CN108658005A

CN108658005A - Full-automatic AGV trolleies

Info

Publication number: CN108658005A
Application number: CN201810577664.2A
Authority: CN
Inventors: 孙浩; 彭华明; 李洪义
Original assignee: GUANGZHOU YONEGY LOGISTICS AUTOMATION TECHNOLOGY Co Ltd
Current assignee: GUANGZHOU YONEGY LOGISTICS AUTOMATION TECHNOLOGY Co Ltd
Priority date: 2018-06-05
Filing date: 2018-06-05
Publication date: 2018-10-16

Abstract

The invention discloses a kind of full-automatic AGV trolleies, including chassis assembly, lifting gear and pallet fork component, chassis assembly is equipped with the cargo temporary storing bin for storing cargo, lifting gear is set in chassis assembly, pallet fork component includes support base, the first driving mechanism on support base and the pallet fork ontology affixed with the first driving mechanism, support base is set on lifting gear, for driving the first driving mechanism and pallet fork ontology to lift to the position of any one layer of shelf under the driving of lifting gear, first driving mechanism is for driving pallet fork ontology to fork cargo and cargo rotation being positioned over any one layer of shelf, or it forks cargo from any one layer of shelf and rotates cargo and remove shelf.Full-automatic AGV trolleies provided by the invention, not only realize the full-automation for picking and placeing cargo, have saved human cost and time cost, and also improve efficiency and accuracy rate that cargo picks and places.

Description

Full-automatic AGV trolleies

Technical field

The present invention relates to logistics equipment technical field more particularly to a kind of full-automatic AGV trolleies.

Background technology

AGV (Automated Guided Vehicle) i.e. automatic guided vehicles, be it is a kind of can be according to scheduled track Traveling, and have the unmanned trolley of safeguard protection and transfer function.Currently, AGV is widely used to warehousing industry, manufacture Industry, automobile assembly line, post office, library, the fields such as tobacco, medicine, chemical industry, food.With labor cost promotion and The demand of the raising of the degree of automation, AGV will be substantially improved, and AGV is faced with more intelligentized challenge.

Currently, most of AGV on the market, mainly by the way of manually picking and placeing cargo, specifically, AGV is small first Vehicle moves to cargo storage position, and then cargo is placed on the shelf of AGV trolleies by staff manually, then AGV trolleies By cargo transport to warehouse, then the cargo on the small car racks of AGV is unloaded by staff again and is placed on specified region.So And using this AGV and human assistance be combined pick and place cargo by the way of, since picking and placeing for cargo must rely on artificial association Helping could complete, and therefore, the fetching process of entire cargo is not only cumbersome, inefficient and human cost is high, further, since currently AGV trolleies by the way of with taking with putting, cannot be satisfied it is certain need AGV realize cargo keep in function occasions.

Invention content

The invention discloses a kind of full-automatic AGV trolleies, can not only automatic clamping and placing cargo, reduce human cost, and It is also equipped with cargo and keeps in function.

To achieve the above object, the present invention provides the following technical solutions：

The present invention provides a kind of full-automatic AGV trolleies, including chassis assembly, the chassis assembly is equipped with for storing The cargo temporary storing bin of cargo, if the cargo temporary storing bin includes dried layer shelf；Lifting gear, the lifting gear are set to the bottom On disc assembly；And pallet fork component, the pallet fork component include support base, the first driving mechanism on the support base and The affixed pallet fork ontology with first driving mechanism, the support base are set on the lifting gear, and the support base is used for First driving mechanism and the pallet fork ontology is driven to lift to any one layer goods under the driving of the lifting gear The position of frame, first driving mechanism is for driving the pallet fork ontology to fork the cargo and rotate the cargo Any one layer shelf are positioned over, or forks the cargo from any one layer shelf and rotates the cargo and remove institute State shelf.

A kind of full-automatic AGV trolleies provided by the invention, not only can by lifting gear drive pallet fork ontology lift to appoint The position of one layer of shelf of meaning, but also pallet fork ontology can be driven to turn on any one layer of shelf by the first driving mechanism Cargo position, that realizes cargo forks action.In this way, it can effectively solve the problem that existing AGV trolleies transport The problem of human assistance is needed when cargo saves human cost, improves the efficiency that cargo picks and places；Meanwhile utilizing lifting gear Mode can also pick up the cargo being positioned on the connection platform of different height, and then improve connection platform of the AGV trolleies to different height Applicability.

Further, since if the cargo temporary storing bin with dried layer shelf is provided on AGV trolleies, therefore in transportational process In, which can once transport multiple cargos, effectively reduce the round-trip number of AGV trolleies, improve conevying efficiency.

Description of the drawings

It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached Figure.

Fig. 1 is a kind of structure chart of full-automatic AGV trolleies provided in an embodiment of the present invention；

Fig. 2 is the exploded view that the shell of cargo temporary storing bin provided in an embodiment of the present invention is detached with shelf ontology；

Fig. 3 is partial enlarged view at III in Fig. 2；

Fig. 4 is the structure chart of control device provided in an embodiment of the present invention；

Fig. 5 is the structure chart of any one guide rail door frame provided in an embodiment of the present invention；

Fig. 6 is the structure chart of head cover provided in an embodiment of the present invention and the second driving mechanism；

Fig. 7 is the structure chart of pallet fork component provided in an embodiment of the present invention；

Fig. 8 is the exploded view of pallet fork component provided in an embodiment of the present invention；

Fig. 9 is the structure chart of chassis assembly provided in an embodiment of the present invention.

Specific implementation mode

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation describes, it is clear that described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts Example is applied, shall fall within the protection scope of the present invention.

In the present invention, term "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside", " in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on ... shown in the drawings or Position relationship.These terms are not intended to limit indicated dress primarily to preferably describe the present invention and embodiment It sets, element or component must have particular orientation, or be constructed and operated with particular orientation.

Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it His meaning, such as term "upper" also are likely used for indicating certain relations of dependence or connection relation in some cases.For ability For the those of ordinary skill of domain, the concrete meaning of these terms in the present invention can be understood as the case may be.

In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected " shall be understood in a broad sense.For example, it may be solid Fixed connection, is detachably connected or monolithic construction；Can be mechanical connection, or electrical connection；It can be directly connected, either Indirectly connected through an intermediary, or it is two connections internal between device, element or component.For this field For those of ordinary skill, the specific meanings of the above terms in the present invention can be understood according to specific conditions.

In addition, term " first ", " second " etc. are mainly used for distinguishing different devices, element or component (specifically Type and construction may it is identical may also be different), be not intended to show or implies meaning showing device, element or component Relative importance and quantity.Unless otherwise indicated, the meaning of " multiple " is two or more.

It is described in detail below in conjunction with attached drawing.

Also referring to Fig. 1 to Fig. 4, a kind of full-automatic AGV trolleies provided in an embodiment of the present invention, including chassis assembly 10, lifting gear and pallet fork component, the chassis assembly 10 are equipped with the cargo temporary storing bin 20 for storing cargo, and the cargo is temporary If storehouse 20 includes dried layer shelf；The lifting gear is set in the chassis assembly 10, which includes support base 30, is set to and is somebody's turn to do The first driving mechanism 40 on support base 30 and the pallet fork ontology 50 affixed with first driving mechanism 40, the support base 30 are set to On the lifting gear, the support base 30 under the driving of lifting gear for driving first driving mechanism 40 and pallet fork ontology 50 Lifting is to the position of any one layer of shelf, and first driving mechanism 40 is for driving the pallet fork ontology 50 to fork cargo and inciting somebody to action Cargo rotation is positioned over any one layer of shelf, or forks cargo from any one layer of shelf and rotate cargo and remove shelf.

Wherein, which can be applied to but be not limited to the fields such as warehousing industry, manufacturing industry, library, port and pier or airport Institute.

Wherein, the shelf number of plies in the cargo temporary storing bin 20 may be configured as one layer, two layers, three layers, four layers or five layers etc., tool The shelf number of plies of body can be configured according to the demand of user, meanwhile, the storage quantity of cargo also can basis on each layer of shelf The demand of user is arranged accordingly, specifically may be configured as one, two, three, four, five or six etc..Using Such setting advantageously reduces round-trip number of the AGV trolleies when transporting cargo, improves conevying efficiency.

Preferably, the shelf number of plies in the cargo temporary storing bin 20 can be three layers, while the goods that can be stored on each layer of shelf Object quantity is six, and in practical applications, can be loaded in six cargos on one pallet simultaneously, then pallet fork ontology 50 is logical It crosses and directly forks the mode of pallet disposably six cargos are placed on each layer of shelf, or six cargos are disposably forked Go out shelf, to effectively reduce the number of revolutions of pallet fork ontology 50 and the lifting number of lifting gear, so that operation is more Easy effectively saves the operating time.

Wherein, when loading six cargos in one pallet, the mode that lamination can be used in six cargos is loaded in pallet On, the mode that can also be used side by side is loaded on pallet.And when by the way of lamination, the difference in height between adjacent two layers shelf The folded height being located at together of six cargos need to be greater than or equal to, so that cargo can be smoothly put on shelf；According to side by side Set-up mode, then the length for needing to be arranged each layer of shelf is greater than or equal to the length that six cargos are loaded in side by side on pallet, So that cargo can be put into shelf completely.

As shown in Fig. 2, in the present embodiment, which includes with the shell 21 being open and being set to shell 21 The opening of interior shelf ontology 22, the shell 21 is arranged towards pallet fork component, and the opening of the shell 21 is cargo storage entrance, Meanwhile along the short transverse of the shelf ontology 22, which is equipped with several bearing structures 221 for bearing goods. Specifically, in loading, cargo can enter in the shell 21 from the opening of the shell 21 and be positioned in the bearing structure 221； In unloading, which removes from the bearing structure 221 from the opening of the shell 21.Using the setting of shell, when in order to Cargo is protected, the problem of colliding with other objects in transportational process to prevent cargo and cause cargo damage；Second is that in order to Prevent cargo from falling from shelf ontology 22 in transportational process.

Wherein, several bearing structures 221 can be formed by monolithic supporting plate or polylith supporting plate combination, but either which kind of shape Formula, multiple bearing structure 221 should all be arranged along the short transverse interval of the shelf ontology 22, and need to ensure in the shelf ontology The distance between two bearing structure of arbitrary neighborhood in 22 short transverse should be greater than or be placed on carrying knot equal to integral goods The height that the integral goods are occupied when on structure 221.For example, integral goods are to be placed on bearing structure by multiple cargo laminations On 221, then the distance between two bearing structure of arbitrary neighborhood just should be greater than or equal to the folded height being located at together of multiple cargos Degree, to ensure that multiple cargos can while be smoothly placed in bearing structure.

Preferably, several bearing structures 221 be the supporting plate of setting is formed by two-phase, including the first supporting plate 221a and Second supporting plate 221b, and several first supporting plate 221a are respectively separated the side for being set to shelf ontology 22, several second supports Plate 221b is respectively separated the other side for being set to shelf ontology 22, while any one piece of the first supporting plate 221a and corresponding setting The second supporting plate 221b form any one layer of shelf.Using such setting, when picking and placeing cargo, pallet fork ontology can be from first Interval region between supporting plate 221a and the second supporting plate 221b stretches into shell 21, to ensure the entire fetching process in cargo Middle pallet fork ontology 50 can come into full contact with always with the bottom of cargo, and then be conducive to the smooth of cargo and pick and place.

Further, several first supporting plate 221a and several second supporting plate 221b include loading plate 2211 and blocking Plate 2212, and the barrier plate 2212 is fixed in the side of the loading plate 2211 and is formed with the loading plate 2211 for housing cargo Placement space, while each piece of barrier plate 2212 include from its top be obliquely installed to the side of loading plate 2211 first Inclined surface.Specifically, when cargo is placed on placement space, cargo first is contacted with barrier plate 2212, then by this first Inclined surface slowly slides on loading plate 2211.Using such setting, it is not only convenient for cargo and is positioned over loading plate from placement space On, and can also play the role of stopping cargo using the barrier plate 2212, it prevents cargo to be placed on loading plate and topples over Situation.

Further, each piece of loading plate 2211 is equipped with block 222, and two gears along the both ends of its own length direction The one side of 222 relative orientation of block is the second inclined surface, while second inclined surface is from the top of the block 222 to the loading plate 2211 sloped-end setting.Using the setting of block, first, in order to stop cargo, to prevent in transportational process, there is cargo The case where being thrown away from loading plate prevents second is that in order to limit movement travel of the cargo on loading plate because cargo is at this The case where loading plate shakes and may cause cargo damage back and forth.In addition, using the setting of the second inclined surface, primarily to energy Enough facilitate cargo picking and placeing on loading plate.

Wherein, which can be curve slope.

In addition, in the present embodiment, can also be rotated in side of the shell 21 far from the cargo storage entrance and be equipped with first Door-plate 211, to which when pallet fork component failure cannot pick and place cargo, user may be selected to open first by artificial mode Door-plate 211 and cargo is placed on shelf ontology 22, or cargo is taken out from shelf ontology 22.In addition, in order to side Just the first door-plate 211 is opened, the first in command 212 can be also set on first door-plate 211.

In addition, in order to observe the placement situation of cargo on shelf ontology 22, can be corresponded in the side of the shell 21 every Windowing design either setting transparent panel 213 is done in the position of one layer of shelf, so that user can be by the windowing or transparent Panel observes the storage situation of cargo on each layer of shelf in shell 21.

In the present embodiment, which further includes control device 60, which is set to chassis assembly On 10, and the control device 60 is electrically connected with the lifting gear and first driving mechanism 40, and the control device 60 is for controlling The lifting gear driving lifting of support base 30 processed drives the first driving mechanism 40 and goods to the position of any one layer of shelf The lifting of ontology 50 is pitched to the position of any one layer of shelf；Meanwhile the control device 60 is additionally operable to the first driving mechanism of control 40, which start driving pallet fork ontology 50, forks cargo and cargo rotation is positioned over any one layer of shelf, or is pitched from any one layer of shelf Cargo is simultaneously rotated removal shelf by picking object.That is, the relevant operation that AGV trolleies execution picks and places cargo is filled by control It sets 60 and carries out control execution.

Wherein, the control device 60 concretely electric control box, the structure of the control device 60 can be square box knot Structure, in include spaced battery modules (not shown) and control assembly (not shown), and the battery modules and the control Component is electrically connected.The battery modules are used to power for the operation of entire AGV trolleies, the control assembly and the lifting gear and first Driving mechanism 40 is electrically connected, and corresponding operation is executed for controlling lifting gear and the first driving mechanism 40, to realize cargo The Unmanned operation of hauling operation reduces the human cost of enterprise.Specifically, along the short transverse of the control device 60 by dividing The control device 60 is divided into upper space and lower space by partition board (not shown), which is located at lower space, should Control assembly is located at upper space so that the battery modules with the control assembly is mutually separated comes.It is set using such It sets, can effectively avoid battery modules and influence each other with the heat that control assembly generates at runtime, while being also beneficial to equipment Maintenance.

Further, the upper space and the lower space are the space with opening, and the opening of the two is in the same direction, It is arranged towards the direction far from pallet fork component, while rotation is equipped with the second door-plate 61 on the upper space, which uses Expose or block the opening of the upper space in rotation.Specifically, in actual application, second door-plate 61 and the top The opening in space overlaps (that is, second door-plate 61 shelters from the opening of the upper space), is entered with dust protection or other objects In upper space.Similarly, rotation is equipped with third door-plate 62 in the lower space, which exposes or hide for rotating Keep off the opening of the lower space, to effectively solve it is existing by battery modules it is exposed outside may with other objects collide and The problem of caused battery modules damage.If in addition, battery modules or control assembly failure need maintenance when, can be according to feelings Condition opens the second door-plate 61 or third door-plate 62 carries out corresponding service work.

Further, which is equipped with display screen 611, the display screen 611 and the control assembly and battery mould Group is electrically connected, which can be used for showing the cargo storage situation on each layer shelf in cargo temporary storing bin and display The current information about power of battery modules.For example, can show whether be placed with cargo on each layer shelf, if there is cargo, by this layer of goods Frame is identified as green, if without cargo, this layer of shelf are identified as red, so that staff can pass through the display screen 611 intuitively know the percentage of the cargo storage information and real-time display trolley electricity on each layer shelf, so that work The current charge condition of trolley can be apparent from by display screen 611 by making personnel, and then be charged in time to trolley, be had Effect ensures that trolley constantly works.In addition, can also the display screen 611 be set to touch screen, so that staff can lead to It crosses and touches the display screen 611 control pallet fork ontology 50 and carry out forking cargo, lifting, rotate, put down the operations such as cargo.

Further, in order to be easy to open the second door-plate 61 and third door-plate 62, second door-plate 61 and this It is both provided with second handle 612 on three door-plates 62, so that user can conveniently and efficiently open second by second handle 612 Door-plate 61 and third door-plate 62.

In addition, in the present embodiment, several spaced heat emission holes 613 can be also set on second door-plate 61, with So that the heat that control assembly generates in the process of running is quickly come out, the reliable for operation of control assembly is effectively ensured Property.

As shown in Figures 1 and 5, in the present embodiment, which further includes two guide rail door frames 70, and two guide rail door frames 70 are parallel And be arranged at intervals in chassis assembly 10, and two guide rail door frames 70 are between cargo temporary storing bin 20 and control device 60, simultaneously Support base 30 is slidably connected between two guide rail door frames 70 and with two guide rail door frames 70, in addition, wherein a guide rail door frame 70 is remote Side from support base 30 with the shell 21 of cargo temporary storing bin 20 there is one end of opening to connect and be formed the cargo storage entrance, Side of another guide rail door frame 70 far from support base 30 is electrically connected with control device 60.Using such setting so that trolley Overall structure is compacter, to improve applicability of the trolley to Different field working space.

As a kind of optional topology layout mode, along the length direction of trolley, the control device 60, another guide rail door frame 70, support base 30, a wherein guide rail door frame 70 and cargo temporary storing bin 20 are successively set in the chassis assembly 10 of trolley, and are set Along the length direction of trolley, one end that trolley closes on control device 60 is headstock, and one end that trolley closes on cargo temporary storing bin 20 is The tailstock, or in turn, the one end for closing on cargo temporary storing bin 20 is headstock, the one end for closing on control device 60 is the tailstock.However, Either it is arranged in which way, when trolley reaches designated position, pallet fork ontology 50 is to pick and place cargo from the side of trolley 's.

Further, which further includes head cover 80, and the head cover 80 is set to two guide rail door frames 70 far from chassis assembly 10 One end, to effectively prevent external dust to fall into small car at the top of trolley, and then effectively ensure car interior environment Neat and tidy.

It please refers to Fig.1, Fig. 5, Fig. 6 and Fig. 7, in the present embodiment, which includes the second driving mechanism and several The elevating mechanism 92 being connect with second driving mechanism, second driving mechanism are electrically connected with control assembly, each elevating mechanism 92 The setting of guide rail door frame 70 is closed on respectively, and each elevating mechanism 92 is affixed with support base 30.

As an alternative embodiment, the pallet fork ontology 50 is equipped at least one detection device (not shown), and At least one detection device is electrically connected with control assembly, is appointed when first driving mechanism 40 driving pallet fork ontology 50 rotates to be located at Anticipate position where one layer of shelf when, on the shelf layer which is currently located whether There is cargo, if there is cargo, then at least one detection device sends electric signal to control assembly, which is receiving After the electric signal, the second driving mechanism of control, which starts driving elevating mechanism 92, to be done along the short transverse of guide rail door frame 70 and to lift Movement to drive support base 30 to do the movement lifted along the short transverse of guide rail door frame 70, and then drives pallet fork ontology 50 to do The movement of lifting, until when the lifting of pallet fork ontology 50 is to position where another layer of shelf, stop motion, at this point, this at least one If descending operation is continued to execute there are cargo with the presence or absence of cargo on a detection units test another layer of shelf, if not depositing In cargo, then the cargo on pallet fork ontology 50 will be placed on another layer of shelf, to complete the loading behaviour of this cargo Make.Using such set-up mode, trolley can be automatically performed the loading operation of cargo, eliminate the process of artificial loading cargo, The time that cargo loads effectively is saved, the efficiency of cargo loading is substantially increased.

Wherein, the quantity of the detection device can be one, two, three or four etc., which can be ultrasonic wave Sensor or photoelectric sensor.

As another optional embodiment, at least one detector can be also correspondingly arranged on each layer of shelf Part, and at least one detection device is electrically connected with the control assembly.Specifically, at least one inspection on each layer of shelf It surveys the cargo storage information on shelf where device detects it in real time and Real-time Feedback is to control assembly, to load cargo When, control assembly can directly control the second driving mechanism driving support base 30 and pallet fork ontology 50 is driven to lift to no storage cargo That layer of shelf, and then shorten cargo load time, greatly improve the efficiency of loading of cargo.Preferably, each layer of shelf On the quantity of the detection device be two, and the both sides of each layer of shelf are respectively arranged on, so as to more accurately determine The storage situation of cargo on each layer of shelf.

It can learn, in above two embodiment, detection device can be also set only on pallet fork ontology 50, or Person is the setting detection device only on shelf.

Certainly, in other embodiments, pallet fork ontology 50, which is lifted, picks and places the operation of cargo to any one layer and can also exist in advance It is set in control assembly, when equipment starts, you can carry out corresponding descending operation according to the operating procedure set.

Further, which is fixedly arranged on the head cover 80, which is leading screw and nut mechanism, packet The nut seat 922 for including lead screw 921 and being connect with 921 spiral of lead screw, and one end of each lead screw 921 both pass through head cover 80 with Second driving mechanism is affixed, and the other end of each lead screw 921 rotates in chassis assembly 10, while each nut seat 922 is affixed with the support base 30.Specifically, which drives the lead screw 921 rotation to drive nut seat 922 in silk The short transverse of 921 upper edge of the bar lead screw 921 moves up and down, to drive support base 30 along the short transverse of the lead screw 921 It moves up and down, and then pallet fork ontology 50 is driven to move to the position where any one layer of shelf.That is, in lifting process In, the position where which can move to any one layer of shelf is risen with respect to the lead screw 921 by nut seat 922 Drop movement and realize.By the way of this screw nut driving, the stationarity that support base moves up and down can be effectively ensured, To can avoid the case where cargo is fallen from pallet fork ontology in lifting process.

As an alternative embodiment, the elevating mechanism 92 can be four, and close on the guide rail door frame two-by-two respectively 70 settings, which includes motor 911, the first commutator 912, the second commutator 913 and four retarders 914, The motor 911 is electrically connected with the control assembly, which is arranged with first commutator 912 interval, four decelerations Device 914 is set to first commutator 912 and the both sides of second commutator 913, and the one of each lead screw 921 two-by-two respectively End is each passed through head cover 80 and a retarder 914 is affixed.Specifically, which can be worm type of reduction gearing, this One commutator 912 includes the first input shaft 912a and three first output shaft 912b, which includes the second input Axis 913a and two second output shaft 913b, and the first input shaft 912a and the shaft of the motor 911 are affixed, wherein one should First output shaft 912b is connect with the second input shaft 913a of second commutator 913, in addition two 912b points of first output shafts Do not connect with the retarder 914 being respectively correspondingly arranged, meanwhile, two second output shaft 913b also respectively be respectively correspondingly arranged Retarder 914 connect so that the power of motor 911 can be driven to by the first commutator 912 second commutator 913 and Each retarder 914, and then each lead screw 921 can be driven to via each retarder 914, while realizing four lead screw 921 It rotates in same direction, so as to effectively ensure the support base in the stationarity moved up and down, and then improves pallet fork ontology positioning The positioning accuracy of shelf.

Certainly, in other embodiments, the quantity of the elevating mechanism 92 can be one, two, three or five etc., this Outside, which can also be piston rod or chain sprocket mechanism.

Further, which further includes a third output shaft 913c, and the third output shaft 913c with Second input shaft 913a is oppositely arranged, while second encoder 915 is provided on third output shaft 913c, and second coding Device 915 is electrically connected with the control assembly.Specifically, pallet fork ontology 50 can be preset in advance in the second encoder 915 to lift extremely When any one layer of shelf, motor 911 needs the frequency (i.e. predeterminated frequency value) rotated, and drives lead screw 921 to rotate in motor 911 During driving pallet fork ontology 50 to be lifted from current shelf to next layer of shelf, which passes through the third Output shaft 913c is known the rotational frequency of the motor 911 and is counted in real time, when motor 911 stops operating, second volume Code device 915 generates the actual rotation frequency values that motor 911 this time rotates, and is compared with predeterminated frequency value, if motor 911 Actual rotation frequency values are less than predeterminated frequency value, then second encoder 915 generates corresponding electric signal and feeds back to control group Part, the control assembly receive the electric signal and control motor 911 and be rotated further, until the actual rotation frequency values of the motor 911 It when equal with predeterminated frequency value, stops operating, pallet fork ontology 50 is accurately parked in the position where next layer of shelf.It should learn , the electric signal may include motor 911 also need to rotation frequency, the corresponding rotational frequency value of the motor 911 is the branch Support the height distance value that seat 30 drives the pallet fork ontology 50 to be lifted along the short transverse of the lead screw 921.

Certainly, in other embodiments, it also may be selected that second encoder is not arranged on third output shaft 913c, but select Select the motor (that is, coming with encoder in motor 911) for coming with second encoder, at this point, the encoder in the motor 911 with The control assembly is electrically connected.

Further, each guide rail door frame 70 includes two supporting racks 71, and each supporting rack 71 includes the first support Plate 711 and the second support plate 712, while second support plate 712 is affixed with first support plate 711 and is formed each for accommodating The space of lead screw 921, in addition, one end that each piece of first support plate 711 is connect with head cover 80 is equipped with connecting seat 72, and should The end edge of connecting seat 72 from first support plate 711 extends to second support plate 712, one end of each lead screw 921 It is arranged in the connecting seat 72 and head cover 80 successively respectively and is finally connected with corresponding retarder 914, to ensure that lead screw 921 begins Eventually can perpendicular to chassis assembly 10, while the side of each piece of the first support plate 711 towards the support base 30 be all provided with it is wired Property guide rail 73, and each nut seat 922 is slidably connected by sliding block 74 with the linear guides 73 respectively, so that the support base 30 While can swimmingly elevating movement being carried out along the short transverse of the guide rail door frame 70, moreover it is possible to ensure that the support base 30 always can It is enough to keep point-blank moving, it effectively prevent the movement locus for support base 30 occur to occur to deviate situation.

Further, which further includes several fixed seats 75, and each fixed seat 75 respectively with each nut seat 922 is affixed, and specifically, which includes main part 31 and extend the outer peripheral extension 32 of main part, respectively Connecting rod 33 is respectively arranged on extension 32, and each connecting rod 33 upwardly extends and be fixed in each fixed seat 75 respectively, That is the connection of the support base 30 and each nut seat 922 be by connecting rod 33 and fixed seat 75 it is affixed by realize.It adopts With such set-up mode, it is capable of the assembly and disassembly of seat easy to support and each nut seat.

It please refers to Fig.1, Fig. 7, Fig. 8 and Fig. 9, in the present embodiment, which further includes turntable 34,34 turns of the turntable Dynamic to be set on the support base 30, first driving mechanism 40 and the pallet fork ontology 50 are set on the turntable 34, and first drive Motivation structure 40 is for driving the turntable 34 to rotate, to drive the cargo storage of the pallet fork ontology any one layer of shelf of 50 rotational alignment Entrance, or it is rotated away from the cargo storage entrance of any one layer of shelf.Specifically, which applies in warehousing industry In, it is particularly used for from connection platform transporting cargo into warehouse, and its specific transportational process is as follows：First, AGV trolleies are transported It moving to the position of connection platform, pallet fork ontology 50 forks the cargo on connection platform, then, 40 driving disc of the first driving mechanism 34 along clockwise direction (or counterclockwise) rotation is currently located with driving pallet fork ontology 50 to turn to pallet fork ontology 50 The cargo storage entrance of highly corresponding that layer of shelf.At this point, the goods information on detection this layer of shelf of units test, if should There is cargo on layer shelf, then second driving mechanism driving rotation of lead screw 921 drives the lifting of support base 30 to another layer of shelf The position at place；And if without cargo on this layer of shelf, then the cargo is placed on this layer of shelf by the pallet fork ontology 50, then First driving mechanism, 40 driving disc 34 (or clockwise direction) rotation in the counterclockwise direction, and pallet fork ontology 50 is driven to go back to To the position where connection platform, continue to fork the cargo on connection platform.And so on, until each in the cargo temporary storing bin 20 When piling cargo on layer shelf, the pallet fork ontology 50 stopping forks cargo from connection platform, and the AGV trolleies are along specified road Position movement where diameter towards warehouse, and when the AGV moving of car specifies placement location to cargo, stop motion simultaneously should Pallet fork ontology 50 forks the cargo being placed on wherein one layer of shelf of the cargo temporary storing bin 20, then first driving mechanism 40 Driving disc 34 rotates in the counterclockwise direction, and pallet fork ontology 50 is driven to turn to the finger that cargo is stored in warehouse in the counterclockwise direction Positioning is set, and executes cargo being placed on designated position operation, and so on, until all cargos on shelf have been picked and placeed At.It should be noted that in the process, when pallet fork ontology 50, which reaches any layer shelf position, to carry out forking cargo, The detection device can execute the operation that whether there is cargo on this layer of shelf of detection.Goods is not present on this layer of shelf when detecting When object, which is sent to control assembly, is driven to control second driving mechanism using control assembly The dynamic rotation of lead screw 921 drives the lifting of support base 30 to the position where another layer of shelf.Using above-mentioned set-up mode, can realize Warehousing industry cargo transport operation it is unmanned, eliminate the personnel depaly for picking and placeing cargo in cargo transport operation, substantially reduce The input of cost of human resources.

Wherein, which can be motor, cylinder or hydraulic cylinder etc..In the present embodiment, first driving Mechanism 40 is motor.

Wherein, the angular range of the pallet fork ontology 50 rotation can be 0~90 ° or 0~180 °.Specifically, the pallet fork The angle that ontology 50 rotates is 0~180 °, is provided with several row's shelf in the warehouse, which moves to along specified path Between arbitrary two rows shelf, at this point, by pallet fork ontology 50 towards on the basis of the direction of cargo storage entrance, which can 90 ° of rotation places cargo on row's shelf wherein, which is also placed on another row for rotatable -90 ° by cargo On shelf.

Further, which further includes turntable bearing 35, the turntable bearing 35 include inner ring 352 and with the inner ring The outer ring 351 of 352 rotation connections, the turntable 34 and the outer ring 351 are affixed, and the support base 30 and the inner ring 352 are affixed, the inner ring 352 internal face 352a is equipped with several gear teeth, and the output shaft of first driving mechanism 40 is equipped with the with the gear teeth meshing One gear 41.Specifically, which starts driving output shaft and rotates and first gear 41 is driven to rotate, so that the One gear 41 and several gear teeth meshings on the inner ring 352, to drive the outer ring 351 and the turntable 34 to rotate, in turn It drives the pallet fork ontology 50 to rotate, cargo is transported from connection platform to cargo temporary storing bin 20, or by cargo from cargo temporary storing bin It is removed in 20.Using above-mentioned set-up mode, it can be achieved that being accurately controlled to 50 rotational angle of pallet fork ontology, so that pallet fork Ontology 50 can drive cargo accurately to turn to cargo storage inlet, and then ensure that pallet fork ontology 50 can be successfully by goods Object is put into from cargo storage entrance in cargo temporary storing bin 20, effectively prevent occurring making because the angle that pallet fork ontology 50 rotates is inadequate Pallet fork ontology 50 is obtained not to be aligned with cargo storage entrance and lead to that cargo and the collision of shelf ontology 22 may occur when arrangement of goods The case where.

Certainly, in other embodiments or the outer ring of the turntable bearing 351 and the support base 30 it is affixed, the turntable 34 is affixed with the inner ring 352, which starts driving output shaft and rotate and first gear 41 is driven to rotate, so that First gear 41 and several gear teeth engagement in rotation on the inner ring 352, to drive 34 turns of the inner ring 352 and the turntable It is dynamic, and then the pallet fork ontology 50 is driven to rotate.

Further, which further includes the second gear 42 affixed with the turntable 34, and the second gear 42 Positioned at the inner ring 352 and with the gear teeth meshing, while the second gear 42 be equipped with the first encoder 421, first encoder 421 are electrically connected with the control assembly.Specifically, the pallet fork ontology 50 is preset in first encoder 421 in advance to plug into certainly Platform turns to alignment cargo storage entrance and needs the angle (i.e. predetermined angle) that rotates, and drives the in first driving mechanism 40 During the rotation of one gear 41 drives turntable 34 to rotate, which knows the actual rotation of the turntable 34 in real time Angle, when the turntable 34 stops operating, first encoder 421 by the actual rotation angle of the turntable 34 and predetermined angle into Row compares, if the actual rotation angle of the turntable 34 is differed with the predetermined angle, then first encoder 421 generates the first letter Number, and it is sent to control assembly, after which receives first signal, controls first driving mechanism 40 and start driving The turntable 34 continues to rotate along current direction, until the angle of the turntable 34 rotation is equal with the predetermined angle.Using in this way Setting, primarily to being calibrated to the rotational angle of pallet fork ontology, to ensure that pallet fork ontology can be precisely directed to goods Object stores entrance, improves the accuracy that pallet fork ontology picks and places cargo.

Wherein, which is driven with the gear teeth engagement in rotation by first driving mechanism 40 to drive the outer ring 351 and the turntable 34 rotation, and then realize the engagement in rotation of the second gear 42 and the gear teeth.

In the present embodiment, which further includes third driving mechanism 36, which includes being fixedly arranged on this Fixation fork body 51 on turntable 34 and the multi-stage expansion being slidably connected with the fixation fork body 51 pitch body, which sets Connect on the fixation fork body 51, and with multi-stage expansion fork body, is somebody's turn to do towards far from or close to for driving the multi-stage expansion to pitch body The direction of fixation fork body 51 moves.Specifically, starting stage (when not starting to pick and place cargo), multi-stage expansion fork body is located at 51 top of fixation fork body, when AGV moving of car starts to fork cargo to connection platform preparation, the third driving mechanism 36 driving The multi-stage expansion is pitched body and is moved towards the direction far from the fixation fork body 51, until multi-stage expansion fork body moves to and forks placement In the cargo on connection platform, which drives the multi-stage expansion to pitch body towards close to the direction of the fixation fork body 51 Movement, until when multi-stage expansion fork body is moved to 51 above fixation fork body, which controls first driving machine Structure 40 starts driving disc 34 and is rotated in the clockwise direction and the pallet fork ontology 50 is driven to turn to alignment cargo storage entrance, and When the pallet fork ontology 50 is directed at cargo storage entrance, whether there is cargo on this layer of shelf of at least one detection units test, If without cargo, moved towards the direction far from fixation fork body 51 then the third driving mechanism 36 drives the multi-stage expansion to pitch body, That is, multi-stage expansion fork body drives cargo to be moved towards close to the direction of cargo temporary storing bin 20, until the cargo is fully located at the layer When on shelf, which drives the multi-stage expansion to pitch body and (is somebody's turn to do towards close to the movement of the direction of fixation fork body 51 again It is flexible that multi-stage expansion pitches body), cargo is stayed on this layer of shelf with realizing.When multi-stage expansion fork body is located at the fixation fork body 51 When upper, which controls first driving mechanism 40 startup driving disc 34 and rotates drive pallet fork ontology in the counterclockwise direction 50 turn to the position where connection platform, start the loading operation of next round cargo.It should learn, AGV will be temporarily stored in When cargo on trolley is placed on the shelf in warehouse, the pallet fork ontology 50 by multi-stage expansion pitch body pick and place the operation of cargo with The above-mentioned operation that the cargo on connection platform is placed in cargo temporary storing bin 20 is the same, the difference is that 50 turns of pallet fork ontology Rotation direction when dynamic first rear direction is placed on cargo temporary storing bin 20 with the above-mentioned cargo by connection platform is just opposite.It is comprehensive It is upper described, it can learn, only when picking and placeing cargo, multi-stage expansion fork 52 just carries out relevant scaling operation, and During moving of car, multi-stage expansion fork body is located on the fixation fork body 51 always.Using such set-up mode, no It only enables to the overall structure of the AGV trolleies compacter, reduces the waste of inner space, but also can effectively solve the problem that existing The exterior space of trolley is always positioned at due to not flexible for some pallet fork ontologies and to cause trolley to encounter in the process of running narrow The intransitable problem in space.

Certainly, in other embodiments, multi-stage expansion fork body can need not also stretch can be achieved with cargo pick and place behaviour Make.

Further, in order to improve the merging precision of trolley and connection platform, along the length direction of the chassis assembly 10, the bottom The side wall of disc assembly 10 is equipped with the first communication device 11, first communication device 11 and the third driving mechanism 36 with the control Component electrical connection processed.Similarly, the second communication device (not shown) can be equipped on the connection platform, and when trolley is parked in close plug into When at the position of platform, which can send docking message to second communication device, the second communication device energy It is enough to be notified when receiving the docking message to the cargo control system of connection platform, to complete preparation of the cargo on connection platform It works and feeds back message that cargo is ready to complete to the second communication device, which disappears what the cargo was ready to complete Breath feeds back to the first communication device, and the i.e. transmittable operation for executing picking refers to first communication device 11 upon receiving the message It enables to control assembly, control assembly i.e. controllable 36 driving pallet fork ontology 50 of third driving mechanism after receiving the instruction starts Pick and place cargo.It should learn, 36 driving pallet fork ontology 50 of control assembly control third driving mechanism picks and places the operation of cargo As above-mentioned third driving mechanism 36 drives multi-stage expansion pallet fork to pick and place the operation of cargo, and details are not described herein again.

Wherein, first communication device 11 and second communication device can be wireless wifi, bluetooth or optic communication device Deng.

As an alternative embodiment, the turntable 34 is equipped with pedestal 341, which drives with the third Mechanism 36 is fixedly arranged on the pedestal 341, which pitches body and include the first fork body 521 and slided with the first fork body 521 Second fork body 522 of connection, and the first fork body 521 is slidably connected with the fixation fork body 51, while the first fork body 521 passes through First transmission mechanism and the third driving mechanism 46 are sequentially connected, and the second fork body 522 by the second transmission mechanism and this One transmission mechanism be sequentially connected so that the third driving mechanism 36 drive this first fork body 521 sliding closer or far from While the fixation fork body 51, the second fork body 522 sliding can be driven closer or far from the first fork body 521.That is, The first fork body 521 is simultaneous retractable with the second fork body 522.In addition, should learn, in the starting stage, this One fork body 521 is located at the top of the fixation fork body 51, which is located at the top of the first fork body 521.

Wherein, first transmission mechanism and second transmission mechanism can be identical transmission mechanism or different biographies Motivation structure.Specifically, first transmission mechanism and second transmission mechanism may respectively be gear drive, chain drive In tape handler any one or it is two kinds arbitrary.In the present embodiment, first transmission mechanism and second driver Structure is different transmission mechanism, and first transmission mechanism is gear drive, which is chain drive machine Structure.

Further, which is provided with the first guide part along the two side of its own length extending direction Two outer side surfaces of part, the first fork body 521 are provided with the second guiding parts, and the interior sidewall surface sliding of the first fork body 521 It is connected to first guiding parts, the two side walls of the second fork body 522 are slidably connected and second guiding parts, so that For the first fork body 521 towards in the motion process far from or close to fixation fork body 51, which can be along the first guide part Part moves in a straight line, and for the second fork body 522 towards far from or close in the first motion process for pitching body 521, which can It is moved in a straight line along second guiding parts.Using such setting, first, pitching body 522 for the first fork body 521 and second It is flexible that the effect being oriented to is provided, second is that in order to ensure the flexible fluency of the first fork body 521 and second fork body 522.

Wherein, first guiding parts and second guiding parts can be guide rod, it is guide pad, several spaced Guide ledges or guide groove etc..

Specifically, which is several spaced first guide ledges 511, which is Guide groove 512.And along length direction of the first fork body 521, both sides of the first fork body 521, which each extend over, is provided with two the Side plate 521a, at the same two first side plate 521a towards this first fork body 521 side be equipped with opening direction towards this first The first groove 53 for pitching body 521, during the first fork body 521 is slided close to the fixation fork body 51, first groove 53 Sliding accommodates several first guide ledges 511, and during the first fork body 521 slides away from the fixation fork body 51, Several first guide ledges 511 are exposed in first groove 53 sliding.In addition, the other side of two first side plate 521a is equipped with this Guide groove 512 (i.e. the second guiding parts), along the length direction of the second fork body 522, which is equipped with two-phase Third guide part is equipped with to the side of the second side plate 522a of setting, and two second side plate 522a towards the second fork body 522 Part, while the third guiding parts is several spaced third guide ledges 513, and close be somebody's turn to do is slided in the second fork body 522 During first fork body 521, which is slidingly accommodated in the guide groove 512, and in the second fork body 522 During sliding away from the first fork body 521, which is slidably disposed in outside the guide groove 512.

In the present embodiment, which further includes two steering wheel drive assembly 12, and two steering wheel drive assembly 12 interval is set to should In chassis assembly 10, and two steering wheel drive assembly 12 include the 4th driving mechanism 121 being electrically connected with the control assembly and with The affixed steering wheel 122 of 4th driving mechanism 121, while the steering wheel drive assembly 12 is used to control the advance, retrogressing, cross of trolley The movements such as shifting or steering.In addition, to realize that the automatic Pilot of the trolley, the head cover 80 are equipped with laser sensor 81, the laser Sensor 81 is electrically connected with the control assembly, and the laser sensor 81 is used to detect the position coordinates of the trolley current spatial simultaneously It generates third signal and is sent to control assembly, so that control assembly can control the 4th driving mechanism according to the third signal 121 drive the steering wheel 122 to drive the moving of car to designated position.Specifically, in the working space of trolley (such as warehouse) It is previously provided at least one reflecting plate (not shown), and each reflecting plate all has number corresponding with the reflecting plate and this is anti- Coordinate of the plate in current work space coordinates is penetrated, during trolley transports cargo, which can be to this extremely Few reflecting plate blind laser simultaneously receives the reflection laser that at least one reflecting plate returns, to according to the reflection laser meter Calculate trolley and each the distance between reflecting plate for sending out the reflection laser, and then according to the distance and each to send out transmitting sharp Cross of the trolley in current work space coordinates is calculated in coordinate of the reflecting plate of light in current work space coordinates Coordinate and ordinate, and generate third signal and be sent to control assembly so that the control assembly judged according to the third signal it is small Whether the current running orbit of vehicle overlaps with desired guiding trajectory, if misaligned, the 4th driving mechanism 121 of control drives steering wheel 122 Trolley is driven to adjust traffic direction, until the current running orbit of the trolley is overlapped with desired guiding trajectory；If overlapping, control the 4th Driving mechanism 121 drives steering wheel 22 that trolley is driven to be moved on along current running orbit, until trolley is transported according to desired guiding trajectory When moving to designated position, stop motion.Using such setting, it can not only ensure that trolley is accurately parked in designated position, and And it can also avoid the occurrence of and be run on the operation road of other trolleies because of the default course line of trolley deviation and may interfere with other The case where trolley travelling.

In addition, for accurately cargo can be placed on the shelf of designated position, reflecting plate also is provided on the shelf.Tool Body, when trolley is parked in designated position, which, which emits laser to the reflecting plate and receive the reflecting plate, returns Reflection laser, while abscissa and ordinate according to the reflection laser counting of carriers in current work space coordinates, And by the abscissa and ordinate and preset coordinate (the length side of the length direction and the shelf being placed in working space of trolley To it is parallel when, coordinate of the trolley in current work space coordinates) be compared, if the current coordinate of the trolley is sat with default Mark differ, then the control assembly can control the 4th driving mechanism 121 driving steering wheel 122 drive trolley turn to, advance or after It moves back, until when the current coordinate of the trolley is equal with preset coordinate, that is, the moving of car is to its length direction and working space When the length direction of interior shelf is parallel, 122 stop motion of steering wheel, control assembly starts control pallet fork ontology 50, and cargo is temporary Cargo in storage 20 picks and places on the shelf to working space, and specifically fetching process has described above, herein not It repeats again.Using such set-up mode, appearance is can effectively avoid because being deposited between the shelf in the car body and working space of trolley Pallet fork ontology is possible to situation about cannot be placed on cargo on shelf caused by larger deviation angle, effectively improves goods The accuracy rate that object is placed.

It should learn, reflection is equipped on each shelf at the position of the specified arrangement of goods in working space Plate, so that can be properly placed on cargo on corresponding shelf when trolley travelling to any one designated position.In addition, It should also learn, can allow between the changing coordinates of the trolley and the preset coordinate there are certain error range, Will be in the error range of the permission, which can not drive trolley to adjust orientation.

Further, wherein a steering wheel drive assembly is located at the lower section of the control device 60, another steering wheel drive assembly position In the lower section of the cargo temporary storing bin 20, and dust enters inside steering wheel drive assembly and influences using effect in order to prevent, this two Steering wheel drive assembly is covered with protective cover, is entered in the steering wheel drive assembly 12 with dust protection.

Further, it in order to enable the trolley can move more smooth, is additionally provided in the bottom of the chassis assembly 10 Four universal wheels 13, and the steering wheel 122 of the wherein steering wheel drive assembly 12 relatively of two of which universal wheel 13 is symmetrical arranged, another two The steering wheel 122 of another steering wheel drive assembly 12 relatively of a universal wheel 13 is symmetrical arranged, so that the trolley being capable of steady and smooth Ground moves freely in working space.

In the present embodiment, the end of the rear and front end of the chassis assembly 10 is equipped with extension step, and is located at the chassis The step surface of the extension step of the front end of assembly 10 is arranged towards the control device 60, positioned at prolonging for the rear end of the chassis assembly 10 The step surface for stretching step is arranged towards the cargo temporary storing bin 20, while being equipped on each extension step and being electrically connected with the control device 60 The barrier detecting apparatus 14 connect, and the barrier detecting apparatus 14 be used for detect trolley current location to periphery object away from From and generating fourth signal and be sent to control device 60, so that can to control this according to the fourth signal small for control device 60 Vehicle is moved towards the direction far from periphery object, and then effectively prevent occurring causing due to AGV trolleies collide with periphery object The case where trolley damages effectively extends the service life of AGV trolleies.Specifically, which passes for barrier Sensor, during trolley moves, which can detect the object on the trolley periphery to trolley in real time Distance, when the distance is within the scope of pre-determined distance, which can generate fourth signal and be sent to control Device 60 processed so that trolley is far from periphery object, and then reaches so that control device 60 controls trolley and adjusts running route The purpose of avoidance.

As an alternative embodiment, when the barrier detecting apparatus 14 detects the object on the trolley periphery to small When the distance of vehicle is within the scope of pre-determined distance, which generates fourth signal and is sent to control device 60, so that control device 60 controls trolley stop motion, the object on trolley and periphery is effectively prevent to collide.

Wherein, in trolley moving process, the barrier detecting apparatus 14 for being set to 10 rear and front end of chassis assembly is optional It selects while opening, also may be selected to open that barrier detecting apparatus 14 that detection direction matches with direction of travel, to Save electricity.Preferably, it selects while opening two barrier detecting apparatus 14, in order to which trolley can obtain comprehensive guarantor Shield.

Further, warning device (not shown) is additionally provided on the extension step of the rear and front end of chassis assembly 10, And each warning device closes on the setting of each barrier detecting apparatus 14, while the warning device and the barrier detecting apparatus 14 respectively Electrical connection.Specifically, detect that the distance of current location to the periphery object of the trolley is in the barrier detecting apparatus 14 When within the scope of pre-determined distance, which can send fourth signal to control device 60, so that control device 60 It controls trolley and adjusts track route, while the warning device can be synchronized and be sounded the alarm, if to remind staff small simultaneously Vehicle continues then to collide with periphery object according to current route walking, and then makes reply in time convenient for staff Measure.Using such setting, when occur because control device 60 breaks down fail to adjust the track route of trolley in time when, Staff by other means (such as removing periphery object or urgent stop trolley) can prevent trolley and periphery object in time Body collides so that duplicate protection can be obtained in trolley.

In the present embodiment, in order to further protect the AGV trolleies, the end in the rear and front end of the chassis assembly 10 equal Equipped with safe touch side 15, and each safe touch side 15 is electrically connected with control device 60, while the safe touch side 15 is used in trolley Stop signal is generated when being touched with periphery object and is sent to control device 60, so that the control device 60 control trolley stops Movement effectively prevent trolley by more serious damage to avoid trolley that serious shock occurs with periphery object.

In the present embodiment, it along the length direction of the chassis assembly 10, is set respectively on the two side of the chassis assembly 10 There is the guide wheel 16 of at least one outside projection, so that trolley is in moving process, if encounter narrow channel, the trolley Side wall will not be in direct contact with the side wall in the channel, but contacted with the side wall in channel by least one guide wheel 16, from And the rubbing action of trolley and channel side wall is effectively reduced, and then effectively extend the service life of trolley.In addition, should learn It is that the channel can be the channel formed by other objects being placed in working space, or be arranged in the working space Arbitrary two rows of shelf between the channel that is formed.

Wherein, the quantity for the guide wheel 16 being arranged in every one side wall can be one, two, three or four etc..Preferably, often The quantity for the guide wheel 16 being arranged in one side wall is two, and the setting of two guide wheels 16 interval.

In addition, be similarly protection head cover 80, to prevent it when being contacted with side object friction damage, along the length of the head cover 80 It spends on direction, the guide wheel 16 of at least one outside projection is also respectively equipped on the two side of the head cover 80.In this embodiment, the top The guide wheel 16 of an outside projection is respectively equipped on the two side of lid 80, and the guide wheel 16 is located at the centre of the side wall of the head cover 80 At position.

Fig. 7 and Fig. 8 are please referred to, in the present embodiment, which further includes cabling component, the cabling component and the support base 30 is affixed, and the cabling component is arranged close to the control device 60, while the cabling component is equipped with the wire casing for accommodating electric wire 171, and the wire casing 171 extends to the bottom end of the cabling component from the top of the cabling component, while the cabling component is led with this Rail door frame 70 is arranged in parallel.Specifically, which includes bottom plate 172 and the first cover board 173, which is with even The platy structure of continuous step, including the first vertical portion 172a, with first horizontal portion 172b affixed first vertical portion 172a, with The the second affixed first horizontal portion 172b vertical portion 172c and second horizontal part 172d affixed with second vertical portion 172c, The first vertical portion 172a and second vertical portion 172c are parallel with the guide rail door frame 70, which is " recessed " word Shape plate, and the open end of first cover board 173 connect with first vertical portion 172a and forms the wire casing 171.Second level Portion 172d and the support base 30 are affixed, and second horizontal part 172d is located at the bottom of the support base 30, while the support base 30 Bottom be provided with that the extended groove 176 of the heart, the second horizontal part 172d covering parts point are recessed thereto from its own edge Slot 176, first horizontal portion 172b walk line three-way hole (not indicating) equipped with first, and second vertical portion 172c is walked equipped with second Line three-way hole (does not indicate), the wire casing 171, this first walk line three-way hole, this second walk line three-way hole and the groove 176 connection, to shape At supply lines by cable tray.That is, electric wire stretches out and is sequentially passed through from the control device 60 wire casing 171, is somebody's turn to do First walks that line three-way hole, this second walks line three-way hole and finally stretch into the groove 176.

Further, which further includes the second cover board 174, and second cover board 174 is covered on the groove 176 Remainder, and second cover board 174 and the support base 30 are affixed, while one end of second cover board 174 and second water The other end of flat portion 172d connections, second cover board 174 is equipped with hollow posts 175 of the opening towards pallet fork ontology 50, and this is hollow Column 175 is connected to setting towards the side that the groove is arranged with the groove 176, so that the electric wire stretched into the groove 176 can It is directly protruding into the hollow posts 175 from the groove 176, and then stretches out from the hollow posts 175 and connected with corresponding equipment, it is effectively anti- Only there is the case where damaging electric wire because of bending.It should learn, the control device 60 and first driving mechanism 40, first The electric wire that encoder 421, third driving mechanism 36 are electrically connected is to sequentially pass through wire casing 171, first walk line three-way hole, the second cabling Through-hole, groove and hollow posts 175 and with each corresponding equipment connection.Using such setting, first, in order to avoid circuit is insulted Disorderly, the occupancy to car interior space is reduced；Second is that occurring the case where electric wire is stuck when turntable rotates in order to prevent.

Wherein, the material of the hollow posts 175 is plastics.

A kind of full-automatic AGV trolleies disclosed by the embodiments of the present invention are described in detail above, it is used herein Principle and implementation of the present invention are described for specific case, and the explanation of above example is only intended to help to understand this The method and its core concept of invention；Meanwhile for those of ordinary skill in the art, according to the thought of the present invention, specific There will be changes in embodiment and application range, in conclusion the content of the present specification should not be construed as to the present invention's Limitation.

Claims

1. a kind of full-automatic AGV trolleies, which is characterized in that including

Chassis assembly, the chassis assembly are equipped with the cargo temporary storing bin for storing cargo, if the cargo temporary storing bin includes Dried layer shelf；

Lifting gear, the lifting gear are set in the chassis assembly；And

Pallet fork component, the pallet fork component include support base, the first driving mechanism on the support base and with described The affixed pallet fork ontology of one driving mechanism, the support base are set on the lifting gear, and the support base is used in the liter First driving mechanism and the pallet fork ontology is driven to lift to the place of any one layer shelf under the driving of falling unit Position, first driving mechanism are appointed for driving the pallet fork ontology to fork the cargo and be positioned over cargo rotation One layer of shelf of meaning, or fork the cargo from any one layer shelf and cargo rotation is removed into the shelf.

2. full-automatic AGV trolleies according to claim 1, which is characterized in that the trolley further includes control device, described Control device is set in the chassis assembly, and the control device is electrically connected with the lifting gear and first driving mechanism It connects, the control device drives the support base to lift to the place of any one layer shelf for controlling the lifting gear Position, to drive first driving mechanism and the pallet fork ontology to lift to the position of any one layer shelf；

The control device, which is additionally operable to control first driving mechanism and starts, drives the pallet fork ontology to fork the cargo simultaneously Cargo rotation is positioned over any one layer shelf, or forks the cargo from any one layer shelf and will be described Cargo rotation removes the shelf.

3. full-automatic AGV trolleies according to claim 2, which is characterized in that the trolley further includes two guide rail door frames, institute State that two guide rail door frames are parallel and interval is set to the chassis assembly, and the two guide rails door frame is located at the cargo temporary storing bin and institute Between stating control device, wherein a guide rail door frame connect with the cargo temporary storing bin and forms the goods of the cargo temporary storing bin Object stores entrance, and another guide rail door frame connect with the control device, the support base be located at the two guide rail door frames it Between and be slidably connected with the two guide rail door frames.

4. full-automatic AGV trolleies according to claim 3, which is characterized in that the lifting gear includes the second driving machine Structure and several elevating mechanisms being connect with second driving mechanism, second driving mechanism are electrically connected with the control device It connects, each elevating mechanism closes on each guide rail door frame setting respectively, and each elevating mechanism is solid with the support base It connects, the elevating mechanism is used under the driving of second driving mechanism, drives the support base along the guide rail door frame Short transverse moves up and down.

5. full-automatic AGV trolleies according to claim 4, which is characterized in that the trolley further includes head cover, the head cover Set on the two described one end of guide rail door frame far from the chassis assembly, second driving mechanism is fixedly arranged on the head cover, respectively The elevating mechanism is leading screw and nut mechanism, including lead screw and the nut seat that is connect with the lead screw spiral, each lead screw One end and second driving mechanism are affixed, and the other end rotation of each lead screw is set to the chassis assembly, the support base It is fixedly connected on each nut seat.

6. full-automatic AGV trolleies according to claim 5, which is characterized in that the elevating mechanism is four, respectively two-by-two Close on each guide rail door frame setting, second driving mechanism includes that motor, the first commutator, the second commutator and four subtract Fast device, the motor are electrically connected with the control device, and second commutator is arranged with first commutator interval, four The retarder is set to the both sides of first commutator and second commutator, and any one silk two-by-two respectively One end of bar is respectively and fixedly connected in any one of retarder；

Wherein, first commutator includes the first input shaft and three first output shafts, and second commutator includes second Input shaft and two second output shafts, the shaft of first input shaft and the motor is affixed, wherein one described first defeated Second input axis connection of shaft and second commutator, in addition two first output shafts respectively with two institutes therein Retarder connection is stated, two second output shafts are connect with retarder described in other two respectively；

First commutator is used for the power transmission of the motor to second commutator and each retarder, and is passed through Each lead screw is driven to by each retarder.

7. full-automatic AGV trolleies according to claim 6, which is characterized in that each guide rail door frame includes two supports Frame, each support frame as described above include the first support plate and the second support plate, and second support plate is solid with first support plate The space for accommodating each lead screw is connect and is formed, one end that each first support plate is connect with the head cover is equipped with company Joint chair, and the end edge of the connecting seat from first support plate extends to second support plate, each lead screw One end is arranged in each connecting seat and the head cover and is finally connect with each retarder successively respectively, each described first The side of fagging towards the support base is equipped with linear guides, and each nut seat described is linearly led by sliding block with each respectively Rail is slidably connected.

8. full-automatic AGV trolleies according to claim 7, which is characterized in that the guide rail door frame further includes several fixations Seat, each fixed seat is affixed with each nut seat respectively, and the support base includes main part and extends the main body The extension of partial outer edge is respectively arranged with connecting rod on each extension, and each connecting rod is prolonged upwards respectively It stretches and is fixed in each fixed seat.

9. full-automatic AGV trolleies according to claim 2, which is characterized in that the pallet fork component further includes turntable, described Turntable rotation is set to the support base, and first driving mechanism and the pallet fork ontology are set on the turntable, and described the One driving mechanism is for driving the turntable to rotate, to drive the goods of pallet fork ontology rotational alignment any one layer shelf Object stores entrance, or is rotated away from the cargo storage entrance of any one layer shelf.

10. full-automatic AGV trolleies according to claim 9, which is characterized in that the pallet fork component further includes turntable shaft It holds, the turntable bearing includes outer ring and the inner ring that is connect with the outer ring rotating, and the outer ring and the support base are affixed, institute It states turntable and the inner ring is affixed, the internal face of the inner ring is equipped with several gear teeth, the output shaft of first driving mechanism It is equipped with the first gear with the gear teeth meshing, the first gear is used for being rotated by first driving mechanism The gear teeth are engaged, to drive the inner ring and the turntable to rotate；Or

The pallet fork component further includes turntable bearing, and the turntable bearing includes inner ring and is rotatablely connected with the inner ring outer Circle, the turntable and the outer ring are affixed, and the support base and the inner ring are affixed, and the internal face of the inner ring is equipped with several The gear teeth, the output shaft of first driving mechanism are equipped with the first gear with the gear teeth meshing, and the first gear is used for The engagement gear teeth are rotated by first driving mechanism, to drive the outer ring and the turntable to rotate.

11. full-automatic AGV trolleies according to claim 10, which is characterized in that the pallet fork component further include with it is described The affixed second gear of turntable, the second gear be located at the inner ring and with the gear teeth meshing, set in the second gear There are the first encoder, first encoder to be electrically connected with the control device, first encoder is for knowing described turn The current operation angle of disk, and generate the first signal when the current operation angle and predetermined angle do not wait and be sent to the control Device processed, the control device are additionally operable to control the first driving mechanism driving turntable turn according to first signal It is dynamic, until the current operation angle of the turntable is equal with the predetermined angle.

12. full-automatic AGV trolleies according to claim 11, which is characterized in that the trolley further includes cabling component, institute It states cabling component and the support base is affixed, and the cabling component is arranged close to the control device, on the cabling component Equipped with the wire casing for accommodating electric wire, and the wire casing extends to the bottom of the cabling component from the top of the cabling component End.

13. according to the full-automatic AGV trolleies of claim 9 to 12 any one of them, which is characterized in that the pallet fork ontology includes The fixation fork body being fixedly arranged on the turntable and the multi-stage expansion being slidably connected with the fixation fork body pitch body, the pallet fork component Further include third driving mechanism, the third driving mechanism is set on the fixation fork body, and is connected with multi-stage expansion fork body It connects, the third driving mechanism is used to drive the multi-stage expansion to pitch body and is transported towards the direction far from or close to solid fork body It is dynamic.

14. full-automatic AGV trolleies according to claim 13, which is characterized in that the turntable is equipped with pedestal, described solid Fixed fork body and the third driving mechanism are fixedly arranged on the pedestal, the multi-stage expansion fork body include the first fork body and with it is described The second fork body that first fork body is slidably connected, the first fork body are slidably connected with the fixation fork body, and the first fork body is logical It crosses the first transmission mechanism and the third driving mechanism to be sequentially connected, the second fork body passes through the second transmission mechanism and described the One transmission mechanism is sequentially connected, and the third driving mechanism is for driving the first fork body sliding closer or far from the fixation Body is pitched, and drives the second fork body sliding closer or far from the first fork body simultaneously.

15. full-automatic AGV trolleies according to claim 14, which is characterized in that first transmission mechanism and the second biography Motivation structure is identical or different transmission mechanism, and first transmission mechanism and the second transmission mechanism are respectively gear drive machine In structure, chain-drive mechanism or tape handler any one or it is two kinds arbitrary.

16. the full-automatic AGV trolleies according to claims 14 or 15, which is characterized in that the fixation fork body is along its own The first guiding parts is provided on the two side of length extending direction, two outer side surfaces of the first fork body are provided with second and lead To component, the interior sidewall surface of the first fork body is slidably connected to first guiding parts, the two side of the second fork body Face is slidably connected to second guiding parts.

17. full-automatic AGV trolleies according to claim 16, which is characterized in that first guiding parts and described Two guiding parts are guide rod, guide pad, several spaced guide ledges or guide groove.

18. full-automatic AGV trolleies according to claim 17, which is characterized in that first guiding parts is several Every the first guide ledges of setting, second guiding parts is guide groove；

Along the length direction of the first fork body, the both sides of the first fork body, which each extend over, is provided with two first side plates, and two The side of first side plate towards the first fork body is equipped with the first groove that opening direction pitches body towards described first, During the first fork body sliding is closer or far from the fixation fork body, first groove sliding accommodates described several the Several first guide ledges are exposed in one guide ledges or sliding；

The other side of two first side plates is equipped with the guide groove, along the length direction of the second fork body, described the Y-bend body is equipped with two the second side plates being oppositely arranged, and the side of two second side plates towards the second fork body is equipped with the Three guiding parts, and the third guiding parts is several spaced third guide ledges；

During the second fork body sliding is closer or far from the first fork body, the third guide ledges sliding accommodates In the guide groove or it is slidably disposed in outside the guide groove.

19. according to the full-automatic AGV trolleies of claim 2 to 18 any one of them, which is characterized in that the pallet fork component also wraps Include at least one detection device, at least one detection device is set on the pallet fork ontology, the detection device with it is described Control device is electrically connected, and the detection device is used to detect the cargo on the shelf before the pallet fork ontology forks cargo Situation, and detect before the pallet fork ontology places the cargo description of the goods on the shelf.

20. full-automatic AGV trolleies according to claim 3, which is characterized in that the cargo temporary storing bin further includes having to open The shell of mouth and the shelf ontology being disposed in the housing, the shell have one end and the wherein one guide rail door frame of opening The cargo storage entrance is connected and is formed, along the short transverse of the shelf ontology, the shelf ontology is equipped with several be used for Carry the bearing structure of the cargo.

21. full-automatic AGV trolleies according to claim 20, which is characterized in that the bearing structure includes several opposite The first supporting plate and the second supporting plate being arranged, and several first supporting plates are arranged at intervals at the side of the shelf ontology, it is several Second supporting plate is arranged at intervals at the other side of the shelf ontology, any one first supporting plate and corresponding setting Second supporting plate forms any one layer shelf, and each first supporting plate and each second supporting plate include loading plate And barrier plate, the barrier plate are fixed in the side of the loading plate and are formed with the loading plate for housing the cargo Placement space, the barrier plate include from its first inclined surface for being obliquely installed to the side of the loading plate of top described the One inclined surface is used to be positioned over the loading plate from the placement space convenient for the cargo.

22. full-automatic AGV trolleies according to claim 21, which is characterized in that the loading plate is along its own length side To both ends be equipped with block, the one side of the two block relative orientations is the second inclined surface, and second inclined surface is described in The top of block is arranged to the sloped-end of the loading plate.

23. wanting the full-automatic AGV trolleies described in 5 according to right, which is characterized in that the trolley further includes that the driving of two steering wheels is total At two steering wheel drive assembly intervals are set in the chassis assembly, and the steering wheel drive assembly includes being filled with the control The 4th driving mechanism of electrical connection and the steering wheel affixed with the 4th driving mechanism are set, the head cover is equipped with laser sensing Device, the laser sensor are electrically connected with the control device, and the laser sensor is for detecting the trolley current empty Between position coordinates and generate third signal and be sent to the control device, the control device is additionally operable to be believed according to the third Number control the 4th driving mechanism drives the steering wheel to drive the moving of car to designated position.

24. full-automatic AGV trolleies according to claim 1, which is characterized in that along the length direction of the chassis assembly On, the guide wheel of at least one outside projection is respectively equipped on the two side of the chassis assembly, the guide wheel is described for reducing Friction when trolley is contacted with side object.

25. full-automatic AGV trolleies according to claim 3, which is characterized in that the end of the rear and front end of the chassis assembly Portion is equipped with extension step, is located at the step surface of the extension step of the front end of the chassis assembly towards the control device Setting, the step surface for being located at the extension step of the rear end of the chassis assembly are arranged towards the cargo temporary storing bin, each institute It states to extend and is equipped with the Obstacle Detection Device being electrically connected with the control device on step, the Obstacle Detection Device is for detecting The distance of the current location of the trolley to periphery object, and generate fourth signal and be sent to the control device, the control Device is additionally operable to control the trolley towards the direction movement far from the periphery object according to the fourth signal.

26. full-automatic AGV trolleies according to claim 2, which is characterized in that the end of the rear and front end of the chassis assembly Portion is equipped with safe touch side, and each safe touch side is electrically connected with the control device, and the safe touch side is used for described Stop signal is generated when trolley is touched with periphery object and is sent to the control device, so that the control device controls institute State trolley stop motion.