carrying arm 302c, and the rotating shaft 402d is rotatably arranged on the carrying arm 302c, the auxiliary wheel 402f mounting bracket is connected to the rotating shaft 402d, the turbine 402c is arranged on the rotating shaft 402d, and the turbine 402c is meshed with the teeth of the worm 402b, the auxiliary wheel 402f is rotatably provided on the auxiliary wheel mounting frame 402e, and the auxiliary steering drive component 402a is used to drive the auxiliary wheel mounting frame 402e to rotate.

[0049] In this embodiment, the auxiliary steering drive component 402a is used to drive the auxiliary wheel 402f to change direction. When the expansion arm 302 needs to be expanded or retracted, the auxiliary steering drive component 402a drives the auxiliary steering wheel to steer. At this time, the axis of the auxiliary wheel 402f is perpendicular to the length direction of the support arm 302c, and the expansion arm 302 is driven by the expansion arm drive module 301 to expand or retract; when the trolley is moving, the auxiliary steering drive component 402a and the traveling steering drive component 401b work simultaneously, and the steering angles are consistent, which is convenient for the movement and steering of the trolley.

[0050] In an exemplary embodiment of the present application, a loading platform 101 is provided on the frame 1 , and the loading platform 101 is used to load the AGV battery 5 .

[0051] In this embodiment, the AGV battery 5 is used to provide walking power for the vehicle and to supply power to the entire vehicle power system.

[0052] In an exemplary embodiment of the present application, a navigator mounting bracket 102 is provided on the frame 1, and the navigator mounting bracket 102 includes a main body bracket 102a, a reinforcing rib plate 102b is connected between the main body bracket 102a and the frame 1, and a navigator 6 is provided at one end of the main body bracket 102a away from the frame 1 in the height direction.

[0053] In this embodiment, the navigator 6 is an AGV laser navigation, which helps the car to accurately locate and plan the path during operation through laser navigation. The laser navigation system can achieve accurate control and management of the motion trajectory, improving transportation efficiency and accuracy. At the same time, the laser navigation system can also achieve real-time monitoring and obstacle avoidance of the environment, ensuring that the car will not collide or have accidents during operation, thereby improving safety and reliability.

[0054] Working principle: The present application proposes a fork-type AGV. During the cargo handling process, the AGV moves to the location of the pallet, and drives the arm 302 to extend through the arm drive module 301 to increase the contact area between the AGV and the ground to improve the stability of the vehicle. The cantilever drive module 201 drives the cantilever 202 to lift the pallet and lift it off the ground. After the pallet is off the ground, the arm drive module 301 drives the arm 302 to retract, and the arm 302 is located under the pallet. The cantilever drive module 201 drives the cantilever 202 to descend, and the pallet is placed on the arm 302, and the arm 302 bears the weight of the pallet and the cargo on the pallet. The present application sets up a support arm mechanism 3. Before the cantilever lifting mechanism 2 of the AGV performs pallet lifting, the arm 302 is unfolded to increase the contact area between the trolley and the ground. When the cantilever 202 lifts the pallet, it can effectively improve the stability of the trolley and prevent the trolley from tipping over. After the cantilever 202 completes lifting the pallet, the support pallet is retracted through the arm 302, so that the cantilever drive module 201 does not need to continuously provide driving force for the cantilever 202 to support the pallet, thereby effectively reducing the power loss of the cantilever drive module 201 and avoiding the cantilever drive module 201 to continuously work during transportation, thereby reducing the power loss of the battery 5, extending the service life of the battery 5, and avoiding frequent replacement of the battery 5 for the trolley, which affects the working efficiency.

[0055] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed in the present invention shall still be covered by the claims of the present invention.

Claims

1. A fork-type AGV, characterized in that: include: frame; A cantilever lifting mechanism is arranged on the frame, the cantilever lifting mechanism comprises a cantilever driving module and a cantilever, the cantilever driving module is used to drive the cantilever to move along the height direction of the frame, and the cantilever is used to lift the pallet; A support arm mechanism, arranged on the frame, the support arm mechanism comprising an arm drive module and an arm, the arm drive module is used to drive the arm to move along the length direction of the frame, and the arm is used to carry the tray; The travel driving mechanism comprises a travel driving wheel set and an auxiliary steering wheel set. The travel driving wheel set is arranged on the frame, and the auxiliary steering wheel set is arranged on the extension arm.

2. The fork-type AGV according to claim 1, characterized in that: The cantilever lifting mechanism also includes a distance detection sensor, which is used to detect the distance between the goods on the pallet and the rack.

3. The fork-type AGV according to claim 2, characterized in that: The frame is provided with an anti-collision device, which protrudes along the width direction of the frame and is consistent with the extension direction of the cantilever.

4. The fork-type AGV according to claim 1, characterized in that: The extension arm includes a connecting arm, a supporting arm and a bearing arm, the supporting arm is slidably arranged on the frame, one end of the supporting arm along the length direction of the frame is connected to the connecting arm, one end of the connecting arm along the height direction of the frame is connected to the bearing arm, and the bearing arm extends along the width direction of the frame and is consistent with the extension direction of the cantilever.

5. The fork-type AGV according to claim 4, characterized in that: A plurality of reinforcing ribs are arranged at the connection between the support arm and the connecting arm.

6. The fork-type AGV according to claim 1, characterized in that: The cantilever drive module and the extension arm drive module are both screw drive modules driven by motors.

7. The fork-type AGV according to claim 1, characterized in that: The travel driving wheel set comprises a travel driving component, a travel steering driving component, a steering gear, a travel mounting bracket and a travel wheel; The steering gear is arranged on the frame, the travel mounting bracket is rotatably connected to the steering gear, the travel wheel is arranged on the travel mounting bracket, the travel driving component is coaxially arranged with the travel wheel, and the travel driving component is used to drive the travel wheel to rotate; The travel steering drive component is arranged on the mounting bracket, and a travel steering drive gear is connected to the output shaft of the travel steering drive component. The travel steering drive gear is meshed with the teeth of the steering gear. The travel steering drive component is used to drive the mounting bracket to rotate.

8. The fork-type AGV according to claim 4, characterized in that: The auxiliary steering wheel set is arranged at one end of the carrying arm away from the frame in the length direction; The auxiliary steering wheel group includes an auxiliary steering drive component, a worm, a turbine, a rotating shaft and an auxiliary wheel mounting frame. The auxiliary steering drive component is arranged on the supporting arm, and the output shaft of the auxiliary steering drive component is connected with the worm. The worm is rotatably arranged on the supporting arm, and the rotating shaft is rotatably arranged on the supporting arm. The auxiliary wheel mounting bracket is connected with the rotating shaft, the turbine is arranged on the rotating shaft, and the turbine is meshed with the tooth pattern of the worm. An auxiliary wheel is rotatably provided on the auxiliary wheel mounting frame, and the auxiliary steering drive component is used to drive the auxiliary wheel mounting frame to rotate.

9. The fork-type AGV according to claim 1, characterized in that: A loading platform is provided on the frame, and the loading platform is used to load AGV batteries.

10. The fork-type AGV according to claim 1, characterized in that: The frame is provided with a navigator mounting bracket, which includes a main body bracket, a reinforcing rib plate is connected between the main body bracket and the frame, and a navigator is provided at one end of the main body bracket away from the frame in the height direction.

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