CN216512675U

CN216512675U - AGV fork truck

Info

Publication number: CN216512675U
Application number: CN202123108720.4U
Authority: CN
Inventors: 史亚奇
Original assignee: Beijing Jiexiang Lingyue Technology Co ltd
Current assignee: Beijing Jiexiang Lingyue Technology Co ltd
Priority date: 2021-12-10
Filing date: 2021-12-10
Publication date: 2022-05-13
Anticipated expiration: 2031-12-10
Also published as: WO2023103674A1

Abstract

The application relates to an AGV fork truck belongs to AGV technical field, and AGV fork truck includes: the U-shaped frame comprises end frames and side frames which are oppositely arranged at two ends of the end frames; the lifting driving mechanism is arranged on the end frame; the pallet fork is connected to the execution end of the lifting driving mechanism and is driven by the lifting driving mechanism to lift; the visual monitoring mechanism is arranged at the execution end of the lifting driving mechanism so as to obtain an image of a pallet on the pallet fork; and the walking driving mechanism is arranged at the bottom of the U-shaped frame and used for driving the U-shaped frame to walk and rotate. The U-shaped frame is arranged, so that three-surface coated limiting is conveniently formed on the goods, and the carrying safety of the AGV forklift is improved; a visual monitoring mechanism is arranged to be lifted synchronously with the pallet fork, so that the image of the pallet placed on the ground or at a certain height can be conveniently and accurately acquired; and the visual monitoring mechanism is convenient for timely judging whether the posture of the pallet is normal when the pallet fork takes and puts the goods, so that the safety of taking and putting the goods is further improved.

Description

AGV fork truck

Technical Field

The application relates to the technical field of AGV, particularly, relate to an AGV fork truck.

Background

Fork trucks are industrial handling vehicles, and refer to various wheeled handling vehicles that perform handling, stacking, and short-distance transport operations on piece pallet goods.

Artifical fork truck wastes time and energy, and is inefficient, and workman' S operation level is uneven, appears dangerously easily, causes the loss, does not conform to the 5S standard of mill, is eliminated gradually.

At present, the AGV fork truck used in the workshop is stronger in applicability compared with an artificial fork truck, and labor is saved to improve the working efficiency, but the current AGV fork truck is in the moving and carrying processes, and the goods easily appear the abnormality such as slope, central deviation or wipe with other equipment in the operation environment and hang, and the goods easily cause the loss of goods and even take place danger.

SUMMERY OF THE UTILITY MODEL

The application provides an AGV fork truck, the protectiveness is strong, effectively avoids goods slope etc. unusually in the transportation, improves AGV fork truck transport stability.

The application provides an AGV fork truck, include: the U-shaped frame comprises end frames and side frames which are oppositely arranged at two ends of the end frames; the lifting driving mechanism is arranged on the end frame; the pallet fork is connected to the execution end of the lifting driving mechanism and used for lifting in a space surrounded by the U-shaped frame under the driving of the lifting driving mechanism, and the pallet fork is used for forking a pallet; the visual monitoring mechanism is arranged at the execution end of the lifting driving mechanism and used for acquiring the image of the pallet on the fork; and the walking driving mechanism is arranged at the bottom of the U-shaped frame and used for driving the U-shaped frame to walk and rotate.

In the technical scheme, the U-shaped frame is arranged to facilitate the three-surface coating type limiting of the goods, so that the dangers that the goods incline, shift in the center or fall off and the like in the moving and carrying processes of the AGV forklift are avoided, and the goods can be effectively prevented from being scratched with other equipment in the operation environment, so that the goods are lost or even dangerous; the fork driven by the lifting driving mechanism is arranged, so that goods can be lifted conveniently; compared with the mode that the visual sensing part is arranged on the U-shaped bracket, on one hand, the visual monitoring mechanism and the fork are lifted synchronously, so that the position and the posture of the goods placed on the ground or a production line can be conveniently and accurately acquired, and the position and the posture of the AGV forklift and the height of the fork can be more accurately adjusted; on the other hand, visual monitoring mechanism and fork go up and down in step, and whether the gesture of pallet was normal when being convenient for in time judge the fork and get the goods, can in time shut down when having unusually, further improve the security that the goods was got and is put, reduce goods or AGV itself and damage the risk to improve AGV operating stability.

In some embodiments, the AGV forklift further comprises: and the material in-place switch is arranged at the execution end of the lifting driving mechanism and used for acquiring the position information of the pallet on the pallet fork.

Among the above-mentioned technical scheme, set up the material switch that targets in place at lift actuating mechanism's execution end, the material switch that targets in place is synchronous with the fork, can in time judge whether the goods reachs the preset position on the fork, carries out subsequent action again behind the preset position of fork, further guarantees the fork and inserts the safety and stability who gets the goods.

In some embodiments, the travel drive mechanism comprises: two driving wheels arranged at the centers of the bottoms of the two side frames; four groups of driven wheel assemblies are symmetrically arranged at two ends of the bottoms of the two side frames.

In the technical scheme, the two driving wheels are arranged at the centers of the bottoms of the two side frames, so that the whole AGV body can rotate in place by controlling the speed and steering of the two driving wheels, and compared with a structure in which the driving wheels are arranged at the top corners of the AGV body, the rotating radius requirement of the AGV body is effectively shortened, the space required by the operation of the AGV body is reduced, and the AGV body can rotate and carry normally in a narrow operation space; two ends of the bottoms of the two side frames are respectively provided with a group of driven wheels to stably support the whole U-shaped frame.

In some embodiments, two drive wheels are coaxially disposed at the center of the bottom of the two sideframes, and each drive wheel is driven by a separate rotary drive assembly to rotate in forward and reverse directions about the axis of the drive wheel.

In the technical scheme, the two driving wheels are coaxially arranged, each driving wheel is driven by a single rotating driving assembly to rotate around the axial lead of the corresponding driving wheel in a forward and reverse direction, so that the AGV forklift adopts a dual-driving-wheel differential driving mode, the two driving wheels are driven in a constant-speed and reverse direction to realize the in-situ rotation of the AGV forklift, and the rotating diameter is the diagonal size of the AGV forklift; the two driving wheels are driven in the same speed and direction to realize the linear walking of the AGV forklift; when two drive wheels rotate in the same direction at different speeds, the steering motion of the AGV forklift is realized.

In some embodiments, the rotary drive assembly comprises: a first sprocket coaxially connected with the driving wheel; the second chain wheel is rotatably arranged on the side frame and synchronously driven with the first chain wheel through a first chain; and the first motor drives the second chain wheel to rotate forward and backward so as to drive the driving wheel to rotate forward and backward. The chain wheel and chain assembly has high transmission stability.

In some embodiments, the drive wheel is a steering wheel.

Among the above-mentioned technical scheme, the drive wheel directly adopts the helm, except can realizing the in situ rotation function of whole AGV automobile body, still can control whole AGV automobile body and transversely or slant operation, further strengthens the flexibility of AGV automobile body operation.

In some embodiments, each drive wheel assembly includes at least one spring caster.

Among the above-mentioned technical scheme, adopt the spring truckle from the driving wheel, it has spring structure, and the AGV automobile body moves in the environment of ground unevenness, and the spring truckle plays supplementary cushioning effect to effectively supplementary balanced whole AGV automobile body, the stationarity of reinforcing AGV automobile body operation.

In some embodiments, the travel drive mechanism further comprises: the two bearing driven wheels are arranged at the bottom of the end frame and are symmetrical relative to the vertical center line of the end frame. The bearing is effectively shared with the weight of AGV automobile body self from the setting up of driving wheel, further improves the support stability operation stationarity of AGV automobile body.

In some embodiments, the lift drive mechanism comprises: the lead screw is vertically arranged on the end frame, is driven to rotate by the second motor and is provided with a driving nut; the lifter plate is connected in drive nut, and the lifter plate is located to the fork.

Among the above-mentioned technical scheme, lift actuating mechanism adopts lead screw nut subassembly, and the decline space of fork is big, conveniently drops the fork to ground connection position, and the AGV automobile body of being convenient for directly is pitched and is put the pallet of putting on ground.

In some embodiments, the lift drive mechanism comprises: the door frame is arranged on the end frame; the lifting frame is arranged on the portal frame in a vertically sliding mode, and the fork is arranged on the lifting frame; the hydraulic cylinder is arranged on the end frame or the portal frame; the lifting frame is connected to the execution end of the hydraulic cylinder through a transmission assembly and is driven by the hydraulic cylinder to lift.

Among the above-mentioned technical scheme, lift actuating mechanism adopts pneumatic cylinder cooperation chain transmission, and when the pneumatic cylinder lifted or descended, the drive fork promoted or descended with the speed of twice, and lifting speed is fast, effectively shortened fork lift time, and the promotion space of fork under the prerequisite that remains stable is big, and the AGV automobile body fork of being convenient for gets places the pallet in production line or other work areas that have a take a altitude.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is a schematic structural diagram A of an AGV fork truck according to some embodiments of the present application;

FIG. 2 is a bottom view of the AGV fork truck shown in FIG. 1;

FIG. 3 is a schematic partial block diagram A of an AGV fork truck according to some embodiments of the present application;

FIG. 4 is a front view of the travel drive mechanism shown in FIG. 3;

FIG. 5 is a schematic structural view of a lift drive mechanism provided in some embodiments of the present application;

FIG. 6 is a side view of FIG. 5;

FIG. 7 is a perspective view A of an AGV fork truck according to some embodiments of the present application;

FIG. 8 is a front elevational view of the AGV fork truck of FIG. 7;

FIG. 9 is a bottom view of the AGV fork truck of FIG. 7 in appearance;

FIG. 10 is a schematic structural diagram B of an AGV fork truck according to some embodiments of the present application;

FIG. 11 is a partial schematic structural view B of an AGV fork truck according to some embodiments of the present application;

FIG. 12 is a front view of FIG. 11;

fig. 13 is an external perspective view B of an AGV forklift according to some embodiments of the present application.

Icon: 100-AGV fork truck; a 10-U shaped frame; 11-sideframe; 12-end frame; 13-a protective plate; 20-a lifting driving mechanism; 21-a support column; 22-a support plate; 23-a lead screw; 24-linear slide rail slide block assembly; 25-a lifter plate; 26-a second motor; 27-a gantry; 28-a mounting plate; 29-hydraulic cylinder; 210-a third sprocket; 211-a second chain; 212-a cross-frame; 213-a guide chute; 214-guide rollers; 215-a crane; 216-a hydraulic motor; 30-a pallet fork; 40-a visual monitoring mechanism; 50-a travel drive mechanism; 51-a drive wheel; 52-a driven wheel assembly; 53-a rotary drive assembly; 531 — first sprocket; 532-a first chain; 533-second sprocket; 534-a first motor; 535-a mounting frame; 536-chain tensioning mechanism; 54-a load bearing driven wheel; 55-a chassis; 60-material in-place switch; 70-laser radar.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it should be noted that the terms "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the application usually place when using, and are only used for convenience in describing the present application and simplifying the description, but do not indicate or imply that the devices or elements that are referred to must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

AGVs (Automated Guided vehicles) are generally used for the logistics transfer between stations in an industrial production site to realize industrial logistics automation. However, the common AGV flat car cannot directly take and transport a randomly placed pallet, the pallet needs to be placed on the auxiliary frame in advance under the assistance of automatic devices such as manpower or mechanical arms, the AGV flat car pulls the auxiliary frame or drills into the bottom of the auxiliary frame and jacks up the auxiliary frame, and the pallet is transported. The mode needs to add auxiliary equipment, relates to the transformation of factory environment and layout, and has large workload and higher cost.

AGV fork truck 100 indicates the automated guided transporting vehicle who has fork 30, uses fork 30 directly to fork the pallet to carry out the commodity circulation transport to the goods on the pallet, need not with the help of auxiliary device, compares in ordinary AGV flatbed, and the strong degree of automation of flexibility is higher when AGV fork truck 100 is applied to the pallet transport.

However, in the process of picking and placing pallets and moving and carrying the common AGV forklift 100, the goods are easy to incline, shift in the center, fall or rub and hang with other equipment in the operation environment, so that the loss of the goods is easy to cause, a large potential safety hazard exists, and the stability of picking, placing and carrying the goods by the whole AGV body is not sufficient.

Referring to fig. 1 and 2, an AGV forklift 100 according to an embodiment of the present disclosure includes: a U-shaped frame 10, which comprises an end frame 12 and side frames 11 oppositely arranged at two ends of the end frame; a lifting driving mechanism 20 arranged on the end frame 12; a fork 30 connected to an execution end of the lifting driving mechanism 20 to be lifted in a space surrounded by the U-shaped frame 10 under the driving of the lifting driving mechanism 20, the fork 30 being used for forking a pallet; the visual monitoring mechanism 40 is arranged at the execution end of the lifting driving mechanism 20 to acquire an image of the pallet on the pallet fork 30; and the walking driving mechanism 50 is arranged at the bottom of the U-shaped frame 10 and is used for driving the U-shaped frame 10 to walk and rotate.

It will be appreciated that, as in the application of a conventional forklift (where goods are placed on pallets and the forks of the forklift pick up pallets and complete the transfer of the goods), the AGV forklift 100 of the present application operates on the pallets where the goods are placed while the goods are being transferred, leaving space for the forks 30 to be inserted. The fork has the lifting function and can be lowered to the height of the ground to the minimum, so that the fork can be butted with a standard bearing device, namely a pallet, such as an off-the-shelf device such as a standard pallet, a wooden box and the like, and the fork taking and the carrying of most common pallets (plastic pallets, wooden pallets and the like) can be met. A pallet is to be understood here as a broad concept, and any non-customized proprietary pallet can be considered as a standardized pallet.

As shown in fig. 7 to 9, the side frame 11 and the end frame 12 of the U-shaped frame 10 are covered with the protection plate 13, so as to completely cover three sides of the cargo, and ensure the stability of cargo position limitation, the fork 30 may adopt a standard double-tooth fork 30, the fork 30 is horizontally disposed in the space enclosed by the U-shaped frame 10, one end of the fork 30 is connected to the lifting driving mechanism 20 disposed on the end frame 12, and the other end (i.e., the end away from the lifting driving mechanism 20) of the fork 30 faces the open end of the U-shaped frame 10 opposite to the end frame, it can be understood that the end of the fork 30 away from the lifting driving mechanism 20 may be located in the space enclosed by the U-shaped frame 10, or may extend out of the side plate of the U-shaped frame 10 by a certain length.

The visual monitoring mechanism 40 may use a rear facing camera, although the visual monitoring mechanism 40 may be any image capture device. The rear camera sets up in the execution end of lift actuating mechanism 20, and the relative position of rear camera and fork 30 is fixed promptly, and the rear camera goes up and down with fork 30 synchronization, is convenient for accurately acquire the relative position of fork 30 and goods to be convenient for monitor the state of goods on the fork 30 at any time.

In some embodiments, the AGV fork lift 100 may further include: and the material in-place switch 60 is arranged at the execution end of the lifting driving mechanism 20 and is used for acquiring the position information of the pallet on the pallet fork 30.

As shown in fig. 2, a material in-place switch 60 is respectively disposed on two sides of two gear racks of the fork 30 at an executing end of the lifting driving mechanism 20, the material in-place switch 60 may be disposed on two inner sides of the two gear racks or on two outer sides of the two gear racks, a relative position of the material in-place switch 60 and the fork 30 is fixed, the material in-place switch 60 and the fork 30 are lifted synchronously, and it can be determined in time whether a cargo reaches a preset position on the fork 30, that is, whether the AGV fork 100 drives the fork 30 to move to the preset position, so as to ensure safe and stable forking of the fork 30, and the cargo reaches the preset position of the fork 30 and then performs subsequent actions, thereby preventing the fork from moving the AGV fork 100 without moving to damage the cargo or a car body of the AGV 100, and further ensuring safety and stability of the fork 30 for inserting the cargo.

In some embodiments, the travel drive mechanism 50 includes: two drive wheels 51 provided at the centers of the bottoms of the two side frames 11; four sets of driven wheel assemblies 52 are symmetrically disposed at both ends of the bottom of the two side frames 11.

Alternatively, two driving wheels 51 are coaxially provided at the center of the bottom portions of the two side frames 11, and each driving wheel 51 is driven by a separate rotary driving assembly 53 to rotate forward and backward around the axial center line of the driving wheel 51.

As shown in fig. 3 and 4, the bottom of each of the two side frames 11 is provided with an underframe 55 parallel to the side frame 11, the two driving wheels 51 are coaxially arranged at the bottom of the two underframe 55, and the coaxial arrangement is to be understood that the rotation axes of the two driving wheels 51 coincide with each other, the two driving wheels 51 can be respectively rotatably arranged at the centers of the bottoms of the two underframe 55 through two rotating shafts, and the two driving wheels 51 are respectively driven to rotate by a rotating driving assembly 53, so that the AGV forklift 100 adopts a dual-driving-wheel 51 differential driving mode, the central point of the connecting line of the two driving wheels 51, namely the geometric central point of the AGV forklift 100, is taken as a rotation center, the two driving wheels 51 are driven in a constant speed and reverse direction, and the in-situ rotation of the AGV forklift 100 is realized, and the rotation diameter is the diagonal size of the AGV forklift 100; the two driving wheels 51 are driven in the same speed and direction to realize the linear walking of the AGV forklift 100; when the two drive wheels 51 rotate in the same direction at different speeds, the steering motion of the AGV forklift 100 is realized.

The rotation driving assembly 53 may be driven to rotate by a conventional servo motor. Alternatively, in order to secure driving stability, as shown in fig. 3 and 4, the rotary drive assembly 53 includes: a first sprocket 531 coaxially connected to the driving wheel 51; a second sprocket 533 rotatably provided to the side frame 11, and synchronously driven with the first sprocket 531 via a first chain 532; the first motor 534 drives the second chain wheel 533 to rotate forward and backward, so as to drive the driving wheel 51 to rotate forward and backward. The chain wheel and chain assembly has high transmission stability.

The second sprocket 533 is disposed on the bottom frame 55, a chain tensioning mechanism 536 is disposed on the bottom frame 55 between the first sprocket 531 and the second sprocket 533, the chain tensioning mechanism 536 acts on the first chain 532 to tension and adjust the first chain 532, the chain tensioning mechanism 536 may be a conventional tensioning mechanism in the prior art, and here, without limiting the structure of the chain tensioning mechanism 536 uniquely, a tensioning mounting plate may be connected to the bottom frame, a tensioning sprocket cooperating with the first chain 532 is rotatably mounted on the tensioning mounting plate, and the tensioning sprocket is adjusted to tension the first chain 532.

When the first motor 534 works, the first motor 534 drives the second sprocket 533 to rotate, and the second sprocket 533 rotates to drive the first chain 532 and the first sprocket 531 to rotate, so as to drive the driving wheel 51 to rotate, thereby driving the driving wheel 51. Accordingly, when the first motor 534 drives the second sprocket 533 to rotate in the forward direction (e.g., clockwise rotation), the driving wheel 51 rotates in the forward direction; when the first motor 534 drives the second sprocket 533 to rotate in the reverse direction (e.g., counterclockwise), the driving wheel 51 rotates in the reverse direction.

In some embodiments, drive wheel 51 may be a steering wheel. The AGV forklift 100 is driven by the double rudders, so that the transverse or oblique running of the whole AGV body can be controlled besides the in-situ rotating function of the whole AGV body, and the running flexibility of the AGV body is further enhanced.

It can be understood that, the steering wheel wide application is in the AGV drive, and the wheel body of steering wheel itself connects the rotating electrical machines and turns to the motor, the rotating electrical machines with turn to the rotatory axial lead mutually perpendicular and different faces of the output of motor, can be during the application according to AGV fork truck 100's size selection market have the steering wheel of suitable specification can, the structure of steering wheel, control mode are prior art, do not do any improvement to steering wheel itself in this application embodiment, no longer describe herein.

In some embodiments, each driven wheel assembly 52 may include at least one spring caster.

Alternatively, each driven wheel assembly 52 includes one spring caster, four spring casters being disposed at each end of the bottom of the two sideframes.

Optionally, as shown in fig. 4, two spring casters are respectively arranged at two ends of the bottom of the two side frames 11 side by side along the extending direction of the side frames 11, the spring casters are all installed on the chassis 55 at the bottom of the side frames 11, the driven wheel is a spring caster, and the spring caster has a spring structure, so that when the AGV body operates in an environment with uneven ground, the spring caster plays an auxiliary damping role, effectively assists in balancing the whole AGV body, and enhances the stability of the AGV body in operation.

Wherein, the one end that two underframe 55 are close to end frame 12 all is equipped with mounting bracket 535, two spring truckles that are close to end frame 12 install the bottom at mounting bracket 535, second sprocket 533 and first motor 534 set up the both sides face at mounting bracket 535, and like this, the space of U type frame 10 bottom is rationally utilized to the travel drive mechanism 50 of U type frame 10, and it is stable to support, the integration is strong, the spring truckle can be according to AGV fork truck 100's size, weight, the spring truckle of the suitable specification that has had on the selection market can. Of course, it can be understood that a structure in which a compression spring is mounted on a common universal wheel may also be adopted, as long as the buffering and shock-absorbing functions for the AGV body are realized.

In some embodiments, the travel drive mechanism 50 further comprises: and the two bearing driven wheels 54 are arranged at the bottom of the end frame 12, and the two bearing driven wheels 54 are symmetrical with each other relative to the vertical center line of the end frame 12.

Wherein, the bearing is followed driving wheel 54 and can be chooseed for use conventional universal wheel, and the setting of bearing is followed driving wheel 54 and is effectively shared AGV automobile body self weight, further improves the support stability operation stationarity of AGV automobile body.

In some embodiments, lift drive mechanism 20 may include: the lead screw 23 is vertically arranged on the end frame 12, the lead screw 23 is driven to rotate by a second motor 26, and the lead screw 23 is provided with a driving nut; and an elevating plate 25 connected to the driving nut, and a fork 30 provided on the elevating plate 25.

As shown in fig. 5 and 6, two support columns 21 may be vertically disposed on the end frame 12, bottom ends of the two support columns 21 extend downward, and a support plate 22 is disposed between the bottom ends of the two support columns 21, wherein two load-bearing driven wheels 54 are disposed at two ends of the bottom of the support plate 22. The vertical setting of lead screw 23 is in backup pad 22, and lead screw 23 passes through the bearing frame and rotates and set up in backup pad 22, and the top of lead screw 23 sets up the rotatory second motor 26 of drive lead screw 23, and lifter plate 25 connects in drive nut, in order to guarantee the stability that lifter plate 25 goes up and down, sets up linear slide rail sliding block set 24 on support column 21, and lifter plate 25 connects linear slide rail sliding block set 24's slider, and linear slide rail sliding block set 24 plays the guide support effect to lifter plate 25. Of course, the linear slide rail slider assembly 24 may be replaced by other conventional linear guide mechanisms, such as a guide rod guide sleeve assembly, a linear bearing, etc.

It can be understood that the second motor 26 is connected with a speed reducer and is connected with the lead screw 23 through a coupling, and the lead screw 23 can be a trapezoidal lead screw. The lifting driving mechanism 20 adopts a lead screw nut assembly, the descending space of the fork 30 is large, the fork 30 is convenient to descend to the grounding position, and the AGV body is convenient to directly fork and take the pallet placed on the ground.

In some embodiments, lift drive mechanism 20 may include: a gantry 27 provided to the end frame 12; the lifting frame 215 is arranged on the portal frame 27 in a vertically sliding mode, and the fork 30 is arranged on the lifting frame 215; a hydraulic cylinder 29 provided to the end frame 12 or the gantry 27; wherein, the crane is connected to the execution end of pneumatic cylinder through transmission assembly to go up and down under the drive of pneumatic cylinder.

It can be understood that the hydraulic cylinder 29 is used as a main driving element for driving the lifting frame 215 to lift and lower the lifting frame 215, and the arrangement mode is various, for example, the body of the hydraulic cylinder 29 is placed on the top of the lifting frame 215, and the actuating end of the hydraulic cylinder 29 faces downwards to provide a vertical driving force for the lifting frame 215.

Alternatively, as shown in fig. 10, the body of the hydraulic cylinder 29 is disposed on the end frame 12, and the actuating end of the hydraulic cylinder 29 is directed vertically upward to provide a vertical driving force for the lifting frame 215.

In practical applications, the transmission assembly is an intermediate transmission member provided for driving a final actuator by a main driving member (such as a hydraulic cylinder, a motor, etc.), so that on one hand, the transmission force can be more stable, and on the other hand, some transmission assemblies can amplify or reduce the driving force of the main driving member, so that the transmission assembly becomes suitable, for example, when a driving shaft of the motor rotates, a speed reducer is often provided as the transmission assembly to transmit the rotation driving force.

In some embodiments of the present application, a transmission assembly comprises: a third sprocket 210 rotatably provided at the driving end of the hydraulic cylinder 29; and one end of the second chain 211 is fixedly arranged on the end frame 12 or the door frame 27, and the other end of the second chain 211 is fixedly connected with the lifting frame 215 by winding the third chain wheel 210.

Alternatively, as shown in fig. 10 to 13, the gantry 27 is vertically arranged on the end frame 12, the bottom ends of the two side frames 11 of the gantry 27 extend downward and a mounting plate 28 can be arranged between the bottom ends of the two side frames 11, the hydraulic cylinder 29 is vertically arranged on the mounting plate 28, of course, the hydraulic cylinder 29 is driven by the hydraulic motor 216 and the hydraulic pump, the top end of the gantry 27 extends upward and is higher than the end frame 12, a cross frame 212 is connected between the two side frames 11 of the gantry 27, one end of the second chain 211 is fixed to the cross frame 212, and the other end of the second chain 211 is connected with the lifting frame 215 by bypassing the third chain wheel 210.

The guide sliding grooves 213 can be vertically arranged on the opposite inner sides of the two side frames 11 of the door frame 27, the guide sliding grooves 213 are internally provided with guide rollers 214, the guide rollers 214 are connected with the lifting frame 215, the lifting plate 25 is limited to slide up and down on the door frame 27 by the arrangement of the guide sliding grooves 213 and the guide rollers 214, and the guide and support effects are realized on the lifting plate 25, the guide rollers 214 are matched with the guide sliding grooves 213, the friction force is small, and the force loss is effectively reduced, of course, the lifting frame 215 can also slide up and down relative to the door frame 27 through the slide rail sliding block assembly.

The lifting driving mechanism 20 adopts a hydraulic cylinder 29 to be matched with chain transmission, when the hydraulic cylinder 29 lifts or descends, the fork 30 is driven to lift or descend at twice speed, the lifting speed is high, the lifting time of the fork 30 is effectively shortened, the lifting space of the fork 30 is large on the premise of keeping stable, and the AGV body can conveniently fork and place a pallet in a production line or other operation areas with a certain height.

It should be noted that the AGV forklift 100 according to the embodiment of the present application may be powered by a lithium battery, and although components such as a processor, a communication module, a driving device, a guiding module, and the like are not shown in the drawings, those skilled in the art should understand that these components are necessarily included in the AGV forklift 100 to assist in implementing its carrying function, and since these components are not technical improvements of the present application, the present application is not described herein again. The guidance module of AGV fork truck 100 can use magnetic stripe guidance or laser guidance, and this application does not make any improvement to AGV's guidance system, adopts what kind of guidance module and does not influence this application technical scheme's expression. The heights and the extension lengths of the end frames 12 and the side frames 11 (the extension length of the end frame 12 determines the width of the body of the AGV 100, and the extension length of the side frame 11 determines the length of the body of the AGV 100) can be flexibly set according to actual use requirements, and in order to ensure the running stability of the AGV 100, the heights of the side frames 11 and the end frames 12 from the ground are preferably 0.8m to 1.2 m.

In order to further improve the running safety of the AGV forklift 100, the laser radars 70 may be arranged at two opposite corners of the U-shaped frame 10, as shown in fig. 13, one laser radar 70 is respectively arranged at the front right corner and the rear left corner of the U-shaped frame 10, when the AGV forklift 100 runs, the two laser radars 70 bring the U-shaped AGV forklift 100 into the detection range, and the 360-degree safety detection of the AGV forklift 100 is realized.

It should be noted that, in practical applications, the lifting driving mechanism using the lead screw or the lifting driving mechanism using the hydraulic cylinder can be flexibly selected to provide the lifting driving force for the pallet fork 30 according to the height requirement of the pallet fork to take and the landing requirement of the pallet to place.

The operating principle of AGV fork truck 100 of this application embodiment:

when the fork takes and puts the pallet on the ground, the AGV body runs to a preset goods taking position along navigation, the lifting driving mechanism 20 drives the pallet fork 30 to descend to the bottom, the rear camera acquires the accurate position of the pallet, the AGV forklift 100 further corrects the position of the AGV forklift 100 and the height and the posture of the pallet fork 30 according to the accurate position of the pallet, then the AGV forklift 100 approaches the pallet to enable the pallet fork 30 to be gradually and completely arranged at the bottom of the pallet, the material in-place switch 60 is triggered after the pallet fork takes in place, the lifting driving mechanism 20 lifts the pallet fork 30 to enable the pallet fork to lift off after the pallet fork confirms that the pallet is in place through the material in-place switch 60, and the AGV forklift 100 bears the pallet and transports the pallet to a target point.

When the pallet is placed on the ground, the AGV 100 moves to a target placement point, the lift driving mechanism 20 drives the forks 30 to descend, so that the pallet falls to the ground, and then the AGV 100 retreats, so that the forks 30 retreat from the pallet.

When a pallet placed on a production line or other non-ground position with a certain height is forked, an AGV body moves to a preset goods taking position along navigation, a lifting driving mechanism 20 drives a pallet fork 30 to lift to the preset height, a rear camera acquires the accurate position and the accurate height of the pallet, the AGV fork truck 100 further corrects the position of the AGV fork truck 100 and the height and the posture of the pallet fork 30 according to the accurate position of the pallet, then the AGV fork truck 100 approaches the pallet to enable the pallet fork 30 to be gradually and completely placed at the bottom of the pallet, after the pallet fork is in place, a material in-place switch 60 is triggered, after the pallet is confirmed to be in place through the material in-place switch 60, the AGV fork truck 100 retreats to enable the pallet to leave the position above an initial placing point, then the lifting driving mechanism 20 can drive the pallet fork 30 to descend to the safe transportation height, and the AGV 100 bears the pallet and transports the pallet to a target point.

When a pallet is placed on a production line or other non-ground positions with a certain height, the AGV forklift 100 runs to a target placement point, the lifting driving mechanism 20 drives the forks 30 to ascend to a height higher than the placement point, the AGV forklift 100 is close to the placement point to enable the pallet to be located above the placement point, the lifting driving mechanism 20 drives the forks 30 to descend by a certain height to enable the pallet to fall on the placement point, and then the AGV forklift 100 retreats to enable the forks 30 to exit from the pallet.

It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An AGV fork truck, comprising:

the U-shaped frame comprises an end frame and two side frames which are oppositely arranged at two ends of the end frame;

the lifting driving mechanism is arranged on the end frame;

the pallet fork is connected to the execution end of the lifting driving mechanism and driven by the lifting driving mechanism to lift in a space surrounded by the U-shaped frame, and the pallet fork is used for forking a pallet;

the visual monitoring mechanism is arranged at the execution end of the lifting driving mechanism and used for acquiring the image of the pallet on the pallet fork;

and the traveling driving mechanism is arranged at the bottom of the U-shaped frame and is used for driving the U-shaped frame to travel and rotate.

2. The AGV forklift of claim 1, further comprising:

and the material in-place switch is arranged at the execution end of the lifting driving mechanism and is used for acquiring the position information of the pallet on the pallet fork.

3. The AGV fork truck of claim 1, wherein said travel drive mechanism comprises:

the two driving wheels are respectively arranged at the centers of the bottoms of the two side frames;

and the four driven wheel assemblies are respectively arranged at two ends of the bottoms of the two side frames.

4. The AGV fork truck of claim 3, wherein two of said drive wheels are coaxially disposed at the center of the bottom of the side frames, each of said drive wheels being driven by a separate rotary drive assembly for forward and reverse rotation about the axis of said drive wheel.

5. The AGV fork truck of claim 4, wherein said rotary drive assembly comprises:

a first sprocket coaxially connected with the driving wheel;

the second chain wheel is rotatably arranged on the side frame and synchronously driven with the first chain wheel through a first chain;

and the first motor drives the second chain wheel to rotate forward and backward so as to drive the driving wheel to rotate forward and backward.

6. An AGV according to claim 3 wherein both of said drive wheels are steerable wheels.

7. The AGV fork truck of claim 3, wherein each of said driven wheel assemblies includes at least one spring caster.

8. The AGV fork truck of claim 3, wherein said travel drive mechanism further comprises:

the two bearing driven wheels are arranged at the bottom of the end frame and are symmetrical relative to the vertical center line of the end frame.

9. The AGV fork truck of any one of claims 1 to 8, wherein the lift drive mechanism comprises:

the lead screw is vertically arranged on the end frame, is driven to rotate by a second motor and is provided with a driving nut;

the lifting plate is connected to the driving nut, and the fork is arranged on the lifting plate.

10. The AGV fork truck of any one of claims 1 to 8, wherein the lift drive mechanism comprises:

the door frame is arranged on the end frame;

the lifting frame is arranged on the portal frame in a vertically sliding mode, and the fork is arranged on the lifting frame;

the hydraulic cylinder is arranged on the end frame or the portal frame;

the lifting frame is connected to the execution end of the hydraulic cylinder through a transmission assembly and is driven by the hydraulic cylinder to lift.