Forklift AGV
With its omnidirectional chassis and telescopic forklift mechanism, the forklift AGV can pick up and place goods without rotating the chassis, improving efficiency and increasing the rack density of the warehousing system.
Patent Information
- Application Number
- CN202520143280.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-21
- Publication Date
- 2026-02-03
- Estimated Expiration
- 2035-01-21
AI Technical Summary
Forklift AGVs are inefficient at picking up and placing goods, and their vehicle structure requires a large aisle width, which reduces the racking density of the warehousing system.
The design incorporates an omnidirectional chassis, a mast, and a telescopic forklift mechanism. The mast is fixed to one side of the chassis, while the telescopic forklift mechanism can move up and down along the mast and pick up and put down goods without rotating the chassis. Combined with the mobility of the omnidirectional chassis, it enables efficient goods transportation between racks.
It improves the efficiency of picking and placing goods, reduces the size of forklifts in the aisle direction, adapts to narrower aisles, and enhances the racking density of the warehousing system.
Smart Images
Figure CN223866319U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of logistics and warehousing technology, and in particular to a forklift AGV. Background Technology
[0002] AGV (Automated Guided Vehicle) refers to an automated guided vehicle, equipped with an automatic guidance system that allows it to travel along a predetermined path. It is a transport vehicle with safety protection and loading functions. AGVs typically consist of a vehicle body and a picking mechanism. AGVs with a forklift picking mechanism are called forklift AGVs, which are commonly used to pick up pallets carrying goods.
[0003] In related technologies, the forks of a forklift AGV are located at the front of the vehicle. When the forklift AGV travels along the aisle to the target position, it needs to rotate the vehicle first so that the forks face the rack on one side of the aisle before picking up the goods. This results in low picking and placing efficiency of the forklift AGV. In addition, because there is a counterweight at the rear of the vehicle, its turning radius is large, which requires a larger aisle width and lower rack density in the warehousing system. Utility Model Content
[0004] The purpose of this application is to provide a forklift AGV to improve the efficiency of picking and placing goods, as well as the rack density of the warehousing system. The specific technical solution is as follows:
[0005] This application provides a forklift AGV, including: an omnidirectional chassis, a mast, and a telescopic forklift mechanism; the mast is fixedly disposed on a first side of a first direction of the omnidirectional chassis; the telescopic forklift mechanism is movably mounted on the mast, capable of moving up and down along the mast, and extending or retracting along the first direction to the omnidirectional chassis to pick up and place goods; the omnidirectional chassis can drive the mast and the telescopic forklift mechanism disposed thereon to move along a second direction of the omnidirectional chassis in the aisles between shelves; and can move along the first direction toward the shelves, such that a portion of the omnidirectional chassis extends into the bottom of the shelves; the second direction is perpendicular to the first direction.
[0006] In some embodiments of this application, the shelves on both sides of the aisle are single-depth shelves; the omnidirectional motion chassis is used to move along the second direction in the aisle between the shelves to the target column on the shelf where the target position is located; or, it is used to move along the second direction in the aisle between the shelves to the target column on the shelf where the target position is located, and move along the first direction toward the target column, such that part of the omnidirectional motion chassis extends into the bottom of the target column of the shelf; the telescopic forklift mechanism is used to move up and down on the mast to correspond to the target position, and pick up and put away goods from the shelf along the first direction.
[0007] In some embodiments of this application, the shelves on both sides of the aisle are multi-depth shelves; the omnidirectional motion chassis is used to move along the second direction through the aisle between the shelves to the target column on the shelf where the target position is located; and when picking up or placing goods on the shelf away from the aisle's storage position, it further moves along the first direction toward the target column, so that part of the omnidirectional motion chassis extends into the bottom of the target column of the shelf; the telescopic forklift mechanism is used to move up and down the mast to correspond to the target position, and when picking up or placing goods on the shelf away from the aisle's storage position, it extends along the first direction to the target position to pick up or place goods from the shelf.
[0008] In some embodiments of this application, the telescopic forklift mechanism includes a telescopic mechanism and forks. The fixed end of the telescopic mechanism is connected to the mast, and the telescopic end of the telescopic mechanism is connected to the forks. The forks can extend and retract along a first direction under the drive of the telescopic mechanism to pick up goods on the shelf.
[0009] In some embodiments of this application, the fork includes a connecting mechanism, a fork plate, and two fork arms arranged sequentially along a first direction; one side of the connecting mechanism is connected to the telescopic mechanism, and the other side is connected to the fork plate; the two fork arms are fixed to the fork plate in parallel and spaced apart along a second direction.
[0010] In some embodiments of this application, the fork further includes: an angle adjustment mechanism; the connecting mechanism includes two connecting arms spaced apart along a second direction; both connecting arms are hinged to the top of the fork plate; the angle adjustment mechanism is disposed on the connecting arms and can drive the fork plate and the fork arms on the fork plate to rotate based on the hinge point between the top and the connecting arms.
[0011] In some embodiments of this application, the angle adjustment mechanism includes: an angle adjustment hydraulic cylinder and a roller; the first cylinder body of the angle adjustment hydraulic cylinder is fixed to the connecting arm; the roller is disposed at the end of the first piston rod of the angle adjustment hydraulic cylinder and contacts the lower part of the fork plate; the angle adjustment hydraulic cylinder is used to cause the roller to drive the fork plate to rotate based on the hinge point between the top of the fork plate and the connecting arm by extending and retracting the first piston rod.
[0012] In some embodiments of this application, the gantry includes an outer gantry and an inner gantry; the outer gantry is fixedly connected to the omnidirectional motion chassis; the inner gantry is disposed inside the outer gantry and is movably connected to the outer gantry in the vertical direction; the telescopic mechanism of the telescopic fork is connected to the inner gantry and can move up and down under the drive of the inner gantry.
[0013] In some embodiments of this application, the telescopic mechanism includes: a mounting frame, a scissor mechanism, and a telescopic drive mechanism; the mounting frame is disposed between the two uprights of the inner mast and connected to the inner mast; one end of the scissor mechanism is hinged to the mounting frame, and the other end is hinged to the fork; the telescopic drive mechanism is disposed on the mounting frame and drivenly connected to the scissor mechanism, and is used to drive the scissor mechanism to extend or retract the fork along a first direction.
[0014] In some embodiments of this application, the scissor mechanism includes multiple sets of scissor arms that are sequentially hinged along a first direction; each set of scissor arms includes two parallel and spaced-apart outer fork arms and two parallel and spaced-apart inner fork arms, with the outer and inner fork arms on the same side crossing and hinged; the two outer fork arms and two inner fork arms of the set of scissor arms closest to the mounting frame are hinged to the mounting frame; the two outer fork arms and two inner fork arms of the set of scissor arms closest to the forks are hinged to the forks.
[0015] In some embodiments of this application, the telescopic drive mechanism is at least one telescopic drive hydraulic cylinder; the telescopic drive hydraulic cylinder is disposed in the internal space of the scissor arm; the second cylinder body of the telescopic drive hydraulic cylinder is hinged to the mounting bracket, and the second piston rod is hinged to the scissor arm; the telescopic drive hydraulic cylinder is used to extend or retract the scissor arm of the scissor mechanism by extending or retracting the second piston rod.
[0016] In some embodiments of this application, the forklift AGV further includes: a chain; a fixed wheel is provided on the top inner side of the inner mast; a first end of the chain is fixedly connected to the telescopic forklift mechanism, and a second end passes around the fixed wheel and is fixedly connected to the outer mast; when the inner mast moves up and down, the fixed wheel follows the inner mast up and down, causing the second end of the chain to drive the telescopic forklift mechanism to move up and down.
[0017] In some embodiments of this application, the forklift AGV includes: a lifting hydraulic cylinder; the third cylinder body of the lifting hydraulic cylinder is fixed to the outside of the outer mast, and the third piston rod is fixedly connected to the inner mast; the lifting hydraulic cylinder is used to drive the inner mast to move up and down relative to the outer mast by extending and retracting the third piston rod.
[0018] In some embodiments of this application, the omnidirectional chassis is provided with a receiving slot; the receiving slot corresponds to the position of the fork of the telescopic fork-taking mechanism, and is used to receive the fork when the telescopic fork-taking mechanism is in its lowest state, so that the fork can pick up goods on the ground.
[0019] In some embodiments of this application, the omnidirectional motion chassis includes: a chassis, two floating drive mechanisms and four omnidirectional casters; the two floating drive mechanisms are respectively disposed on both sides of the receiving through slot, and the center line connecting the two floating drive mechanisms passes through the motion center of the chassis; the four omnidirectional casters are respectively disposed at the four corners of the chassis.
[0020] Beneficial effects of the embodiments in this application:
[0021] The forklift AGV provided in this embodiment has a mast and telescopic forklift mechanism disposed on a first side of a first direction of an omnidirectional chassis. The telescopic forklift mechanism can extend and retract along the first direction. When picking up or placing goods, the omnidirectional chassis does not need to rotate, and the telescopic forklift mechanism can pick up or place goods, thus improving the efficiency of picking up and placing goods. When the omnidirectional chassis moves in the aisle, the telescopic forklift mechanism is in a retracted state, which can reduce the size of the forklift AGV in the first direction, that is, in the aisle width direction, so as to adapt to narrow aisles, thereby improving the rack density of the warehousing system.
[0022] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description
[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.
[0024] Figure 1a A three-dimensional structural diagram of the forklift AGV provided in the embodiments of this application;
[0025] Figure 1b for Figure 1a The diagram shows the three-dimensional structure of the forklift AGV with the telescopic forklift mechanism extended.
[0026] Figure 1c for Figure 1b The diagram shown is a 3D structural diagram of a forklift AGV in the lifting state of its telescopic forklift mechanism.
[0027] Figure 2a When the shelving is a single-depth shelving Figure 1a The image shows a top view of the forklift AGV before it picks up the goods.
[0028] Figure 2b for Figure 2a The image shows a front view of a forklift AGV carrying goods moving through an aisle.
[0029] Figure 2c for Figure 2aThe image shows a top view of a forklift AGV carrying goods moving through an aisle.
[0030] Figure 2d for Figure 2b The forklift AGV shown is a front view of a first embodiment where goods are placed on a shelf;
[0031] Figure 2e for Figure 2b The forklift AGV shown is a front view of a second embodiment where goods are placed on a shelf;
[0032] Figure 3a When the shelving is of multi-depth, Figure 1a The image shows a top view of the forklift AGV before it picks up the goods.
[0033] Figure 3b for Figure 3a The image shows a top view of a forklift AGV carrying goods moving through an aisle.
[0034] Figure 3c for Figure 3b The diagram shows a three-dimensional structure of a forklift AGV whose omnidirectional chassis extends into the bottom of the rack.
[0035] Figure 3d for Figure 3c The front view shows the forklift AGV's telescopic forklift mechanism placing goods on the side of the rack away from the aisle.
[0036] Figure 4a for Figure 1a The forklift AGV shown is a front view.
[0037] Figure 4b for Figure 1a The forklift AGV shown is a side view.
[0038] Figure 4c for Figure 1a The top view of the forklift AGV shown;
[0039] Figure 4d for Figure 1a The forklift AGV shown is in a top view.
[0040] Figure 5 for Figure 1a The diagram shows the three-dimensional structure of the omnidirectional motion chassis and gantry.
[0041] Figure 6 for Figure 1a A three-dimensional structural diagram of the gantry and telescopic fork mechanism shown.
[0042] Figure 7a for Figure 1a The diagram shows the three-dimensional structure of the telescopic fork mechanism.
[0043] Figure 7b for Figure 7a A three-dimensional structural diagram of the telescopic fork mechanism shown from another angle;
[0044] Figure 8 for Figure 4a The diagram shows the three-dimensional structure of the omnidirectional motion chassis.
[0045] Figure label:
[0046] Omnidirectional motion chassis 100; chassis 110; receiving slot 111; camera mounting plate 112; floating drive mechanism 120; drive assembly 121; drive wheel 122; swivel caster 130; chassis top cover 140; control panel 150; barcode reader camera 160;
[0047] Frame 200; outer frame 210; first guide wheel 211; chain connecting plate 212; inner frame 220; fixed wheel 221; top plate 222; fixing part 2221; diagonal tie rod 230; upper end ear plate 231; lower end ear plate 232;
[0048] Telescopic fork lifting mechanism 300; telescopic mechanism 310; mounting bracket 311; second guide wheel 3111; scissor fork mechanism 312; scissor fork arm 3121; outer fork arm 3121a; inner fork arm 3121b; stiffening plate 3121c; telescopic drive mechanism 313; second cylinder body 313a; second piston rod 313b; fork 320; connecting mechanism 321; connecting arm 3211; fork plate 322; extension arm 3221; fork arm 323; angle adjustment mechanism 324; angle adjustment hydraulic cylinder 3241; first cylinder body 3241a; roller 3242;
[0049] Chain 410; Lifting hydraulic cylinder 420; Third cylinder body 420a; Third piston rod 420b;
[0050] Lane 500;
[0051] Shelf 600; First shelf 600A; Second shelf 600B; Storage layer 610; Storage position 611;
[0052] Goods 700. Detailed Implementation
[0053] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.
[0054] As mentioned in the background section, AGVs typically include a vehicle body and a picking mechanism. AGVs with a picking mechanism in the form of forks are called forklift AGVs, which are often used to pick up pallets carrying goods.
[0055] In related technologies, the forks of a forklift AGV are located at the front of the vehicle. When the forklift AGV travels along the aisle to the target position, it needs to rotate the vehicle first so that the forks face the rack on one side of the aisle before picking up the goods. This results in low picking and placing efficiency of the forklift AGV. In addition, because there is a counterweight at the rear of the vehicle, its turning radius is large, which requires a larger aisle width and lower rack density in the warehousing system.
[0056] To improve the efficiency of picking and placing goods, and the density of shelving in the warehousing system, this application provides a forklift AGV (Automated Guided Vehicle). See [link to relevant documentation]. Figures 1a to 2a , Figure 1a A three-dimensional structural diagram of the forklift AGV provided in the embodiments of this application; Figure 1b for Figure 1a The diagram shows the three-dimensional structure of the forklift AGV with the telescopic forklift mechanism extended. Figure 1c for Figure 1b The diagram shown is a 3D structural diagram of a forklift AGV in the lifting state of its telescopic forklift mechanism. Figure 2a When the shelving is a single-depth shelving Figure 1a The image shows a top view of the forklift AGV before it picks up the goods.
[0057] like Figures 1a to 2a As shown, the forklift AGV includes: an omnidirectional chassis 100, a mast 200, and a telescopic forklift mechanism 300.
[0058] The gantry 200 is fixedly mounted on the first side of the omnidirectional chassis 100 in the first direction x; the telescopic forklift mechanism 300 is movably mounted on the gantry 200, and can move up and down along the gantry 200, and extend or retract along the first direction x to the omnidirectional chassis 100 to pick up and put down goods 700.
[0059] The omnidirectional motion chassis 100 can drive the mast 200 and the telescopic forklift mechanism 300 mounted on it to move along the second direction y of the omnidirectional motion chassis 100 in the aisle 500 between the shelves 600; and can move along the first direction x toward the shelves 600, so that part of the omnidirectional motion chassis 100 extends into the bottom of the shelves 600. The second direction y is perpendicular to the first direction x.
[0060] Specifically, such as Figures 1a to 1cAs shown, in this embodiment, the mast 200 is located on the left side of the omnidirectional chassis 100, and the telescopic mechanism 310 and forks 320 are mounted on the mast 200, facing to the right. In other embodiments, the mast 200 may also be located on the right side of the omnidirectional chassis 100, with the telescopic mechanism 310 and forks 320 facing to the left. This application does not limit this to any particular embodiment.
[0061] The first direction x is the direction from the first side of the omnidirectional chassis 100 to the second side opposite to the first side, and is perpendicular to the length direction of the tunnel 500; the second direction y is parallel to the length direction of the tunnel 500.
[0062] The omnidirectional motion chassis 100 is a motion chassis that can move along the first direction x, the second direction y, and rotate in place. The omnidirectional motion chassis 100 is used to drive the gantry 200 and the telescopic forklift mechanism 300 to move along the aisle 500, so that the telescopic forklift mechanism 300 can pick up and put down different goods 700 in the length direction of the shelf 600, and to drive the gantry 200 and the telescopic forklift mechanism 300 to move in a direction perpendicular to the aisle 500, so that the telescopic forklift mechanism 300 can pick up and put down different goods 700 in the width direction of the shelf 600.
[0063] If there is a deviation between the actual position of the telescopic forklift mechanism 300 and the target position when the telescopic forklift mechanism 300 is picking up or placing goods, it can be finely adjusted by moving the omnidirectional motion chassis 100 along the second direction y, which can improve the picking and placing accuracy of the forklift AGV.
[0064] like Figure 1a As shown, when the telescopic forklift mechanism 300 is in the retracted state, it is completely located on the omnidirectional chassis 100, which makes the size of the forklift AGV smaller in the first direction x, and can adapt to narrower aisles 500.
[0065] The storage system comprises multiple racking units, arranged sequentially at intervals, with aisles 500 formed between adjacent racking units. Each racking unit includes at least one row of racks 600, and the number of racks 600 included in each racking unit can be the same or different. The racks 600 can be... Figure 2a The single-depth shelving shown can also be multi-depth shelving. This application does not limit the number or type of shelving 600 included in the shelving unit.
[0066] like Figure 2a As shown, when the forklift AGV needs to pick up or put down goods 700 on the right shelf 600 of aisle 500, it can directly pick up or put down the goods through the telescopic forklift mechanism 300 in aisle 500, or it can move along the first direction x so that part of the omnidirectional motion chassis 100 extends into the bottom of the shelf 600. At this time, the telescopic forklift mechanism 300 can pick up or put down the goods without telescopic movement.
[0067] When a forklift AGV needs to pick up or place goods on the shelf 600 on the left side of aisle 500, it can enter aisle 500 on the left side of shelf 600 to pick up the goods, or it can rotate in place so that the telescopic forklift mechanism 300 faces shelf 600 to pick up the goods. See the following description for details.
[0068] It should be noted that Goods 700 specifically refers to pallets and the goods supported on the pallets or the containers containing the goods. Pallets are usually crisscross or cross-shaped, but this application does not specify a particular type.
[0069] The forklift AGV provided in this embodiment has a mast 200 and a telescopic forklift mechanism 300 disposed on a first side of a first direction x of an omnidirectional chassis 100. The telescopic forklift mechanism 300 can extend and retract along the first direction x. When picking up or placing goods 700, the omnidirectional chassis 100 does not need to rotate, and the telescopic forklift mechanism 300 can pick up or place goods 700, improving the efficiency of picking up and placing goods. When the omnidirectional chassis 100 moves within the aisle 500, the telescopic forklift mechanism 300 is in a retracted state, which can reduce the size of the forklift AGV in the first direction x, i.e., in the width direction of the aisle 500, and can adapt to narrower aisles 500, thereby improving the rack density of the warehousing system.
[0070] In some embodiments of this application, see Figures 2b to 2e , Figure 2b for Figure 2a The image shows a front view of a forklift AGV carrying goods moving through an aisle. Figure 2c for Figure 2a The image shows a top view of a forklift AGV carrying goods moving through an aisle. Figure 2d for Figure 2b The forklift AGV shown is a front view of a first embodiment where goods are placed on a shelf; Figure 2e for Figure 2b The forklift AGV shown is a front view of a second embodiment where goods are placed on a shelf. Figures 2a to 2d As shown, the shelves 600 on both sides of aisle 500 are single-depth shelves.
[0071] The omnidirectional motion chassis 100 is used to move along the second direction y through the aisle 500 between the shelves 600 to the target column on the shelf 600 where the target position is located; or, it is used to move along the second direction y through the aisle 500 between the shelves 600 to the target column on the shelf 600 where the target position is located, and move along the first direction x toward the target column, such that a portion of the omnidirectional motion chassis 100 extends into the bottom of the target column of the shelf 600.
[0072] The telescopic forklift mechanism 300 is used to move up and down the mast 200 to correspond to the target position and to pick up and put goods 700 from the shelf 600 along the first direction x.
[0073] Specifically, such asFigure 2b As shown, each row of shelves 600 includes at least one storage layer 610 spaced apart in the vertical direction. Each storage layer 610 is divided into multiple storage positions 611 for storing goods 700.
[0074] The height of the omnidirectional motion chassis 100 is lower than the height of the bottom storage layer 610 of the shelf 600, so that it can partially extend into the bottom of the shelf 600.
[0075] Below, refer to Figures 2a to 2d The process of a forklift AGV moving goods 700 on the ground to shelves 600 in a first embodiment will be described.
[0076] Step A: The omnidirectional chassis 100 moves the gantry 200 and telescopic forklift mechanism 300 mounted on it to a position corresponding to the goods 700 on the ground. This position is not limited to... Figure 2a The telescopic forklift mechanism 300 is shown to be located on the left side of the cargo 700, but it can also be in front, behind or to the right, as long as the telescopic forklift mechanism 300 faces the cargo 700.
[0077] Step B: The telescopic forklift mechanism 300 moves on the gantry to a position corresponding to the height of the cargo 700 and extends toward the cargo 700. After picking up the cargo 700, it retracts back into the omnidirectional motion chassis 100.
[0078] Step C: The omnidirectional motion chassis 100 enters the aisle 500 and moves to the position corresponding to the column where the target storage location 611 is located. The telescopic forklift mechanism 300 needs to face the shelf 600 where the target storage location 611 is located, which can be achieved by rotating the omnidirectional motion chassis 100 in place.
[0079] Step D: The telescopic forklift mechanism 300 moves along the gantry 200 to the position corresponding to the row of the target storage location 611, and extends toward the target storage location 611 to place the goods 700. The movement of the telescopic forklift mechanism 300 along the gantry 200 and the movement of the omnidirectional chassis 100 in step C can be performed sequentially or simultaneously to improve the efficiency of picking and placing goods.
[0080] The process of the forklift AGV moving goods 700 on the ground to the rack 600 in the second embodiment is described in reference to... Figures 2a to 2c and Figure 2eFollowing step C, step E is executed: the omnidirectional chassis 100 moves along the first direction x toward the shelf 600, causing a portion of the omnidirectional chassis 100 to extend into the bottom of the shelf 600, so that the telescopic forklift mechanism 300 places the goods 700 in the target storage position 611. When the omnidirectional chassis 100 is partially extended into the bottom of the shelf 600, the mast 200 remains outside the shelf 600, but the goods 700 on the telescopic forklift mechanism 300 are already above the target storage position 611; the telescopic forklift mechanism 300 only needs to release the goods 700.
[0081] The process of the forklift AGV moving the goods 700 on the rack 600 to other locations is the reverse of the above steps, and will not be described in detail here. The other locations can be other storage positions 611 of the rack 600, storage positions 611 on other racks 600, or other destinations such as the ground or workstations.
[0082] By applying the embodiments of this application, the forklift AGV can pick up and place goods 700 on a single-depth shelf through the above two methods, thereby improving the utilization rate of the forklift AGV.
[0083] In some embodiments of this application, see Figures 3a to 3d , Figure 3a When the shelving is of multi-depth, Figure 1a The image shows a top view of the forklift AGV before it picks up the goods. Figure 3b for Figure 3a The image shows a top view of a forklift AGV carrying goods moving through an aisle. Figure 3c for Figure 3b The diagram shows a three-dimensional structure of a forklift AGV whose omnidirectional chassis extends into the bottom of the rack. Figure 3d for Figure 3c The front view shows the forklift AGV's telescopic forklift mechanism placing goods on the side of the rack away from the aisle.
[0084] like Figures 3a to 3d As shown, the shelves 600 on both sides of aisle 500 are multi-depth shelves.
[0085] The omnidirectional motion chassis 100 is used to move along the second direction y through the aisle 500 between the shelves 600 to the target column on the shelf 600 where the target position is located; and when picking up or placing goods 700 in the storage position on the side of the shelf 600 away from the aisle 500, it further moves along the first direction x toward the target column, such that part of the omnidirectional motion chassis 100 extends into the bottom of the target column of the shelf 600.
[0086] The telescopic forklift mechanism 300 is used to move up and down the gantry 200 to correspond to the target position, and to extend along the first direction x to the target position when picking up or placing goods 700 on the side of the shelf 600 away from the aisle 500.
[0087] Specifically, a multi-depth shelving unit can be a single shelving unit of 600mm or it can be formed by splicing multiple sub-shelving units back to back. This application does not limit this.
[0088] like Figures 3a to 3d As shown, in this embodiment, shelf 600 is a double-deep shelf, which is formed by splicing two single-deep sub-shelves back to back.
[0089] When the forklift AGV needs to pick up or place goods 700 on the first rack 600A located on the side closest to aisle 500, the handling process is the same as the process of picking up and placing goods 700 on the single-depth rack described above, and will not be repeated here.
[0090] Below, refer to Figures 3a to 3d The process of a forklift AGV moving goods 700 on the ground to the second rack 600B located on the side away from the aisle 500 is described.
[0091] Step F: The omnidirectional motion chassis 100 drives the gantry 200 and telescopic forklift mechanism 300 mounted on it to move to the position corresponding to the goods 700 on the ground.
[0092] Step G: The telescopic forklift mechanism 300 moves on the gantry to a position corresponding to the height of the cargo 700 and extends toward the cargo 700. After picking up the cargo 700, it retracts back into the omnidirectional motion chassis 100.
[0093] Step H: The omnidirectional motion chassis 100 enters the aisle 500, moves along the second direction y to the position corresponding to the column where the target storage location 611 is located, and moves along the first direction x toward the shelf 600, so that part of the omnidirectional motion chassis 100 extends into the bottom of the first shelf 600A. The movement along the second direction y and the movement along the first direction x can be performed sequentially or simultaneously to improve the efficiency of picking and placing goods.
[0094] Step 1: The telescopic forklift mechanism 300 moves along the mast 200 to the position corresponding to the row of the target storage position 611 and extends toward the target storage position 611 to place the goods 700 in the target storage position 611 of the second shelf 600B.
[0095] To achieve the above process, it is necessary to ensure that the storage position 611 on the first shelf 600A corresponding to the target storage position 611 on the second shelf 600B is empty.
[0096] By applying the embodiments of this application, the forklift AGV can pick up and place goods 700 on multi-depth shelves in the above manner, thereby improving the utilization rate of the forklift AGV.
[0097] In some embodiments of this application, such as Figures 1a to 1c As shown, the telescopic forklift mechanism 300 includes a telescopic mechanism 310 and a fork 320. The fixed end of the telescopic mechanism 310 is connected to the mast 200, and the telescopic end of the telescopic mechanism 310 is connected to the fork 320. The fork 320 can extend and retract along the first direction x under the drive of the telescopic mechanism 310 to pick up goods 700 on the shelf 600.
[0098] Specifically, the forks 320 can extend and retract along the first direction x based on the extension mechanism 310. When not performing the task of picking up or placing goods, the forks retract to the omnidirectional motion chassis 100, so that the width of the forklift AGV along the first direction x is the width of the omnidirectional motion chassis 100. In practical applications, the aisle width can be set to be up to 150 mm more than the width of the omnidirectional motion chassis 100.
[0099] In the embodiments of this application, the telescopic forklift mechanism 300 adopts the form of a fork to pick up goods 700 from the bottom, which can reduce the left and right spacing between goods 700 on the shelf 600, so that the shelf 600 can store more goods 700 and improve the storage capacity of the shelf 600.
[0100] In some embodiments of this application, see Figures 4a to 4d , Figure 4a for Figure 1a The forklift AGV shown is a front view. Figure 4b for Figure 1a The forklift AGV shown is a side view. Figure 4c for Figure 1a The top view of the forklift AGV shown; Figure 4d for Figure 1a The image shows a top view of the forklift AGV. Figures 1a to 1c and Figure 4c As shown, the gantry 200 includes an outer gantry 210 and an inner gantry 220.
[0101] The outer gantry 210 is fixedly connected to the omnidirectional motion chassis 100; the inner gantry 220 is located inside the outer gantry 210 and is movably connected to the outer gantry 210 in the vertical direction.
[0102] The telescopic fork retrieval mechanism 300 has a telescopic mechanism 310 connected to the inner gantry 220, and can move up and down under the drive of the inner gantry 220.
[0103] Specifically, such as Figures 1a to 1c and Figure 4cAs shown, the outer gantry 210 and the inner gantry 220 have the same height. The columns of the outer gantry 210 and the inner gantry 220 are made of channel steel. There is a gap between the columns of the outer gantry 210 and the inner gantry 220 located on the same side. Figure 3c As shown, at least one first guide wheel 211 is fixed on the side of the column of the outer gantry 210 facing the inner gantry 220. The first guide wheel 211 is in rolling connection with the column of the inner gantry 220. When the inner gantry 220 moves up and down, the first guide wheel 211 rotates, reducing the friction between the outer gantry 210 and the inner gantry 220.
[0104] The telescopic mechanism 310 and the inner gantry 220 can be directly connected or indirectly connected through other mechanisms. When directly connected, the vertical movement range of the telescopic fork mechanism 300 is equal to the movement range of the inner gantry.
[0105] By applying the embodiments of this application, an outer mast 210 and an inner mast 220 are provided. The inner mast 220 drives the telescopic forklift mechanism 300 to move up and down relative to the outer mast 210, enabling the retrieval and placement of goods 700 at different heights on the rack 600. In addition, the inner mast 220 is located inside the outer mast 210 and can extend and retract vertically, shortening the overall height of the forklift AGV.
[0106] In some embodiments of this application, see Figure 5 and Figure 6 , Figure 5 for Figure 1a The diagram shows the three-dimensional structure of the omnidirectional motion chassis and gantry. Figure 6 for Figure 1a The diagram shows a three-dimensional structural representation of the gantry and telescopic forklift mechanism. Figures 1a to 1c , Figure 5 and Figure 6 As shown, the forklift AGV also includes: chain 410.
[0107] A fixed wheel 221 is provided on the top inner side of the inner mast 220. The first end of the chain 410 is fixedly connected to the telescopic fork mechanism 300, and the second end passes around the fixed wheel 221 and is fixedly connected to the outer mast 210.
[0108] When the inner mast 220 moves up and down, the fixed wheel 221 moves up and down with the inner mast 220, causing the second end of the chain 410 to drive the telescopic fork mechanism 300 to move up and down.
[0109] Specifically, the number of chain 410 and fixed wheel 221 is at least one. For example... Figure 1b , Figure 1c and Figure 4bAs shown, each of the two inner columns of the inner gantry 220 is provided with a fixed wheel 221. Two chains 410, which are wound around the two fixed wheels 221, are respectively fixed to both sides of the telescopic forklift mechanism 300, thereby improving the stability of the telescopic forklift mechanism 300 when moving up and down. The two fixed wheels 221 are located on the inner side of the inner gantry 220, which can improve the utilization rate of the inner space of the inner gantry 220. Furthermore, compared to the case where the fixed wheel 221 is installed on the side of the inner mast 220 away from or near the telescopic forklift mechanism 300, the diameter of the fixed wheel 221 can only be set to be smaller, or the size of the mast 200 in the second direction y can be increased to leave enough space for the connection between the second end of the chain 410 and the outer mast 210. In this embodiment, the fixed wheel 221 is set on the inner side of the inner mast 220, which allows the diameter of the fixed wheel 221 to be set to be larger, thereby improving the lifting efficiency of the chain 410 and preventing the two parts of the chain 410 on both sides of the fixed wheel 221 from being too close. It also allows the size of the mast 200 in the second direction y to be smaller, thereby reducing the size of the forklift AGV and enabling it to adapt to narrower aisles 500, thereby increasing the rack density of the warehousing system.
[0110] like Figure 1b As shown, the upper part of the outer gantry 210 is provided with a chain connecting plate 212 that spans two columns, which is used to fix the second end of the chain 410.
[0111] like Figures 1a to 1c and Figure 5 As shown, the mast 200 also includes a tie rod 230. The upper end ear plate 231 of the tie rod 230 is hinged to the side of the column of the outer mast 210 facing the second side of the omnidirectional chassis 100, and the lower end ear plate 232 is hinged to the omnidirectional chassis 100, which can improve the structural stability of the forklift AGV.
[0112] In this embodiment, the telescopic forklift mechanism 300 can move vertically relative to the inner mast 220 under the drive of the chain 410. The range of motion of the telescopic forklift mechanism 300 is twice that of the inner mast 220, increasing the vertical range of motion of the telescopic forklift mechanism 300. This allows the mast 200 to be set at a lower height; when both the inner mast 220 and the telescopic forklift mechanism 300 rise to the end of their stroke, the height of the telescopic forklift mechanism 300 should not be less than the height of the top-level goods 700 of the shelf 600. Furthermore, during the rising of the inner mast 220 relative to the outer mast 210, the telescopic forklift mechanism 300 can rise synchronously and extend and retract under the drive of the telescopic mechanism 310, further improving the picking and placing efficiency of the telescopic forklift mechanism 300.
[0113] In some embodiments of this application, such as Figures 1a to 1c , Figure 5 and Figure 6As shown, the forklift AGV includes: a lifting hydraulic cylinder 420.
[0114] The third cylinder body 420a of the lifting hydraulic cylinder 420 is fixed to the outside of the outer gantry 210, and the third piston rod 420b is fixedly connected to the inner gantry 220. The lifting hydraulic cylinder 420 is used to drive the inner gantry 220 to move up and down relative to the outer gantry 210 by extending and retracting the third piston rod 420b.
[0115] Specifically, the inner gantry 220 has a top plate 222 spanning two columns, and each of the two columns of the outer gantry 210 has a lifting hydraulic cylinder 420. The top extension end of the third piston rod 420b of the two lifting hydraulic cylinders 420 is fixedly connected to the top plate 222. The lifting hydraulic cylinders 420 lift the inner gantry 220 by lifting the top plate 222. Figure 1c As shown, the top plate 222 extends downwards with two opposing and spaced fixing parts 2221 for mounting fixing wheels 221.
[0116] The lifting hydraulic cylinder 420 is connected to an external hydraulic pump. When oil is introduced into the lifting hydraulic cylinder 420, the third piston rod 420b can drive the inner mast to rise.
[0117] In other embodiments, the power mechanism for lifting the inner mast 220 is not limited to the lifting hydraulic cylinder 420, but may also be a cylinder, electric actuator, etc.
[0118] By applying the embodiments of this application, the inner mast 220 can be moved up and down relative to the outer mast 210 by the lifting hydraulic cylinder 420, which can improve the stability of the up and down movement of the telescopic forklift mechanism 300. Moreover, the lifting hydraulic cylinder 420 has high control precision, which can enable the forks 320 of the telescopic forklift mechanism 300 to move to a precise height to pick up goods.
[0119] In some embodiments of this application, see Figure 7a and Figure 7b , Figure 7a for Figure 1a The diagram shows the three-dimensional structure of the telescopic fork mechanism. Figure 7b for Figure 7a The diagram shows a three-dimensional view of the telescopic fork mechanism from another angle. Figure 6 , Figure 7a and Figure 7b As shown, the telescopic mechanism 310 includes: a mounting bracket 311, a scissor mechanism 312, and a telescopic drive mechanism 313.
[0120] Mounting bracket 311 is positioned between the two uprights of inner gantry 220 and connected to inner gantry 220.
[0121] One end of the scissor mechanism 312 is hinged to the mounting bracket 311, and the other end is hinged to the fork 320.
[0122] The telescopic drive mechanism 313 is mounted on the mounting bracket 311 and is driven to connect with the scissor mechanism 312. It is used to drive the scissor mechanism 312 to extend or retract the forks 320 in the first direction.
[0123] Specifically, such as Figure 6 As shown, the mounting bracket 311 is a square frame, and the first end of the chain 410 is fixedly connected to the top plate of the mounting bracket 311.
[0124] like Figure 7a and Figure 7b As shown, at least one second guide wheel 3111 is provided on the side wall of the column of the mounting frame 311 near the inner gantry 220. The second guide wheel 3111 is rolledly connected to the inner side of the column of the inner gantry 220, and plays a guiding role, limiting the displacement of the mounting frame 311 along the first direction x, thereby improving the moving efficiency of the telescopic fork mechanism 300.
[0125] By applying the embodiments of this application, a scissor mechanism 312 and a telescopic drive mechanism 313 are provided so that the scissor mechanism 312 drives the forks 320 to extend or retract under the drive of the telescopic drive mechanism 313, which can achieve a longer picking and placing range. In addition, the scissor mechanism 312 has a small volume after retraction, which allows the forks 320 to be completely located on the omnidirectional motion chassis 100 when retracted, so that the size of the forklift AGV in the first direction x is small and can adapt to narrow aisles 500.
[0126] In some embodiments of this application, such as Figure 7a and Figure 7b As shown, the scissor mechanism 312 includes multiple sets of scissor arms 3121 that are sequentially hinged along the first direction.
[0127] Each scissor arm 3121 includes two parallel and spaced-apart outer forks 3121a and two parallel and spaced-apart inner forks 3121b, with the outer forks 3121a and inner forks 3121b on the same side crossing and hinged together.
[0128] Two outer fork arms 3121a and two inner fork arms 3121 near the mounting bracket 311 are hinged to the mounting bracket 311.
[0129] Two outer fork arms 3121a and two inner fork arms 3121 close to the fork 320 are hinged to the fork 320.
[0130] Specifically, such as Figure 7a and Figure 7b As shown, in this embodiment, the scissor arms 3121 are in two sets, one set is hinged to the mounting frame 311, and the other set is hinged to the forks 320.
[0131] The two outer fork arms 3121a and the inner fork arm 3121b are arranged in parallel intervals, which can be arranged in parallel intervals along the vertical direction, with the set of scissor arms 3121 closest to the mounting frame 311 hinged to the left and right side walls of the mounting frame; or as follows: Figure 7a and Figure 7b As shown, a set of scissor arms 3121, which are horizontally spaced along the second direction and close to the mounting frame 311, are hinged to the top and bottom inner walls or the bottom of the left and right side walls of the mounting frame 311. Since the mounting frame 311 has a certain thickness, when the scissor arms 3121 are retracted, a portion of them can be accommodated in the internal space of the mounting frame 311, thus improving space utilization.
[0132] The two opposite outer forks 3121a and the two opposite inner forks 3121b are connected by stiffeners 3121c, which can improve the stability of the scissor arm 3121 structure and enable the opposite outer forks 3121a and inner forks 3121b to extend and retract synchronously.
[0133] By applying the embodiments of this application, the forks 320 are moved along the first direction x by the extension and retraction of the scissor arm 3121, which improves the load-bearing capacity of the extension mechanism 310 and the stability of its load-bearing and operation.
[0134] In some embodiments of this application, such as Figure 7a and Figure 7b As shown, the telescopic drive mechanism 313 is at least one telescopic drive hydraulic cylinder; the telescopic drive hydraulic cylinder is disposed in the internal space of the scissor arm 3121.
[0135] The second cylinder body 313a of the telescopic drive hydraulic cylinder is hinged to the mounting bracket 311, and the second piston rod 313b is hinged to the scissor arm 3121.
[0136] The telescopic drive hydraulic cylinder is used to extend or retract the scissor arm 3121 of the scissor mechanism 312 via the extension and retraction of the second piston rod 313b.
[0137] Specifically, the bottom end of the second cylinder body 313a of the telescopic drive hydraulic cylinder is hinged to the top or bottom inner wall of the mounting bracket 311, and the second piston rod 313b can be hinged to any stiffener 3121c on the scissor arm 3121, such as... Figure 7a and Figure 7bAs shown, the bottom end of the second cylinder 313a is hinged to the bottom inner wall of the mounting bracket 311, and the second piston rod 313b is hinged to the rib plate 3121c located above the intersection hinge point of the outer fork arm 3121a and the inner fork arm 3121b. The extension and retraction of the scissor mechanism 312 is achieved by pushing or pulling the rib plate 3121c. In other embodiments, the bottom end of the second cylinder 313a may also be hinged to the top inner wall of the mounting bracket 311, and the second piston rod 313b may be hinged to the rib plate 3121c located below the intersection hinge point of the outer fork arm 3121a and the inner fork arm 3121b. This application does not limit this to the above.
[0138] In other embodiments, the bottom end of the second cylinder 313a can be hinged to the bottom inner wall of the mounting bracket 311, and the second piston rod 313b can be hinged to the rib plate 3121c located below the cross hinge point of the outer fork arm 3121a and the inner fork arm 3121b. However, if the load-bearing capacity of the scissor mechanism 312 is guaranteed, i.e. the longitudinal dimension of the scissor mechanism 312 is not changed, the length of the telescopic drive hydraulic cylinder is small, which will reduce the telescopic range of the scissor mechanism 312. In order to ensure that the telescopic range remains unchanged, the longitudinal dimension of the mounting bracket 311 can only be increased, which will increase the weight of the telescopic fork lifting mechanism 300, thereby reducing the lifting efficiency of the telescopic fork lifting mechanism 300. Furthermore, the telescopic fork lifting mechanism 300 cannot lift the goods 700 located on the ground.
[0139] In other embodiments, the telescopic drive mechanism 313 may also be a cylinder or an electric actuator, etc.
[0140] In the embodiments of this application, compared to the telescopic drive mechanism 313 being completely mounted on the scissor mechanism 312, the second cylinder 313a of the telescopic drive mechanism 313 is hinged to the mounting bracket 311, which can improve the stability of the telescopic mechanism 310 structure, reduce the load on the scissor arm 3121, and increase the service life of the scissor arm 3121.
[0141] In some embodiments of this application, such as Figure 7a and Figure 7b As shown, the fork 320 includes a connecting mechanism 321, a fork plate 322, and two fork arms 323 arranged sequentially along the first direction.
[0142] One side of the connecting mechanism 321 is connected to the telescopic mechanism 310, and the other side is connected to the fork plate 322. The two fork arms 323 are fixed to the fork plate 322 in parallel and at intervals along the second direction.
[0143] Specifically, such as Figure 7a and Figure 7b As shown, one side of the connecting mechanism 321 is hinged to the scissor arm 3121 of the telescopic mechanism 310, and the other side can be fixedly connected to the fork plate 322 or movably connected. This application does not limit this.
[0144] The fork arm 323 is L-shaped, with its vertical part fixedly connected to the fork plate 322 and its horizontal part extending along the first direction x.
[0145] In the embodiments of this application, a connecting mechanism 321 and a fork plate 322 are provided so that the fork arm 323 can be connected to the telescopic mechanism 310, and goods can be picked up or placed under the drive of the telescopic mechanism 310.
[0146] In some embodiments of this application, such as Figure 7a and Figure 7b As shown, the fork 320 also includes an angle adjustment mechanism 324.
[0147] The connecting mechanism 321 includes two connecting arms 3211 spaced apart along a second direction; both connecting arms 3211 are hinged to the top of the fork plate 322.
[0148] Angle adjustment mechanism 324 is mounted on connecting arm 3211 and can drive fork plate 322 and fork arm 323 on fork plate 322 to rotate based on the hinge point between the top end and connecting arm 3211.
[0149] Specifically, the fork plate 322 facing the scissor mechanism 312 has a pair of extension arms 3221 that are parallel to each other along the second direction y and extend upward in the vertical direction. The top of each extension arm 3221 is hinged to the outer side of the middle of a connecting arm 3211. The specific hinge position height on the connecting arm 3211 is sufficient to allow the fork arm 323 to pick up the goods 700 on the ground.
[0150] By applying the embodiments of this application, an angle adjustment mechanism 324 is provided, which can adjust the pitch angle of the fork arm 323, so that the fork arm 323 can pick up the goods 700 more flexibly.
[0151] In some embodiments of this application, such as Figure 8 and Figure 8 As shown, the angle adjustment mechanism 324 includes: an angle adjustment hydraulic cylinder 3241 and a roller 3242.
[0152] The first cylinder body 3241a of the angle-adjusting hydraulic cylinder 3241 is fixed to the connecting arm 3211.
[0153] The roller 3242 is located at the end of the first piston rod of the angle-adjusting hydraulic cylinder 3241 and contacts the lower part of the fork plate 322.
[0154] The angle-adjusting hydraulic cylinder 3241 is used to extend and retract the first piston rod, causing the roller 3242 to drive the fork plate 322 to rotate based on the hinge point between the top of the fork plate 322 and the connecting arm 3211.
[0155] Specifically, such asFigure 4d and Figure 5 As shown, when the first piston rod extends, the roller 3242 pushes the lower part of the fork plate 322 upwards at an angle, causing the fork plate 322 to rotate counterclockwise based on the hinge point. The roller 3242 rolls in contact with the fork plate 322, which reduces friction. When the first piston rod retracts, the fork plate 322 rotates clockwise based on the hinge point due to gravity.
[0156] In other embodiments, angle adjustment can also be achieved by hinged first cylinder body 3241a of angle-adjusting hydraulic cylinder 3241 to connecting arm 3211 and first piston rod end hinged to fork plate 322.
[0157] By applying the embodiments of this application, the fork plate 322 is rotated based on the hinge point between the top of the fork plate 322 and the connecting arm 3211 by driving the roller through the angle adjustment hydraulic cylinder 3241, which can improve the adjustment accuracy and stability of the pitch angle of the fork plate 322.
[0158] In some embodiments of this application, see Figure 8 ,like Figure 4d As shown, the omnidirectional chassis 100 is provided with a receiving slot 111; the receiving slot 111 corresponds to the position of the fork 320 of the telescopic fork mechanism 300, and is used to receive the fork 320 when the telescopic fork mechanism 300 is in the lowest state, so that the fork 320 can pick up the goods 700 on the ground.
[0159] Specifically, when not performing picking or placing tasks, the fork arm 323 is accommodated in the receiving slot 111. After the fork arm 323 picks up the goods 700, it retracts into the omnidirectional motion chassis 100 and can move downward into the receiving slot 111 to place the goods 700 on the top surface of the omnidirectional motion chassis 100, or the fork arm 323 can maintain the lifting state.
[0160] By applying the embodiments of this application, a receiving slot 111 is opened on the omnidirectional motion chassis 100, which can realize the picking up of goods 700 on the ground, reduce the weight of the forklift AGV, and improve the movement efficiency of the omnidirectional motion chassis 100.
[0161] In some embodiments of this application, such as Figure 1a , Figure 4a and Figure 4c As shown, the omnidirectional chassis 100 includes: chassis 110, two floating drive mechanisms 120 and four swivel casters 130.
[0162] Two floating drive mechanisms 120 are respectively arranged on both sides of the receiving through groove 111, and the center line connecting the two floating drive mechanisms 120 passes through the motion center of the chassis 110; four omnidirectional casters 130 are respectively arranged at the four corners of the chassis 110.
[0163] Specifically, such as Figure 4d As shown, two floating drive mechanisms 120 are arranged diagonally on both sides of the receiving slot 111, which can improve the stability of the omnidirectional motion chassis 100 structure.
[0164] The floating drive mechanism 120 includes a drive assembly 121 and two drive wheels 122. The two drive wheels 122 are respectively disposed on both sides of the drive assembly 121 and can rotate under the drive of the drive assembly 121, thereby driving the chassis 110 to move.
[0165] The floating drive mechanism 120 is a steering wheel mechanism. It drives two drive wheels 122 to rotate at different speeds through the drive component 121 to achieve its own omnidirectional movement, so that the omnidirectional motion chassis 100 can achieve omnidirectional movement by relying on the two floating drive mechanisms 120.
[0166] When the forklift AGV is unloaded, because both the mast 200 and the telescopic forklift mechanism 300 are located on the first side of the omnidirectional chassis 100, the forklift AGV's center of gravity is biased towards the first side. When the telescopic forklift mechanism 300 extends with the cargo 700, the center of gravity shifts significantly to the second side, thus causing an off-center loading problem during cargo handling.
[0167] The floating drive mechanism 120 relies on springs to provide sufficient and stable wheel pressure to the drive wheel 122, and the four swivel casters 130 are arranged at the four corners of the chassis 110, which can avoid slippage caused by insufficient wheel pressure due to uneven load, thus improving the stability of the forklift AGV during operation.
[0168] Furthermore, in this embodiment, the mast 200 is fixed to the omnidirectional chassis 100 and the telescopic forklift mechanism 300 extends and retracts along the first direction x to pick up and place goods. When the telescopic forklift mechanism 300 extends carrying the goods 700, the weight of the goods 700 is shared by the forks 320 and the mast 200, which can reduce the change in the center of gravity of the forklift AGV and improve the stability and load-bearing capacity of the forklift AGV during operation.
[0169] like , and As shown, the omnidirectional chassis 100 also includes a chassis top cover 140, which covers the top of the chassis 110. The portion of the chassis top cover 140 located on the first side is higher than the rest, and the portion that overlaps with the gantry 200 is hollowed out.
[0170] The interior of the portion of the chassis top cover 140 located on the first side is used to house control equipment, and its surface is provided with a control panel 150 for operators to control the operation of the forklift AGV.
[0171] like As shown, a receiving slot 111 is formed on the chassis 110. A camera mounting plate 112 is provided at the end of the receiving slot 111 near the first side. A barcode reader 160 is provided at the bottom of the camera mounting plate 112. The barcode reader 160 is located at the center of the omnidirectional motion chassis 100 and is used to scan the ground QR code information and feed it back to the control equipment of the forklift AGV so that the control equipment can control the movement of the omnidirectional motion chassis 100 after receiving the QR code information.
[0172] By applying the embodiments of this application, two floating drive mechanisms 120 are provided, and omnidirectional casters 130 are provided at the four corners of the chassis 110, which can improve the stability of the omnidirectional chassis 100 structure. The floating drive mechanism 120 relies on springs to provide sufficient and stable wheel pressure to the drive wheel 122, which can further improve the stability of the omnidirectional chassis 100 movement.
[0173] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
[0174] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.
Claims
1. A forklift AGV, characterized in that, include: Omnidirectional motion chassis (100), gantry (200) and telescopic forklift mechanism (300); The gantry (200) is fixedly mounted on the first side of the first direction of the omnidirectional motion chassis (100); The telescopic forklift mechanism (300) is movably mounted on the gantry (200), and can move up and down along the gantry (200), and extend or retract along the first direction to the omnidirectional motion chassis (100) to pick up and put down goods (700). The omnidirectional motion chassis (100) can drive the gantry (200) and telescopic forklift mechanism (300) mounted thereon to move along the second direction of the omnidirectional motion chassis (100) in the aisle (500) between the shelves (600); and can move along the first direction toward the shelf (600) so that part of the omnidirectional motion chassis (100) extends into the bottom of the shelf (600); The second direction is perpendicular to the first direction.
2. The forklift AGV according to claim 1, characterized in that, The shelves (600) on both sides of the aisle (500) are single-depth shelves; The omnidirectional motion chassis (100) is used to move along the second direction through the aisle (500) between the shelves (600) to the target column on the shelf (600) where the target position is located; or, it is used to move along the second direction through the aisle (500) between the shelves (600) to the target column on the shelf (600) where the target position is located, and move along the first direction toward the target column, such that a portion of the omnidirectional motion chassis (100) extends into the bottom of the target column of the shelf (600); The telescopic forklift mechanism (300) is used to move up and down the mast (200) to correspond to the target position and to pick up and put goods (700) from the shelf (600) along the first direction.
3. The forklift AGV according to claim 1, characterized in that, The shelves (600) on both sides of the aisle (500) are multi-depth shelves; The omnidirectional motion chassis (100) is used to move along the second direction through the aisle (500) between the shelves (600) to the target column on the shelf (600) where the target position is located; and when picking up or placing goods (700) in the storage position on the shelf (600) away from the aisle (500), it further moves along the first direction toward the target column, such that a portion of the omnidirectional motion chassis (100) extends into the bottom of the target column of the shelf (600); The telescopic forklift mechanism (300) is used to extend to the target position in the first direction when the gantry (200) moves up and down to correspond to the target position and when picking up or placing goods (700) in the storage position on the side away from the aisle (500) on the shelf (600), so as to pick up or place goods (700) from the shelf (600).
4. The forklift AGV according to claim 1, characterized in that, The telescopic forklift mechanism (300) includes a telescopic mechanism (310) and forks (320). The fixed end of the telescopic mechanism (310) is connected to the mast (200), and the telescopic end of the telescopic mechanism (310) is connected to the forks (320). The forks (320) can extend and retract along a first direction under the drive of the telescopic mechanism (310) to pick up goods (700) on the shelf (600).
5. The forklift AGV according to claim 4, characterized in that, The fork (320) includes a connecting mechanism (321), a fork plate (322), and two fork arms (323) arranged sequentially along the first direction. One side of the connecting mechanism (321) is connected to the telescopic mechanism (310), and the other side is connected to the fork plate (322); The two fork arms (323) are fixed to the fork plate (322) in parallel and spaced apart along the second direction.
6. The forklift AGV according to claim 5, characterized in that, The fork (320) also includes: an angle adjustment mechanism (324); The connecting mechanism (321) includes two connecting arms (3211) spaced apart along a second direction; both connecting arms (3211) are hinged to the top of the fork plate (322); The angle adjustment mechanism (324) is mounted on the connecting arm (3211) and can drive the fork plate (322) and the fork arm (323) on the fork plate (322) to rotate based on the hinge point between the top end and the connecting arm (3211).
7. The forklift AGV according to claim 6, characterized in that, The angle adjustment mechanism (324) includes: an angle adjustment hydraulic cylinder (3241) and a roller (3242); The first cylinder body (3241a) of the angle-adjusting hydraulic cylinder (3241) is fixed to the connecting arm (3211). The roller (3242) is located at the end of the first piston rod of the angle-adjusting hydraulic cylinder (3241) and contacts the lower part of the fork plate (322); The angle-adjusting hydraulic cylinder (3241) is used to extend and retract the first piston rod to cause the roller (3242) to drive the fork plate (322) to rotate based on the hinge point between the top of the fork plate (322) and the connecting arm (3211).
8. The forklift AGV according to claim 4, characterized in that, The gantry (200) includes: an outer gantry (210) and an inner gantry (220); The outer gantry (210) is fixedly connected to the omnidirectional motion chassis (100); the inner gantry (220) is located inside the outer gantry (210) and is movably connected to the outer gantry (210) in the vertical direction. The telescopic mechanism (310) of the telescopic fork take-up mechanism (300) is connected to the inner gantry (220) and can move up and down under the drive of the inner gantry (220).
9. The forklift AGV according to claim 8, characterized in that, The telescopic mechanism (310) includes: a mounting bracket (311), a scissor mechanism (312), and a telescopic drive mechanism (313). The mounting bracket (311) is disposed between the two columns of the inner gantry (220) and connected to the inner gantry (220); One end of the scissor mechanism (312) is hinged to the mounting bracket (311), and the other end is hinged to the fork (320); The telescopic drive mechanism (313) is disposed on the mounting bracket (311) and is drivenly connected to the scissor mechanism (312) to drive the scissor mechanism (312) to extend or retract the forks (320) in the first direction.
10. The forklift AGV according to claim 9, characterized in that, The scissor mechanism (312) includes multiple sets of scissor arms (3121) that are sequentially hinged along the first direction. Each scissor arm (3121) includes two parallel and spaced outer forks (3121a) and two parallel and spaced inner forks (3121b), with the outer forks (3121a) and inner forks (3121b) on the same side crossing and hinged. Two outer fork arms (3121a) and two inner fork arms (3121b) of a set of scissor arms (3121) near the mounting bracket (311) are hinged to the mounting bracket (311); Two outer fork arms (3121a) and two inner fork arms (3121b) of a set of scissor arms (3121) close to the forks (320) are hinged to the forks (320).
11. The forklift AGV according to claim 10, characterized in that, The telescopic drive mechanism (313) is at least one telescopic drive hydraulic cylinder; the telescopic drive hydraulic cylinder is disposed in the internal space of the scissor arm (3121); The second cylinder body (313a) of the telescopic drive hydraulic cylinder is hinged to the mounting bracket (311), and the second piston rod (313b) is hinged to the scissor arm (3121); The telescopic drive hydraulic cylinder is used to extend or retract the scissor arm (3121) of the scissor mechanism (312) by extending or retracting the second piston rod (313b).
12. The forklift AGV according to claim 8, characterized in that, The forklift AGV also includes: a chain (410). The inner gantry (220) is provided with a fixed wheel (221) on the top inner side. The first end of the chain (410) is fixedly connected to the telescopic fork mechanism (300), and the second end passes around the fixed wheel (221) and is fixedly connected to the outer gantry (210). When the inner mast (220) moves up and down, the fixed wheel (221) moves up and down with the inner mast (220), causing the second end of the chain (410) to drive the telescopic fork mechanism (300) to move up and down.
13. The forklift AGV according to any one of claims 8 to 12, characterized in that, The forklift AGV includes: a lifting hydraulic cylinder (420); The third cylinder body (420a) of the lifting hydraulic cylinder (420) is fixed to the outside of the outer gantry (210), and the third piston rod (420b) is fixedly connected to the inner gantry (220). The lifting hydraulic cylinder (420) is used to drive the inner gantry (220) to move up and down relative to the outer gantry (210) by extending and retracting the third piston rod (420b).
14. The forklift AGV according to claim 4, characterized in that, The omnidirectional chassis (100) is provided with a receiving slot (111); the receiving slot (111) corresponds to the position of the fork (320) of the telescopic fork mechanism (300) and is used to receive the fork (320) when the telescopic fork mechanism (300) is in the lowest state, so that the fork (320) can pick up the goods (700) on the ground.
15. The forklift AGV according to claim 14, characterized in that, The omnidirectional motion chassis (100) includes: chassis (110), two floating drive mechanisms (120) and four omnidirectional casters (130). The two floating drive mechanisms (120) are respectively located on both sides of the receiving slot (111), and the center line connecting the two floating drive mechanisms (120) passes through the motion center of the chassis (110); the four omnidirectional casters (130) are respectively located at the four corners of the chassis (110).