Automatic tray loading and unloading AGV

Abstract

The utility model discloses an AGV (Automatic Guided Vehicle) capable of automatically loading and unloading trays. The rear end of the lower surface of the vehicle body is provided with a telescopic motor, the output end of the telescopic motor is connected with a T-shaped speed reducer, the T-shaped speed reducer is connected with a driving shaft, two sides of the driving shaft are provided with a chain wheel 1 and a chain, the other end of the chain is sleeved on a chain wheel 2, and the chain wheel 2 is arranged on a first guide rail rotating shaft; a second guide rail is slidably installed in a sliding groove of the first guide rail, a third guide rail is slidably connected to the outer side of the second guide rail, pulleys are installed at the front end and the rear end of the second guide rail, steel wire ropes penetrate through pulley grooves respectively, the fixed ends of the steel wire ropes are installed on the first guide rail, and the movable ends of the steel wire ropes are installed on the third guide rail. A lifting motor is installed on the pallet fork bottom plate, and idler wheels used for supporting walking are installed at the bottom of the pallet fork bottom plate. According to the scheme, the telescopic jacking mechanism is configured, a tray with a lower jacking fork hole can be forked, a standard tray can be forked, and cost is saved.

Description

Technical Field

[0001] The utility model relates to the technical field of AGVs, in particular to a self-loading and unloading pallet AGV. Background Art

[0002] AGVs are battery-powered, autonomous industrial vehicles. They work in conjunction with automated guidance systems, automated loading and unloading systems, communications systems, safety systems, and management systems to automate the loading, unloading, and transportation of materials. By connecting to intelligent devices such as warehousing systems and production equipment, AGVs enable efficient material handling and collaborative operations. Furthermore, AGVs can seamlessly interact with personnel, enabling human-machine collaboration and improving work efficiency and safety. This enhanced collaborative and interactive capability will usher in the era of smart logistics.

[0003] Most existing AGVs are backpack-type, which have high requirements on the height of the vehicle itself. Sufficient height must be reserved under the vehicle for the AGV to enter and exit. Therefore, the vehicle needs to be specially customized according to the size of the AGV, which increases the user's operating costs. Utility Model Content

[0004] The purpose of the present invention is to provide a self-loading and unloading pallet AGV to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present utility model provides the following technical solutions: a self-loading and unloading pallet AGV, comprising: a vehicle body;

[0006] Among them, a walking wheel is installed under the vehicle body, a telescopic motor is installed at the rear end of the lower surface of the vehicle body, the output end of the telescopic motor is connected to a T-type reducer, the T-type reducer is connected to a drive shaft, sprockets 1 are installed on both sides of the drive shaft, a chain is sleeved on the sprocket 1, and the other end of the chain is sleeved on the sprocket 2, the sprocket 2 is installed on the first guide rail rotating shaft, a second guide rail is slidably installed in the slide groove of the first guide rail, a third guide rail is slidably connected to the outer side of the second guide rail, and pulleys are installed at the front and rear ends of the second guide rail , steel wire ropes are respectively passed through the pulley grooves, the fixed end of the steel wire rope is installed on the first guide rail, the movable end of the steel wire rope is installed on the third guide rail, the fork base plate is installed on the third guide rail, the lifting motor is installed on the fork base plate, the output end of the lifting motor is connected to the ball screw, the ball screw is connected to the scissors fork, the bottom of the scissors fork is slidably installed in the slide groove of the fork base plate, the top of the scissors fork is slidably installed in the slide groove of the lifting plate, and the bottom of the fork base plate is installed with a roller for supporting walking.

[0007] Preferably, four groups of running wheels are provided, and the four groups of running wheels are distributed at the four lower corners of the vehicle body.

[0008] Preferably, the T-type reducer is a hollow output type, and the drive shaft is installed in the hollow part of the T-type reducer.

[0009] Preferably, cam followers are arranged on the inner and outer sides of the second guide rail, the inner cam follower is nested in the sliding groove of the third guide rail, and the third guide rail slides on the cam follower.

[0010] Compared with the prior art, the beneficial effects of the present invention are:

[0011] Equipped with a telescopic lifting mechanism, it can pick up pallets with lower lifting fork holes. Standard pallets can also be picked up, eliminating the need for non-standard customized AGV-specific pallets, saving costs.

[0012] The lifting mechanism equipped on the AGV has a large lifting height and is suitable for fork holes with larger heights.

[0013] Multiple AGVs can be used in conjunction to transport large-sized and heavy goods, saving investment in large-scale cargo handling equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the overall structure of AGV;

[0015] Figure 2 It is the axonometric drawing of the overall structure of AGV;

[0016] Figure 3 This is a top view of the overall structure of AGV;

[0017] Figure 4 This is a schematic diagram of the AGV telescopic lifting fork structure;

[0018] Figure 5 This is a schematic diagram of the AGV fork structure.

[0019] In the figure: 1. Car body; 2. Travel wheel; 3. Telescopic motor; 4. T-type reducer; 5. Drive shaft; 6. Sprocket 1; 7. Chain; 8. Sprocket 2; 9. First guide rail; 10. Second guide rail; 11. Cam follower; 12. Pulley; 13. Wire rope; 14. Third guide rail; 15. Fork base; 16. Lifting motor; 17. Ball screw; 18. Scissor fork; 19. Lifting plate; 20. Roller. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0021] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0022] Example 1:

[0023] See also Figure 1-5 The utility model provides a technical solution: a self-loading and unloading pallet AGV, comprising:

[0024] The vehicle body 1 has four groups of running wheels 2 installed below the vehicle body 1. Each group of the running wheels 2 can be controlled individually. The four groups of running wheels 2 can cooperate to complete the actions of straight movement, lateral movement and rotation in place. A telescopic motor 3 is installed at the rear end of the lower surface of the vehicle body 1. The output end of the telescopic motor 3 is connected to a T-type reducer 4. The T-type reducer 4 is a hollow output type. A drive shaft 5 is installed in the hollow of the T-type reducer 4. Sprockets 16 are installed on both sides of the drive shaft 5. A chain 7 is sleeved on the sprocket 16. The other end of the chain 7 is sleeved on the sprocket 28. The sprocket 28 is installed on the rotating shaft of the first guide rail 9. A second guide rail 10 is slidably installed in the slide groove of the first guide rail 9. Cam followers 11 are arranged on the inner and outer sides of the second guide rail 10. The inner cam follower 11 is nested in The third guide rail 14 is in the slide groove, and the third guide rail 14 slides on the cam follower 11. Pulleys 12 are installed at the front and rear ends of the second guide rail 10. Steel ropes 13 are respectively passed through the wheel grooves of the pulleys 12. The fixed end of the steel rope 13 is installed on the first guide rail 9, and the movable end of the steel rope 13 is installed on the third guide rail 14. A fork base plate 15 is installed on the third guide rail 14, and a lifting motor 16 is installed on the fork base plate 15. The output end of the lifting motor 16 is connected to the ball screw 17, and the ball screw 17 is connected to the scissors fork 18. The bottom of the scissors fork 18 is slidably installed in the slide groove of the fork base plate 15, and the top of the scissors fork 18 is slidably installed in the slide groove of the jacking plate 19. The bottom of the fork base plate 15 is installed with a roller 20 for supporting walking.

[0025] Specifically, when the AGV travels to the picking position to perform the picking task, the telescopic motor 3 runs, driving the reducer 4 to rotate, thereby driving the drive shaft 5 to rotate, and the sprocket 16 rotates as the drive shaft 5 rotates. The rotation of the sprocket 16 drives the chain 7 to move, and the chain 7 drives the second guide rail 10 to extend. The second guide rail 10 transmits power to the third guide rail 14 through the pulley 12 and the wire rope 13. The third guide rail 14 extends, and the third guide rail 14 drives the fork structure to extend.

[0026] When the third guide rail 14 is extended into place, the fork structure as a whole has entered under the cargo. At this time, the lifting motor 16 runs, driving the ball screw 17 to rotate, and the ball screw 17 drives the scissors fork 18 to lift, driving the lifting plate 19 to lift, thereby driving the cargo to rise.

[0027] The traveling wheel 2 runs, driving the AGV body to under the cargo. At the same time, the telescopic motor 3 runs, driving the reducer 4 to rotate, thereby driving the drive shaft 5 to rotate. The sprocket 16 rotates as the drive shaft 5 rotates. The rotation of the sprocket 16 drives the chain 7 to move. The chain 7 drives the second guide rail 10 to retract. The second guide rail 10 transmits power to the third guide rail 14 through the pulley 12 and the wire rope 13. The third guide rail 14 retracts, and the third guide rail 14 drives the fork structure to retract.

[0028] The lifting motor 16 runs, driving the ball screw 17 to rotate, and the ball screw 17 drives the scissors fork 18 to descend, and the lifting plate 19 descends accordingly, thereby driving the goods to rise and fall, and finally the goods fall on the AGV, and the walking wheel 2 runs to transport the goods to the target delivery location.

[0029] When the goods arrive at the target location for the delivery task, the lifting motor 16 runs, driving the ball screw 17 to rotate, and the ball screw 17 drives the scissors fork 18 to jack up, driving the jacking plate 19 to jack up, thereby driving the goods to rise.

[0030] The traveling wheel 2 runs, and the vehicle body 1 moves out from under the cargo. At the same time, the telescopic motor 3 runs, driving the reducer 4 to rotate, thereby driving the drive shaft 5 to rotate. The sprocket 16 rotates as the drive shaft 5 rotates. The rotation of the sprocket 16 drives the chain 7 to move. The chain 7 drives the second guide rail 10 to extend. The second guide rail 10 transmits power to the third guide rail 14 through the pulley 12 and the wire rope 13. The third guide rail 14 extends, and the third guide rail 14 drives the fork structure to extend, so that the cargo is completely separated from the AGV body.

[0031] The lifting motor 16 runs, driving the ball screw 17 to rotate, and the ball screw 17 drives the scissors fork 18 to descend, and the lifting plate 19 descends accordingly, thereby driving the goods to rise and fall, and placing the goods at the target position.

[0032] The telescopic motor 3 runs, driving the reducer 4 to rotate, thereby driving the drive shaft 5 to rotate, and the sprocket 16 rotates as the drive shaft 5 rotates. The rotation of the sprocket 16 drives the chain 7 to move, and the chain 7 drives the second guide rail 10 to retract. The second guide rail 10 transmits power to the third guide rail 14 through the pulley 12 and the wire rope 13. The third guide rail 14 retracts, and the third guide rail 14 drives the fork structure to retract.

[0033] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention; therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is limited by the appended claims rather than the above description. Therefore, it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any figure marks in the claims should not be regarded as limiting the claims involved.

[0034] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A self-loading and unloading pallet AGV, characterized in that: include: Vehicle body (1); Wherein, a traveling wheel (2) is installed below the vehicle body (1), a telescopic motor (3) is installed at the rear end of the lower surface of the vehicle body (1), the output end of the telescopic motor (3) is connected to a T-type reducer (4), the T-type reducer (4) is connected to a driving shaft (5), sprockets 1 (6) are installed on both sides of the driving shaft (5), a chain (7) is sleeved on the sprocket 1 (6), the other end of the chain (7) is sleeved on a sprocket 2 (8), the sprocket 2 (8) is installed on the rotating shaft of the first guide rail (9), a second guide rail (10) is slidably installed in the slide groove of the first guide rail (9), the outer side of the second guide rail (10) is slidably connected to a third guide rail (14), the front and rear ends of the second guide rail (10) are installed with pulleys (12), the sliding A steel wire rope (13) is passed through the wheel groove of the wheel (12), the fixed end of the steel wire rope (13) is installed on the first guide rail (9), the movable end of the steel wire rope (13) is installed on the third guide rail (14), a fork base plate (15) is installed on the third guide rail (14), a lifting motor (16) is installed on the fork base plate (15), the output end of the lifting motor (16) is connected to a ball screw (17), the ball screw (17) is connected to a scissors fork (18), the bottom of the scissors fork (18) is slidably installed in the slide groove of the fork base plate (15), the top of the scissors fork (18) is slidably installed in the slide groove of the lifting plate (19), and a roller (20) for supporting walking is installed at the bottom of the fork base plate (15).

2. The self-loading and unloading pallet AGV according to claim 1, characterized in that: Four groups of running wheels (2) are provided, and the four groups of running wheels (2) are distributed at the four lower corners of the vehicle body (1).

3. The self-loading and unloading pallet AGV according to claim 1, characterized in that: The T-type reducer (4) is a hollow output type, and the drive shaft (5) is installed in the hollow part of the T-type reducer (4).

4. The self-loading and unloading pallet AGV according to claim 1, characterized in that: Cam followers (11) are arranged on both inner and outer sides of the second guide rail (10), the inner cam follower (11) is nested in the sliding groove of the third guide rail (14), and the third guide rail (14) slides on the cam follower (11).

Images