CN211688123U

CN211688123U - AGV fork truck that qxcomm technology traveles

Info

Publication number: CN211688123U
Application number: CN202020237380.1U
Authority: CN
Inventors: 陈英伟; 徐光运; 沈长鹏; 张小艺; 刘鹏; 张贻弓
Original assignee: Shandong Luojiesite Logistics Technology Co ltd
Current assignee: Lanjian Intelligent Technology Linyi Co ltd
Priority date: 2020-03-02
Filing date: 2020-03-02
Publication date: 2020-10-16
Anticipated expiration: 2030-03-02

Abstract

The utility model provides a AGV fork truck that qxcomm technology traveles, including the automobile body, with car connection can turn to the drive of the rudderwheel mechanism, two universal wheels, universal wheel that travel to turn to the device, the automobile body is equipped with a landing leg respectively including riser, the fork that is connected, fork lower part both sides, and every universal wheel is connected with a landing leg respectively, and every universal wheel turns to the device with a drive respectively and is connected, and the drive turns to device and car connection, supports the fork and drives the fork motion through the universal wheel, rudderwheel mechanism passes through buffer gear and body connection. The utility model discloses an universal wheel can realize that the universal wheel independently turns to and goes, combines to turn to the helm mechanism that goes, adopts front steering wheel + can initiatively turn to the fork rear wheel that goes, can realize AGV fork truck omnidirectional and go, and the motion space is less, has saved fork truck's tunnel space, has satisfied the requirement that the commodity circulation transportation trade saved space, and AGV fork truck motion is nimble, and the transport action is fast, and handling efficiency is high, is convenient for charge, improves charge efficiency.

Description

AGV fork truck that qxcomm technology traveles

Technical Field

The utility model relates to a cargo handling technical field especially relates to a AGV fork truck that qxcomm technology traveles.

Background

With the rise of artificial intelligence and automated unmanned technology, the logistics goods handling industry is also affected. In view of the work efficiency and cost, people hope to automatically complete the transportation of goods by a machine instead of manual transportation. Therefore, AGV (automated Guided vehicle) technology arose. It mainly completes the actions of forking up goods → transporting → putting down goods, etc. The current AGV fork truck mainly uses the fork to fork up tray and goods, then carries to appointed position, puts down the goods. The movement of the forklift includes straight going and turning. The forklift in each form is not very different in straight line driving, and the working efficiency and the activity space of the forklift are mainly limited by steering driving.

Firstly, when a common forklift steers/turns, the turning radius is larger: during turning, only a steering wheel mechanism below the vehicle body can change the driving direction, and a rear wheel below the fork (far away from the end of the vehicle body, the vehicle body is taken as the front part, the fork is taken as the rear part, and details are not described below) uses the universal wheel, but the universal wheel cannot automatically steer to drive, and the universal wheel can steer while driving along with steering of the steering wheel. When the AGV forklift turns, the center of the forklift body is used as the circle center, and a larger arc track is formed by the movement of the rear wheels, so that the turning space is larger. This runs contrary to the space saving principle of the logistics and warehousing industry.

Secondly, when the non-omnidirectional-driving AGV forklift gets and puts goods in and out the T-shaped roadway, the forklift action is decomposed as follows: turning 90 degrees (entering a vertical direction roadway) → moving linearly to the position near the goods (at the moment, the fork is parallel to the roadway, and the goods are positioned on two sides of the roadway and cannot be forked) → turning 90 degrees → forking the goods → turning angle 90 degrees (at the moment, the fork is parallel to the roadway) → moving linearly to a roadway opening → turning to enter the roadway in the parallel direction. The action steps are complicated, the turning is more, the working efficiency is not high, and the energy consumption of the forklift is larger.

Third, AGV fork truck's the mouth that charges is located automobile body rear, and in order not to influence other AGV operations, fills the electric pile and generally lies in the edge in place or the place that does not stand out such as corner, wall root. The AGV trolley which does not run in all directions is inflexible in movement, the trolley is required to be adjusted for many times when the charging pile is searched, and the shape actions such as turning, forward and backward movement and the like are more. Like loading and unloading goods in T type tunnel, the dolly needs activity many times, and transform position and angle of adjustment and direction of travel lead to the dolly to go to fill electric pile's process from original position relatively slow, and the waste time is longer before charging, influences work efficiency and charge efficiency. And the AGV that does not travel all-round also is great in the charging area who occupies because of turning radius is great, extravagant space.

SUMMERY OF THE UTILITY MODEL

The utility model discloses just for solve the above-mentioned problem that prior art exists, provided a AGV fork truck that qxcomm technology traveles, the utility model discloses an universal wheel turns to, realizes that the fork rear wheel initiative turns to, can initiatively turn to the fork rear wheel of traveling through adopting the front steering wheel +, can realize AGV fork truck qxcomm technology traveles, and the motion space is less, saves fork truck motion space and tunnel space, satisfies the commodity circulation transportation trade requirement of saving space, the AGV fork truck that traveles of qxcomm technology simultaneously, and the motion is nimble, and the transport action is fast, and handling efficiency is high.

The utility model provides a technical scheme is:

the utility model provides an AGV fork truck that qxcomm technology traveles, includes the automobile body, with body coupling can turn to the helm mechanism that traveles, still includes the drive that two universal wheels, universal wheel turn to the device, the automobile body is equipped with a landing leg respectively including riser, the fork that is connected, fork lower part both sides, and every universal wheel is connected with a landing leg respectively, and every universal wheel turns to the device with a drive respectively and is connected, and the drive turns to device and body coupling, supports the fork and drives the fork motion through the universal wheel, helm mechanism passes through buffer gear and body coupling.

The driving steering device of the universal wheel comprises a driving source, wherein the driving source is fixed on a vehicle body and is connected with the universal wheel through a transmission mechanism.

The transmission mechanism comprises a synchronous belt driving wheel and a synchronous belt driving wheel, and the synchronous belt driving wheel are connected and driven by a synchronous belt; the driving source is connected with the synchronous belt driving wheel, drives the synchronous belt driving wheel through the synchronous belt, and further drives the universal wheel connected with the synchronous belt driving wheel.

The transmission mechanism adopts a chain and sprocket transmission structure, and the driving source is connected with the universal wheel through the chain and sprocket transmission structure.

The driving source is a rear wheel motor arranged on the vehicle body, the rear wheel motor is fixedly connected with the vehicle body through a support, and the fixed connection mode comprises structures such as welding or screw connection.

The vehicle body further comprises a vertical plate, the buffer mechanism comprises a floating frame, an upper cross beam, a lower cross beam and a guide rod, the upper cross beam and the lower cross beam are respectively connected with the upper end of the guide rod, the lower cross beam is respectively connected with the lower end of the guide rod, the floating frame is sleeved on the guide rod, a spring is sleeved on the guide rod, the floating frame floats up and down along the guide rod, and the upper cross beam and the lower cross beam are respectively fixed on the vertical plate of the vehicle body.

The steering wheel mechanism comprises a main wheel, a main wheel shaft, a main wheel motor and a main wheel motor which is fixed on the floating frame;

the steering wheel mechanism further comprises a steering motor, a large gear, a small gear and a speed reduction mechanism, wherein the steering motor is fixed to one side of the floating frame, the main wheel motor is fixed to the upper portion of the floating frame, the small gear is connected with the steering motor, the large gear is meshed with the small gear, the large gear and the small gear are arranged below the floating frame, the floating frame is fixed to the outer ring of the first bearing, the large gear is fixed to the inner ring of the first bearing, the first bevel gear shaft penetrates through the second bearing and the third bearing, the first bevel gear shaft is fixed to the inner ring of the second bearing and the inner ring of the third bearing, and the outer ring of the second bearing and the outer ring of the third; the main wheel is connected with a main wheel shaft, the main wheel shaft is connected with a shell of the reduction gearbox through a bearing, a second pinion is arranged at the lower part of a motor shaft of the main wheel motor, a second bull gear is arranged at the upper part of a first bevel gear shaft, the second pinion is meshed with the second bull gear, a first bevel gear is arranged at the lower part of the first bevel gear shaft, a second bevel gear is arranged on the main wheel shaft, and the first bevel gear is meshed with the second bevel gear;

or the main wheel motor is transversely placed and fixed on the floating frame, the main wheel motor is parallel to a main wheel shaft of the main wheel, the main wheel motor is connected with the main wheel through a first speed reducing mechanism, and the main wheel motor directly drives the main wheel after being reduced through the first speed reducing mechanism.

The vehicle body is also provided with balance wheels which are positioned at two sides of the steering wheel mechanism.

The driving source is an air cylinder, an electric cylinder or a hydraulic cylinder which is arranged on the vehicle body.

The utility model discloses beneficial effect:

1. the utility model discloses AGV fork truck driving in-process, when needing to turn, turn to through the universal wheel, realize that the fork rear wheel initiative turns to, can turn to the fork rear wheel of going through adopting front steering wheel + initiative, realize turning to of drive main wheel 7, the universal wheel can be 360 degrees rotations in the coplanar, realize independently turning to and go, can realize AGV fork truck omnidirectional and go, the motion space is less, save fork truck motion space and tunnel space, satisfy the commodity circulation transportation trade requirement of saving space, the AGV fork truck that simultaneously omnidirectional was gone, the motion reaches and turns to the flexibility, the transport action is fast, the handling efficiency is high. The problems that the AGV which does not run in all directions is inflexible in movement, the goods are loaded and unloaded in a T-shaped roadway, the trolley needs to move for multiple times, the position is changed, the angle is adjusted, the running direction of the trolley is adjusted, the process of running the trolley from the original position to the position of the loaded and unloaded goods is slow, the time consumption is long, and the working efficiency is influenced are solved, and the problems that the AGV which does not run in all directions occupies a large goods area and takes space due to large turning radius are solved.

2. The utility model discloses a be equipped with buffer gear, steering wheel mechanism pass through damper with the automobile body and are connected, through the compression and the release of spring among the damper, cushion AGV automobile body vibrations. When the pothole on the road surface is not normal, the steering wheel structure floats up and down along the guide post along the floating frame, and is compressed and released by the spring, so that the damping effect is achieved, the moving stability of the trolley is improved, the main wheel is prevented from slipping, and the problems that the AGV trolley is easy to slip when in a large pothole, stops going forward and cannot run are solved. Meanwhile, the vibration and abrasion of parts of the trolley body can be reduced, and the service life of the trolley is prolonged.

3. The AGV that the qxcomm technology traveles, turning radius is little, and the motion is nimble, is convenient for charge, improves charge efficiency. The problem of non-omnidirectional driving's AGV dolly, the activity is inflexible, and the search fills electric pile and needs the adjustment of dolly many times, and the dolly goes to the process of filling electric pile relatively slowly from original position, and the extravagant time is longer before charging, influences work efficiency and charging efficiency is solved.

4. The balance wheels are further arranged on the vehicle body, the balance wheels are located on two sides of the steering wheel mechanism, when the ground is uneven, or the steering wheel turns to change the driving direction, the balance wheels are located on two sides of the steering wheel and can act together with the steering wheel, the vehicle body is balanced, and steering stability and safety are guaranteed.

Drawings

Fig. 1 is a schematic structural view of an omnidirectional AGV forklift and a transmission thereof according to the present invention;

fig. 2 is a schematic structural view of a partial cross-sectional view of a left side view of the present invention;

FIG. 3 is a schematic view of the main wheel motor and the main wheel with their central axes parallel to each other according to the second embodiment;

FIG. 4 is a schematic diagram of the operation of an AGV fork truck in a T-shaped roadway or a cross-shaped roadway to pick up goods in the prior art;

FIG. 5 is a schematic diagram of the prior art AGV fork truck taking the goods from a T-shaped roadway or a cross-shaped roadway;

FIG. 6 is a schematic diagram of the AGV forklift truck getting goods in a T-shaped roadway or a cross-shaped roadway;

FIG. 7 is the utility model discloses a AGV fork truck goes out action schematic diagram that T type tunnel or cross tunnel got goods.

Fig. 8 is a schematic structural view of a cross-sectional view of the steering wheel mechanism of the present invention.

Wherein, 1, a pallet fork; 2. a universal wheel; 3. a synchronous belt driving wheel; 4. a synchronous belt; 5. a synchronous belt driving wheel; 6. a rear wheel motor; 7. a main wheel; 8. a damping mechanism; 9. a vertical plate; 10. a floating frame; 11. a main wheel motor; 12. a steering motor; 13. a pinion gear; 14. a bull gear; 15. a transmission member; 16. a balance wheel; 17. a support; 18. a guide bar; 19. an upper cross beam; 20. a spring; 22. a lower cross beam; 40. a gearbox housing; 41. a first bearing outer race; 42. a first bearing inner race; 43. a second bearing; 44. a first bevel gear shaft; 45. a third bearing; 46. a first bevel gear; 47. a second bevel gear; 48. a motor shaft; 49. a second pinion gear; 50. a second bull gear; 51. a main wheel axle.

Detailed Description

The invention will be further described with reference to the accompanying drawings and specific embodiments.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

The following discloses many different embodiments or examples for implementing the subject technology, which are, of course, merely examples and are not intended to limit the scope of the invention. For example, the first feature described later in the specification may be provided below or above the second feature, and may include an embodiment in which the first feature is provided in direct contact with the second feature, and may also include an embodiment in which additional features are provided between the first feature and the second feature, so that the first feature and the second feature may not be directly connected to each other. Further, when a first element is described as being associated with or bound to a second element, the description includes embodiments in which the first element and the second element are directly associated with or bound to each other, as well as embodiments in which one or more additional intervening elements are added to indirectly associate or bind the first element and the second element with each other.

Example one

With reference to fig. 1, fig. 2, fig. 4-fig. 7, an omnidirectional traveling AGV forklift includes a body, two universal wheels 2, a driving steering device of the universal wheels, and a steering wheel mechanism connected with the body and capable of steering the traveling AGV, wherein the body includes a vertical plate 9 and a fork 1 connected with each other, two sides of the lower part of the fork are respectively provided with a supporting leg, each universal wheel 2 is respectively connected with a supporting leg, each universal wheel is respectively connected with a driving steering device, the driving steering device is connected with the body, the fork 1 is supported and the fork 1 is driven to move through the universal wheels 2, and the steering wheel mechanism is connected with the body through a buffer mechanism. The universal wheels 2 can rotate 360 degrees in the same plane, and autonomous steering driving is achieved.

The driving and steering device of the universal wheel comprises a driving source, a synchronous belt driving wheel 5 and a synchronous belt driving wheel 3, wherein the driving source is fixed on the vehicle body, and the synchronous belt driving wheel 5 and the synchronous belt driving wheel 3 are connected and driven by a synchronous belt 4; the driving source is connected with a synchronous belt driving wheel 5, drives a synchronous belt driving wheel 3 through a synchronous belt, and further drives a universal wheel 2 connected with the synchronous belt driving wheel.

The driving source is a rear wheel motor 6 installed on the vehicle body, the rear wheel motor 6 is fixedly connected with the vehicle body through a support 17, and the fixed connection mode comprises structures such as welding or screw connection.

The vehicle body further comprises a vertical plate 9, the buffer mechanism comprises a floating frame 10, an upper cross beam 19, a lower cross beam 22 and a guide rod 18, the upper cross beam 19 and the lower cross beam 22 are respectively connected with the upper end of the guide rod 18, the lower cross beam 22 is respectively connected with the lower end of the guide rod 18, the floating frame 10 is sleeved on the guide rod 18, a spring 20 is sleeved on the guide rod 18, the floating frame 10 floats up and down along the guide rod 18 under the action of the spring 20 of the guide rod 18, and the upper cross beam and the lower cross beam are respectively fixed on the vertical plate 9 of the vehicle body. The guide rod 18, the upper beam 19, the spring 20, and the lower spring together constitute the damper mechanism 8.

The upper cross beam and the lower cross beam are fixed on a vertical plate 9 of the vehicle body through screws; or the upper cross beam and the lower cross beam are welded on a vertical plate 9 of the vehicle body.

Referring to fig. 8, the steering wheel mechanism includes a main wheel 7, a main wheel shaft 51, a main wheel motor 11, a steering motor 12, a large gear 14, a small gear 13, and a reduction gear 15, the steering motor 12 is fixed to one side of the floating frame 10, the main wheel motor 11 is fixed to the upper portion of the floating frame 10, the small gear 13 is connected to the steering motor 12, the large gear is engaged with the small gear, the large gear 14 and the small gear 13 are disposed below the floating frame 10, the floating frame 10 is fixed to the first bearing outer ring 41, the large gear 14 is fixed to the first bearing inner ring 42, the first bevel gear shaft 44 passes through the second bearing 43 and the third bearing 45, the first bevel gear shaft 44 is fixed to the inner ring of the second bearing 43 and the inner ring of the third bearing 45, and the outer ring of the second bearing 43 and the outer ring of the third bearing.

The main wheel 7 is connected with a main wheel shaft 51, the main wheel shaft 51 is connected with the reduction gearbox shell 40 through a bearing, a second small gear 49 is arranged at the lower part of a motor shaft 48 of the main wheel motor 11, a second large gear 50 is arranged at the upper part of the first bevel gear shaft 44, the second small gear 49 is meshed with the second large gear 50, a first bevel gear 46 is arranged at the lower part of the first bevel gear shaft 44, a second bevel gear 47 is arranged on the main wheel shaft, and the first bevel gear 46 is meshed with the second bevel gear 47. The main wheel motor 11 is engaged with a second large gear 50 through a second small gear 49, and drives a first bevel gear 46 and a second bevel gear 47 engaged with the first bevel gear, and the second bevel gear 47 drives the main wheel 7 to rotate.

The vehicle body is also provided with a balance wheel 16, and the balance wheel 16 is positioned at two sides of the steering wheel mechanism. When the ground is not at ordinary times, perhaps the steering wheel changes the direction of travel, the stabilizer can play with the steering wheel combined action, balanced AGV automobile body guarantees the stability and the security that turn to.

The utility model discloses a use method as follows:

main wheel rotation driving direction: in the process of AGV forklift running, when turning is needed, a driver controls a steering motor 12 to drive a pinion 13 to rotate for a certain angle/number of turns, and a large gear 14 is meshed with the pinion 13, so that the large gear 14 drives a second speed reducing mechanism and a transmission part 15 to drive a main wheel 7 to rotate for a certain angle in a horizontal plane, and the running direction is changed.

Universal wheel turning driving direction: the rear wheel motor 6 is controlled by the driver to rotate, the synchronous belt driving wheel 5 is sequentially driven to rotate, the synchronous belt 4 drives the synchronous belt driving wheel 3 to rotate, and then the driving direction of the universal wheel 2 is changed. Wherein the universal wheels 2 can realize 360-degree rotation in the same plane.

In the AGV fork truck driving process, when needing to turn, main wheel 7 and universal wheel 2 all can independently change the direction of driving, realize AGV fork truck's omnidirectional and go, move and turn to in a flexible way, have saved the motion space.

Use dolly business turn over T type tunnel to get goods as an example below, explain among the prior art non-omnidirectional traveling's AGV fork truck reaches the utility model discloses an omnidirectional traveling's AGV fork truck's motion difference:

as shown in fig. 4 and 5, when the non-omnidirectional AGV forklift in the prior art gets and puts the goods in and out of the T-shaped roadway, the forklift actions are decomposed as follows: turning 90 degrees to enter a vertical direction tunnel → linearly moving to the position near goods, wherein the goods fork is parallel to the tunnel, the goods are positioned on two sides of the tunnel and can not fork up the goods → turning 90 degrees → forking the goods → turning angle 90 degrees, and the goods fork is parallel to the tunnel → linearly moving to a tunnel opening → turning to enter the tunnel in the parallel direction. The action steps are complicated, the turning is more, the working efficiency is not high, and the energy consumption of the forklift is larger.

As shown in fig. 6 and 7, the utility model discloses when goods were got in business turn over T type tunnel to AGV fork truck that qxcomm technology traveled, the fork truck action decomposed as follows: the vehicle can directly fork the goods → the trolley transversely moves linearly to the roadway intersection → the steering wheel and the universal wheel turn → enters the roadway in the horizontal direction. When the forklift needs to turn to drive, only the steering wheel and the universal wheel are needed to turn, the driving direction of the forklift can be changed, and a trolley does not need to turn. For example, the time for rotating the wheel by 90 deg. is shorter than the time for rotating the vehicle body by 90 deg., thereby improving efficiency. The action steps of the vehicle body are fewer, the working efficiency is high, and the energy consumption of the forklift is lower.

Example two

As shown in fig. 3, the main wheel motor 11 is transversely placed and fixed on the floating frame 10, the central axes of the main wheel motor 11 and the main wheel 7 are parallel, the main wheel motor 11 is connected with the driving main wheel 7 through the first speed reducing mechanism, and the main wheel motor 11 directly drives the main wheel 7 after being reduced through the first speed reducing mechanism without passing through a steering transmission component.

The rest refer to the first embodiment, and are not described herein again.

EXAMPLE III

The driving source is a cylinder, an electric cylinder or a hydraulic cylinder which is arranged on the vehicle body. The air cylinder, the electric cylinder and the hydraulic cylinder are connected with the universal wheel 2 to realize that the universal wheel 2 rotates 360 degrees in the same plane, and the autonomous steering driving is realized. The transmission mechanism between the drive source and the universal wheel 2 may be a chain and sprocket transmission mechanism.

The rest refer to the first embodiment, and are not described herein again.

Although the present invention has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without inventive work are still within the scope of the present invention.

Claims

1. The utility model provides an AGV fork truck that qxcomm technology traveles, includes the automobile body, with body coupling can turn to the helm mechanism that traveles, characterized by, still includes the drive of universal wheel, universal wheel and turns to the device, the automobile body includes the fork, and fork lower part both sides are equipped with a landing leg respectively, and the universal wheel is connected with the landing leg, and the drive turns to device and body coupling, and the universal wheel supports the fork and drives the fork motion, helm mechanism passes through buffer gear and body coupling.

2. An omnidirectional traveling AGV forklift as recited in claim 1, wherein said universal wheel drive steering means includes a drive source fixed to the body, the drive source being connected to the universal wheels through a transmission mechanism.

3. The AGV according to claim 2, wherein the transmission mechanism comprises a synchronous belt driving wheel and a synchronous belt driving wheel, and the synchronous belt driving wheel are driven by a synchronous belt connection; the driving source is connected with the synchronous belt driving wheel, drives the synchronous belt driving wheel through the synchronous belt, and further drives the universal wheel connected with the synchronous belt driving wheel.

4. An omnidirectional traveling AGV according to claim 2, wherein said driving mechanism is a chain and sprocket driving structure, and said driving source is connected to said universal wheels through the chain and sprocket driving structure.

5. An omnidirectional traveling AGV forklift as recited in claim 2, wherein said driving source is a rear wheel motor mounted on the body, said rear wheel motor being fixedly connected to the body through a bracket.

6. The AGV forklift capable of traveling omnidirectionally as claimed in claim 1, wherein the body further comprises an upright plate, the buffer mechanism comprises a floating frame, an upper cross beam, a lower cross beam and a guide rod, the upper cross beam and the lower cross beam are respectively connected with the upper end of the guide rod, the lower cross beam is respectively connected with the lower end of the guide rod, the floating frame is sleeved on the guide rod, a spring is sleeved on the guide rod, the floating frame floats up and down along the guide rod, and the upper cross beam and the lower cross beam are respectively fixed on the upright plate of the body.

7. An omnidirectional traveling AGV forklift as recited in claim 6, wherein said steering wheel mechanism includes a main wheel, a main wheel shaft, a main wheel motor, the main wheel motor being fixed to the floating frame;

8. An omnidirectional AGV forklift as recited in claim 1 wherein said body further comprises balance wheels, said balance wheels being disposed on opposite sides of said steering wheel mechanism.

9. An omnidirectional traveling AGV forklift as recited in claim 2, wherein said driving source is an air cylinder, an electric cylinder or a hydraulic cylinder mounted on the body.