Clamping type omnidirectional AGV forklift
By designing a clamped omnidirectional AGV forklift using a bidirectional drive mechanism and a rotary drive mechanism, the problem of forklifts that need to rotate horizontally 90 degrees in the prior art can be solved, and the cargo transfer efficiency and cargo share in the warehouse are improved.
Patent Information
- Application Number
- CN202422341155.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-25
- Publication Date
- 2025-06-20
- Estimated Expiration
- 2034-09-25
AI Technical Summary
The existing clamp AGV forklifts need to rotate horizontally 90 degrees after loading and unloading goods, resulting in high tunnel width requirements and affecting the proportion of goods in the warehouse; at the same time, the synchronous movement of the clamp arm may cause the cargo to tilt or overturn.
A clamp-type omnidirectional AGV forklift is designed, using a two-way driving mechanism to drive the clamp arm to get close to the cargo, and the flexible rotation of the cargo is achieved through the lifting mechanism and the rotating driving mechanism, avoiding the need for horizontal rotation.
It improves the efficiency of cargo transfer, reduces the limit on forklift movement by tunnel width, increases the proportion of cargo in warehouses, and avoids the risk of cargo tilting or overturning.
Smart Images
Figure CN223002699U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of forklifts, and particularly relates to a clamping type omnidirectional AGV forklift. Background Art
[0002] An AGV forklift refers to various wheeled handling vehicles for loading, unloading, stacking and short-distance transportation operations of palletized goods, and a clamping type AGV forklift uses two clamping arms to clamp goods to achieve the transfer of goods. At present, the clamping type AGV forklift in the prior art needs to rotate horizontally by 90 degrees first after clamping the goods, and then it can walk in the roadway. This makes the roadway width relatively large to facilitate the movement of the clamping type AGV forklift, affecting the goods occupancy rate of the warehouse; moreover, the two clamping arms of the existing clamping type AGV forklift usually move relatively synchronously. However, in actual work, the distances between the object and the two side clamping arms are different, which may cause problems such as the clamping force of the clamping arms causing the object to tilt or even rollover accidents. Therefore, it is urgent to research a clamping type omnidirectional AGV forklift to solve the above problems. Summary of the Utility Model
[0003] The utility model aims to provide a clamping type omnidirectional AGV forklift, and its purpose is to solve the technical problems proposed in the above background art.
[0004] To solve the above technical problems, the utility model is realized through the following technical solutions:
[0005] The utility model is a clamping type omnidirectional AGV forklift, which includes a control box and a lifting mechanism vertically installed on one side wall of the control box; a receiving port is opened on the bottom wall of the control box; a first rotation driving mechanism is installed inside the control box; a pair of driving wheels are vertically connected side by side at the lower part of the first rotation driving mechanism; both of the driving wheels are inserted into the receiving port; a pair of support arms are horizontally fixed side by side at the bottom of one side wall of the control box; both of the support arms have receiving cavities; a second rotation driving mechanism is installed in the receiving cavities of both of the support arms; a pair of driven wheels corresponding to the driving wheels are vertically connected side by side at the lower parts of the two second rotation driving mechanisms; a bidirectional driving mechanism is horizontally installed on the lifting mechanism; a pair of clamping arms are connected side by side on the bidirectional driving mechanism.
[0006] As a preferred technical solution of the present utility model, the first rotation driving mechanism includes a support plate horizontally fixed inside the control box; a pair of rotating shafts are vertically and rotatably connected side by side on the support plate; a pair of first gears are fixedly sleeved on both of the rotating shafts; a second gear is horizontally arranged between the two first gears; the second gear meshes with the two first gears respectively; the second gear is fixedly sleeved on the output shaft of a first motor; the first motor is vertically fixed on the support plate; transmission frames are fixed at the lower ends of both of the rotating shafts; second motors are horizontally fixed on both of the transmission frames; two driving wheels are respectively fixed on the output shafts of the two second motors.
[0007] As a preferred technical solution of the present utility model, the second rotation driving mechanism includes a first mounting plate and a second mounting plate horizontally and fixedly arranged side by side inside the accommodating chamber of the support arm; a third motor is horizontally fixed on the first mounting plate; a first bevel gear is fixedly sleeved on the output shaft of the third motor; a second bevel gear is horizontally meshed with the first bevel gear; the second bevel gear is fixedly sleeved on the lower end of a vertically arranged first rotating shaft; the first rotating shaft is rotatably connected to the first mounting plate; a first belt pulley is fixedly sleeved on the upper end of the first rotating shaft; the first belt pulley is connected in transmission with a second belt pulley through a synchronous belt; the second belt pulley is fixedly sleeved on the upper end of a vertically arranged second rotating shaft; the second rotating shaft is rotatably connected to the second mounting plate; an installation frame is fixed at the lower end of the second rotating shaft; the installation frame penetrates through the bottom wall of the accommodating chamber of the support arm, and the driven wheel is rotatably connected to the lower part of the installation frame.
[0008] As a preferred technical solution of the present utility model, the bidirectional driving mechanism includes a positioning plate vertically fixed on the output end of the lifting mechanism; the positioning plate is arranged on the side of the lifting mechanism close to the support arm; a pair of first guide rails, a pair of second guide rails and a pair of oil cylinders are horizontally fixed on the side surface of the positioning plate away from the lifting mechanism; first sliding seats are slidably connected on both of the first guide rails; both of the first sliding seats are fixed on one side edge of a clamping arm; second sliding seats are slidably connected on both of the second guide rails; both of the second sliding seats are fixed on one side edge of the other clamping arm; the output end of one oil cylinder is fixed on one side edge of a clamping arm; the output end of the other oil cylinder is fixed on one side edge of the other clamping arm.
[0009] The present utility model has the following beneficial effects:
[0010] In the present utility model, goods are placed between two clamping arms. A bidirectional driving mechanism is used to drive the two clamping arms closer to the goods, causing the goods to be clamped by the two clamping arms. Then, a lifting mechanism drives the goods to move upward a certain distance through the bidirectional driving mechanism and the clamping arms. Subsequently, the goods are driven to move backward a certain distance by a driving wheel and a driven wheel. Moreover, a first rotation driving mechanism is used to drive the driving wheel to rotate horizontally by a certain degree, and a second rotation driving mechanism is used to drive the driven wheel to rotate horizontally by 90 degrees. Then, the goods are rotated in the roadway by the rotation of the driving wheel and the driven wheel. This not only effectively improves the transfer efficiency of the goods, but also avoids the need for the existing clamping AGV forklift to rotate horizontally before it can move in the roadway, which results in a relatively large roadway width, and improves the goods occupancy rate in the warehouse.
[0011] Of course, it is not necessary for any product implementing the present utility model to achieve all the above-mentioned advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.
[0013] Figure 1 It is a schematic structural diagram of a clamping omnidirectional AGV forklift of the present utility model.
[0014] Figure 2 For Figure 1 structural bottom view.
[0015] Figure 3 It is a schematic structural diagram of the connection between the control box, the lifting mechanism and the support arm of the present utility model.
[0016] Figure 4 It is a schematic structural diagram of the first rotation mechanism of the present utility model disposed in the control box.
[0017] Figure 5 It is a schematic structural diagram of the first rotation mechanism of the present utility model.
[0018] Figure 6 For Figure 5 structural front view.
[0019] Figure 7 For Figure 5 structural bottom view.
[0020] Figure 8 It is a schematic structural diagram of the second rotation driving mechanism of the present utility model disposed on the support arm.
[0021] Figure 9 Structural schematic diagram of the second rotation driving mechanism of the present utility model.
[0022] Figure 10 Structural schematic diagram of the connection between the bidirectional driving mechanism and the clamping arm of the present utility model.
[0023] Figure 11 Structural schematic diagram of the bidirectional driving mechanism of the present utility model.
[0024] In the attached drawings, the list of components represented by each reference numeral is as follows:
[0025] 1 - control box, 2 - lifting mechanism, 3 - first rotation driving mechanism, 4 - driving wheel, 5 - support arm, 6 - second rotation driving mechanism, 7 - driven wheel, 8 - bidirectional driving mechanism, 9 - clamping arm, 101 - accommodating opening, 301 - support plate, 302 - rotating shaft, 303 - first gear, 304 - second gear, 305 - first motor, 306 - transmission frame, 307 - second motor, 601 - first mounting plate, 602 - second mounting plate, 603 - third motor, 604 - first bevel gear, 605 - second bevel gear, 606 - first rotating shaft, 607 - first belt pulley, 608 - second belt pulley, 609 - second rotating shaft, 610 - mounting frame, 801 - positioning plate, 802 - first guide rail, 803 - second guide rail, 804 - first sliding seat, 805 - second sliding seat, 806 - oil cylinder. Specific embodiments
[0026] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the protection scope of the present utility model.
[0027] Embodiment 1:
[0028] Please refer to Figures 1-4As shown in the figure, the utility model relates to a clamping type omnidirectional AGV forklift, which comprises a control box 1 and a lifting mechanism 2 vertically installed on one side wall of the control box 1; both the control box 1 and the control box 1 are of conventional structures in the field; a rectangular accommodating opening 101 is formed in the bottom wall of the control box 1; a first rotation driving mechanism 3 is installed inside the control box 1; a pair of conventional driving wheels 4 in the field are vertically connected in parallel at the lower part of the first rotation driving mechanism 3; both driving wheels 4 are inserted into the accommodating opening 101; a pair of support arms 5 are horizontally bolted in parallel at the bottom of one side wall of the control box 1; both support arms 5 have accommodating cavities; a second rotation driving mechanism 6 is installed in each accommodating cavity of the two support arms 5; a pair of driven wheels 7 corresponding to the driving wheels 4 are vertically connected in parallel at the lower part of each of the two second rotation driving mechanisms 6; the driven wheels 7 are conventional components in the field; a bidirectional driving mechanism 8 is horizontally installed on the lifting mechanism 2; a pair of clamping arms 9 are connected in parallel on the bidirectional driving mechanism 8. When in use, by placing the goods between the two clamping arms 9, the bidirectional driving mechanism 8 is used to drive the two clamping arms to approach the goods, so that the goods are clamped by the two clamping arms 9, and then the lifting mechanism 2 drives the goods to move upward for a certain distance through the bidirectional driving mechanism 8 and the clamping arms 9, and then the driving wheels 4 and the driven wheels 7 are used to drive the goods to move backward for a certain distance, and then the first rotation driving mechanism 3 is used to drive the driving wheels 4 to rotate horizontally by 90 degrees and the second rotation driving mechanism 6 is used to drive the driven wheels 7 to rotate horizontally by 90 degrees, and then the driving wheels 4 and the driven wheels 7 are rotated to realize the rotation of the goods in the roadway, which not only effectively improves the transfer efficiency of the goods, but also avoids the large width of the roadway caused by the need for the existing clamping type AGV forklift to rotate horizontally before walking in the roadway, and improves the goods occupancy rate in the warehouse.
[0029] Embodiment 2:
[0030] On the basis of Embodiment 1, as Figures 4-7As shown in the figure, the first rotation drive mechanism 3 includes a support plate 301 horizontally bolted inside the control box 1; a pair of rotating shafts 302 are vertically and rotatably connected side by side on the support plate 301; a pair of first gears 303 are key-connected to both rotating shafts 302; a second gear 304 is horizontally arranged between the two first gears 303; the second gear 304 meshes with the two first gears 303 respectively; the second gear 304 is key-connected to the output shaft of a conventional first motor 305 in the art; the first motor 305 is vertically bolted to the support plate 301; the lower ends of both rotating shafts 302 are bolted with a conventional transmission frame 306 in the art; a conventional second motor 307 in the art is horizontally bolted to both transmission frames 306; two driving wheels 4 are respectively bolted to the output shafts of the two second motors 307. During use, the first motor 305 drives the second gear 304 to rotate horizontally, causing the two first gears 303 to drive the two rotating shafts 302 to rotate synchronously and in the same direction. Then, the two driving wheels 4 are driven to rotate synchronously and in the same direction through the transmission frame 306. Finally, the driving wheels 4 are driven to rotate by the second motor 307, thereby realizing the direction adjustment and driving of the driving wheels 4.
[0031] Embodiment Three:
[0032] Based on Embodiment Two, as Figures 8-9 shown in the figure, the second rotation drive mechanism 6 includes a first mounting plate 601 and a second mounting plate 602 horizontally bolted side by side in the accommodation chamber of the support arm 5; a conventional third motor 603 in the art is horizontally bolted to the first mounting plate 601; the output shaft of the third motor 603 is key-connected with a first bevel gear 604; a second bevel gear 605 is horizontally meshed with the first bevel gear 604; the second bevel gear 605 is key-connected to the lower end of a vertically arranged first rotating shaft 606; the first rotating shaft 606 is rotatably connected to the first mounting plate 601; the upper end of the first rotating shaft 606 is key-connected with a first pulley 607; the first pulley 607 is connected to a second pulley 608 through a synchronous belt drive; the second pulley 608 is key-connected to the upper end of a vertically arranged second rotating shaft 609; the second rotating shaft 609 is rotatably connected to the second mounting plate 602; the lower end of the second rotating shaft 609 is bolted with a conventional mounting frame 610 in the art; the mounting frame 610 penetrates through the bottom wall of the accommodation chamber of the support arm 5, and there is a clearance fit between the mounting frame 610 and the bottom wall of the accommodation chamber of the support arm 5; the driven wheel 7 is rotatably connected to the lower part of the mounting frame 610. During use, the third motor 603 drives the first bevel gear 604 to rotate, causing the second bevel gear 605 to drive the driven wheel 7 to rotate horizontally through the first rotating shaft 606, the first pulley 607, the second pulley 608, the second rotating shaft 609 and the mounting frame 610, thereby realizing the direction adjustment of the driven wheel 7.
[0033] Embodiment Four:
[0034] Based on Embodiment Three, asFigures 10-11 As shown in the figure, the bidirectional driving mechanism 8 includes a positioning plate 801 vertically bolted to the output end of the lifting mechanism 2; the positioning plate 801 is arranged on the side of the lifting mechanism 2 close to the support arm 5; on the side surface of the positioning plate 801 away from the lifting mechanism 2, a pair of first guide rails 802, a pair of second guide rails 803 and a pair of conventional oil cylinders 806 in the art are horizontally bolted; on each of the two first guide rails 802, a conventional first sliding seat 804 in the art is slidably connected; both of the two first sliding seats 804 are bolted to one side edge of a clamping arm 9; the two second guide rails 803 are respectively arranged below the two first guide rails 802; on each of the two second guide rails 803, a conventional second sliding seat 805 in the art is slidably connected; both of the two second sliding seats 805 are bolted to one side edge of the other clamping arm 9; the two oil cylinders 806 are respectively arranged between a first guide rail 802 and a second guide rail 803; the output end of one oil cylinder 806 is bolted to one side edge of a clamping arm 9; the output end of the other oil cylinder 806 is bolted to one side edge of the other clamping arm 9. When in use, one oil cylinder 806 drives one clamping arm 9 to move linearly, causing the first sliding seat 804 to slide on the first guide rail 802, and at the same time, the other oil cylinder 806 drives the other clamping arm 9 to move linearly, causing the second sliding seat 805 to slide on the second guide rail 803, so as to realize the position adjustment of the two clamping arms 9 respectively, and it can avoid problems such as the object tilting or even a rollover accident caused by the different distances between the object and the two side clamping arms in the prior art.
[0035] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the present invention to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of this specification. This specification selects and specifically describes these embodiments to better explain the principle and practical application of the present invention, so that those skilled in the relevant art can well understand and utilize the present invention. The present invention is only limited by the claims and their full scope and equivalents.
Claims
1. A clamping omnidirectional AGV forklift, comprising a control box (1) and a lifting mechanism (2) vertically mounted on a side wall of the control box (1); characterized in that: The bottom wall of the control box (1) is provided with a receiving opening (101); a first rotary drive mechanism (3) is installed inside the control box (1); a pair of driving wheels (4) are vertically connected side by side at the bottom of the first rotary drive mechanism (3); the two driving wheels (4) are inserted into the receiving opening (101); a pair of support arms (5) are horizontally fixed side by side at the bottom of a side wall of the control box (1); the two support arms (5) have a receiving cavity; a second rotary drive mechanism (6) is installed in the receiving cavity of the two support arms (5); a pair of driven wheels (7) corresponding to the driving wheels (4) are vertically connected side by side at the bottom of the two second rotary drive mechanisms (6); a bidirectional drive mechanism (8) is horizontally installed on the lifting mechanism (2); a pair of clamping arms (9) are connected side by side on the bidirectional drive mechanism (8).
2. The clamping omnidirectional AGV forklift according to claim 1, characterized in that: The first rotary drive mechanism (3) comprises a support plate (301) fixed horizontally in the control box (1); a pair of rotary shafts (302) are connected to the support plate (301) in parallel and vertical rotation; a pair of first gears (303) are fixedly sleeved on the two rotary shafts (302); a second gear (304) is horizontally arranged between the two first gears (303); the second gear (304) is respectively meshed with the two first gears (303); the second gear (304) is fixedly sleeved on the output shaft of a first motor (305); the first motor (305) is vertically fixed on the support plate (301); a transmission frame (306) is fixed at the lower end of the two rotary shafts (302); a second motor (307) is horizontally fixed on the two transmission frames (306); and the two driving wheels (4) are respectively fixed on the output shafts of the two second motors (307).
3. A clamping omnidirectional AGV forklift according to claim 1 or 2, characterized in that: The second rotary drive mechanism (6) comprises a first mounting plate (601) and a second mounting plate (602) which are fixed side by side and horizontally in the accommodating chamber of the support arm (5); a third motor (603) is fixed horizontally on the first mounting plate (601); a first bevel gear (604) is fixedly sleeved on the output shaft of the third motor (603); a second bevel gear (605) is horizontally meshed on the first bevel gear (604); the second bevel gear (605) is fixedly sleeved on the lower end of a first rotating shaft (606) which is vertically arranged; the first rotating shaft (606) is rotatably connected to the first mounting plate (601) ); a first pulley (607) is fixedly sleeved on the upper end of the first rotating shaft (606); the first pulley (607) is connected to a second pulley (608) through a synchronous belt transmission; the second pulley (608) is fixedly sleeved on the upper end of a vertically arranged second rotating shaft (609); the second rotating shaft (609) is rotatably connected to the second mounting plate (602); a mounting frame (610) is fixedly mounted on the lower end of the second rotating shaft (609); the mounting frame (610) passes through the bottom wall of the accommodating chamber of the support arm (5), and the driven wheel (7) is rotatably connected to the lower part of the mounting frame (610).
4. The clamping omnidirectional AGV forklift according to claim 3, characterized in that: The bidirectional driving mechanism (8) comprises a positioning plate (801) vertically fixed on the output end of the lifting mechanism (2); the positioning plate (801) is arranged on a side of the lifting mechanism (2) close to the support arm (5); a pair of first guide rails (802), a pair of second guide rails (803) and a pair of oil cylinders (806) are horizontally fixed on a side of the positioning plate (801) away from the lifting mechanism (2); a first slide seat (804) is slidably connected to the two first guide rails (802); the two first slide seats (804) are both fixed on one side of a clamping arm (9); the two second guide rails (803) are slidably connected to the second slide seat (805); the two second slide seats (805) are both fixed on one side of the other clamping arm (9); the output end of one of the oil cylinders (806) is fixed on one side of the one clamping arm (9); the output end of the other of the oil cylinders (806) is fixed on one side of the other clamping arm (9).