CN213975635U

CN213975635U - AGV dolly and warehouse system

Info

Publication number: CN213975635U
Application number: CN202022434530.0U
Authority: CN
Inventors: 刘臣; 宋国库; 于宗靖; 刘旭
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2020-10-28
Filing date: 2020-10-28
Publication date: 2021-08-17
Anticipated expiration: 2030-10-28

Abstract

The present disclosure relates to an AGV cart and a warehousing system. Wherein, AGV dolly includes: the AGV comprises a trolley body, wherein the trolley body comprises a frame, and a driving wheel set and a climbing driving wheel set which are arranged on the left side and the right side of the frame, at least one of the driving wheel set and the climbing driving wheel set is configured to axially extend out and retract relative to the frame so as to realize the switching of the AGV between a transportation mode and a storage and taking mode. The dolly both can be subaerial transportation goods, also can rely on the drive wheelset that climbs to cooperate the three-dimensional storehouse goods shelves structure in, and the stand that climbs along the three-dimensional storehouse goods shelves climbs to corresponding goods layer, and then accesses corresponding goods to realize both make full use of in the storehouse cubical space, reduce the three-dimensional storehouse memory and get goods cost of transportation.

Description

AGV dolly and warehouse system

Technical Field

The utility model relates to a logistics equipment technical field especially relates to a AGV dolly.

Background

An agv (automated Guided vehicle) is a transport vehicle equipped with an electromagnetic or optical automatic navigation device, which can travel along a predetermined navigation path and has safety protection and various transfer functions.

The conventional AGV trolley can only run on the ground and is used for carrying goods on the ground, and the stereoscopic space in a warehouse is not fully utilized. The shuttle cars in the three-dimensional warehouse only access goods on a certain layer of the goods shelf of the three-dimensional warehouse, and if the goods on different goods layers are accessed by the same trolley, the shuttle cars need to be transported to the corresponding goods layers by the shuttle car hoister, so that one shuttle car hoister needs to be arranged on each roadway, and the shuttle cars only can operate on the goods shelf to access the goods and need to transfer the goods to the ground by a conveying line and the like.

The inventor finds that the existing elevator in the stereoscopic garage mainly has the following defects:

1. the common AGV trolley can only run on the ground to store and take goods, and the trolley can not store and take the goods in the three-dimensional warehouse, so that the three-dimensional space in the warehouse can not be fully utilized.

2. The shuttle car can only run on a certain layer of the goods shelf to store and take goods, the storage space which can be accessed by a single trolley is too small, if the shuttle car needs to store and take goods on other goods layers in the tunnel, a shuttle car hoister is also arranged in the three-dimensional warehouse to hoist the shuttle car to different goods layers in the tunnel, and if the shuttle car needs to store and take goods in other tunnels, a replacement tunnel transfer trolley is also arranged to transfer the shuttle car to other tunnels, and then the shuttle car hoister hoists the shuttle car to the goods layers which need to store and take the goods. The goods are stored and taken out, and the matched roller bed conveying lines are needed to transfer the goods, so that the cost of the whole scheme is high.

SUMMERY OF THE UTILITY MODEL

The inventor researches and finds that the related technology has the technical problem of high transportation cost.

In view of this, the present disclosure provides an AGV cart and a storage system, which can reduce the cost of storing, fetching and transporting.

Some embodiments of the present disclosure provide an AGV cart comprising: the AGV comprises a trolley body, wherein the trolley body comprises a frame, and a driving wheel set and a climbing driving wheel set which are arranged on the left side and the right side of the frame, at least one of the driving wheel set and the climbing driving wheel set is configured to axially extend out and retract relative to the frame so as to realize the switching of the AGV between a transportation mode and a storage and taking mode.

In some embodiments, the rotation of the travel drive wheel set and the climb drive wheel set on the same side are driven by the same drive shaft.

In some embodiments, the cart body further includes travel support wheel sets disposed on the left and right sides of the frame, the travel support wheel sets configured to axially extend and retract relative to the frame in synchronization with the travel drive wheel sets.

In some embodiments, the vehicle frame comprises a vehicle head mounting plate, a first side beam and a second side beam, the vehicle head mounting plate is connected with the first side beam and the second side beam respectively to form a frame structure, and the vehicle head mounting plate is provided with a linear guide rail for matching with a sliding block on the driving wheel set for traveling and the driving wheel set for climbing so as to realize the axial movement of the driving wheel set for traveling and the driving wheel set for climbing relative to the vehicle head mounting plate.

In some embodiments, the linear guide rail comprises an upper linear guide rail and a lower linear guide rail respectively arranged on the upper side and the lower side of the vehicle head mounting plate, the driving wheel set comprises a left driving wheel set and a right driving wheel set respectively arranged on the left side and the right side of the vehicle head mounting plate, and the climbing driving wheel set comprises a left climbing driving wheel set and a right climbing driving wheel set respectively arranged on the left side and the right side of the vehicle head mounting plate.

In some embodiments, the trolley body further comprises an extension driving assembly arranged in the middle of the trolley head mounting plate, the extension driving assembly comprises a first extension driving mechanism and a second extension driving mechanism, the first extension driving mechanism is used for driving the left climbing driving wheel set and the right climbing driving wheel set to extend and retract oppositely relative to the trolley head mounting plate along the linear guide rail, and the second extension driving mechanism is used for driving the left traveling driving wheel set and the right traveling driving wheel set to extend and retract oppositely relative to the trolley head mounting plate along the linear guide rail.

In some embodiments, the first extending driving mechanism comprises a first motor and a first lead screw, the first motor is used for driving the first lead screw to rotate, and the first lead screw is used for being in mounting fit with a lead screw nut of the climbing driving wheel set so as to realize the extending and retracting of the climbing driving wheel set relative to the vehicle head mounting plate along the linear guide rail; the second stretching driving mechanism comprises a second motor and a second lead screw, the second motor is used for driving the second lead screw to rotate, and the second lead screw is used for being matched with a lead screw nut of the climbing driving wheel set in an installing mode so as to achieve that the driving wheel set stretches out and retracts relative to the vehicle head installing plate along the linear guide rail.

In some embodiments, the trolley body further comprises a driving support wheel set and a third extending driving mechanism, the driving support wheel set comprises a left support wheel set and a right support wheel set, the third extending driving mechanism comprises a synchronous belt and a third lead screw, the third lead screw is used for being matched with a lead screw nut of the driving support wheel set, and the second motor drives the third lead screw to rotate through the synchronous belt so as to enable the left support wheel set and the right support wheel set to extend and retract in the axial direction.

In some embodiments, the driving wheel set includes a wheel mounting seat plate and a driving wheel, the driving wheel is mounted on the wheel mounting seat plate, the climbing driving wheel set includes a climbing gear, a third motor, a driving shaft and a motor mounting seat plate, the third motor and the driving shaft are mounted on the motor mounting seat plate, the climbing gear is located at the axial outer side of the driving wheel, the third motor is used for driving the driving shaft to rotate, and the driving shaft penetrates through the driving wheel and is mounted with the climbing gear so as to synchronously drive the driving wheel and the climbing gear to rotate.

In some embodiments, the climbing driving wheel set further comprises a climbing guide wheel arranged on the motor mounting base plate, and the climbing guide wheel is positioned right above the climbing gear.

Some embodiments of the present disclosure provide a storage system comprising a stereoscopic storage rack and the aforementioned AGV cart.

Therefore, according to the disclosed embodiment, switching between the transport mode and the access mode of the AGV car is achieved by providing a driving wheel set for traveling and a driving wheel set for climbing, and configuring at least one of the driving wheel set for traveling and the driving wheel set for climbing to be axially extendable and retractable relative to the frame. The dolly both can be subaerial transportation goods, also can rely on the drive wheelset that climbs to cooperate the three-dimensional storehouse goods shelves structure in, and the stand that climbs along the three-dimensional storehouse goods shelves climbs to corresponding goods layer, and then accesses corresponding goods to realize both make full use of in the storehouse cubical space, reduce the three-dimensional storehouse memory and get goods cost of transportation.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

The present disclosure may be more clearly understood from the following detailed description, taken with reference to the accompanying drawings, in which:

FIG. 1 is a schematic overall view of some embodiments of an AGV of the present disclosure;

FIG. 2 is a perspective view of the cart body in some embodiments of the AGV of the present disclosure;

FIG. 3 is a schematic diagram of the fork structure of some embodiments of an AGV of the present disclosure;

FIG. 4 is a schematic view of a split configuration of a cart body in some embodiments of an AGV of the present disclosure;

FIG. 5 is a schematic view of the frame structure of some embodiments of an AGV of the present disclosure;

FIG. 6 is a schematic diagram of an extension drive assembly according to some embodiments of an AGV of the present disclosure;

FIG. 7 is a schematic diagram of the travel drive wheel set and climb drive wheel set of some embodiments of an AGV of the present disclosure;

FIG. 8 is a schematic top view of the cart body in some embodiments of the AGV of the present disclosure.

Description of the reference numerals

100. A trolley body; 101. a frame; 102. extending the drive assembly; 103. a right climbing driving wheel set; 104. a left climbing driving wheel set; 105. a left driving wheel set; 106. a right driving wheel set; 107. a right support wheel set; 108. a left support wheel set; 200. a fork structure; 201. a first motor; 202. a first speed reduction mechanism; 203. a first drive belt; 204. a first drive pulley; 205. a first driven pulley; 206. a first lead screw; 207. a synchronous belt; 208. a second motor; 209. a second reduction mechanism; 210. a second lead screw; 211. a tension wheel; 212. a synchronous pulley; 213. a synchronous belt supporting wheel; 214. a second driven driving pulley; 215. a second belt; 216. a second drive pulley; 217. a first support plate; 218. a second support plate; 230. a first support shaft; 231. a third motor; 232. a first upper mounting slide block; 233. a speed reducer; 234. a first lead screw nut; 235. a motor mounting seat plate; 236. a driving gear; 237. a driven gear; 238. a first lower mounting block; 239. a drive shaft; 240. a ball spline nut; 241. a second lower mounting slide block; 242. a second lead screw nut; 243. a climbing gear; 244. a wheel mounting seat plate; 245. a running drive wheel; 246. a sliding block is arranged on the second upper mounting plate; 247. a guide plate; 248. climbing guide wheels; 261. a third support plate; 262. a fourth support plate; 264. a second support shaft; 265. a right lead screw nut; 266. a first support wheel; 267. connecting blocks; 268. a support frame; 269. a second support wheel; 270. a side guide wheel; 271. a third lead screw; 272. a driven synchronous pulley; 273. a belt guide wheel; 274. a left lead screw nut; 280. a headstock mounting plate; 281. a first side member; 282. connecting the cross beam; 283. a linear bearing; 284. a universal wheel set; 285. a cargo box pallet; 286. a second side member; 287. a right linear bearing mounting block; 288. a left linear bearing mounting block; 289. a left linear bearing; 290. a right linear bearing; 291. an upper linear guide rail; 292. a lower linear guide rail.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the disclosure, its application, or uses. The present disclosure may be embodied in many different forms and is not limited to the embodiments herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments are to be construed as merely illustrative, and not as limitative, unless specifically stated otherwise.

The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element preceding the word covers the element listed after the word, and does not exclude the possibility that other elements are also covered. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

In the present disclosure, when a specific device is described as being located between a first device and a second device, there may or may not be intervening devices between the specific device and the first device or the second device. When a particular device is described as being coupled to other devices, the particular device may be directly coupled to the other devices without intervening devices or may be directly coupled to the other devices with intervening devices.

All terms used in the present disclosure have the same meaning as understood by one of ordinary skill in the art to which the present disclosure belongs, unless otherwise specifically defined. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

Referring to fig. 1-8, some embodiments of the present disclosure provide an AGV cart including: the cargo fork structure comprises a trolley body 100 and a cargo fork structure 200, wherein the cargo fork structure 200 is arranged on the trolley body 100 and used for storing and taking a cargo box; the trolley body 100 comprises a frame 101, and a driving wheel set for traveling and a driving wheel set for climbing which are arranged on the left and right sides of the frame 101, wherein at least one of the driving wheel set for traveling and the driving wheel set for climbing is configured to axially extend and retract relative to the frame 101, so that the AGV trolley can be switched between a transportation mode and a storage and taking mode.

In the exemplary embodiment, switching between transport and access modes of the AGV car is accomplished by providing a travel drive wheel set and a climb drive wheel set, and configuring at least one of the travel drive wheel set and the climb drive wheel set to be axially extendable and retractable with respect to the frame. The dolly both can be subaerial transportation goods, also can rely on the drive wheelset that climbs to cooperate the three-dimensional storehouse goods shelves structure in, and the stand that climbs along the three-dimensional storehouse goods shelves climbs to corresponding goods layer, and then accesses corresponding goods to realize both make full use of in the storehouse cubical space, reduce the three-dimensional storehouse memory and get goods cost of transportation.

The user can configure the extending and retracting of the driving wheel set and the climbing driving wheel set according to the structural characteristics of the three-dimensional garage. In some embodiments, the travel drive wheel set is configured to be axially extendable and retractable relative to the frame; and in the climbing mode, the driving wheel set is controlled to axially retract relative to the frame, and the climbing driving wheel set is controlled to climb. In other embodiments, the climb drive wheel set is configured to be axially extendable and retractable relative to the frame; in the climbing mode, controlling a climbing driving wheel set to axially extend relative to the frame, and performing climbing operation by the climbing driving wheel set; and under the transportation mode, the climbing driving wheel set is controlled to axially retract relative to the frame, and the driving wheel set is driven to perform transportation operation. In still other embodiments, the travel drive wheel set and the climb drive wheel set are each configured to be axially extendable and retractable relative to the frame; under the climbing mode, controlling the climbing driving wheel set to axially extend relative to the frame and controlling the driving wheel set to axially retract relative to the frame, and performing climbing operation by the climbing driving wheel set; and under the transportation mode, the climbing driving wheel set is controlled to axially retract relative to the frame and the running driving wheel set is controlled to axially extend relative to the frame, and the running driving wheel set carries out transportation operation.

In the present application, the axial direction refers to the axial direction of the wheels in the wheel set, and the left and right are the left and right when the user faces the forward direction of the cart.

In some embodiments, as shown in fig. 4, the travel drive wheel sets include a left travel drive wheel set 105 and a right travel drive wheel set 106 disposed on left and right sides of the nose mounting plate 280, respectively, and the climb drive wheel sets include a left climb drive wheel set 104 and a right climb drive wheel set 103 disposed on left and right sides of the nose mounting plate 280, respectively. In some embodiments, the cart body 100 further includes a driving support wheel set disposed on the left and right sides of the frame 101, and the driving support wheel set includes a left support wheel set 108 and a right support wheel set 107.

In some embodiments, as shown in fig. 4 and 5, the vehicle frame 101 includes a vehicle head mounting plate 280, a first side beam 281, a second side beam 286, and a connecting cross beam 282, the vehicle head mounting plate 280 is connected to the first side beam 281 and the second side beam 286 to form a main frame structure, a cargo box supporting plate 285 for supporting a cargo box is disposed on the main frame structure, a universal wheel set 284 is mounted on one of the cargo box supporting plate 285, and the universal wheel set 284 supports the vehicle to travel on the ground together with the left driving wheel set 105 and the right driving wheel set 106. Two sets of linear bearings 283 are mounted on each of the first side beam 281 and the second side beam 286, the left support wheel set 108 and the right support wheel set 107 are provided with second support shafts 264, and the linear bearings 283 are matched with the second support shafts 264 for supporting the left support wheel set 108 and the right support wheel set 107.

In some embodiments, as shown in fig. 5 and 7, a right linear bearing mounting block 287 and a left linear bearing mounting block 288 are mounted on the cab mounting plate 280. The left linear bearing mounting block 288 and the right linear bearing mounting block 287 are respectively provided with a left linear bearing 289 and a right linear bearing 290, and the left climbing driving wheel set 104 and the right climbing driving wheel set 103 are provided with first support shafts 230 which are inserted into the left linear bearing 289 and the right linear bearing 290 to support the left climbing driving wheel set 104 and the right climbing driving wheel set 103.

In some embodiments, as shown in fig. 5, the nose mounting plate 280 has linear rails mounted thereon for cooperating with sliders on the travel drive wheel set and the climb drive wheel set to effect axial movement of the travel drive wheel set and the climb drive wheel set relative to the nose mounting plate 280. Specifically, in some embodiments, as shown in fig. 5, the linear guide comprises an upper linear guide 291 and a lower linear guide 292 respectively disposed on the upper side and the lower side of the head mounting plate 280, and the linear guides cooperate with the sliding blocks on the left climbing driving wheel set 104, the right climbing driving wheel set 103, the left driving wheel set 105 and the right driving wheel set 106 to realize the movable mounting of the components on the frame 101.

As shown in fig. 4 and 6, in some embodiments, the cart body 100 further includes an extension driving assembly 102 disposed in the middle of the head mounting plate 280, the extension driving assembly 102 includes a first support plate 217, a second support plate 218, a first extension driving mechanism and a second extension driving mechanism, the first support plate 217 and the second support plate 218 form an integral frame, and other accessories are mounted on the frame. The first extending driving mechanism is used for driving the left climbing driving wheel set 104 and the right climbing driving wheel set 103 to extend and retract along the linear guide rail relative to the vehicle head mounting plate 280, and the second extending driving mechanism is used for driving the left driving wheel set 105 and the right driving wheel set 106 to extend and retract along the linear guide rail relative to the vehicle head mounting plate 280.

In some embodiments, as shown in fig. 6, the first extending driving mechanism includes a first motor 201, a first speed reducing mechanism 202, a first driving belt 203, a first driving belt pulley 204, a first driven belt pulley 205, and a first lead screw 206, the first motor 201 is used for providing power to drive the first driving belt pulley 204 via the first speed reducing mechanism 202, the first driving belt pulley 204 drives the first driving belt 203 to transmit to the first driven belt pulley 205, and the first driven belt pulley 205 drives the first lead screw 206 with left/right rotation to rotate. As shown in fig. 4, the left climbing driving wheel set 104 and the right climbing driving wheel set 103 are mirror images, and taking the right climbing driving wheel set 103 and the right supporting wheel set 107 as an example, as shown in fig. 7, the right climbing driving wheel set 103 is provided with a first lead screw nut 234 engaged with the first lead screw 206, and when the first lead screw 206 rotates, the first lead screw 206 drives the left climbing driving wheel set 104 and the right climbing driving wheel set 103 to extend or retract relative to the vehicle head mounting plate 280 along the upper linear guide 291 and the lower linear guide 292.

In some embodiments, as shown in fig. 6, the second extension driving mechanism includes a second motor 208, a second speed reducing mechanism 209, a second driving pulley 216, a second transmission belt 215, a second driven pulley 214 and a second lead screw 210, the second motor 208 is used for providing power to drive the second driving pulley 216 via the second speed reducing mechanism 209, the second driving pulley 216 drives the second transmission belt 215 to transmit to the second driven pulley 214, and the second driven pulley 214 drives the second lead screw 210 to rotate. As shown in fig. 4, the left driving wheel set 105 and the right driving wheel set 106 are mirror images, and taking the right driving wheel set 106 as an example, in conjunction with fig. 7, the right driving wheel set 106 is provided with a second lead screw nut 242 engaged with the second lead screw 210, and when the second lead screw 210 rotates, the second lead screw 210 drives the left driving wheel set 105 and the right driving wheel set 106 to extend or retract relative to the head mounting plate 280 along the upper linear guide 291 and the lower linear guide 292.

In some embodiments, the travel support wheel set is configured to axially extend and retract in synchronization with the travel drive wheel set relative to the frame 101. As shown in fig. 6 and 8, in some embodiments, the cart body 100 further includes a third extending driving mechanism, the third extending driving mechanism includes a timing belt 207, a timing pulley 212, a tension pulley 211, a timing belt supporting pulley 213, a belt guiding pulley 273, a driven timing pulley 272 and a third lead screw 271, the timing pulley 212 is mounted on the second lead screw 210, so that the power of the second motor 208 can pass through the timing belt 207 bypassing the tension pulley 211 and the timing belt supporting pulley 213 and is transmitted to the driven timing pulley 272 by the belt guiding pulley 273, the driven timing pulley 272 drives the left/right-handed third lead screw 271 to rotate, the left supporting wheel set 108 and the right supporting wheel set 107 are respectively provided with a left lead screw nut 274 and a right lead screw nut 265 which are matched with the third lead screw 271, when the second lead screw 210 rotates, the third lead screw 271 rotates synchronously, the third lead screw 271 drives the left supporting wheel set 108 and the right supporting wheel set 107 to extend or retract in an axial direction, thereby achieving synchronous axial extension and retraction of the left support wheel set 108, the right support wheel set 107, the left travel drive wheel set 105 and the right travel drive wheel set 106 relative to the frame 101.

In some embodiments, the rotation of the driving wheel set and the climbing driving wheel set which are positioned on the same side are driven by the same driving shaft, which is beneficial to simplifying the structure and improving the utilization rate of the driving part. In some embodiments, as shown in fig. 7, the right driving wheel set 106 includes a wheel mounting plate 244 and a driving wheel 245, the driving wheel 245 is mounted on the wheel mounting plate 244, and the wheel mounting plate 244 is provided with a second lead screw nut 242 and a second upper mounting block 246 and a second lower mounting block 241 which are respectively mounted and matched with the upper linear guide 291 and the lower linear guide 292.

In some embodiments, as shown in fig. 7, the right climbing drive wheel set 103 includes a climbing gear 243, a third motor 231, a speed reducer 233, a drive gear 236, a driven gear 237, a drive shaft 239, and a motor mount plate 235, the third motor 231 and the drive shaft 239 are mounted on the motor mount plate 235, the drive gear 236 is mounted on the speed reducer 233, the driven gear 237 is mounted on the drive shaft 239 on the motor mount plate 235 through a bearing, and in some embodiments, the drive shaft 239 includes a ball spline shaft. The motor mounting plate 235 is provided with a first lead screw nut 234 and a first upper mounting slider 232 and a first lower mounting slider 238 which are respectively mounted and matched with the upper linear guide 291 and the lower linear guide 292.

In some embodiments, the climbing drive wheel set further comprises a climbing guide wheel 248 disposed on the motor mount plate 235, the climbing guide wheel 248 being located directly above the climbing gear 243. The climbing gear 243 and the climbing guide wheel 248 act on the climbing upright column to realize climbing operation. In some embodiments, the motor mounting plate 235 is provided with a guide plate 247 for guiding with the climbing guide wheel 248 to improve guiding stability.

As shown in fig. 7, the travel drive wheel 245 is mounted on a ball spline nut 240 on the drive shaft 239, and the ball spline nut 240 is mounted on a wheel mount plate 244. The drive shaft 239 extends through the ball spline nut 240 such that power can be transmitted from the drive shaft 239 to the ball spline nut 240 and thus to the travel drive wheel 245.

The rotational power driving path of the traveling drive wheel 245 is from the third motor 231, the speed reducer 233, the drive gear 236, the driven gear 237, the drive shaft 239, and the ball spline nut 240 to the traveling drive wheel 245; the driving shaft 239 is installed through the driving wheel 245 and the climbing gear 243 which is located at the axial outside of the driving wheel 245, and power is transmitted to the climbing gear 243 from the above path to synchronously drive the driving wheel 245 and the climbing gear 243 to rotate.

As shown in fig. 7 and 8, the right supporting wheel set 107, the left supporting wheel set 108, the right driving wheel set 106 and the left driving wheel set 105 support the trolley to travel on the track. The right supporting wheel set 107 is composed of a first supporting wheel 266, a second supporting wheel 269, a side guiding wheel 270, a second supporting shaft 264, a connecting block 267, a right lead screw nut 265 and the like which are installed on a supporting frame 268. The second support shaft 264 of the right support wheel set 107 is engaged with a linear bearing 283 mounted on the frame 101 to provide support and guidance for the right support wheel set 107. The left support wheel set 108 has the same structure as the right support wheel set 107, and the thread rotation direction of the left lead screw nut 274 mounted thereon is opposite to the thread rotation direction of the right lead screw nut 265 on the right support wheel set 107.

As shown in fig. 8, in some embodiments, the frame 101 is provided with a third support plate 261, a fourth support plate 262, and a left/right-handed third lead screw 271, and the timing belt 207 bypasses the belt guide wheel 273 to rotate the third lead screw 271. One end of the third lead screw 271 is engaged with the right lead screw nut 265 of the right support wheel set 107, and the other end is engaged with the left lead screw nut 274 of the left support wheel set 108, so that the power of the second motor 208 drives the left support wheel set 108 and the right support wheel set 107 to synchronously extend and retract.

Some embodiments of the present disclosure provide a storage system comprising a stereoscopic storage rack and the aforementioned AGV cart. The warehousing system disclosed by the invention has the beneficial technical effects correspondingly.

Thus, various embodiments of the present disclosure have been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.

Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the foregoing examples are for purposes of illustration only and are not intended to limit the scope of the present disclosure. It will be understood by those skilled in the art that various changes may be made in the above embodiments or equivalents may be substituted for elements thereof without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. An AGV cart, comprising: the AGV comprises a trolley body (100), wherein the trolley body (100) comprises a frame (101) and a driving wheel set and a climbing driving wheel set which are arranged on the left side and the right side of the frame (101), and at least one of the driving wheel set and the climbing driving wheel set is configured to axially extend out of and retract back relative to the frame (101) so as to realize the switching of the AGV between a transportation mode and an access mode.

2. The AGV trolley according to claim 1, wherein the rotation of the travel drive wheel set and the climb drive wheel set on the same side are driven by the same drive shaft.

3. The AGV trolley according to claim 1, wherein the trolley body (100) further includes travel support wheel sets disposed on the left and right sides of the frame (101), the travel support wheel sets being configured to axially extend and retract in synchronization with the travel drive wheel sets relative to the frame (101).

4. The AGV trolley according to claim 1, characterised in that the frame (101) comprises a head mounting plate (280), a first side beam (281) and a second side beam (286), the head mounting plate (280) being connected to the first side beam (281) and the second side beam (286) respectively to form a frame structure, the head mounting plate (280) being provided with linear guide rails for cooperating with sliders on the travel drive wheel set and the climbing drive wheel set for enabling axial movement of the travel drive wheel set and the climbing drive wheel set relative to the head mounting plate (280).

5. The AGV car of claim 4, wherein said linear guide rails comprise an upper linear guide rail (291) and a lower linear guide rail (292) respectively disposed on upper and lower sides of said vehicle head mounting plate (280), said travel drive wheel sets comprise a left travel drive wheel set (105) and a right travel drive wheel set (106) respectively disposed on left and right sides of said vehicle head mounting plate (280), and said climb drive wheel sets comprise a left climb drive wheel set (104) and a right climb drive wheel set (103) respectively disposed on left and right sides of said vehicle head mounting plate (280).

6. The AGV car of claim 5, wherein said car body (100) further comprises an extension drive assembly (102) disposed in the middle of said head mounting plate (280), said extension drive assembly (102) comprising a first extension drive mechanism for driving said left-climbing drive wheel set (104) and said right-climbing drive wheel set (103) to extend and retract along said linear guide rail in a direction opposite to said head mounting plate (280), and a second extension drive mechanism for driving said left-travel drive wheel set (105) and said right-travel drive wheel set (106) to extend and retract along said linear guide rail in a direction opposite to said head mounting plate (280).

7. The AGV car of claim 6, wherein said first extension drive mechanism includes a first motor (201) and a first lead screw (206), said first motor (201) being configured to drive said first lead screw (206) in rotation, said first lead screw (206) being configured to be mounted in engagement with a lead screw nut of said climbing drive wheel set to enable extension and retraction of said climbing drive wheel set relative to said vehicle head mounting plate (280) along said linear guide rail; the second extending driving mechanism comprises a second motor (208) and a second lead screw (210), the second motor (208) is used for driving the second lead screw (210) to rotate, and the second lead screw (210) is used for being in mounting fit with a lead screw nut of the climbing driving wheel set so as to achieve extending and retracting of the driving wheel set relative to the vehicle head mounting plate (280) along the linear guide rail.

8. The AGV trolley according to claim 7, wherein said trolley body (100) further comprises a traveling supporting wheel set and a third extending driving mechanism, said traveling supporting wheel set comprises a left supporting wheel set (108) and a right supporting wheel set (107), said third extending driving mechanism comprises a synchronous belt (207) and a third lead screw (271), said third lead screw (271) is used for cooperating with a lead screw nut of said traveling supporting wheel set, said second motor (208) drives said third lead screw (271) to rotate through said synchronous belt (207), so as to realize that said left supporting wheel set (108) and said right supporting wheel set (107) are extended and retracted in an axial direction.

9. The AGV of claim 2, wherein the set of travel drive wheels comprises a wheel mount (244) and a travel drive wheel (245), the driving wheel (245) is arranged on the wheel mounting seat plate (244), the climbing driving wheel set comprises a climbing gear (243), a third motor (231), a driving shaft (239) and a motor mounting seat plate (235), the third motor (231) and the driving shaft (239) are mounted on the motor mounting plate (235), the climbing gear (243) is located axially outside the driving wheel (245), the third motor (231) is used for driving the driving shaft (239) to rotate, the driving shaft (239) is installed with the climbing gear (243) through the driving wheel (245), so as to synchronously drive the driving wheel (245) and the climbing gear (243) to rotate.

10. The AGV trolley according to claim 9, wherein said climbing drive wheel set further includes a climbing guide wheel (248) disposed on said motor mount plate (235), said climbing guide wheel (248) being located directly above said climbing gear (243).

11. A storage system comprising a rack of a stereoscopic library and an AGV cart according to any one of claims 1 to 10.