CN217172093U

CN217172093U - Lifting fork type AGV with adjustable cargo position

Info

Publication number: CN217172093U
Application number: CN202220246658.0U
Authority: CN
Inventors: 李党伟; 王文斐; 王伟伟; 崔海洋; 袁绍师; 夏超群; 金律君; 吴伟峰
Original assignee: Zhejiang Guozi Robot Technology Co Ltd
Current assignee: Zhejiang Guozi Robot Technology Co Ltd
Priority date: 2022-01-29
Filing date: 2022-01-29
Publication date: 2022-08-12
Anticipated expiration: 2032-01-29

Abstract

The utility model discloses a lifting fork type AGV with adjustable goods position, which moves goods through a lifting telescopic fork module and adjusts the goods position by utilizing a return mechanism; the goods are supported by the telescopic fork assembly, the telescopic fork assembly and the lifting platform are lifted synchronously, the lifting platform is vertically and slidably mounted on the supporting frame, and the lifting driver drives the lifting platform to move up and down, so that the goods are lifted and lowered vertically; when goods are taken or put, the telescopic fork assembly moves in a translation manner to extend outwards under the driving of the telescopic driver, so that the goods are moved into or out of the external frame; two mechanisms of reforming set up in the both sides of over-and-under type telescopic fork module, and two mechanisms of reforming set up the direction inclined plane respectively, move into outside frame after the goods level, continue downstream, and the centering is reformed in to the goods contact direction inclined plane that descends under the cooperation on two direction inclined planes, moves into the back at the goods, before shifting out accurate counterpoint, realizes that the AGV dolly is accurately got goods and put goods.

Description

Lifting fork type AGV with adjustable cargo position

Technical Field

The utility model relates to a goods transport field further relates to a formula AGV is got to goods position adjustable lift fork.

Background

An Automatic Guided Vehicle (AGV) is an Automated transportation device equipped with optical, electromagnetic or visual automatic navigation devices, which can automatically schedule and fulfill material handling requirements, and is widely used in the logistics industry and the manufacturing industry at present. With the increasing demands for automation and intelligence of logistics transportation, AGV carts are also used in more and more different scenarios.

Common butt joint type AGV car adopts roller path line butt joint more in the existing market, cause the goods butt joint not in place or the goods to hit hard when reacing spacingly and keep off and damage the goods, when the material that requires is higher to position and butt joint, get and put goods and adopt lift fork device more, in the fork that is used for getting goods and putting goods, often because the fork shake or whole car positioning error are big and take place the orbital condition of skew, cause the position of getting goods and putting goods inaccurate, lead to the packing box in business turn over material level slope or damage.

For those skilled in the art, how to achieve accurate pick and put of the AGV is a technical problem to be solved at present.

SUMMERY OF THE UTILITY MODEL

The utility model provides a formula AGV is got to goods position adjustable lift fork can realize the centering to the goods and reforms, promotes the precision of getting goods and putting goods, and the concrete scheme is as follows:

a lifting fork type AGV with an adjustable goods position comprises a moving chassis and an external frame, wherein a lifting telescopic fork module and a correcting mechanism are arranged in the external frame;

the lifting type telescopic fork module comprises a supporting frame, a lifting platform and a telescopic fork assembly, wherein the lifting platform is vertically and slidably mounted on the supporting frame and is driven to move up and down through a lifting driver; the telescopic fork assembly is transversely installed on the lifting platform in a sliding manner and is driven to horizontally displace by a telescopic driver;

the two righting mechanisms are arranged on two sides of the lifting type telescopic fork module and are respectively provided with a guide inclined plane, and the descending goods are contacted with the guide inclined planes and are righted in a centering mode.

Optionally, the supporting frame comprises a bottom plate and vertical plates, and the two vertical plates are vertically fixed on the bottom plate; and a lifting guide rail is arranged on the vertical plate, and a lifting slide block fixed on the bottom surface of the lifting platform is matched with the lifting guide rail to guide and slide.

Optionally, a nut seat is arranged on the bottom surface of the lifting platform, the lifting driver comprises a jacking motor, a transmission box and a lifting screw rod, the jacking motor drives the lifting screw rod to rotate via the transmission box, and the lifting screw rod is in threaded connection with the nut seat to realize jacking driving.

Optionally, a transverse guide rail is arranged on the upper surface of the lifting platform, and the telescopic fork assembly can transversely move in a translational mode relative to the transverse guide rail;

the telescopic driver comprises a motor and a transmission gear.

Optionally, the extending side edge of the telescopic fork assembly and the opposite side edge thereof are respectively provided with a cargo stop block in an upward protruding manner;

the bottom surface of the telescopic fork assembly is rotatably provided with a supporting roller.

Optionally, a correcting support plate is vertically fixed to a side of the vertical plate, and the correcting mechanism is mounted on the correcting support plate.

Optionally, the correcting mechanism includes a correcting bottom plate, a translational slide rail, a translational slide block, a correcting block, and a correcting driver, the translational slide rail is fixed to the correcting bottom plate, the translational slide block is fixed to the correcting block, and the correcting driver drives the translational slide block to move translationally along the translational slide rail; the reforming block is provided with a guide inclined plane.

Optionally, the reforming driver is a motor, and the reforming driver drives the screw rod to rotate and is in threaded fit with a translation nut seat arranged on the bottom surface of the reforming block for driving.

Optionally, cover plates are respectively arranged on two sides of the lifting type telescopic fork module, and the height of each cover plate is lower than the height of a supporting surface of the telescopic fork assembly which is lowered to the lowest position.

Optionally, an electronic control cabin is arranged at the upper part of the external frame.

The utility model provides a lifting forking AGV with adjustable goods position, wherein a lifting type telescopic fork module and a restoring mechanism are arranged in an external frame, and the goods are moved by the lifting type telescopic fork module and the position of the goods is adjusted by the restoring mechanism; the goods are supported by the telescopic fork assembly, the telescopic fork assembly and the lifting platform are lifted synchronously, the lifting platform is vertically and slidably mounted on the supporting frame, and the lifting driver drives the lifting platform to move up and down, so that the goods are lifted and lowered vertically; when goods are taken or put, the telescopic fork assembly moves in a translation manner to extend outwards under the driving of the telescopic driver, so that the goods are moved into or out of the external frame; two mechanisms of reforming set up in the both sides of over-and-under type telescopic fork module, and two mechanisms of reforming set up the direction inclined plane respectively, move into outside frame after the goods level, continue downstream, and the centering is reformed in to the goods contact direction inclined plane that descends under the cooperation on two direction inclined planes, moves into the back at the goods, before shifting out accurate counterpoint, realizes that the AGV dolly is accurately got goods and put goods.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is an isometric view of the overall structure of a lift fork AGV with adjustable load position, according to the present invention;

FIG. 2 is an axial schematic view of the lift type retractable fork module;

fig. 3 is an isometric view of the righting mechanism.

The figure includes:

the automatic lifting device comprises a movable chassis 1, an external frame 2, an electric control cabin 21, a lifting telescopic fork module 3, a supporting frame 31, a bottom plate 311, a vertical plate 312, a lifting guide rail 313, a correcting supporting plate 314, a lifting limiting block 315, a lifting platform 32, a lifting slide block 321, a nut seat 322, a transverse guide rail 323, a telescopic fork assembly 33, a cargo stop 331, a supporting roller 332, a lifting driver 34, a lifting motor 341, a transmission box 342, a lifting screw rod 343, a correcting mechanism 4, a correcting bottom plate 41, a translation slide rail 42, a translation slide block 43, a correcting block 44, a correcting driver 45 and a cover plate 5.

Detailed Description

The core of the utility model lies in providing a formula AGV is got to goods position adjustable lift fork can realize the centering to the goods and reforms, promotes the precision of getting goods and putting goods.

In order to make those skilled in the art better understand the technical solution of the present invention, the following will describe the lift fork AGV with adjustable cargo position in detail with reference to the accompanying drawings and specific embodiments.

FIG. 1 is an isometric view of the overall structure of a lift fork AGV with adjustable load position, according to the present invention; the utility model discloses a formula AGV is got in lift fork of goods position adjustable is including removing chassis 1 and outer frame 2, and outer frame 2 installs on removing chassis 1, removes chassis 1 and has running gear, can drive the equipment and the goods removal of top. The outer frame 2 is a frame structure with a hollow inside, and goods can be placed inside the outer frame 2.

The lifting type telescopic fork module 3 and the restoring mechanism 4 are installed in the external frame 2, the lifting type telescopic fork module 3 is used for taking and putting cargoes, the cargoes are moved into the external frame 2 or are moved out of the external frame 2, and the cargoes are always supported by the lifting type telescopic fork module 3 in the taking and putting process. The righting mechanism 4 is used for adjusting the position of goods placed into the external frame 2, so that the position of the goods is more accurate.

Referring to fig. 2, a schematic view of an axis measurement of the lifting type telescopic fork module 3 is shown; the lifting type telescopic fork module 3 comprises a supporting frame 31, a lifting platform 32, a telescopic fork assembly 33 and other structures, wherein the lifting platform 32 is vertically and slidably mounted on the supporting frame 31 and is driven to lift and displace by a lifting driver 34; the telescopic fork assembly 33 is transversely slidably mounted to the lifting platform 32 and is driven to move horizontally by a telescopic drive.

The supporting frame 31 is a fixed frame supporting structure, and the supporting frame 31 is fixed on the outer frame 2 to provide supporting support for other components of the lifting type telescopic fork module 3. The lifting platform 32 is vertically movable relative to the support frame 31, and the telescopic fork assembly 33 is mounted to the lifting platform 32 such that the telescopic fork assembly 33 maintains synchronous lifting movement with the lifting platform 32. The telescopic fork assembly 33 is used for supporting the goods, and the telescopic fork assembly 33 can move transversely relative to the lifting platform 32, so that the goods can be driven to move transversely, and the goods can move transversely out of the outer frame 2. Through the mutual cooperation between flexible fork subassembly 33 and lift platform 32, make the goods realize vertical movement and lateral shifting.

When goods are taken, the telescopic fork assembly 33 transversely extends out and moves to the lower part of the goods, the lifting platform 32 drives the telescopic fork assembly 33 to vertically move upwards to lift the goods, and when the goods are completely supported by the telescopic fork assembly 33, the telescopic fork assembly 33 moves inwards to move the goods into the outer frame 2; then the lifting platform 32 drives the telescopic fork assembly 33 to vertically move downwards, and when the telescopic fork assembly is moved to the lowest position, the goods taking is completed.

When putting goods, lift platform 32 drives the vertical rebound of flexible fork subassembly 33, with goods jack-up, the outside translation of flexible fork subassembly 33 after that shifts out the outside frame 2 with the goods, and the back lift platform 32 that targets in place drives the vertical rebound of flexible fork subassembly 33, places the goods in putting the thing platform, can retract flexible fork subassembly 33 after flexible fork subassembly 33 and goods separation, accomplishes the shipment.

The utility model is provided with two correcting mechanisms 4, the two correcting mechanisms 4 are arranged at two sides of the lifting type telescopic fork module 3, the two correcting mechanisms 4 are respectively provided with a guide inclined plane, fig. 3 is an axis measuring and indicating drawing of the correcting mechanisms 4, and A in the drawing shows the guide inclined plane; the width between two guiding inclined planes is gradually reduced from bottom to bottom, and is in a V shape, a downward tapered structure is formed, and the distance between two righting mechanisms 4 is adjusted according to the specific size of the goods, for example: the width of the tops of the two guide inclined planes is larger than that of the bottom surface of the goods, and the width of the bottoms of the two guide inclined planes is equal to that of the goods or is only slightly larger than that of the goods. In the process of taking goods, when the goods move into the external frame 2 and descend, the descending goods contact guide inclined plane is centered and corrected, so that the positions of the left side and the right side of the goods are accurately adjusted.

Referring to fig. 2, the supporting frame 31 includes a bottom plate 311 and vertical plates 312, the bottom plate 311 is a horizontally extending plate, the vertical plates 312 are vertically extending plates, the two vertical plates 312 are vertically fixed to the bottom plate 311, and a reinforcing rib plate may be disposed between the bottom plate 311 and the vertical plates 312.

A lifting guide rail 313 is arranged on the vertical plate 312, the length direction of the lifting guide rail 313 is arranged along the vertical direction, and the lifting guide rail 313 is arranged on the inner side surface of the vertical plate 312; the bottom surface of the lifting platform 32 is fixedly provided with a lifting slider 321, the lifting slider 321 is matched with the lifting guide rail 313 for guiding and sliding, four lifting guide rails 313 are arranged in fig. 2, a lifting limiting block 315 is arranged on the vertical plate 312 in a protruding manner, and the lifting limiting block 315 limits and blocks the maximum position of upward movement.

The elevation guide form is not limited to the above-described guide rail slider guide, and may be a guide form such as a guide shaft, an oilless bush, a guide wheel, a guide rail, or a combination of a plurality of kinds of guides.

The bottom surface of the lifting platform 32 is provided with a nut seat 322, the nut seat 322 is provided with a lifting nut, the lifting driver 34 comprises a lifting motor 341, a transmission box 342 and a lifting screw 343, the lifting motor 341 drives the lifting screw 343 to rotate through the transmission box 342, and the lifting screw 343 is connected to the nut seat 322 in a threaded manner to realize lifting driving. The lifting driving mode is not limited to the screw rod transmission mode, and can also be a chain transmission mode, a synchronous belt lifting transmission mode, a gear rack or a transmission combination mode thereof and the like.

A transverse guide rail 323 is arranged on the upper surface of the lifting platform 32, and the telescopic fork assembly 33 can transversely move in a translational mode relative to the transverse guide rail 323; the telescopic driver comprises a motor and a transmission gear, and the telescopic fork assembly 33 is driven to move in a translation mode along the transverse guide rail 323 through the transmission of the motor and the transmission gear.

The extending sides and the opposite sides of the retractable fork assembly 33 are respectively provided with a cargo stop 331 protruding upward, as shown in fig. 2, the left side is an extending end, and the cargo stop 331 at the extending end is lower than the cargo stop 331 at the opposite side.

The bottom surface of flexible fork subassembly 33 rotates and sets up supporting roller 332, installs two rows of vertical backup pads perpendicularly at the bottom surface of flexible fork subassembly 33, rotates on a baffle and installs a plurality of supporting roller 332, and supporting roller 332 contacts with transverse guide 323 or a goods supporting bench when flexible fork subassembly 33 translation, makes the removal more steady.

The side of the vertical plate 312 is vertically fixed with a correcting support plate 314, the correcting mechanisms 4 are installed on the correcting support plate 314, the correcting support plate 314 is a vertical plate surface and is vertical to the vertical plate 312, and the two correcting mechanisms 4 are respectively installed on the correcting support plates 314 on both sides.

On the basis of any one of the above technical solutions and the mutual combination thereof, the correcting mechanism 4 includes a correcting bottom plate 41, a translational slide rail 42, a translational slide block 43, a correcting block 44, a correcting driver 45 and other structures, the correcting bottom plate 41 is a horizontal plate surface, the translational slide rail 42 is fixed on the correcting bottom plate 41, the translational slide block 43 is fixed on the correcting block 44, and the correcting driver 45 drives the translational slide block 43 to move translationally along the translational slide rail 42; the centering actuator 45 is located in the middle of the centering block 44, and the two translation slide rails 42 and the two translation slide blocks 43 are located on both sides, respectively, so that the centering block 44 moves smoothly.

The motion form of the correcting mechanism is not limited to the transmission of a lead screw motor, and can also be a transmission form such as a synchronous belt, a gear rack or a combination thereof.

The reforming blocks 44 are provided with guide inclined planes, the two reforming blocks 44 can move close to or away from each other, the distance can be adjusted instantly, the size of the multi-size material box can be suitable for taking and putting the materials for reforming, and the material box can also be suitable for other sizes and shapes of material boxes or materials and other forms.

Specifically, the reforming driver 45 is a motor, and the reforming driver 45 drives the screw rod to rotate and is driven by being in threaded fit with a translation nut seat arranged on the bottom surface of the reforming block 44.

Referring to fig. 1, cover plates 5 are respectively arranged on two sides of the lifting type telescopic fork module 3, and the cover plates 5 shield structures below the restoring blocks 44; the height of the deck 5 is less than the height of the support surface of the telescopic fork assembly 33 when lowered to the lowermost position, and the load does not contact the deck 5 when lowered to the lowermost position.

An electric control cabin 21 is arranged at the upper part of the external frame 2, and the electric control cabin 21 is used for controlling the work of each device.

The AGV trolley has compact integral structure and is suitable for the requirement of the cargo transportation occasion with low space occupancy rate; the goods can be automatically taken and put, the manual work is replaced, the flexibility is good, and the goods taking and putting efficiency is improved; the material taking and placing device is suitable for different material boxes and different goods by utilizing the correcting mechanism, and has wide applicability and practicability; when the righting mechanism is used for picking and placing the material box or the goods, the righting mechanism can righting or clamping the material box or the goods and adjust the position precision of the goods, so that the high-precision requirement of the picking and placing positions is met; the lifting type telescopic fork adopted by the trolley and the guide and power source arrangement form adopted by the lifting motion of the lifting fork realize the requirements of high rigidity and compact structure when the cargoes are wholly taken and put, and the stability of the whole structure is good.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A lifting fork type AGV with an adjustable goods position comprises a moving chassis (1) and an external frame (2), and is characterized in that a lifting telescopic fork module (3) and a correcting mechanism (4) are installed in the external frame (2);

the lifting type telescopic fork module (3) comprises a supporting frame (31), a lifting platform (32) and a telescopic fork assembly (33), wherein the lifting platform (32) is vertically and slidably mounted on the supporting frame (31) and is driven to move up and down through a lifting driver (34); the telescopic fork assembly (33) is transversely installed on the lifting platform (32) in a sliding manner and is driven to horizontally displace by a telescopic driver;

the two righting mechanisms (4) are arranged on two sides of the lifting type telescopic fork module (3), the two righting mechanisms (4) are respectively provided with a guide inclined plane, and descending goods contact the guide inclined planes to be righted in a centering mode.

2. The adjustable load position lift fork AGV according to claim 1, wherein said support frame (31) comprises a base plate (311) and two vertical plates (312), both vertical plates (312) being vertically fixed to said base plate (311); and a lifting guide rail (313) is arranged on the vertical plate (312), and a lifting slider (321) fixed on the bottom surface of the lifting platform (32) is matched with the lifting guide rail (313) for guiding to slide.

3. The AGV with adjustable cargo position according to claim 2, wherein a nut seat (322) is provided on the bottom surface of the lifting platform (32), the lifting driver (34) comprises a lifting motor (341), a transmission box (342) and a lifting screw rod (343), the lifting motor (341) drives the lifting screw rod (343) to rotate via the transmission box (342), and the lifting screw rod (343) is connected to the nut seat (322) in a threaded manner to realize the lifting drive.

4. An AGV according to claim 3, characterised in that the upper surface of the lifting platform (32) is provided with transverse rails (323), the telescopic fork assembly (33) being movable in transverse translation relative to the transverse rails (323);

the telescopic driver comprises a motor and a transmission gear.

5. The AGV of claim 4 wherein the extendable sides of the retractable fork assembly (33) and their opposing sides are each upwardly projecting with a load stop (331);

the bottom surface of the telescopic fork assembly (33) is rotatably provided with a supporting roller (332).

6. The adjustable load position lift fork AGV of claim 5, wherein a leveling support plate (314) is fixed vertically to the side of the vertical plate (312), and the leveling mechanism (4) is mounted to the leveling support plate (314).

7. The AGV according to any of claims 1 to 6, characterised in that the righting mechanism (4) comprises a righting base (41), a translatory slide (42), a translatory slider (43), a righting block (44) and a righting drive (45), the translatory slide (42) being fixed to the righting base (41), the translatory slider (43) being fixed to the righting block (44), the righting drive (45) driving the translatory slider (43) to move translationally along the translatory slide (42); the reforming block (44) is provided with a guide inclined surface.

8. The AGV with adjustable load position according to claim 7, wherein the righting actuator (45) is a motor, and the righting actuator (45) drives a lead screw to rotate and is driven by a translation nut seat arranged on the bottom surface of the righting block (44) in a threaded fit manner.

9. AGV with adjustable load position according to claim 7, characterised in that the lifting fork modules (3) are provided with covers (5) on both sides, wherein the height of the covers (5) is lower than the height of the support surface of the telescopic fork assembly (33) when lowered to the lowest position.

10. AGV with adjustable load position according to claim 7, characterized in that an electrically controlled magazine (21) is arranged in the upper part of the outer frame (2).