CN111994545A - Automatic guide transport vehicle capable of climbing goods shelf - Google Patents
Automatic guide transport vehicle capable of climbing goods shelf Download PDFInfo
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- CN111994545A CN111994545A CN202010800254.7A CN202010800254A CN111994545A CN 111994545 A CN111994545 A CN 111994545A CN 202010800254 A CN202010800254 A CN 202010800254A CN 111994545 A CN111994545 A CN 111994545A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
- B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G25/00—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement
- B65G25/04—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
- B65G25/06—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors having carriers, e.g. belts
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- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to an automatic guide transport vehicle capable of climbing a goods shelf, which comprises a vehicle body, a driving walking assembly, two chain wheel climbing walking mechanisms, two telescopic mechanisms and a telescopic pallet fork, wherein the vehicle body is of a shell structure, the driving walking assembly is assembled in the vehicle body and is provided with a driving wheel extending to the lower part of the vehicle body, the two chain wheel climbing walking mechanisms are respectively assembled at two sides of the vehicle body, the two telescopic mechanisms are respectively assembled in the vehicle body and are respectively in transmission connection with the two chain wheel climbing walking mechanisms in a one-to-one correspondence manner, the two telescopic mechanisms are respectively used for driving the corresponding chain wheel climbing walking mechanisms to horizontally extend or retract towards the outer part of the corresponding side of the vehicle body, the telescopic pallet fork is assembled at the upper end of the vehicle body, and the pallet fork can horizontally extend. The advantages are that: structural design is reasonable, and operation convenient to use has promoted conveying efficiency, especially cooperates goods shelves to realize climbing storage operation, has improved the redundancy of warehouse storage, has promoted the space utilization of storage.
Description
Technical Field
The invention relates to the technical field of storage logistics, in particular to an automatic guide transport vehicle capable of climbing a goods shelf.
Background
In the field of warehouse logistics technology, there are three different types of warehouse storage types in the current warehouse storage system:
1) and (3) storing and taking goods by adopting a stacker: the stacker cost is higher, and a stacker can only use when a tunnel, if the stacker breaks down, whole tunnel just can't work, seriously influences work efficiency, causes stereoscopic warehouse redundancy not enough.
2) And (3) storing and taking goods by adopting a hoisting machine and a shuttle: the method has two conditions, one is that each roadway adopts a hoisting machine and a bidirectional shuttle car to store and take goods, and once the hoisting machine or the shuttle car breaks down, the whole roadway cannot work, so that the redundancy of the vertical warehouse is insufficient. The other type is that two hoists and a plurality of four-way shuttle cars are adopted to store and take goods, and when the four-way shuttle cars break down, the maintenance is extremely inconvenient.
3) Directly carrying goods by adopting a mobile robot: due to the fact that the height of the mobile robot for carrying goods is limited, the height of the goods shelf is limited, the space above the height cannot be fully utilized, and the space utilization rate is low.
Disclosure of Invention
The invention aims to solve the technical problem of providing an automatic guide transport vehicle capable of climbing a goods shelf, and effectively overcomes the defects of the prior art.
The technical scheme for solving the technical problems is as follows:
the automatic guide transport vehicle capable of climbing the goods shelf comprises a vehicle body, a driving walking assembly, two chain wheel climbing walking mechanisms, two telescopic mechanisms and a telescopic goods fork, wherein the vehicle body is of a shell structure, the driving walking assembly is assembled in the vehicle body and provided with a driving wheel extending to the lower part of the vehicle body, the two chain wheel climbing walking mechanisms are respectively assembled on two sides of the vehicle body, the two telescopic mechanisms are respectively assembled in the vehicle body and are in transmission connection with the two chain wheel climbing walking mechanisms in a one-to-one correspondence mode, the two telescopic mechanisms are respectively used for driving the corresponding chain wheel climbing walking mechanisms to horizontally extend or retract towards the outer part of the corresponding side of the vehicle body, the telescopic goods fork is assembled at the upper end of the vehicle body, and the goods fork can horizontally extend or retract towards the outer part of one side of the vehicle body.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the sprocket climbing walking mechanism comprises a driving push plate, two auxiliary push plates, two transmission shafts, a shaft connecting rod and a driving mechanism, wherein the driving push plate is a horizontally arranged straight plate body, the two auxiliary push plates are assembled on the upper parts of the two ends of the driving push plate, the two transmission shafts are respectively horizontally arranged along the length direction of the driving push plate and are assembled at the upper ends of the two auxiliary push plates in a one-to-one correspondence and rotatable manner, the mutually close ends of the two transmission shafts are connected through the shaft connecting rod, the positions of the two relatively far ends of the two transmission shafts, which correspond to the outer sides of the two ends of the driving push plate, are respectively provided with climbing sprockets in a coaxial manner, the driving mechanism is arranged on any one of the auxiliary push plates and is in transmission connection with the corresponding transmission shaft so as to drive the two transmission shafts to drive the corresponding climbing sprockets to synchronously rotate, and the driving push plate is arranged on, and is in transmission connection with the corresponding telescopic mechanism.
Further, the telescopic mechanism comprises a driving shaft, a rotary driving mechanism, two gears and two racks, wherein the two racks are horizontally arranged on the corresponding sides of the bottom wall in the vehicle body respectively along the direction crossing the two sides of the vehicle body and are arranged at intervals along the extending direction of the two ends of the vehicle body, the two racks can slide along the bottom wall of the vehicle body in the length direction of the racks, one ends of the two racks are fixedly connected with the corresponding driving push plate, the driving shaft is horizontally arranged along the extending direction of the two ends of the vehicle body and is rotatably assembled in the vehicle body through a bracket and is positioned above one end, away from the driving push plate, of the two racks, the two gears are coaxially assembled on the driving shaft and are meshed with the tooth surfaces on the upper parts of the two racks in a one-to-one correspondence manner, the rotary driving mechanism is assembled in the vehicle body, and the rotary driving mechanism is used for driving the corresponding driving shaft to drive the two gears to rotate, so as to drive the racks meshed with the gears to linearly move, and further drive the corresponding chain wheel climbing walking mechanism to horizontally extend or retract towards the outside of the corresponding side of the vehicle body.
Further, the rotation driving mechanism is a worm gear reducer.
Further, the driving walking assembly comprises two driving walking mechanisms, the two driving walking mechanisms are assembled on two sides of the interior of the vehicle body at intervals, and the two driving walking mechanisms are provided with driving wheels extending to the lower portion of the vehicle body.
Further, the traveling drive mechanisms are respectively mounted in the vehicle body through damper devices.
Further, the driving travelling mechanism comprises a fixing plate, driving wheels and a travelling driving motor, the driving wheels are vertically arranged on one side of the fixing plate, the travelling driving motor is assembled on the other side of the fixing plate, a driving shaft of the travelling driving motor penetrates through the fixing plate and is in coaxial transmission connection with the driving wheels, the fixing plate is assembled inside the vehicle body through the damping device, and the driving wheels of the two driving travelling mechanisms are respectively located on one side, deviating from each other, of the two fixing plates.
Further, one side of the fixed plate is vertically provided with a linear guide rail, the linear guide rail is assembled on the corresponding damping device, and the linear guide rail is used for adjusting the lifting height of the fixed plate and the driving wheel relative to the bottom of the vehicle body.
Furthermore, the upper end of the truck body is concavely provided with an assembly area stretching across two sides of the truck body, and the telescopic fork is horizontally assembled in the assembly area.
The invention has the beneficial effects that: structural design is reasonable, and operation convenient to use has promoted conveying efficiency, especially cooperates goods shelves to realize climbing storage operation, has improved the redundancy of warehouse storage, has promoted the space utilization of storage.
Drawings
FIG. 1 is a schematic structural view of an automatic guided vehicle capable of climbing a shelf according to the present invention;
FIG. 2 is a schematic view of a portion of the structure of the self-guided vehicle of the present invention capable of climbing a shelf;
FIG. 3 is a schematic top view of the self-guided transportation vehicle capable of climbing a shelf of the present invention;
FIG. 4 is a schematic structural diagram of a chain wheel climbing walking mechanism in the automatic guided transporting vehicle capable of climbing a goods shelf of the invention;
FIG. 5 is a schematic structural diagram of a driving and traveling mechanism in the automatic guided vehicle capable of climbing a shelf according to the present invention;
fig. 6 is a schematic structural view of a telescopic fork in the automatic guided transporting vehicle capable of climbing a shelf of the invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. the lifting device comprises a vehicle body, 2, a sprocket climbing travelling mechanism, 3, a telescopic mechanism, 4, a driving travelling mechanism, 5, a telescopic pallet fork, 6, a damping device, 21, a driving push plate, 22, an auxiliary push plate, 23, a transmission shaft, 24, a shaft connecting rod, 25, a driving mechanism, 26, a climbing sprocket, 31, a driving shaft, 32, a rotary driving mechanism, 33, a gear, 34, a rack, 41, a fixing plate, 42, a driving wheel, 43, a travelling driving motor, 81, a buffer seat, 82, a limiting mechanism, 83, a sliding rail, 821, a limiting seat, 822, a limiting bolt, 231 and a bearing seat.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Example (b): as shown in fig. 1, 2 and 3, the automatic guided vehicle capable of climbing a pallet of the present embodiment includes a vehicle body 1, a chassis assembly, two sprocket climbing traveling mechanisms 2, two telescoping mechanisms 3 and telescoping forks 5, wherein the vehicle body 1 is a housing structure, the chassis assembly is assembled in the vehicle body 1, it has a driving wheel extending to the lower part of the vehicle body 1, two chain wheel climbing walking mechanisms 2 are respectively assembled at two sides of the vehicle body 1, two telescopic mechanisms 3 are respectively assembled in the vehicle body 1, the two chain wheel climbing travelling mechanisms are respectively in one-to-one correspondence with the two chain wheel climbing travelling mechanisms 2 and are in transmission connection, the two telescopic mechanisms 3 are respectively used for driving the corresponding chain wheel climbing travelling mechanisms 2 to horizontally extend or retract towards the outer part of the corresponding side of the vehicle body 1, the telescopic fork 5 is mounted on the upper end of the body 1, and the fork can horizontally extend or retract towards the outside of one side of the body 1.
More specifically, the whole automatic guided vehicle should cooperate with the goods shelves to realize climbing storage, the goods shelves generally comprise two groups which are arranged at intervals, a climbing channel which extends up and down is defined between the two groups of goods shelves, each group of goods shelves is provided with a row of a plurality of vertically extending frame frames, each frame is internally provided with a plurality of layers of storage lattices, the frame frames of the two groups of goods shelves are distributed oppositely, each frame is composed of four vertical beams 7, the four vertical beams 7 are distributed at four right angles of the same cuboid, in the two frame frames which are distributed oppositely, chains 8 which are matched with the chain wheel climbing walking mechanism 2 are vertically arranged on the two vertical beams 7 which are close to each other, after the automatic guided vehicle acquires objects (such as cigarette pieces) through the telescopic forks 5, the telescopic forks 5 are contracted with the vehicle body 1 and cannot protrude out of two sides of the vehicle body 1, and then the vehicle body 1 moves between the two frame frames, afterwards, telescopic machanism 3 of both sides orders about corresponding sprocket in step and climbs running gear 2 and stretch out casing 1 relatively and correspond the side outside, the sprocket that climbs running gear 2 until the sprocket meshes with the chain that corresponds, afterwards, two sprockets climb running gear 2 and can follow the chain that corresponds and climb to each layer of matter storage lattice department from top to bottom, and place the goods in the storage lattice through flexible fork 5 and save (of course, also can be empty car entering, acquire the goods in every matter storage lattice department), overall structure reasonable in design, operation convenient to use, the transportation efficiency has been promoted, especially, cooperation goods shelves climb the storage operation, the redundancy of warehouse storage has been improved, the space utilization of storage has been promoted.
The vehicle body 1 is further provided with an electrical control system (a control system in the prior art) which is connected with each electrical element on the vehicle body 1 to realize intelligent control operation, such as connection with an electrical element (such as a power mechanism) of the sprocket climbing walking mechanism 2 and connection with a power telescopic mechanism of the telescopic fork 5.
The two sides of the vehicle body 1 can be provided with an inlet and an outlet which are matched with the chain wheel climbing travelling mechanism 2, and the telescopic mechanism 3 can drive the corresponding chain wheel climbing travelling mechanism 2 to extend out of the vehicle body 1 from the inlet and the outlet or retract into the vehicle body 1.
The vehicle body 1 is provided with a power supply for supplying power to various electric components (such as a drive assembly).
As a preferred embodiment, as shown in fig. 4, the sprocket-climbing walking mechanism 2 includes a driving push plate 21, two auxiliary push plates 22, two transmission shafts 23, a shaft connecting rod 24 and a driving mechanism 25, wherein the driving push plate 21 is a horizontally disposed straight plate, the two auxiliary push plates 22 are mounted on the upper portions of the two ends of the driving push plate 1, the two transmission shafts 23 are horizontally disposed along the length direction of the driving push plate 21 and are rotatably mounted on the upper ends of the two auxiliary push plates 22 in a one-to-one correspondence manner, the ends of the two transmission shafts 23 close to each other are connected by the shaft connecting rod 24, the positions of the ends of the two transmission shafts far away from each other corresponding to the outer sides of the two ends of the driving push plate 21 are coaxially mounted with climbing sprockets 26, the driving mechanism 25 is mounted on any one of the auxiliary push plates 22 and is in transmission connection with the corresponding transmission shaft 23, so as to drive the two transmission shafts 23 to drive the corresponding climbing sprockets 26 to synchronously rotate, and the driving push plate 21 is disposed on the corresponding side of the car body 1 along the extending direction of the two ends of the car body 1 and is in transmission connection with the corresponding telescoping mechanism 3.
In this embodiment, the driving mechanism 25 drives the corresponding climbing sprocket 6 to rotate, so as to realize stable climbing along the corresponding chain.
The driving mechanism 25 is a combined structure of a motor and a speed reducer, a synchronous belt wheel is arranged on an output shaft of the speed reducer, correspondingly, a synchronous belt wheel is also arranged on one of the transmission shafts 23, the two synchronous belt wheels correspond in position and encircle the synchronous belt, the rotating speed of the climbing chain wheel 26 can be adjusted through the driving mechanism 25, namely, the climbing speed of the guided vehicle on the goods shelf is adjusted, the frame speed can be properly adjusted in the climbing process, and the speed can be properly reduced when each layer of storage lattice is close to so that the guided vehicle can accurately reach the storage lattice.
In a preferred embodiment, the auxiliary push plate 22 is mounted on the upper portion of the corresponding end of the main push plate 21 through an elastic expansion and contraction buffer member, and elastically expands and contracts toward both sides of the main push plate 21, and the shaft link 24 is a universal expansion joint.
In this embodiment, the elastic telescopic buffer assembly can compensate for assembly errors of the goods shelves, so that climbing is more stable and smooth, the elastic telescopic buffer assembly can achieve the function of self-adaptive elastic adjustment, and the climbing chain wheel 26 can be tightly matched with the corresponding chain.
In a preferred embodiment, the elastically stretchable buffer member includes a buffer seat 81, a stopper 82 and a slide rail 83, the slide rail 83 is mounted on the upper portion of the corresponding end of the driving push plate 21 and is perpendicular to the longitudinal direction of the driving push plate 21, the auxiliary push plate 22 is slidably mounted on the upper end of the corresponding slide rail 83, the buffer seat 81 and the stopper 82 are respectively mounted on the upper portion of the corresponding end of the driving push plate 21 and are respectively located on both sides of the corresponding auxiliary push plate 22, the lower end of the auxiliary push plate 22 is connected to the buffer seat 81 by an elastic member, and the auxiliary push plate 22 is elastically stretchable and contractible buffered between the buffer seat 81 and the stopper 82 along the slide rail 83.
In this embodiment, the elastic telescopic buffer assembly is simple in design, and the elastic force of the elastic member is adjusted by the limiting mechanism 82, so that the elastic telescopic buffer performance can be adjusted, the climbing sprocket 26 is ensured to be closely matched with the chain, and stable climbing is realized.
The slide rails 83 are provided with two sets and are distributed at intervals along the length direction of the active push plate 21, and the elastic member is arranged between the two slide rails 83.
The elastic member is generally a spring, and both ends of the spring are fixedly connected to the lower end of the 81-stage auxiliary pushing plate 2.
In a preferred embodiment, a notch is formed in a middle portion of the auxiliary push plate 22 corresponding to the side of the limiting mechanism 82, and the limiting mechanism 82 is disposed in the notch.
In this embodiment, the limiting mechanism 82 does not protrude, occupies no additional space, and has a more compact overall structure.
In a preferred embodiment, the position-limiting mechanism 82 includes a position-limiting seat 821 and a position-limiting bolt 822, the position-limiting seat 821 is fixedly mounted on the upper portion of the corresponding auxiliary push plate 22, screw holes are formed in the position-limiting seat to face both sides of the driving push plate 21, the position-limiting bolt 822 is inserted through the screw holes and screwed to each other, and the end portion of the position-limiting bolt abuts against the corresponding side of the auxiliary push plate 82.
In this embodiment, the elastic compression amount of the auxiliary push plate 22 acting on the elastic member can be adjusted by screwing the limit bolt 822, so that quick and convenient adjustment is realized, and the operation is relatively simple.
In a preferred embodiment, both ends of the transmission shaft 23 are respectively mounted on the upper portions of the corresponding auxiliary push plates 22 through bearing seats 231 rotatably engaged therewith.
In this embodiment, the engagement of the transmission shaft 23 with the bearing seat 231 enables a firm and stable assembly thereof on the auxiliary push plate 22, and facilitates a good rotation thereof.
As a preferred embodiment, as shown in fig. 2, the telescopic mechanism 3 includes a driving shaft 31, a rotary driving mechanism 32, two gears 33 and two racks 34, wherein the two racks 34 are horizontally disposed on the corresponding sides of the bottom wall of the vehicle body 1 along the direction crossing the two sides of the vehicle body 1 and are spaced along the extending direction of the two ends of the vehicle body 1, the two racks 34 are both slidable along the bottom wall of the vehicle body 1 in the longitudinal direction thereof, and one end of each rack is fixedly connected to the corresponding active push plate 21, the driving shaft 31 is horizontally disposed along the extending direction of the two ends of the vehicle body 1 and is rotatably mounted in the vehicle body 1 through a bracket and is located above one end of each rack 34 away from the active push plate 21, the two gears 33 are coaxially mounted on the driving shaft 31 and are meshed with the tooth surfaces on the upper portions of the two racks 34 in a one-to-one correspondence manner, the rotation driving mechanism 32 is assembled in the vehicle body 1 and is in transmission connection with one end of the corresponding driving shaft 31, and the rotation driving mechanism 32 is configured to drive the corresponding driving shaft 31 to drive the two gears 33 to rotate, so as to drive the rack 34 engaged with the gears 33 to move linearly, and further drive the corresponding sprocket climbing walking mechanism 2 to horizontally extend or retract towards the outside of the corresponding side of the vehicle body 1.
In this embodiment, the rack 34 should be assembled in the corresponding track or be matched with the corresponding guiding structure, for example, a limiting block is disposed on the bottom wall inside the vehicle body 1 corresponding to two sides of the rack 34, a guiding groove is disposed on two sides of the rack 34 in the length direction, the limiting block extends into the corresponding guiding groove and is in relative sliding fit, and the limiting block can be disposed at multiple positions on the sliding track of the rack 34 to make the rack 34 slide smoothly, the whole extension and retraction mechanism 3 drives the driving shaft 31 to rotate by rotationally driving the drum 32 during the operation process, thereby driving the gear 33 to rotate, further driving the rack 34 engaged with the gear 33 to make horizontal extension and retraction movement along the bottom wall of the vehicle body 1 toward the corresponding side thereof, thereby achieving the purpose of driving the corresponding sprocket climbing travelling mechanism 2 to extend and retract to engage or disengage with the corresponding chain on the shelf, the design is reasonable, the extension and retraction movement of the sprocket climbing travelling mechanism 2 is stable, Smooth and easy, do benefit to whole guide stable climbing of car.
Specifically, the rotary driving mechanism 32 is a worm gear speed reducer, and the speed reducer with a large worm gear speed ratio can realize mechanical self-locking, so that the automatic guided transport vehicle is ensured not to have a machine falling accident caused by electrical faults when climbing a goods shelf.
In a preferred embodiment, the propulsion assembly includes two propulsion mechanisms 4, and the two propulsion mechanisms 4 are mounted at two sides of the interior of the vehicle body 1 at intervals, and both have a driving wheel 42 extending below the vehicle body 1.
In this embodiment, two travel driving mechanisms 4 are provided to realize smooth travel and steering of the entire guided vehicle.
Preferably, the driving and traveling mechanisms 4 are respectively assembled in the vehicle body 1 through damping devices 6, and the damping devices 6 enable the guided vehicle to pass through a bumpy road well, so that the stable passing performance of the guided vehicle is improved.
The above-mentioned driving and traveling mechanism 4 may adopt a traveling mechanism in a conventional AGV, such as a steering wheel, and may also adopt the following driving mechanism, specifically:
as shown in fig. 5, the traveling driving mechanism 4 includes a fixed plate 41, a driving wheel 42 and a traveling driving motor 43, the driving wheel 42 is vertically disposed on one side of the fixed plate 41, the traveling driving motor 43 is assembled on the other side of the fixed plate 41, and a driving shaft thereof passes through the fixed plate 41 and is coaxially connected to the driving wheel 42 in a transmission manner, the fixed plate 41 is assembled inside the vehicle body 1 through the damping device 6, and the driving wheels 42 of the two traveling driving mechanisms 4 are respectively located on the sides of the two fixed plates 41 facing away from each other.
The operation process of the driving mechanism 4 is as follows: the driving wheel 42 is driven by the walking driving motor 43 to rotate to walk along the ground.
It should be noted that: the travel driving motor 43 is connected to an electric control system of the guided vehicle, so that automatic and intelligent operation is realized.
In a preferred embodiment, a linear guide 44 is vertically provided on one side of the fixed plate 41, the linear guide 44 is mounted on the corresponding damper device 6, and the linear guide 44 is used to adjust the height of the fixed plate 41 and the driving wheel 42 relative to the bottom of the vehicle body 1.
In this embodiment, the linear guide rail 44 is an automatic guide rail, and is connected to an electrical control system of the guided vehicle, so that the distance between the lower part of the driving wheel 42 and the bottom of the vehicle body 1 can be adjusted, that is, the height between the bottom of the vehicle body 1 and the ground can be adjusted, the linear guide rail can adapt to different road conditions, and the passing performance of the guided vehicle can be improved.
In a preferred embodiment, the upper end of the vehicle body 1 is recessed with a mounting area extending across both sides thereof, and the telescopic fork 5 is horizontally mounted in the mounting area.
In this embodiment, the setting of assembly area does benefit to the compact installation of flexible fork 5, does not occupy extra volume, and whole outward appearance is bright eye, does not occupy extra space volume.
Above-mentioned flexible fork 5 can adopt the telescopic fork of traditional AGV dolly or other fork vehicles (for prior art, do not do here and describe) to, the power unit of flexible fork 5 inserts the electric control system of guide car, realizes automatic, intelligent control operation, of course, also can adopt following structure to constitute, specifically:
as shown in fig. 6, the telescopic pallet fork 5 includes a strip-shaped lower fork 51, a strip-shaped middle fork 52 and an upper fork plate 53, the lower fork 51 is installed in the middle area of the assembly area and spans the two sides of the vehicle body 1, and is a slot structure with an opening on the upper portion and the upper portions of the two ends, at least one set of transmission gears 55 is arranged along the length direction of the lower fork, the middle fork 52 is slidably assembled on the upper portion of the lower fork 51, the length extension direction of the two is consistent, the lower end of the lower fork is provided with a rack extending into the lower fork 51, the tooth surface of the rack faces downward and is meshed with the transmission gears 55 in the lower fork 51, the side end of the lower fork 51 is provided with a motor 54 in transmission connection with the transmission gears 55, the upper fork plate is slidably assembled on the upper portion of the middle fork 52 and is in transmission connection with a push-pull mechanism assembled on the middle fork 52, the push-pull mechanism can be a linear guide rail arranged on the two sides of the length, not described in detail here), but it should be noted that: the motor or the telescopic pushing mechanism is electrically connected with an electric control system of the guide vehicle, so that intelligent electric operation is realized.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. The utility model provides an automatic guide transport vechicle that can climb goods shelves which characterized in that: the automatic lifting device comprises a vehicle body (1), a driving walking assembly, two chain wheel climbing walking mechanisms (2), two telescopic mechanisms (3) and a telescopic pallet fork (5), wherein the vehicle body (1) is of a shell structure, the driving walking assembly is assembled in the vehicle body (1) and is provided with a driving wheel extending to the lower part of the vehicle body (1), the two chain wheel climbing walking mechanisms (2) are respectively assembled at two sides of the vehicle body (1), the two telescopic mechanisms (3) are respectively assembled in the vehicle body (1) and are in transmission connection with the two chain wheel climbing walking mechanisms (2) in a one-to-one correspondence manner, the two telescopic mechanisms (3) are respectively used for driving the corresponding chain wheel climbing walking mechanisms (2) to horizontally extend or retract towards the outer part of the corresponding side of the vehicle body (1), and the telescopic pallet fork (5) is assembled at the upper end of the vehicle body (1), the fork can horizontally extend or retract towards the outside of one side of the vehicle body (1).
2. The automatic guided vehicle capable of climbing a shelf of claim 1, characterized in that: the chain wheel climbing walking mechanism (2) comprises a driving push plate (21), two auxiliary push plates (22), two transmission shafts (23), a shaft connecting rod (24) and a driving mechanism (25), the driving push plate (21) is a horizontally arranged straight strip-shaped plate body, the two auxiliary push plates (22) are assembled at the upper parts of the two ends of the driving push plate (1), the two transmission shafts (23) are respectively horizontally arranged along the length direction of the driving push plate (21) and are assembled at the upper ends of the two auxiliary push plates (22) in a one-to-one correspondence and rotatable manner, the ends, close to each other, of the two transmission shafts (23) are connected through the shaft connecting rod (24), the positions, far away from each other, corresponding to the outer sides of the two ends of the driving push plate (21) are respectively matched with climbing chain wheels (26) in the same shaft manner, and the driving mechanism (25) is installed on any one of the auxiliary, and the driving push plate (21) is arranged on the corresponding side of the vehicle body (1) along the extending direction of the two ends of the vehicle body (1) and is in transmission connection with the corresponding telescopic mechanism (3).
3. The automatic guided vehicle capable of climbing a shelf of claim 2, characterized in that: the telescopic mechanism (3) comprises a driving shaft (31), a rotary driving mechanism (32), two gears (33) and two racks (34), wherein the two racks (34) are horizontally arranged on the corresponding side of the bottom wall inside the vehicle body (1) respectively along the direction crossing the two sides of the vehicle body (1) and are arranged at intervals along the extending direction of the two ends of the vehicle body (1), the two racks (34) can slide along the bottom wall of the vehicle body (1) in the length direction of the bottom wall, one ends of the two racks are fixedly connected with the corresponding driving push plate (21), the driving shaft (31) is horizontally arranged along the extending direction of the two ends of the vehicle body (1) and is rotatably assembled inside the vehicle body (1) through a support and is positioned above one end, far away from the driving push plate (21), of the two racks (34), and the two gears (33) are coaxially assembled on the driving shaft (31), the chain wheel climbing travelling mechanism comprises two driving shafts (31), rotating driving mechanisms (32), a chain wheel climbing travelling mechanism (2) and a chain wheel climbing travelling mechanism (2), wherein the driving shafts (31) are arranged on the vehicle body (1) and are in transmission connection with the upper parts of the two racks (34), the rotating driving mechanisms (32) are assembled in the vehicle body (1) and are in transmission connection with one ends of the corresponding driving shafts (31), and the rotating driving mechanisms (32) are used for driving the corresponding driving shafts (31) to drive the two gears (33) to rotate, so that the racks (34) meshed with the gears (33) are driven to move linearly, and the corresponding chain wheel climbing travelling mechanism (2) is.
4. The automatic guided vehicle capable of climbing a shelf of claim 3, characterized in that: the rotary driving mechanism (32) is a worm gear speed reducer.
5. The automatic guided transporting vehicle capable of climbing a shelf according to any one of claims 1 to 4, characterized in that: the driving walking assembly comprises two driving walking mechanisms (4), wherein the two driving walking mechanisms (4) are assembled at two sides in the vehicle body (1) at intervals, and the two driving walking mechanisms are provided with driving wheels (42) extending to the lower part of the vehicle body (1).
6. The automatic guided vehicle capable of climbing a shelf of claim 5, wherein: the driving and traveling mechanisms (4) are respectively assembled in the vehicle body (1) through damping devices (6).
7. The automatic guided vehicle capable of climbing a shelf of claim 6, wherein: drive running gear (4) include fixed plate (41), drive wheel (42) and walking driving motor (43), drive wheel (42) vertical set up in one side of fixed plate (41), walking driving motor (43) assemble in the opposite side of fixed plate (41), and its drive shaft passes fixed plate (41), and with drive wheel (42) coaxial transmission is connected, fixed plate (41) pass through damping device (6) assemble in inside automobile body (1), two drive wheel (42) of drive running gear (4) are located two respectively one side that fixed plate (41) deviates from each other.
8. The automatic guided vehicle capable of climbing a shelf of claim 7, wherein: one side of the fixed plate (41) is vertically provided with a linear guide rail, the linear guide rail is assembled on the corresponding damping device (6), and the linear guide rail is used for adjusting the lifting height of the fixed plate (41) and the driving wheel (42) relative to the bottom of the vehicle body (1).
9. The automatic guided transporting vehicle capable of climbing a shelf according to any one of claims 1 to 4, characterized in that: the upper end of the vehicle body (1) is concavely provided with an assembly area stretching across two sides of the vehicle body, and the telescopic fork (5) is horizontally assembled in the assembly area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010800254.7A CN111994545A (en) | 2020-08-11 | 2020-08-11 | Automatic guide transport vehicle capable of climbing goods shelf |
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| CN202010800254.7A CN111994545A (en) | 2020-08-11 | 2020-08-11 | Automatic guide transport vehicle capable of climbing goods shelf |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112896899A (en) * | 2021-03-16 | 2021-06-04 | 东莞市龙和电子商务有限公司 | Transport vehicle for automatically transporting goods on goods shelf |
| CN113023195A (en) * | 2021-02-20 | 2021-06-25 | 南京云立特物联科技有限公司 | Intelligent logistics storage and transportation device |
| CN113277257A (en) * | 2021-06-23 | 2021-08-20 | 无锡职业技术学院 | Ground tray type autonomous mobile robot AMR and working method thereof |
| CN113479584A (en) * | 2021-07-16 | 2021-10-08 | 广州市瀚云信息技术有限公司 | Shielding instrument rail system |
-
2020
- 2020-08-11 CN CN202010800254.7A patent/CN111994545A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113023195A (en) * | 2021-02-20 | 2021-06-25 | 南京云立特物联科技有限公司 | Intelligent logistics storage and transportation device |
| CN112896899A (en) * | 2021-03-16 | 2021-06-04 | 东莞市龙和电子商务有限公司 | Transport vehicle for automatically transporting goods on goods shelf |
| CN113277257A (en) * | 2021-06-23 | 2021-08-20 | 无锡职业技术学院 | Ground tray type autonomous mobile robot AMR and working method thereof |
| CN113479584A (en) * | 2021-07-16 | 2021-10-08 | 广州市瀚云信息技术有限公司 | Shielding instrument rail system |
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