Narrow roadway stacking type omni-directional AGV forklift and warehousing system

Abstract

The utility model provides a narrow roadway stacking type omni-directional AGV forklift and a warehousing system. A balancing frame and two sets of wheel sets arranged diagonally are arranged at the bottom of a U-shaped chassis power assembly. Forward moving transmission assemblies are arranged on the two parallel sides in the U-shaped body to drive the lifting portal assembly to move horizontally in the U-shaped opening direction. According to the U-shaped semi-surrounding structure, the minimum width of the roadway can be reduced, and the utilization rate of a storeroom is increased. The diagonally-arranged wheel sets can wrap goods in the range of stress points of the vehicle body, the force arms from the stress points to objects and the gravity center of the vehicle body are increased, stable operation is guaranteed, and jolting and shaking are not prone to occurring. Under the condition that the radar fails, when the forklift encounters an obstacle, contact is provided by the periphery of the U-shaped chassis, and safety can be improved. The diagonally arranged wheel sets are matched with the balancing frame to balance the rotation resultant moment of the steering wheel to the gravity center of the whole vehicle, so that the load rate variation amplitude of the steering wheel motor is small, the motor is protected, the height difference of the ground can be supplemented, and the driving efficiency is improved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of warehouse storage equipment, in particular to a narrow-lane stacking type omnidirectional AGV forklift and a warehouse storage system. BACKGROUND

[0002] For the warehouse industry, the denser the storage position is, the higher the utilization rate of the warehouse is. The lane spacing between different racks directly affects the total storage capacity of the entire warehouse. Narrow-lane stacking type AGV forklifts are popular among customers in the market.

[0003] Currently, there are two types of conventional stacking AGV forklifts in the market: one-way travel forklift AGV and omnidirectional travel forklift AGV. The chassis of the one-way travel forklift AGV adopts a single rudder wheel and double directional wheel structure. The chassis of the omnidirectional travel forklift AGV adopts a single rudder wheel and double steering wheel mechanism, i.e. a three-point support structure. The one-way travel forklift AGV has a single travel direction. It needs to make a turn in the lane before reaching the designated position for unloading, which results in the need for sufficient width for turning in the rack, leading to low utilization rate of the warehouse. In addition, the speed is slow during the turning, and a second positioning is required after the turning is completed, resulting in low efficiency. In the omnidirectional travel forklift AGV mechanism, the double steering wheels are located at the front ends of the two fork legs, and the rudder wheel is located at the rear end of the vehicle body. The forklift relies only on the single rudder wheel at the rear side to provide travel power during travel. The power direction provided by the rudder wheel deviates from the center of gravity of the forklift. Since the power source is single, the power will have a turning effect on the entire vehicle. The vehicle needs to be corrected in time or regularly during travel, which will greatly reduce the travel speed in the lane.

[0004] The mast forward movement mechanism of the one-way travel forklift AGV and the omnidirectional travel forklift AGV generally adopts a rear-mounted oil cylinder drive. It provides forward movement guidance through the cooperation of rollers and channel steel to realize operation, or drives the forward and backward movement of the operation unit through the forward and backward extension of the oil cylinder. Such a forward movement drive system needs to reserve sufficient space at the rear of the vehicle body to arrange the oil cylinder, resulting in a generally longer vehicle body length. Therefore, whether it is a one-way travel forklift AGV or an omnidirectional travel forklift AGV, the effective width required for travel in the lane will increase, directly affecting the storage density of the warehouse. Practical new type content

[0005] The present application aims at the deficiencies of the prior art, and provides a narrow-lane stacking omnidirectional AGV forklift and a warehouse system, which does not need to turn when picking up goods in the lane, can rotate 360 degrees in place outside the lane, travel straight in any direction, automatically identify and correct the skew condition of the pallet, and can be operated unmanned under special conditions such as high temperature and high pressure, thereby solving the problems of single travel of the existing AGV forklift and manual forklift, complicated and low-efficiency operation when picking up goods, and serious bumping when traveling on uneven ground, increasing the utilization rate of the warehouse and improving the travel speed and stacking efficiency.

[0006] Firstly, in order to achieve the above-mentioned purpose, a narrow-lane stacking omnidirectional AGV forklift is provided, which comprises a chassis power assembly, the main body of which is arranged in a U shape, and a balance frame and two sets of wheel groups arranged at opposite angles are arranged at the bottom of the U-shaped main body; a forward transmission assembly arranged on the two sides of the U-shaped main body in the chassis power assembly and having a gear and rack assembly arranged along the opening direction of the U shape and a sliding block guide rail assembly parallel to the rack; a lifting gantry assembly fixed on the sliding block in the forward transmission assembly and driven by the gear and rack assembly to translate along the opening direction of the U shape, wherein the front side of the lifting gantry assembly is provided with a fork tooth, and the fork tooth vertically ascends and descends along the gantry main body.

[0007] Optionally, the narrow-lane stacking omnidirectional AGV forklift according to any one of the above, wherein one set of the two sets of wheel groups is a rudder wheel arranged at an opposite angle, and the other set is a steering wheel arranged at another opposite angle, wherein the two ends of the balance frame are respectively provided with a rudder wheel and a steering wheel, and the bottom of the opening position of the U-shaped main body is respectively provided with another rudder wheel and another steering wheel.

[0008] Optionally, the narrow-lane stacking omnidirectional AGV forklift according to any one of the above, wherein the balance frame is rotatably connected to the bottom rear end of the U-shaped main body by a spacer sleeve cover, a bearing seat, a spacer sleeve, a bearing end cover, a self-aligning roller bearing and a rotating shaft arranged in the balance frame main body; the rotating shaft penetrates the balance frame main body longitudinally and is arranged at the center position of the balance frame main body and perpendicular to the central axis of the balance frame main body; the self-aligning roller bearings are arranged at the front and rear ends of the rotating shaft; the bearing end covers are closed and connected to the outer end portions of the front and rear self-aligning roller bearings, and the front and rear ends of the rotating shaft are respectively closed between the two self-aligning roller bearings; the spacer sleeve is arranged around the self-aligning roller bearings and blocks between the self-aligning roller bearings and the bearing seat; the bearing seat is fixedly installed in the groove at the bottom of the U-shaped main body; and the spacer sleeve cover is connected between the spacer sleeve and the bearing seat to limit the self-aligning roller bearings and the spacer sleeve around them in the bearing seat.

[0009] Optionally, the narrow aisle stacker omnidirectional AGV forklift as claimed in any one of the above, wherein the gear and rack assembly comprises: a rack fixed to the inner side wall of the U-shaped body; a gear engaged with the inner side of the rack and rolling along the opening direction of the U-shaped body; a transmission extension shaft coaxially connected with the gear and arranged on the inner side of the rack, the bottom end of the transmission extension shaft being fixed in the gear by an expansion sleeve; a speed reducer transmissionally connected with the top end of the transmission extension shaft and providing torque to the gear through the transmission extension shaft; and a motor fixedly connected with the lifting mast assembly, the output shaft of the motor being transmissionally connected with the input end of the speed reducer and outputting driving torque to the speed reducer.

[0010] Optionally, the narrow aisle stacker omnidirectional AGV forklift as claimed in any one of the above, wherein the sliding block guide rail assembly comprises: a linear guide rail arranged along the inner side wall of the U-shaped body and fixedly installed above the rack, the side wall of the linear guide rail being provided with a guide groove parallel to the rolling direction of the gear; a sliding block arranged above the linear guide rail and embedded in the guide groove of the side wall of the linear guide rail on both sides to slide along the guide groove; a sliding block seat fixedly installed above the sliding block and extending towards the top of the gear; a speed reducer seat fixedly installed on the sliding block seat and fixedly connected with the speed reducer; a bearing seat fixedly installed below the sliding block seat and surrounding the outer periphery of the transmission extension shaft; and a self-aligning ball bearing arranged between the bearing seat and the transmission extension shaft, the upper and lower ends of the self-aligning ball bearing being respectively closed by two oil seal structures.

[0011] Optionally, the narrow aisle stacker omnidirectional AGV forklift as claimed in any one of the above, wherein the lifting mast assembly is arranged with the following components on the lifting mast: a pressure sensor penetrating through the chain screw rod of the lifting mast, one end of the pressure sensor being fixedly welded to the mast fixed welding member and the other end being in close contact with a nut, the nut fixing the pressure sensor on the mast, the weight on the mast tine transmitting a signal to the pressure sensor through the chain for weighing; a 3D camera arranged above the tine of the lifting mast and having a shooting angle towards the tip of the tine; a bar code camera arranged above the tine of the lifting mast and having a scanning range towards the tip of the tine; a tray detection photoelectric device arranged at the front end of the tine of the lifting mast; and a pull rope encoder arranged on the side of the lifting mast, the outgoing end of the pull rope encoder being fixed on a tine seat behind the tine, the tine seat moving up and down along the mast to realize lifting or lowering of the load on the tine, the outgoing end synchronously moving up and down with the tine seat to drive the pull rope encoder, the pull rope encoder detecting the length of the pulled wire to determine the real-time height position of the tine in the mast.

[0012] Optionally, the narrow aisle stacker omnidirectional AGV forklift as claimed in any one of the above, wherein the bottom of the lifting mast is further provided with a pallet fork taking sensing device, which is installed at the root of the tines and comprises a mounting frame fixedly arranged at the root of the tines, at least one rib plate being longitudinally arranged inside the mounting frame; a striker plate shaft horizontally fixed at the top of the mounting frame; a striker plate, the top of which is rotationally connected with the striker plate shaft through a torsion spring, the bottom of the striker plate being a free end, the inner side of the torsion spring being limited by the inner wall of the top of the mounting frame, the outer side of the torsion spring being upwardly turned to tilt the bottom of the striker plate towards the front end of the tines; a striker plate sensing sheet fixedly arranged at the back side of the striker plate and extending towards the rib plate inside the mounting frame; a proximity switch fixedly arranged on the rib plate of the mounting frame, used for detecting the position of the inside of the striker plate sensing sheet, triggering a sensing signal when the striker plate sensing sheet is turned away from the rib plate to determine that the pallet is not forked, and canceling the sensing signal when the striker plate sensing sheet is turned towards the rib plate to determine that the pallet is forked.

[0013] Optionally, the narrow aisle stacker omnidirectional AGV forklift as claimed in any one of the above, wherein the chassis power assembly is further arranged with: a safety touch edge, which is arranged in a circle around the outer periphery of the bottom of the U-shaped body; a navigation radar, which is arranged at a corner of the front side of the opening of the U-shaped body; an obstacle avoidance radar, which is arranged at a corner of the connection position at the rear side of the U-shaped body; an electric control box, which is arranged at the connection position at the rear side of the U-shaped body; an emergency stop button, which is arranged on the top corners of the four corners of the U-shaped body; a two-dimensional code camera, which is arranged at the bottom of the U-shaped body and has a shooting angle towards the running surface of the device; and an elastic buffer pad, which is arranged at the top of the two ends of the top of the balance frame of the bottom of the U-shaped body and is kept between the end of the balance frame and the bottom plate of the U-shaped body when the balance frame is upwardly jacked.

[0014] Meanwhile, in order to achieve the above-mentioned purpose, the application further provides a warehouse system, the operation of which in the three-dimensional warehouse space is performed by the narrow aisle stacker omnidirectional AGV forklift as claimed in any one of the above.

[0015] Beneficial effects

[0016] The narrow lane stacking omnidirectional AGV forklift and warehouse system provided by the application is provided with a balance frame and two sets of wheel groups arranged diagonally at the bottom of the U-shaped chassis power assembly; the front moving transmission assembly is arranged on the two sides of the U-shaped body in parallel to each other to drive the lifting gantry assembly to translate along the U-shaped opening direction. The forklift structure of the application adopts a U-shaped semi-enclosed structure, which is convenient for arranging electrical elements, thereby greatly reducing the minimum width of the lane required by the vehicle body and increasing the utilization rate of the warehouse. The diagonally arranged wheel groups of the U-shaped structure can make the area surrounded by the stress points of the vehicle body wrap the goods inside, the stress point distance from the object and the weight force arm of the vehicle body is large, which ensures that the vehicle body is stable during high-speed operation and is not easy to produce jolt and shake. In the case of radar failure, the forklift of the application first provides contact buffering by the peripheral edge of the U-shaped chassis when encountering obstacles or operators, which can effectively protect the safety of personnel and goods. The two sets of diagonally arranged wheel groups cooperate with the balance frame structure, which can make the rotational combined moment of the forces generated by the two rudders on the vehicle center of gravity be zero, thereby making the load rate variation range of the rudder motor smaller, protecting the motor and being able to supplement the height difference of the ground, and improving the driving efficiency.

[0017] Other features and advantages of the application will be set forth in the following description, and in part will become apparent from the description, or can be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings are included to provide a further understanding of the application, and constitute a part of the specification, and together with the embodiments of the application, serve to explain the application, and do not constitute a limitation on the application. In the drawings:

[0019] Figure 1 Perspective view of omnidirectional AGV

[0020] Figure 2 Structure layout diagram of lifting gantry assembly

[0021] Figure 3 Sensor layout diagram of lifting gantry assembly

[0022] Figure 4 Perspective view of front moving transmission assembly

[0023] Figure 5 Installation diagram of front moving transmission assembly

[0024] Figure 6 Power part cross-sectional view of front moving transmission assembly

[0025] Figure 7 Combination layout diagram of U-shaped semi-enclosed structure, balance frame, rudder and steering wheel group

[0026] Figure 8 Structure diagram of pallet fork sensing device

[0027] Figure 9 Balancing frame structure schematic diagram

[0028] Figure 10 Balancing frame isometric sectional view

[0029] Figure 11 In-place rotating steering wheel and steering wheel layout

[0030] Figure 12 Steering wheel and steering wheel layout when driving straight in any direction

[0031] Figure 13 Balancing frame principle schematic diagram when passing obstacles on uneven road surface

[0032] Figure 14 Partial enlarged view of the way the pressure sensor is arranged in the gantry.

[0033] In the figure, 100 represents the chassis power assembly; 200 represents the forward transmission assembly; 300 represents the lifting gantry assembly; 101 represents the steering wheel; 102 represents the steering wheel; 103 represents the balancing frame; 104 represents the safety touch edge; 105 represents the navigation radar; 106 represents the obstacle avoidance radar; 107 represents the electric control box; 108 represents the emergency stop button; 109 represents the two-dimensional code camera; 110 represents the elastic buffer pad; 121 represents the spacer sleeve cover plate; 122 represents the balancing frame bearing seat; 123 represents the spacer sleeve; 124 represents the bearing end cover; 125 represents the self-aligning roller bearing; 126 represents the rotating shaft; 201 represents the rack; 202 represents the linear guide rail; 203 represents the slider; 204 represents the left slider seat; 205 represents the right slider seat; 206 represents the motor; 207 represents the speed reducer; 208 represents the speed reducer seat; 209 represents the forward transmission bearing seat; 210 represents the first oil seal; 211 represents the self-aligning ball bearing; 212 represents the second oil seal; 213 represents the gear; 214 represents the transmission extension shaft; 215 represents the expansion sleeve; 301 represents the lifting gantry; 302 represents the pressure sensor; 303 represents the 3D camera; 304 represents the bar code camera; 305 represents the tray detection photoelectric; 306 represents the pull rope encoder; 310 represents the tray fork picking sensing device; 311 represents the bump plate; 312 represents the bump plate shaft; 313 represents the bump plate sensing sheet; 314 represents the torsional spring; 315 represents the proximity switch. DETAILED DESCRIPTION

[0034] In order to make the purpose and technical scheme of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below in conjunction with the drawings of the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the described embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0035] Those skilled in the art can understand that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with those in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless defined as such herein.

[0036] The meaning of "and / or" described in the present application means that each single existence or both existences are included.

[0037] The meaning of "in, out" described in the present application refers to the direction pointing to the inside of the opening of the U-shaped body as the inside and the opposite direction as the outside with respect to the U-shaped body itself, rather than a specific limitation of the device mechanism of the present application.

[0038] The meaning of "left, right" described in the present application refers to the left side of the user as left and the right side of the user as right when the user is facing the forward direction of the AGV forklift, rather than a specific limitation of the device mechanism of the present application.

[0039] The meaning of "connection" described in the present application can be direct connection between components or indirect connection between components through other components.

[0040] The meaning of "up, down" described in the present application refers to the direction from the ground to the top end of the lifting jib as up and the direction from the bogie to the track system as down when the user is facing the forward direction of the AGV forklift, rather than a specific limitation of the device mechanism of the present application.

[0041] Figure 1 A narrow aisle stack type omnidirectional AGV forklift according to the present application runs in a warehouse system and is used for transferring and carrying goods in a warehouse space composed of stereoscopic shelves. To achieve the picking and placing of goods at different positions and different heights, the AGV forklift can be provided to include:

[0042] A chassis power assembly 100, the main body of which is provided in a U shape, and a balance bracket 103 and two sets of wheel groups arranged diagonally respectively are arranged at the bottom of the U-shaped body;

[0043] A forward movement transmission assembly 200 arranged on both sides of the U-shaped body in the chassis power assembly 100, having a gear and rack assembly arranged along the direction of the U-shaped opening and a slider guide rail assembly parallel to the rack;

[0044] The lifting frame assembly 300 is fixed on the sliding block in the forward movement transmission assembly 200 and is driven by the gear and rack assembly to translate along the direction of the U-shaped opening. The front side of the lifting frame assembly 300 is provided with tines, and the tines are vertically lifted along the frame body.

[0045] The AGV forklift frame of the present application adopts a U-shaped semi-enclosed structure, effectively distributes other components in the X direction, greatly reduces the Y direction size which determines the minimum width of the lane, and makes the lane width as small as possible to increase the utilization rate of the warehouse.

[0046] The two sets of wheels arranged on the vehicle body chassis include a rudder wheel 101 arranged at a diagonal and a steering wheel 102 arranged at another diagonal. The two ends of the balance frame are respectively provided with a rudder wheel 101 and a steering wheel 102, and the bottom of the opening position of the U-shaped body is respectively provided with another rudder wheel 101 and another steering wheel 102. The rudder wheel and the steering wheel are arranged at the four corners of the U-shaped structure, and the area surrounded by the stress points encloses the goods. The distance between the stress points and the center of gravity of the object and the vehicle body is large, which makes it necessary to use a large force to change the motion state of the vehicle body during operation, so that the vehicle body is stable during high-speed operation and is not easy to shake and sway.

[0047] The U-shaped semi-enclosed structure encloses the goods. In the case of radar failure, the safety touch edge is contacted first when encountering obstacles or operators, effectively protecting the safety of personnel and goods. In addition, the U-shaped semi-enclosed structure has a large size in the X direction, can stably run at high speed in the lane, and the forklift is more stable when picking up goods at a high position, which can effectively prevent side falling. In addition, the combination of the chassis, the diagonally arranged rudder wheel and steering wheel, and the balance frame structure solves the problems of slow running speed, severe shaking during walking, and low utilization rate of the warehouse in the current AGV forklift and traditional AGV in the warehouse field.

[0048] Specifically referring to Figure 7 , Figure 9 and Figure 10 , the balance frame 103 in the present application is rotatably connected to the bottom rear end of the U-shaped body by the spacer sleeve cover plate 121, the balance frame bearing seat 122, the spacer sleeve 123, the bearing end cover 124, the self-aligning roller bearing 125, and the rotating shaft 126 arranged in the balance frame body.

[0049] The rotating shaft 126 longitudinally penetrates the balance frame body and is arranged at the center position of the balance frame body and perpendicular to the central axis of the balance frame body.

[0050] The self-aligning roller bearing 125 is arranged at the front and rear ends of the rotating shaft 126.

[0051] Bearing end cover 124, which is closed and connected to the outer side end of the front and rear two self-aligning roller bearings 125, and the front and rear ends of the rotating shaft 126 are closed between the two self-aligning roller bearings 125;

[0052] The spacer sleeve 123 is arranged around the self-aligning roller bearing 125, which blocks the self-aligning roller bearing 125 and the gimbal bearing seat 122;

[0053] The gimbal bearing seat 122 is fixedly installed in the groove at the bottom of the U-shaped body;

[0054] The spacer sleeve cover plate 121 is connected between the spacer sleeve 123 and the gimbal bearing seat 122, and the self-aligning roller bearing 125 and the outer spacer sleeve 123 are limited in the gimbal bearing seat 122.

[0055] Based on the above structure, the two rudders and the two steering wheels are arranged in a diagonal line, one steering wheel is arranged at one end of the gimbal, the other steering wheel is arranged at the other end of the gimbal, the remaining steering wheel is arranged in a diagonal way with the steering wheel on the gimbal at the front end of the U-shaped structure opening, and the remaining steering wheel is also arranged in a diagonal way with the steering wheel on the gimbal at the other side of the front end of the U-shaped structure opening. Therefore, when the AGV forklift travels straight in any direction, the combined moment of the forces generated by the two rudders on the center of gravity of the whole vehicle is zero, and the moment difference of the two rudders in any direction is small due to straight travel, and the load rate of the two rudder walking motors is relatively close, which makes the load rate of the rudder motor change small, which is beneficial to the setting of the motor alarm, and can effectively avoid false alarm and overload damage to the motor. When traveling straight in any direction, only the torque difference output by the rudder is needed to realize the correction of the rotational moment, which ensures that there is no yawing when traveling straight in any direction.

[0056] Referring to Figure 11 , Figure 12 or Figure 13The ground driving system arranged in this way is provided with a steering wheel and a steering wheel at the two ends of the balance bridge at the rear end connecting position of the U-shaped structure. The device can compensate the height difference caused by uneven ground. On the contrary, if the balance frame does not compensate the uneven ground during operation, only three of the four wheels will be in contact with the ground, and one wheel will be in a suspended state. When the forklift passes through relatively flat ground, three wheels will be in contact with the ground, and one wheel will be in a suspended state. Thus, the vehicle body will vibrate and shake during driving, which will affect the driving speed of the vehicle body and the efficiency of warehouse transportation. Due to the intervention of the balance frame, the height difference caused by uneven ground can be eliminated, and the four wheels are always in contact with the ground, so that the vehicle body is not easy to shake, and the driving speed can be effectively increased, and the efficiency of warehouse storage can be improved. Moreover, the structure is simple, easy to assemble and maintain, reliable, adaptable, not easy to damage, and has strong obstacle crossing ability.

[0057] In this application, the steering wheel and the steering wheel can rotate 240 degrees around the rotation axis. By controlling the angle of each wheel, the vehicle can rotate 360 degrees in place, and the turning diameter is only the diagonal length of the vehicle body. In combination with straight line driving in any direction, the turning diameter is greatly reduced. In the industry, the forklift can directly drive in a straight line to the goods pallet in some scenes, without the need for right-angle turning to reach the goods storage area, effectively improving the efficiency.

[0058] To drive the lifting gantry, the front transmission group 200 includes a rack 201, a linear guide 202, a sliding block 203, a left sliding block seat 204, a right sliding block seat 205, a motor 206, a speed reducer 207, a speed reducer seat 208, a front transmission bearing seat 209, a first oil seal 210, a play ball bearing 211, a second oil seal 212, a gear 213, a transmission extension shaft 214, an expansion sleeve 215, etc.

[0059] The gear and rack assembly includes Figure 4 、 Figure 5 or Figure 6 as shown in

[0060] The rack 201 is fixed to the inner side wall of the U-shaped body, and is used to provide a translation direction parallel to the opening of the U-shaped body for the lifting gantry connected by the gear;

[0061] The gear 213 is engaged with the inner side of the rack 201 and rolls back and forth along the opening direction of the U-shaped body;

[0062] A transmission extension shaft 214 is coaxially connected with the gear 213, and is embedded in the inner side of the rack 201. The bottom end of the transmission extension shaft 214 is fixed in the gear 213 by the expansion sleeve 215;

[0063] A speed reducer 207 is drivingly connected with the top end of the transmission extension shaft 214, and provides a torque to the gear through the transmission extension shaft;

[0064] A motor 206 is fixedly connected with the lifting gantry assembly 300. The output shaft of the motor is drivingly connected with the input end of the speed reducer 207, and outputs a driving torque to the speed reducer.

[0065] According to the driving of the gear and the rack, the forklift of the application also shares the load of the lifting gantry and keeps the horizontal moving direction of the lifting gantry through the sliding block guide rail assembly. Figure 4 、 Figure 5 or Figure 6 The sliding block guide rail assembly includes

[0066] A linear guide rail 202 is arranged along the inner side wall of the U-shaped body, and is fixedly installed above the rack 201. The side wall of the linear guide rail 202 is provided with a guide groove parallel to the rolling direction of the gear, for guiding the translation direction of the lifting gantry.

[0067] A sliding block 203 is arranged above the linear guide rail 202. Generally, three sliding blocks 203 can be arranged. The bottom of the three sliding blocks 203 is embedded into the guide groove in the side wall of the linear guide rail 202, and slides along the guide groove.

[0068] A sliding block seat 205 is fixedly installed above the three sliding blocks 203, and extends towards the top of the gear, for installing the motor and the speed reducer, and providing a connection with the side wall of the lifting gantry through the connecting member in Figure 4 , so that the whole gantry can be translated forward and backward according to the driving of the motor.

[0069] A speed reducer seat 208 is fixedly installed on the sliding block seat 205, and is fixedly connected with the speed reducer 207, for fixing the speed reducer, keeping the speed reducer in the coaxial position of the motor and the gear, and realizing the torque transmission.

[0070] A forward transmission bearing seat 209 is fixedly installed below the sliding block seat 205, and surrounds the outer periphery of the transmission extension shaft 214.

[0071] A self-aligning ball bearing 211 is arranged between the forward transmission bearing seat 209 and the transmission extension shaft 214. The upper and lower ends of the self-aligning ball bearing 211 are respectively closed by two oil seal structures, for limiting the deflection of the extension shaft, and keeping the efficient driving output.

[0072] Therefore, the forklift can move the mast back and forth by driving gears with two servo motors and guided by linear guides. This structure is simple and maintenance-free. In particular, by arranging the motors on the side and the gear rack and linear guides running through the U-shaped working opening on both sides of the chassis assembly, the forward and backward movement distance of the mast system can be increased through the through-running linear guides. Compared with the traditional hydraulic cylinder rear-mounted ejection scheme, this forward drive device can effectively reduce the width of the forklift body and the required aisle width, which is more conducive to dense warehouse storage.

[0073] The lifting mast assembly 300 of this forklift is fixedly connected to the slider via connecting structures on its left and right sides, thereby maintaining synchronous operation with the motor, reducer, and slider. The lifting mast 301 is equipped with:

[0074] Pressure sensor 302, its reference Figure 14 The chain screw 321 passes through the lifting gantry 301, with one end tightly attached to the gantry fixing welded part 323 and the other end tightly attached to the nut 322. The nut 322 fixes the pressure sensor on the gantry. The weight on the gantry teeth transmits the signal to the pressure sensor through the chain for weighing.

[0075] The 3D camera 303 is positioned above the fork teeth on the lifting gantry 301 and has a shooting angle facing the tip of the fork teeth.

[0076] A barcode camera 304 is positioned above the fork teeth on the lifting gantry 301 and has a scanning range toward the tips of the fork teeth.

[0077] The pallet detection photoelectric sensor 305 is located at the front end of the fork teeth on the lifting mast 301;

[0078] A pull-cord encoder 306 is arranged on the side of the lifting gantry 301. The output end of the pull-cord encoder 306 is fixed on the fork seat behind the fork. The fork seat moves up and down along the gantry to lift or lower the goods carried by the fork. The output end moves up and down synchronously with the fork seat to drive the pull-cord encoder. The pull-cord encoder detects the length of the pulled-out line to determine the real-time height position of the fork in the gantry.

[0079] To protect the safe operation of the equipment and ensure that the forklift can accurately reach the target location, this application also includes the following on the chassis power assembly 100:

[0080] Safety contact edge 104 is arranged around the outer perimeter of the bottom of the U-shaped main body;

[0081] Navigation radar 105 is located at one corner of the opening on the front side of the U-shaped main body;

[0082] The obstacle avoidance radar is located at one corner of the rear connection point of the U-shaped main body;

[0083] An electric control box 107 is arranged at the rear connecting position of the U-shaped body;

[0084] An emergency stop button 108 is arranged at the top corner of the U-shaped body;

[0085] A two-dimensional code camera 109 is arranged at the bottom of the U-shaped body, having a shooting angle towards the running surface of the device;

[0086] An elastic buffer pad 110 is arranged at the top of the two ends of the balance frame at the bottom of the U-shaped body, and is kept between the end of the balance frame and the bottom plate of the U-shaped body when the balance frame is lifted upward.

[0087] Among them, two diagonally arranged navigation radars constitute a navigation positioning system. It first scans the surrounding environment 360 degrees to form a map, and in the running process, the position of the vehicle body in space is judged by the different features of the surrounding environment and the recognized distance. For the surrounding environment, it is easy to cause the navigation radar to misjudge, and the reflective column can be increased. Because the reflective column has a particularly high reflection intensity on the laser radar, the radar can be filtered to simplify the surrounding complex environment, and finally avoid the misjudgment of the navigation radar.

[0088] For occasions with particularly high positioning accuracy requirements, the above radar positioning cannot meet the requirements, and two-dimensional codes can also be arranged on the ground. Thus, a two-dimensional code camera is installed on the U-shaped leg of the forklift on one side near the middle of the vehicle body, and the two-dimensional code camera is used to identify the ground two-dimensional code label to realize the precise positioning of the omnidirectional lifting and transporting device in the tunnel.

[0089] In the structure of the forklift, two navigation radars and two obstacle avoidance radars arranged diagonally constitute an obstacle avoidance device. When the radar detects an obstacle at a certain distance from the vehicle body, it will send a command to the PLC to make the running vehicle stop, realizing the 360-degree obstacle avoidance function around the vehicle body.

[0090] The safety touch edge arranged around the U-shaped half-enclosed structure can transmit corresponding signals to the vehicle body when the moving vehicle body collides with an object, so that the vehicle body can be stopped urgently.

[0091] The emergency stop button switch is arranged at the four corners of the vehicle body as shown in the figure. By pressing any one of them, all movements of the device can be quickly stopped. In a narrow space such as a tunnel, an emergency stop can be made by pressing the nearest button when an emergency occurs. In addition, a remote controller for emergency stop is also provided. When the device is running, one-key emergency stop can be realized within the remote control range to handle emergencies.

[0092] The visual detection device is composed of a 3D camera and a barcode camera installed on the portal, the 3D camera takes pictures as a reference to the calibrated tray, compares the pictures with the reference, and finally sends instructions to the control system through calculation to automatically correct the deviation of the vehicle body, the barcode camera reads the tray barcode information, sends the identified tray placement area to the control system, and finally transports the tray to the corresponding stacking area.

[0093] Two detection photoelectric arrangements are arranged at the front end of the pin, which can detect whether there is an obstacle in front of the pin when the forklift forks the tray, to prevent accidents caused by forking goods in the case of 3D camera recognition error.

[0094] Because the load of the portal is different at different heights, two pressure sensors are arranged at the chain end of the seat connected to the pin on both sides of the portal, which can measure the weight of the forked goods through the pressure sensor when the goods are forked, limit the lifting height through the weight of the goods, prevent the occurrence of high overload, and ensure safety.

[0095] The side of the portal is arranged with a stay wire encoder, which can feedback the high progress of the pin in real time during lifting to ensure that the goods accurately and efficiently reach the designated position.

[0096] In addition, in order to detect the forking position of the tray and avoid the damage to the tines caused by the tines extending too deep, the bottom of the lifting portal 301 is also provided with a tray forking sensing device 310, which is installed at the root of the tine and includes:

[0097] The mounting frame can be provided as a rectangular box structure and is fixedly arranged at the root of the tine and has an opening extending towards the tine, and at least one rib plate is longitudinally arranged in the mounting frame;

[0098] The striker plate shaft 312 is horizontally fixed at the top of the mounting frame;

[0099] The striker plate 311 is rotatably connected to the striker plate shaft 312 at the top through a torsional spring 314, and can be flipped up and down relative to the extension direction of the tine with the striker plate shaft 312 as the center of rotation, the bottom of the striker plate 311 is a free end, the inner side of the torsional spring 314 is limited to the inner wall of the top of the mounting frame, and the outer side of the torsional spring 314 is an elastic end, which can flip the striker plate 311 upward, so that the bottom of the striker plate 311 is inclined to the front end of the tine, and remains in the state of protruding outward from the opening of the mounting frame without external force;

[0100] The striker plate sensing sheet 313 is fixedly installed on the back side of the striker plate 311 and extends towards the rib plate inside the mounting frame, and can be flipped synchronously with the striker plate 311;

[0101] A proximity switch 315 is fixedly arranged on the web plate of the mounting frame, and is used to detect the position distance of the inside of the baffle sensing sheet 313 relative to the web plate.

[0102] During the process of picking up the goods fork, the pinion moves forward to pick up the pallet, when the pinion extends into the bottom of the goods pallet to a certain extent, the pallet and the baffle contact, and with the continuous forward movement of the pinion, the baffle is abutted and limited by the goods pallet, so as to rotate about the baffle shaft. During the process of the baffle 311 turning inward, the baffle sensing sheet also rotates with the baffle to the inside of the mounting frame, when the baffle sensing sheet enters the sensing area of the proximity switch, the proximity switch gets the signal, so that the system can trigger the sensing signal when the baffle sensing sheet 313 turns close to the web with the baffle 311 to determine that the pallet fork is in place, and cancel the sensing signal when the baffle sensing sheet 313 turns away from the web with the baffle 311 to determine that the pallet fork is not in place.

[0103] Therefore, when the baffle hits the pallet, the proximity switch triggers after walking a certain distance, the gantry moves forward and stops, which avoids the situation that the gantry hits the pallet and causes the pallet to be skewed.

[0104] In summary, the chassis power assembly and the forward movement transmission assembly are modularized, the standardization degree and the universality of the structure of the product are improved, different gantries only need to be replaced according to different requirements of height, and the design cost and period are greatly reduced.

[0105] In addition, the use of the self-aligning roller bearing can reduce the problem of different centers of the two ends of the rotating shaft caused by external factors such as machining, the spacer and the bearing end cover can effectively fix the self-aligning roller bearing, so that the fixed side bearing does not move, and the bearing end cover is used to fix the inner ring of the bearing to prevent it from falling off.

[0106] Considering that the uneven ground will bring a large impact to the power unit, the balance device is used to improve the driving performance of the wheels on the undulating road surface, and elastic buffers are arranged at both ends of the balance device, so that the impact of the uneven ground on the rotating shaft and the wheels thereon is buffered and absorbed through the elastic buffer device.

[0107] The above is only an embodiment of the application, which is described in detail and specifically, but cannot be understood as a limitation on the scope of the patent. It should be noted that, for ordinary skilled persons in the art, without departing from the concept of the application, a number of modifications and improvements can be made, which are all within the protection scope of the application.

Claims

1. A narrow aisle reach stacker omnidirectional AGV fork truck, characterized by, The application relates to a lifting device, which comprises the following parts: a chassis power assembly (100), the main body of which is arranged in a U shape, and two sets of wheels are arranged at two opposite angles respectively; a front moving transmission assembly (200), which is arranged on the two sides of the U-shaped main body of the chassis power assembly (100) and is parallel to each other, and the front moving transmission assembly (200) is provided with a gear and rack assembly arranged along the opening direction of the U-shaped main body and a sliding block guide rail assembly parallel to the rack; a lifting gantry assembly (300) fixed on the sliding block in the front moving transmission assembly (200) and driven by the gear and rack assembly to move along the opening direction of the U-shaped main body, and the front side of the lifting gantry assembly (300) is provided with a fork tooth which moves vertically along the gantry main body.

2. The narrow-aisle, lift truck omnidirectional AGV fork truck of claim 1, wherein, One set of wheels is a rudder wheel (101) arranged at an angle, and the other set of wheels is a steering wheel (102) arranged at another angle, wherein the two ends of the balance frame are respectively provided with a rudder wheel (101) and a steering wheel (102), and the bottom of the opening position of the U-shaped main body is respectively provided with another rudder wheel (101) and another steering wheel (102).

3. The narrow-aisle, lift truck omnidirectional AGV fork truck of claim 1, wherein, The balance frame (103) is rotatably connected to the bottom rear end of the U-shaped main body through a spacer sleeve cover plate (121), a balance frame bearing seat (122), a spacer sleeve (123), a bearing end cover (124), a self-aligning roller bearing (125) and a rotating shaft (126) arranged in the balance frame main body. The rotating shaft (126) longitudinally penetrates the balance frame main body, is arranged at the central position of the balance frame main body and is perpendicular to the central axis of the balance frame main body. The self-aligning roller bearing (125) is arranged at the front and rear ends of the rotating shaft (126). The bearing end cover (124) is connected to the outer end of the front and rear self-aligning roller bearings (125) and seals the front and rear ends of the rotating shaft (126) in the two self-aligning roller bearings (125) respectively. The spacer sleeve (123) is arranged outside the self-aligning roller bearing (125) and separates the self-aligning roller bearing (125) from the balance frame bearing seat (122). The balance frame bearing seat (122) is fixedly installed in the groove at the bottom of the U-shaped main body. The spacer sleeve cover plate (121) is connected between the spacer sleeve (123) and the balance frame bearing seat (122) and limits the self-aligning roller bearing (125) and the spacer sleeve (123) outside the self-aligning roller bearing (125) in the balance frame bearing seat (122).

4. The narrow-aisle, lift truck omnidirectional AGV fork truck of claim 1, wherein, The gear and rack assembly comprises the following parts: a rack (201) fixed to the inner side wall of the U-shaped main body; a gear (213) engaged with the inner side of the rack (201) and rolling along the opening direction of the U-shaped main body; a transmission elongated shaft (214) coaxially connected with the gear (213) and arranged on the inner side of the rack (201), and the bottom end of the transmission elongated shaft (214) is fixed in the gear (213) by an expansion sleeve (215); a speed reducer (207) drivingly connected with the top end of the transmission elongated shaft (214) and providing a torque to the gear through the transmission elongated shaft; a motor (206) fixedly connected with the lifting gantry assembly (300), and the output shaft of the motor is drivingly connected with the input end of the speed reducer (207) to output a driving torque to the speed reducer.

5. The narrow-aisle, lift truck omnidirectional AGV fork truck of claim 1, wherein, The sliding block guide rail assembly comprises the following parts: Linear guide rail (202) is arranged along the inner side wall of the U-shaped body, fixedly installed above the rack (201), and the side wall of the linear guide rail (202) is provided with a guide groove parallel to the rolling direction of the gear; The sliding block (203) is arranged above the linear guide rail (202), and the two sides of the sliding block (203) are embedded in the guide grooves of the side walls of the linear guide rail (202) and slide along the guide grooves; The sliding block seat (205) is fixedly installed above the sliding block (203) and extends towards the top of the gear; The speed reducer seat (208) is fixedly installed on the sliding block seat (205) and is fixedly connected with the speed reducer (207); The front moving transmission bearing seat (209) is fixedly installed below the sliding block seat (205) and surrounds the outer periphery of the transmission extension shaft (214); The self-aligning ball bearing (211) is arranged between the front moving transmission bearing seat (209) and the transmission extension shaft (214), and the upper and lower ends of the self-aligning ball bearing (211) are respectively closed by two oil seal structures.

6. The narrow-aisle, lift truck omnidirectional AGV fork truck of claim 1, wherein, The lifting door frame assembly (300) is arranged with any one of the following components or a combination of any of the following components on the lifting door frame (301): The pressure sensor (302) penetrates the chain screw (321) of the lifting door frame (301), one end is tightly welded to the door frame fixed welding part (323), and the other end is tightly attached to the nut (322), the nut (322) fixes the pressure sensor on the door frame, and the weight on the door frame pin is weighed by transmitting the signal to the pressure sensor through the chain; The 3D camera (303) is arranged above the tine of the lifting door frame (301) and has a shooting angle towards the tine tip; The bar code camera (304) is arranged above the tine of the lifting door frame (301) and has a scanning range towards the tine tip; The tray detection photoelectric (305) is arranged at the front end of the tine of the lifting door frame (301); The pull rope encoder (306) is arranged on the side of the lifting door frame (301), the outgoing end of the pull rope encoder (306) is fixed on the tine seat behind the tine, the tine seat moves up and down along the door frame to realize the lifting or lowering of the goods carried by the tine, and the outgoing end synchronously drives the pull rope encoder with the up and down movement of the tine seat, and the pull rope encoder detects the length of the pulled-out wire to judge the real-time height position of the tine in the door frame.

7. The narrow-aisle, lift truck omnidirectional AGV fork truck of claim 6, wherein, The bottom of the lifting door frame (301) is also provided with a tray fork taking sensing device (310) installed at the root of the tine, which comprises: The mounting frame is fixedly arranged at the root of the tine, and at least one rib plate is arranged longitudinally in the mounting frame; The striker plate shaft (312) is horizontally fixed at the top of the mounting frame; The striker plate (311) is rotationally connected to the striker plate shaft (312) at the top through a torsional spring (314), and the bottom of the striker plate (311) is a free end, the inner side of the torsional spring (314) is limited to the inner wall of the top of the mounting frame, the outer side of the torsional spring (314) turns the striker plate (311) upward, and the bottom of the striker plate (311) is inclined to the front end of the tine. The baffle induction sheet (313) is fixedly installed on the back side of the baffle (311) and extends to the rib plate inside the installation frame; The proximity switch (315) is fixedly arranged on the rib plate of the installation frame and is used for detecting the position inside the baffle induction sheet (313). When the baffle induction sheet (313) is flipped with the baffle (311) to approach the rib, the induction signal is triggered to determine that the tray fork is in place. When the baffle induction sheet (313) is flipped with the baffle (311) to move away from the rib, the induction signal is cancelled to determine that the tray is not forked.

8. The narrow-aisle, lift truck omnidirectional AGV fork truck of claim 1, wherein, The chassis power assembly (100) is also arranged with: A safety touch edge (104) is arranged around the outer periphery of the bottom of the U-shaped body; A navigation radar (105) is arranged at a corner of the front side of the opening of the U-shaped body; An obstacle avoidance radar is arranged at a corner of the rear side of the U-shaped body; An electric control box (107) is arranged at the rear side of the U-shaped body; An emergency stop button (108) is arranged on the top corners of the U-shaped body; A two-dimensional code camera (109) is arranged at the bottom of the U-shaped body, having a shooting angle towards the running surface of the device; Elastic buffer pads (110) are arranged at the top of the two ends of the balance frame at the bottom of the U-shaped body, and are kept between the end of the balance frame and the bottom plate of the U-shaped body when the balance frame is lifted upward.

9. A warehousing system characterized by, The three-dimensional storage space is operated by the narrow aisle high-piled omnidirectional AGV forklift as claimed in any one of claims 1-8.

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