CN116409732A

CN116409732A - Light heavy-duty three-way forklift type AGV and cargo connection and transfer method

Info

Publication number: CN116409732A
Application number: CN202310309054.5A
Authority: CN
Inventors: 夏乐冰
Original assignee: Clearing Clouds And Seeing Sun Fujian Intelligent Technology Co ltd; True Gold Fire Lian Shanghai Intelligent Technology Co ltd; Pi Yun Jian Ri Shenzhen Intelligent Technology Co ltd
Current assignee: Clearing Clouds And Seeing Sun Fujian Intelligent Technology Co ltd; True Gold Fire Lian Shanghai Intelligent Technology Co ltd; Pi Yun Jian Ri Shenzhen Intelligent Technology Co ltd
Priority date: 2023-03-28
Filing date: 2023-03-28
Publication date: 2023-07-11

Abstract

The embodiment of the application discloses light-duty heavy load three-way fork truck formula AGV includes: the lifting device comprises a vehicle body, fixed supporting legs arranged at the front part of the vehicle body, overhanging legs arranged at the outer sides of the fixed supporting legs, a three-way fork assembly arranged at the front part of the vehicle body and used for forking goods in the front, left and right directions, a lifting driving assembly used for driving the fork assembly to lift, a transverse rail and a transverse moving driving assembly. According to the fork, the fixed supporting legs are utilized, when heavy loads are forked, the heavier weights are not needed to be used for balancing, and the supporting moment provided by the fixed supporting legs is used for balancing the load moment of the heavy objects on the fork; in addition, by utilizing the overhanging legs on the fixed supporting legs, the risk of AGV side tilting caused by the transverse load moment of the heavy object on the fork is avoided when the fork and the heavy load move along the lateral direction; through the introduction of fixed stay leg and outer leg extension, the structure of AGV can be made compact small and exquisite, has alleviateed weight, and greatly reduced AGV and load have improved the security performance that AGV used to floor ground.

Description

Light heavy-duty three-way forklift type AGV and cargo connection and transfer method

Technical Field

The application relates to the technical field of AGVs, in particular to a light heavy-duty three-way forklift type AGV and a cargo connection and transportation method.

Background

The three-way forklift, also called as a three-way stacker or a three-way stacking forklift or a narrow lane fork truck, is a forklift capable of forking and transporting cargoes in front of and on the left side and the right side of the forklift, has two types of manual driving and unmanned driving, is also called as a three-way forklift AGV, and has the basic function of an AGV.

As shown in fig. 1, a conventional three-way forklift type AGV1 on the market generally has only a pair of forks 2 which need to be moved close to the ground for achieving the fork picking of pallet loads in the forward direction and on the left and right sides. In order to make the three-way forklift AGV possess and bear the weight of the heavy goods, it is necessary to equip the heavier balancing weight 3 behind it inevitably, on one hand increase its structural size, its job space in the tunnel increases correspondingly, on the other hand its weight increases correspondingly too, its driving power demand increases, the running cost increases; in addition, the load on the floor of the factory building is correspondingly increased when the AGV with larger dead weight works, and the danger of floor use is increased.

The patent (application number: 202122686618.6) provides a counterweight structure with movable counterweight and a three-way forklift, when in use, the counterweight is moved, the gravity center position of the counterweight is changed, and the counterweight of the three-way forklift is lightened under the condition that the bearing capacity is unchanged. However, the adjustment of the gravity center of the balancing weight is limited to the effective projection area of the forklift, the adjustment range is limited, and the weight reduction is not obvious. The patent (application number: 202111326981.5) proposes to set up movable bottom plate in the below of fork truck main part, when three-way fork truck put goods or get goods, promotes the bottom plate earlier and stretches out and press on the goods shelves or support the goods shelves, shares the lateral torque of goods to fork truck, lightens fork truck counter weight. However, the movable floor described in this patent is subject to additional load applied to the pallet when it is pressed or against the pallet, which may cause the pallet to be inclined or overloaded to be damaged, and in addition, the movable floor requires complicated driving and precise control, which may be inconvenient to handle.

The application provides a light heavy-duty three-way forklift type AGV and a cargo docking and transferring method based on the patent (application number: 202211717999.2), and the defects in the prior art can be effectively solved or alleviated.

Disclosure of Invention

The application provides a light heavy-duty three-way forklift type AGV and a cargo docking and transferring method, which are used for solving or relieving one or more technical problems in the prior art.

As an aspect of the technical solution of the present application, the light heavy-duty three-way forklift type AGV provided in the embodiment of the present application includes: the lifting device comprises a vehicle body, fixed supporting legs arranged at the front part of the vehicle body, a three-way fork assembly arranged at the front part of the vehicle body and used for forking goods in the front, left and right directions, and a lifting driving assembly used for driving the fork assembly to lift; the car body has the functions of autonomous navigation walking and safety obstacle avoidance of the AGV.

Further, the body comprises uprights which constitute a main body frame structure, the width of which is smaller than the width dimension of the standard pallet.

Further, the fixed supporting legs are aligned with the upright posts and are fixedly connected with the upright posts, the fixed supporting legs are fixedly connected with outer extending legs on the lateral sides of the fixed supporting legs, and the outer extending legs are used for improving the transverse rigidity and stability of the AGV and resisting overturning moment applied to the axis of the AGV by heavy load cargoes; the upright posts form a main frame structure of the vehicle body, and the width of the frame structure is smaller than the width of the standard tray; the front ends of the fixed supporting legs are provided with two rollers, so that friction between the fixed supporting legs and the ground is reduced; the outer extending legs are also provided with rollers for reducing friction with the ground.

Further, the three-way fork assembly comprises a steering driving assembly and a fork, and the driving assembly drives the fork to rotate to the left side, the right side and the front of the AGV relative to the vertical axis of the center of the AGV; the three-way fork assembly further comprises a transverse rail and a transverse moving driving assembly, and the transverse moving driving assembly drives the fork and the steering driving assembly to move along the transverse rail towards the left side or the right side, so that the fork taking and moving of the cargo pallet are realized.

Further, the lifting driving assembly comprises a hydraulic driving assembly, a chain transmission assembly and a lifting portal frame; the lifting portal frame is hinged with the three-way fork assembly.

As another aspect of the technical scheme of the application, the cargo docking and transferring method based on the light heavy-duty three-way forklift type AGV provided by the embodiment of the application comprises the light heavy-duty three-way forklift type AGV and the no-ejector rod AGV, and the method comprises the following steps.

Step 1, arranging a light heavy-duty three-way forklift AGV default and a goods shelf in a roadway in parallel; when a task of unloading cargoes is executed, the light heavy-duty three-way forklift type AGV navigates to a specified position corresponding to the cargoes in the goods shelf column; the steering driving assembly drives the fork to rotate to the lateral direction and is parallel to the cargo pallet; the lifting driving assembly drives the fork to move along the height direction and aim at the cargo tray; the transverse moving driving assembly drives the fork to move along the transverse track and extend into the bottom of the cargo tray; the lifting driving assembly drives the three-way fork assembly to continuously move along the height direction so as to support the cargo pallet; the traversing drive assembly drives the forks to withdraw along the transverse rails and ensures that the center of gravity of the pallet is within the range of the AGV's fixed support legs.

Step 2, when carrying out the transfer task of plugging into of goods, light-duty heavy-duty three-way fork truck formula AGV removes the outer point of plugging into of tunnel along planning route, and no ejector pin AGV has stopped on the position that the point of plugging into corresponds with the goods tray this moment, and the sideslip drive assembly of light-duty three-way fork truck formula AGV drives fork goods tray and moves to no ejector pin AGV directly over, it descends to rise drive assembly drive fork and goods, after tray and no ejector pin AGV contact, it descends a little distance to rise drive assembly continuous drive fork, and then sideslip drive assembly drive fork withdraws from the tray, accomplishes the goods and puts down and plug into transfer task.

Step 3, when the task of loading, connecting and transferring cargoes is executed, the AGVs without ejector rods carry cargoes and pallets to navigate to a connection point, and the light heavy-duty three-way forklift AGVs wait for connecting and transferring cargoes and pallets at the connection point; the pallet fork of the light heavy-duty three-way forklift AGV is aligned with the pallet, and the transverse moving driving assembly drives the pallet fork to move along the transverse track and extend into the bottom of the pallet; the lifting driving assembly drives the fork to move continuously along the height direction and supports the cargo pallet; the traversing drive assembly drives the forks to withdraw along the transverse rails and ensures that the center of gravity of the pallet is within the range of the AGV's fixed support legs.

Step 4, when the task of loading cargoes in a loading manner by carrying out the connection and the transportation of cargoes, the light heavy-duty three-way forklift AGV navigates to a specified position corresponding to the cargoes on a goods shelf column from a connection point along a planned path; the lifting driving assembly drives the fork to move along the height direction; the transverse moving driving assembly drives the fork, the goods and the tray to move along the transverse track and extend into the goods shelf; the lifting driving assembly drives the fork to descend along the height direction, and the cargo pallet is contacted with the goods shelf; the lifting driving assembly drives the fork to continue, and the fork is separated from contact with the tray; and the transverse moving driving assembly drives the fork to move out of the goods shelf along the transverse track, so that the task of connecting, transporting and loading goods is completed.

Compared with the prior art, the technical scheme of the application has the beneficial effects that: according to the fork, the fixed supporting legs are utilized, when heavy loads are forked, the heavier weights are not needed to be used for balancing, and the supporting moment provided by the fixed supporting legs is used for balancing the load moment of the heavy objects on the fork; in addition, by utilizing the overhanging legs on the fixed supporting legs, the risk of AGV side tilting caused by the transverse load moment of the heavy object on the fork is avoided when the fork and the heavy load move along the lateral direction; through the introduction of fixed stay leg and outer leg extension, the structure of AGV can be made compact small and exquisite, has alleviateed weight, and greatly reduced AGV and load have improved the security performance that AGV used to floor ground.

Drawings

FIG. 1 shows a typical three-way forklift AGV on the market.

Fig. 2 is a schematic view of a light heavy-duty three-way forklift-type AGV according to an embodiment of the present application.

Fig. 3 is a schematic diagram of cargo docking and transportation according to an embodiment of the present application.

Fig. 4 is a second schematic diagram of cargo docking and transportation according to an embodiment of the present application.

Fig. 5 is a schematic diagram of frame dimensions and tray dimensions according to an embodiment of the present application.

Reference numerals illustrate:

1. a vehicle body; 101. a column; 2. a fork; 3. Balancing weight; 4. fixing the supporting legs; 401. extending legs outwards; 402. a roller; 5. a three-way fork assembly; 501. a steering drive assembly; 502. a fork; 503. a transverse rail; 504. a traversing drive assembly; 6. a lifting driving assembly; 7. a goods shelf; 8. AGVs without ejector pins; 9. a tray; 1000. light heavy-duty three-way forklift AGVs.

Description of the embodiments

In order to make the present application solution better understood by those skilled in the art, the following description will clearly and completely describe the technical solution in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

In the description of the present application, it should be noted that the terms "front," "rear," "left," "right," "front," "left," "right," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the apparatus or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.

Embodiments of the present application are described in further detail below with reference to the drawings attached hereto.

Referring to fig. 2 and 5, a lightweight heavy-duty three-way forklift-type AGV, comprising: the lifting device comprises a vehicle body 1, fixed supporting legs 4 arranged at the front part of the vehicle body, a three-way fork assembly 5 arranged at the front part of the vehicle body and used for forking goods in the front, left and right directions, and a lifting driving assembly 6 used for driving the fork assembly to lift; the car body has the functions of autonomous navigation walking and safety obstacle avoidance of the AGV. The vehicle body 1 comprises a stand column 101 which forms a main frame structure of the vehicle body, and the width w of the frame structure is smaller than the width h of a standard tray; the fixed supporting legs are aligned with the upright posts and fixedly connected together, and the fixed supporting legs are fixedly connected with outer extending legs 401 in the lateral direction of the fixed supporting legs, wherein the outer extending legs are used for improving the transverse rigidity and stability of the AGV and resisting overturning moment applied to the axis of the AGV by heavy load cargoes; the upright posts form a main frame structure of the vehicle body, and the width of the frame structure is smaller than the width of the standard tray; the front ends of the fixed support legs 4 are provided with two rollers 402, so that friction between the fixed support legs and the ground is reduced; the overhanging leg 401 is also provided with a roller for reducing friction with the ground; the three-way fork assembly 5 comprises a steering driving assembly 501 and a fork 502, wherein the steering driving assembly 501 drives the fork 502 to rotate to the left side, the right side and the front of the AGV relative to the central vertical axis of the AGV; the three-way fork assembly 5 further comprises a transverse track 503 and a transverse moving driving assembly 504, and the transverse moving driving assembly 504 drives the fork 502 and the steering driving assembly 501 to move along the transverse track 503 to the left or right so as to realize the fork taking and moving of the cargo pallet. The lifting driving assembly comprises a hydraulic driving assembly, a chain transmission assembly and a lifting portal frame; the lifting portal frame is hinged with the three-way fork assembly.

The light-duty heavy load three-way fork truck formula AGV that this embodiment provided owing to adopted fixed support leg 4, when fork 502 fork got the heavy object, fixed support leg provided the support counter-force opposite with the heavy object, need not to dispose heavier balancing weight at the rear portion of AGV, only need guarantee stand and structural frame and possess sufficient rigidity. Because the width dimension of the frame is smaller than the dimension of the tray and the fork, the outer extending legs can be arranged at the two sides of the supporting legs and contacted with the ground through the rollers, and support counter force is provided in the transverse direction for resisting the rollover moment generated when the fork and the heavy object move rightwards or leftwards. The whole AGV has compact structure, reduces the weight and greatly reduces the quality of the whole vehicle.

Referring to fig. 3 and 4, the cargo docking and transferring method based on a light heavy-duty three-way forklift type AGV provided in the embodiments of the present application includes a light heavy-duty three-way forklift type AGV1000 and a no-ejector rod AGV8. The specific working principle is as follows.

Firstly, the light heavy-duty three-way forklift type AGV1000 defaults to be arranged in a roadway in parallel with a goods shelf; when a task of unloading cargoes is executed, the light heavy-duty three-way forklift type AGV navigates to a specified position corresponding to the cargoes in the goods shelf column; the steering drive assembly 501 drives the forks 502 to turn sideways and parallel to the pallet; the lifting driving assembly 6 drives the three-way fork assembly 5 to move along the height direction and aim at the cargo pallet; the transverse moving driving assembly 504 drives the fork to move along the transverse track 503 and extend into the bottom of the cargo pallet; the lifting driving assembly 6 drives the fork to move continuously along the height direction to lift the cargo pallet; the traversing drive assembly 504 drives the forks to retract along the transverse track 503 and ensure that the center of gravity of the pallet is within the confines of the AGV's fixed support legs 4.

Secondly, when carrying out the task of transporting of plugging into of goods, light-duty heavy-duty three-way fork truck formula AGV1000 removes the outer point of plugging into of tunnel along planning route, and no ejector pin AGV8 has stopped on the position that the point of plugging into corresponds with the goods tray this moment, and light-duty heavy-duty three-way fork truck formula AGV's sideslip drive assembly 504 drive fork and goods tray move to no ejector pin AGV8 directly over, rise drive assembly 6 drive fork and goods decline, after tray and no ejector pin AGV8 contact, rise drive assembly 6 and continue to drive the fork and descend a little distance, then sideslip drive assembly drive fork withdraw from the tray, accomplish the goods and put down the frame and transport the task of plugging into.

Thirdly, when the task of loading, connecting and transferring cargoes is executed, the carrier-free AGV8 carries cargoes and pallets to navigate to a connection point, and the light heavy-duty three-way forklift AGV1000 waits for connecting, transferring cargoes and pallets at the connection point; the forks of the lightweight heavy-duty three-way forklift-type AGV1000 are aligned with the pallet, and the transverse moving driving assembly 504 drives the forks to move along the transverse rails 503 and extend into the bottom of the pallet; the lifting driving assembly 6 drives the fork to move continuously along the height direction to lift the cargo pallet; the traversing drive assembly 504 drives the forks to retract along the transverse track 503 and ensure that the center of gravity of the pallet is within the fixed support leg of the AGV.

Finally, when the task of loading cargoes in a loading manner by carrying out the connection and the transfer, the light heavy-duty three-way forklift type AGV1000 navigates to a specified position corresponding to the cargoes on the goods shelf column from the connection point along the planned path; the lifting driving assembly 6 drives the fork to move along the height direction; the transverse moving driving assembly 504 drives the fork, the goods and the pallet to move along the transverse track 503 and extend into the goods shelf; the lifting driving assembly 6 drives the fork to descend along the height direction, and the cargo pallet is contacted with the goods shelf; the lifting driving assembly drives the fork to continue, and the fork is separated from contact with the tray; the transverse moving driving assembly 504 drives the fork to move out of the goods shelf along the transverse track 503, and the task of docking, transporting and loading goods is completed.

It should be apparent that the embodiments of the present application are not limited by the foregoing, and various insubstantial modifications, or applications of the concepts and technical solutions of the present application to other applications without any modification, are within the scope of protection of the present application.

Claims

1. A lightweight heavy-duty three-way forklift-type AGV comprising:

the lifting device comprises a vehicle body, fixed supporting legs arranged at the front part of the vehicle body, a three-way fork assembly arranged at the front part of the vehicle body and used for forking goods in the front, left and right directions, and a lifting driving assembly used for driving the fork assembly to lift; the car body has the functions of autonomous navigation and walking of an AGV and safety obstacle avoidance; the vehicle body comprises upright posts, the upright posts form a main frame structure of the vehicle body, and the width of the frame structure is smaller than the width of the standard tray; the fixed supporting legs are aligned with the upright posts and are fixedly connected with the upright posts, the fixed supporting legs are fixedly connected with outer extending legs on the lateral sides of the fixed supporting legs, and the outer extending legs are used for improving the transverse rigidity and stability of the AGV and resisting overturning moment applied to the axis of the AGV by heavy load cargoes; the front ends of the fixed supporting legs are provided with two rollers, so that friction between the fixed supporting legs and the ground is reduced; the outer extending legs are also provided with rollers for reducing friction with the ground.

2. The lightweight heavy-duty three-way forklift-style AGV of claim 1 wherein said three-way fork assembly comprises a steering drive assembly and a fork, the drive assembly driving the fork to rotate to the left, right and front of the AGV relative to the vertical axis of the center of the AGV.

3. The lightweight heavy-duty three-way forklift-type AGV of claim 1 wherein said three-way fork assembly further comprises a transverse rail and a traversing drive assembly, said traversing drive assembly driving the forks and steering drive assembly to move in a left or right direction along the transverse rail to effect the forks and movement of the pallet.

4. The lightweight heavy-duty three-way forklift-type AGV of claim 1 wherein said lift drive assembly comprises a hydraulic drive assembly, a chain drive assembly and a lift gantry; the lifting portal frame is hinged with the three-way fork assembly.

5. The cargo connection and transfer method based on the light heavy-duty three-way forklift type AGVs comprises the light heavy-duty three-way forklift type AGVs and the mandril-free AGVs, and comprises the following steps:

step 1, arranging a light heavy-duty three-way forklift AGV default and a goods shelf in a roadway in parallel; when a task of unloading cargoes is executed, the light heavy-duty three-way forklift type AGV navigates to a specified position corresponding to the cargoes in the goods shelf column; the steering driving assembly drives the fork to rotate to the lateral direction and is parallel to the cargo pallet; the lifting driving assembly drives the fork to move along the height direction and aim at the cargo tray; the transverse moving driving assembly drives the fork to move along the transverse track and extend into the bottom of the cargo tray; the lifting driving assembly drives the three-way fork assembly to continuously move along the height direction so as to support the cargo pallet; the transverse moving driving assembly drives the fork to withdraw along the transverse track and ensures that the gravity center of the cargo pallet is positioned in the range of the AGV fixed supporting leg;

step 2, when a cargo transferring task is executed, the light heavy-duty three-way forklift AGVs move to a transferring point outside a roadway along a planned path, at the moment, no ejector rod AGVs stop at positions corresponding to the transferring point and the cargo pallet, a transverse moving driving assembly of the light-duty three-way forklift AGVs drives the cargo pallet to move to the position right above the no ejector rod AGVs, a lifting driving assembly drives the cargo fork and the cargo to descend, after the pallet is contacted with the no ejector rod AGVs, the lifting driving assembly continuously drives the cargo fork to descend for a small distance, and then the transverse moving driving assembly drives the cargo fork to withdraw from the pallet, so that the cargo unloading and the cargo transferring task are completed;

step 3, when the task of loading, connecting and transferring cargoes is executed, the AGVs without ejector rods carry cargoes and pallets to navigate to a connection point, and the light heavy-duty three-way forklift AGVs wait for connecting and transferring cargoes and pallets at the connection point; the pallet fork of the light heavy-duty three-way forklift AGV is aligned with the pallet, and the transverse moving driving assembly drives the pallet fork to move along the transverse track and extend into the bottom of the pallet; the lifting driving assembly drives the fork to move continuously along the height direction and supports the cargo pallet; the transverse moving driving assembly drives the fork to withdraw along the transverse track and ensures that the gravity center of the cargo pallet is positioned in the range of the AGV fixed supporting leg;