WO2018214673A1 - 分拣型自动导引运输车 - Google Patents

分拣型自动导引运输车 Download PDF

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Publication number
WO2018214673A1
WO2018214673A1 PCT/CN2018/083394 CN2018083394W WO2018214673A1 WO 2018214673 A1 WO2018214673 A1 WO 2018214673A1 CN 2018083394 W CN2018083394 W CN 2018083394W WO 2018214673 A1 WO2018214673 A1 WO 2018214673A1
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Prior art keywords
push rod
tray
electric push
link
wheel
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Ceased
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PCT/CN2018/083394
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English (en)
French (fr)
Inventor
赵凯
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Beijing Jingdong Century Trading Co Ltd
Beijing Jingdong Shangke Information Technology Co Ltd
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Beijing Jingdong Century Trading Co Ltd
Beijing Jingdong Shangke Information Technology Co Ltd
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Publication of WO2018214673A1 publication Critical patent/WO2018214673A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
    • B60P1/04—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element

Definitions

  • the present disclosure relates to the field of warehousing and logistics, and in particular to a sorting type Automated Guided Vehicle (AGV).
  • AGV Automated Guided Vehicle
  • the AGV is a transport vehicle equipped with automatic guidance and capable of traveling along a defined guiding path, usually with security protection and various transfer functions.
  • AGV is a transport vehicle equipped with automatic guidance and capable of traveling along a defined guiding path, usually with security protection and various transfer functions.
  • AGV can be divided into traction type AGV, jacking type AGV and small goods sorting type AGV.
  • the small cargo sorting type AGV has a small load, and generally only sorts small items within 5Kg, which can achieve high sorting efficiency.
  • the upper part of the existing sorting type AGV usually uses a small cargo pallet to carry and sort small items.
  • the tray is used to make the items to be sorted fall into the corresponding bags, thereby completing the sorting work.
  • the successful flipping of the goods and the bag drop is a very important part of the sorting process, requiring the flipping action to be fast and the bag to be accurate.
  • the cargo pallet for the AGV mainly adopts a motor reversing machine flip type and a cam link top flip type tray turning mechanism.
  • the motorized reducer flip type tray turning mechanism uses a reducer to amplify the motor torque, and drives the load tray to reverse by the rotation of the motor reducer.
  • the cam link top flip type tray turning mechanism is a cam rotation that is driven by the motor in close contact with the cargo pallet, and the height difference generated by the rotation of the cam is used to rotate the tray up and down.
  • the two tray turning mechanisms in the related art each have certain defects.
  • the motorized reducer flip type tray turning mechanism needs to be equipped with a large reduction ratio reducer for the motor, and the speed reducer is expensive and the energy consumption is relatively poor, so the overall structure is complicated, the assembly is difficult, and the cost is high, and the AGV is high.
  • the battery power loss is large.
  • the pallet-turning mechanism of the cam link top flip type also has a complicated structure, and the pre-tension spring needs to be added and the reliability is low.
  • the embodiments of the present disclosure provide a sorting type automatic guided transport vehicle, which can reduce energy consumption and cost while satisfying the requirements of fast turning and accurately entering the loaded items.
  • a sorting type automatic guided transport vehicle comprising:
  • the chassis of the vehicle is equipped with wheels for walking;
  • a tray mounted above the chassis of the vehicle for carrying items to be sorted;
  • An electric push rod is disposed in the chassis of the vehicle for driving the tray to be flipped by a preset angle with respect to the chassis to slide the item to be sorted along the tray into the unloading area.
  • the electric pusher is a parallel electric pusher.
  • a rotating seat is provided in the undercarriage, the lower surface of the tray is hinged to the rotating base by a connecting rod, and the driving end of the electric push rod is hinged on the connecting rod.
  • the link is generally "Z" shaped, including parallel first and second link segments and connecting the first link segment and the second link segment a third link segment, the first link segment is integrally fixed on a lower surface of the tray, an end of the second link segment is hinged with the rotary seat, and a driving end of the electric push rod is The hinged position of the link is located on the second link segment or the third link segment.
  • the first link segment is integrally secured to the lower surface of the tray by a plurality of screws.
  • the links are at least two, disposed in parallel between the rotating base and the lower surface of the tray.
  • the wheel mounted on the undercarriage includes a first wheel capable of driving the chassis to travel straight and a plurality of second wheels that drive the steering of the chassis, the electric pusher being located in the vehicle One side of the wheel axis of the first wheel in the chassis, the plurality of second wheels being respectively located on the same side and opposite sides of the wheel of the electric push rod with respect to the first wheel.
  • the wheel mounted on the undercarriage includes a first wheel capable of driving the undercarriage of the vehicle chassis and a second wheel that drives the steering of the vehicle chassis, the rotating base, the electric push rod, and
  • the links are each located on one side of the wheel axis of the first wheel.
  • the electrical energy of the electric push rod is taken from the power source of the sorting type automated guided transport vehicle itself.
  • the predetermined angle is 50° to 70°.
  • an electric push rod is provided on the sorting type AGV to drive the tray to be turned over with respect to the undercarriage so that the items to be sorted carried on the tray can be quickly and accurately unloaded into the unloading area.
  • the electric push rod used in the embodiment of the present disclosure has a simple structure and a small space, and has less loss of electric energy than the motor reducer flip type and the cam link top flip type inverting mechanism adopted by the existing AGV. It can effectively improve the running time and operating efficiency of the AGV.
  • FIG. 1 is a schematic block diagram of some embodiments of a sorting type automated guided transport vehicle in accordance with the present disclosure.
  • FIG. 2 is a schematic block diagram of a front view angle of some embodiments of a sorting type automated guided transport vehicle according to the present disclosure.
  • FIG 3 is a structural schematic view of a bottom view angle of some embodiments of a sorting type automated guided transport vehicle according to the present disclosure.
  • FIG. 4 is a schematic structural view of a top view angle of some embodiments of a sorting type automated guided transport vehicle according to the present disclosure.
  • Figure 5 is a schematic illustration of a tray in a horizontal state in some embodiments of a sorting type automated guided transport vehicle in accordance with the present disclosure.
  • FIG. 6 is a structural schematic view of a front view angle of a tray in a horizontal state in some embodiments of the sorting type self-guided transport vehicle according to the present disclosure.
  • first”, “second” and the like appearing in the present disclosure are merely for convenience of description to distinguish different components having the same name, and do not indicate sequential or primary or secondary relationships.
  • orientation or positional relationship indicated by the terms “length”, “width”, “thickness” and the like is based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present disclosure. It is not intended to be a limitation or limitation of the scope of the disclosure.
  • the sorting type AGV of the present embodiment includes: a vehicle chassis 1, a tray 2, and an electric push rod 3.
  • the vehicle chassis 1 is a base in the AGV that carries various components such as a drive member, a traveling member, a control member, and an energy component on the AGV.
  • a wheel for walking is mounted on the undercarriage 1.
  • the wheel mounted on the undercarriage 1 may specifically include a first wheel 4 capable of driving the undercarriage 1 in a straight line and a plurality of second wheels 5 that drive the undercarriage 1 to steer.
  • the wheels mounted on the undercarriage may also have the function of driving the chassis 1 to travel straight and turn.
  • the tray 2 is mounted above the chassis 1 for carrying items to be sorted. Referring to the position of the tray 2 shown in FIG. 5, when the item to be sorted is placed on the upper surface of the tray 2, the tray 2 can transport the items to be sorted to the area to be unloaded as the vehicle chassis 1 travels, for example, sorting goods Bags, sorting conveyors or sorting and unloading sites.
  • the size profile of the tray 2 can be matched to the chassis 1 (for example, the contours of the tray 2 and the chassis 1 projected in the normal direction of the ground are substantially coincident, etc.), so that the center of gravity of the AGV carrying the item to be sorted is maintained at the AGV. Within the support range, to avoid rollover or dropout when the chassis 1 turns or ramps.
  • the electric push rod 3 is a linear driving device for converting the rotary motion of the motor into a linear motion, and is disposed in the vehicle chassis 1.
  • one end of the electric push rod 3 in FIG. 1 is hinged to the inside of the vehicle chassis 1 by a hinge. 9 on.
  • the electric push rod 3 is used to drive the tray 2 to be reversed by a predetermined angle (for example, 50° to 70°) with respect to the vehicle chassis 1 to slide the items to be sorted along the tray 2 into the unloading area.
  • the electric push rod 3 needs to occupy a part of the space inside the chassis 1 in order to prevent the electric push rod 3 from interfering with the traveling member.
  • the optional electric push rod 3 is located on one side of the wheel axis of the first wheel 4 in the undercarriage 1 and the plurality of second wheels 5 are respectively located on the same side and opposite sides of the electric push rod 3 with respect to the wheel axis of the first wheel 4. .
  • the existing electric push rod 3 has several structural forms, and can be divided into parallel type, vertical type and straight type electric push rod according to the position of the motor axis and the push rod axis. These different types of electric push rods can be applied to the sorting AGV of the present disclosure, wherein a parallel type electric push rod can be selected, that is, a structure in which the motor axis is parallel to the push rod axis.
  • a parallel type electric push rod can be selected, that is, a structure in which the motor axis is parallel to the push rod axis.
  • the output shaft of the motor body 32 of the parallel electric push rod is parallel to the axis of the push rod 31, and the outer casing of the motor body 32 is located on the upper side of the push rod 31, and substantially corresponding to the push rod 31.
  • the outer casing is close.
  • the direction of movement of the drive rod of the push rod 31 is also substantially parallel to the motor body 32.
  • This parallel electric pusher occupies less lateral and longitudinal space, reducing the overall size of
  • a rotating seat 6 may be disposed in the vehicle chassis 1, and the lower surface of the tray 2 may be hinged to the rotating base 6 via a connecting rod 7, the electric The drive end of the push rod 3 is hinged to the link 7.
  • the fitting structure of the rotary base 6 and the link 7 enables the tray 2 to be turned over at a large angle in a state where the electric push rod 3 moves a small stroke.
  • the link 7 and the swivel mount 6 and the electric push rod 3 are optionally located on one side of the wheel axis of the first wheel 4 to save internal space in the occupied sorting AGV.
  • the link 7 is generally "Z" shaped, including a first link segment and a second link segment and connecting the first link segment and the second link segment The third link segment.
  • the first connecting rod segment is integrally fixed on the lower surface of the tray 2, in particular, the first connecting rod segment can be integrally fixed with the lower surface of the tray 2 by a plurality of screws, and the tray 2 can be disassembled by the screw. Replace after wear occurs.
  • An end of the second link segment is hinged to the swivel mount 6, the first link segment being parallel to the second link segment.
  • the hinge position of the driving end of the electric push rod 3 and the connecting rod 7 is located on the second link section (which may also be located on the third link section). Since the driving position of the electric push rod 3 and the connecting position of the connecting rod 7 are closer to the bearing housing 8 on the rotating base 6, the arm is shorter, so that the distance bearing can be driven when the electric push rod 3 is elongated and formed short.
  • the first link segment which is further away from the seat 8 and has a longer arm, is rotated at a greater angle so that the sorting AGV embodiment of the present disclosure can select a small-sized electric pusher with a shorter stroke to effect the flipping action of the tray 2.
  • the connecting rod 7 itself may be set to a larger width so as to be able to support the tray 2 more stably, and an alternative manner is to provide at least two connecting rods 7 and to be disposed in parallel with the rotating base 6 and the said Between the lower surfaces of the tray 2. This can save the material and weight of the connecting rod 7 and achieve a more stable supporting action.
  • the sorting AGV cannot be installed and carries a large and heavy air source or oil pump, so that the cylinder or the cylinder cannot be used as a tray turning drive mechanism, and for the sorting AGV of the present disclosure, the electric motor is selected.
  • the electric energy of the push rod 3 can be taken from the power supply of the sorting type AGV itself, and not only the electric push rod 3 itself is small in size and light in weight, and is very suitable for the overall size and weight of the sorting type AGV.
  • the electric push rod 3 can be easily obtained from the power source of the sorting type AGV itself (for example, a vehicle battery), and thus is more cost-effective than other types of driving elements.
  • the sorting AGV travels to the loading location of the small cargo, and the loading equipment (such as the loading robot) in the storage yard places the items to be sorted into the sorting AGV trolley.
  • the loading equipment such as the loading robot
  • the tray On the tray, the electric push rod is in the retracted position (see Figure 5-6) and the tray is level.
  • the control center gives the sorting AGV command to drive it to the corresponding sorting bag on the storage yard, and aligns the dumping direction of the pallet with the sorting bag, and then the control center goes to the electric push rod in the sorting AGV. Issue an instruction to make it stretch.
  • the electric push rod When the electric push rod is extended, the driving end thereof pushes the connecting rod to rotate outward relative to the rotating base, and the driving tray is also turned outward.
  • the tray is already at the preset flip angle (for example, 65 degrees), and the item to be sorted on the tray will follow the friction between the tray and the tray during the tray flipping process.
  • the reduction and the increase of its own gravity on the surface of the tray surface increase the load along the surface of the tray obliquely toward the sorting bag, thereby completing the process of sorting and unloading.
  • the control center issues an instruction to the electric push rod in the sorting AGV to shorten it to the tray level and then move to the next working position.

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Abstract

一种分拣型自动导引运输车，包括：车底盘（1），安装有行走用的车轮；托盘（2），安装在所述车底盘（1）的上方，用于承载待分拣物品；和电动推杆（3），设置在所述车底盘（1）内，用于驱动所述托盘（2）相对于所述车底盘（1）翻转预设角度，以使所述待分拣物品沿所述托盘（2）滑入卸货区域。所述电动推杆结构简单且占用空间小，并且对电能的损耗较少，能够有效地提高AGV的运行时间和运行效率。

Description

分拣型自动导引运输车
本申请是以申请号为201710365759.3，申请日为2017年5月23日的中国申请为基础，并主张其优先权，该中国申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及仓储物流领域，尤其涉及一种分拣型自动导引运输车(Automated Guided Vehicle，简称AGV)。
背景技术
AGV是一种装备有自动导引装置，且能够沿规定的导引路径行驶的运输车，通常具有安全保护以及各种移载功能。随着AGV在物流仓储行业中的大量使用，极大程度的降低了物流成本，提高了仓储效率。
AGV按照功能可分为牵引型AGV、顶升搬运型AGV和小件货物分拣型AGV。其中小件货物分拣型AGV的负载较小，一般只分拣5Kg以内的小型物品，可以实现很高的分拣效率。现有的分拣型AGV的上装部分通常采用一个小的载货托盘来承载和分拣小型物品，当分拣型AGV承载着待分拣物品行驶到指定暂存区后，其通过翻转载货托盘以使待分拣物品落入对应的货袋中，从而完成分拣工作。其中，载货托盘成功翻转物品并落袋是这个分拣过程中非常重要的环节，要求翻转动作快速且入袋准确。
在相关技术中，AGV用的载货托盘主要采用电机减速机翻转式和凸轮连杆顶翻式的托盘翻转机构。电机减速机翻转式的托盘翻转机构是使用减速机来放大电机扭矩，并通过电机减速机的旋转来带动载货托盘翻转。凸轮连杆顶翻式的托盘翻转机构是通过电机带动与载货托盘紧密接触的凸轮旋转，利用凸轮旋转产生的高度差来使托盘上下往返转动。
发明内容
经发明人的研究发现，相关技术中的两种托盘翻转机构各自存在一定的缺陷。电机减速机翻转式的托盘翻转机构需要给电机配置大减速比的减速机，而减速机较贵且能耗比较差，因此造成整体结构比较复杂，装配难度较大，而且成本较高，对AGV 的电池电能的损耗较大。凸轮连杆顶翻式的托盘翻转机构同样存在着结构复杂的问题，需要增加预紧力弹簧且可靠性较低。
有鉴于此，本公开实施例提供一种分拣型自动导引运输车，能够在满足对承载物品的快速翻转和准确入袋的要求同时，降低能耗和成本。
根据本公开的一个方面，提供了一种分拣型自动导引运输车，包括：
车底盘，安装有行走用的车轮；
托盘，安装在所述车底盘的上方，用于承载待分拣物品；和
电动推杆，设置在所述车底盘内，用于驱动所述托盘相对于所述车底盘翻转预设角度，以使所述待分拣物品沿所述托盘滑入卸货区域。
在一些实施例中，所述电动推杆为平行式电动推杆。
在一些实施例中，在所述车底盘内设有旋转座，所述托盘下表面通过连杆与所述旋转座铰接，所述电动推杆的驱动端铰接在所述连杆上。
在一些实施例中，所述连杆整体呈“Z”型，包括相平行的第一连杆段和第二连杆段以及连接所述第一连杆段和所述第二连杆段的第三连杆段，所述第一连杆段整体固定在所述托盘下表面上，所述第二连杆段的端部与所述旋转座铰接，所述电动推杆的驱动端与所述连杆的铰接位置位于所述第二连杆段或第三连杆段上。
在一些实施例中，所述第一连杆段通过多个螺钉与所述托盘下表面进行整体固定。
在一些实施例中，所述连杆为至少两根，相平行地设置在所述旋转座和所述托盘下表面之间。
在一些实施例中，所述车底盘上安装的车轮包括能够带动所述车底盘直线行驶的第一车轮和带动所述车底盘转向的多个第二车轮，所述电动推杆位于所述车底盘内所述第一车轮的轮轴线的一侧，所述多个第二车轮分别位于所述电动推杆相对于所述第一车轮的轮轴线的同侧和对侧。
在一些实施例中，所述车底盘上安装的车轮包括能够带动所述车底盘直线行驶的第一车轮和带动所述车底盘转向的第二车轮，所述旋转座、所述电动推杆和所述连杆均位于所述第一车轮的轮轴线的一侧。
在一些实施例中，所述电动推杆的电能取自所述分拣型自动导引运输车自身的电源。
在一些实施例中，所述预设角度为50°～70°。
因此，根据本公开实施例，在分拣型AGV上设置电动推杆来驱动托盘相对于车底盘翻转角度，以使得承载在托盘上的待分拣物品能够快速准确地卸入卸货区域。相比于现有的AGV采用的电机减速机翻转式和凸轮连杆顶翻式的托盘翻转机构，本公开实施例所采用的电动推杆结构简单且占用空间小，并且对电能的损耗较少，能够有效地提高AGV的运行时间和运行效率。
附图说明
此处所说明的附图用来提供对本公开的进一步理解，构成本申请的一部分，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1为根据本公开分拣型自动导引运输车的一些实施例的结构示意图。
图2为根据本公开分拣型自动导引运输车的一些实施例的正视角度的结构示意图。
图3为根据本公开分拣型自动导引运输车的一些实施例的仰视角度的结构示意图。
图4为根据本公开分拣型自动导引运输车的一些实施例的俯视角度的结构示意图。
图5为根据本公开分拣型自动导引运输车的一些实施例中托盘处于水平状态的示意图。
图6为根据本公开分拣型自动导引运输车的一些实施例中托盘处于水平状态时正视角度的结构示意图。
具体实施方式
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述。显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本公开及其应用或使用的任何限制。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
本公开中出现的“第一”、“第二”等用语仅是为了方便描述，以区分具有相同名称的不同组成部件，并不表示先后或主次关系。在本公开的描述中，需要理解的是， 术语“长度”、“宽度”、“厚度”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开，而不是指示或暗示所指的装置必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开保护范围的限制。
除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本公开的范围。同时，应当明白，为了便于描述，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。在这里示出和讨论的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它示例可以具有不同的值。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
如图1所示，为本公开分拣型自动导引运输车的一些实施例的结构示意图。参考图1及图2-图4所示的正视、仰视、俯视角度的结构示意图，本实施例的分拣型AGV包括：车底盘1、托盘2和电动推杆3。车底盘1是AGV中承载AGV上诸如驱动部件、行走部件、控制部件、能源部件等各种部件的基体。为了使其能够在自由行走或受控行走，在车底盘1上安装有行走用的车轮。在一些实施例中，车底盘1上安装的车轮可以具体包括能够带动所述车底盘1直线行驶的第一车轮4和带动所述车底盘1转向的多个第二车轮5。在另一些实施例中，车底盘上安装的车轮也可以同时具备带动车底盘1直线行驶和转向的功能。
托盘2安装在车底盘1的上方，用于承载待分拣物品。参考图5所示的托盘2位置，当待分拣物品被放置到托盘2的上表面后，托盘2可随着车底盘1的行走将待分拣物品运输到待卸区域，例如分拣货袋、分拣传送带或分拣卸货场地等。托盘2的尺寸轮廓可选与车底盘1相匹配(例如托盘2和车底盘1在地面法线方向投影下的轮廓基本重合等)，以便使承载了待分拣物品的AGV的重心维持在AGV的支撑范围内，从而避免在车底盘1转弯或者坡道行走时发生翻车或掉货。
电动推杆3是一种将电机的旋转运动转换成直线运动的直线驱动装置，其设置在车底盘1内，例如图1中电动推杆3的一端通过铰链铰接在车底盘1内部等铰接座9上。电动推杆3用于驱动托盘2相对于所述车底盘1翻转预设角度(例如50°～70°)，以使所述待分拣物品沿托盘2滑入卸货区域。电动推杆3需要占用车底盘1内的部分空间，为了避免电动推杆3与行走部件发生干涉。可选电动推杆3位于车底盘1内第 一车轮4的轮轴线的一侧，而多个第二车轮5分别位于电动推杆3相对于第一车轮4的轮轴线的同侧和对侧。
现有的电动推杆3有几种结构形式，根据电机轴线与推杆轴线的位置可分为平行式、垂直式和直式电动推杆等。这几种不同形式的电动推杆都可以应用到本公开的分拣式AGV中，这其中可选采用平行式电动推杆，即电机轴线与推杆轴线平行的结构形式。参考图1和图2，这种平行式电动推杆的电机本体32的输出轴线与推杆31的轴线平行，且电机本体32的外壳位于推杆31的上侧，并基本与推杆31的外壳贴近。而推杆31的驱动杆运动方向也与电机本体32基本平行。这种平行式电动推杆占用的横向和纵向的空间均比较小，可以减小分拣式AGV的整体尺寸，并避免与其他部件发生干涉。
为了使电动推杆3能够方便的驱动托盘2进行装卸操作，可以在车底盘1内设置旋转座6，所述托盘2的下表面可以通过连杆7与所述旋转座6铰接，所述电动推杆3的驱动端铰接在所述连杆7上。相比于由电动推杆3直接推动托盘2转动的结构，这种旋转座6和连杆7的配合结构能够在电动推杆3运动较小行程的状态下实现托盘2较大角度的翻转。连杆7和旋转座6以及电动推杆3可选均位于第一车轮4的轮轴线的一侧，以节省占用的分拣式AGV中的内部空间。
从图2和图6中可以看到，连杆7整体呈“Z”型，包括第一连杆段和第二连杆段以及连接所述第一连杆段和所述第二连杆段的第三连杆段。其中，第一连杆段整体固定在托盘2下表面上，具体来说，第一连杆段可通过多个螺钉与所述托盘2下表面进行整体固定，通过螺钉的拆装可以在托盘2发生磨损后进行更换。
第二连杆段的端部与所述旋转座6铰接，所述第一连杆段与所述第二连杆段平行。而电动推杆3的驱动端与所述连杆7的铰接位置位于所述第二连杆段(也可位于第三连杆段)上。由于电动推杆3的驱动端与连杆7的铰接位置比较靠近旋转座6上的轴承座8，力臂较短，因此可以在电动推杆3伸长较短形成时，即可驱动距离轴承座8更远、力臂更长的第一连杆段转动更大角度，从而使得本公开分拣式AGV实施例可选择行程较短的小尺寸电动推杆来实现托盘2的翻转动作。
连杆7本身可以设置为较大宽度，以便能够更稳定的支撑托盘2，而可选的方式是设置至少两根连杆7，并使其相平行地设置在所述旋转座6和所述托盘2下表面之间。这样既能够节省连杆7的材料和重量，也能够实现更稳定的支撑作用。
对于尺寸较小且承载能力有限的分拣式AGV来说，无论其行走还是进行托盘翻 转卸货都需要能源支持。而分拣式AGV无法安装并携带尺寸较大且较重的气源或油泵，从而无法支持气缸或者油缸作为托盘翻转驱动机构的使用，而对于本公开分拣式AGV来说，其选用的电动推杆3的电能可取自分拣型AGV自身的电源，不仅电动推杆3自身的体积小重量轻，非常适合于分拣式AGV的整体尺寸和重量。另外，电动推杆3可以方便的从分拣型AGV自身的电源(例如车载电池)获得电能，因此相比于其他类型的驱动元件在成本上更为低廉。
下面基于图1-6所示的分拣式AGV实施例来说明一下针对于小件货物的装卸货过程。
首先，在控制中心的控制下，分拣式AGV行驶到小件货物的装货地点，由仓储场地中的装货机械(例如装货机械手等)将待分拣物品放置到分拣式AGV小车的托盘上，此时电动推杆处于缩回位置(参见图5-6)，并使得托盘处于水平状态。控制中心给予分拣式AGV指令，使其在仓储场地上行驶到相应的分拣货袋前，并使托盘的倾倒方向对齐分拣货袋，然后控制中心向分拣式AGV中的电动推杆发出指令以使其伸长。当电动推杆伸长时，其驱动端则推动连杆相对于旋转座向外转动，带动托盘也向外翻转。当电动推杆运动到规定行程后，此时托盘已处于预设的翻转角度(例如65度)，托盘上的待分拣物品会在托盘翻转的过程中随着其与托盘之间摩擦力的减小和其自身重力在托盘表面向下分力的增加下，沿托盘表面斜向下滑向分拣货袋，从而完成分拣卸货的过程。卸货完毕后，控制中心向分拣式AGV中的电动推杆发出指令以使其缩短至托盘水平的状态，然后运动到下一工作位置。
最后应当说明的是：以上实施例仅用以说明本公开的技术方案而非对其限制；尽管参照较佳实施例对本公开进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本公开的具体实施方式进行修改或者对部分技术特征进行等同替换；而不脱离本公开技术方案的精神，其均应涵盖在本公开请求保护的技术方案范围当中。

Claims (10)

  1. 一种分拣型自动导引运输车，包括：
    车底盘(1)，安装有行走用的车轮；
    托盘(2)，安装在所述车底盘(1)的上方，用于承载待分拣物品；和
    电动推杆(3)，设置在所述车底盘(1)内，用于驱动所述托盘(2)相对于所述车底盘(1)翻转预设角度，以使所述待分拣物品沿所述托盘(2)滑入卸货区域。
  2. 根据权利要求1所述的分拣型自动导引运输车，其中，所述电动推杆(3)为平行式电动推杆。
  3. 根据权利要求1所述的分拣型自动导引运输车，其中，在所述车底盘(1)内设有旋转座(6)，所述托盘(2)下表面通过连杆(7)与所述旋转座(6)铰接，所述电动推杆(3)的驱动端铰接在所述连杆(7)上。
  4. 根据权利要求3所述的分拣型自动导引运输车，其中，所述连杆(7)整体呈“Z”型，所述连杆(7)包括第一连杆段和第二连杆段以及连接所述第一连杆段和所述第二连杆段的第三连杆段，所述第一连杆段整体固定在所述托盘(2)下表面上，所述第二连杆段的端部与所述旋转座(6)铰接，所述第一连杆段与所述第二连杆段平行，所述电动推杆(3)的驱动端与所述连杆(7)的铰接位置位于所述第二连杆段或第三连杆段上。
  5. 根据权利要求4所述的分拣型自动导引运输车，其中，所述第一连杆段通过多个螺钉与所述托盘(2)下表面进行整体固定。
  6. 根据权利要求3所述的分拣型自动导引运输车，其中，在所述旋转座(6)和所述托盘(2)下表面之间设有至少两根所述连杆(7)，且至少两根所述连杆(7)相互平行。
  7. 根据权利要求1所述的分拣型自动导引运输车，其中，所述车底盘(1)上安装的车轮包括能够带动所述车底盘(1)直线行驶的第一车轮(4)和带动所述车底盘(1)转向的多个第二车轮(5)，所述电动推杆(3)位于所述车底盘(1)内所述第一车轮(4)的轮轴线的一侧，所述多个第二车轮(5)分别位于所述电动推杆(3)相对于所述第一车轮(4)的轮轴线的同侧和对侧。
  8. 根据权利要求3所述的分拣型自动导引运输车，其中，所述车底盘(1)上安装的车轮包括能够带动所述车底盘(1)直线行驶的第一车轮(4)和带动所述车底盘 (1)转向的第二车轮(5)，所述旋转座(6)、所述电动推杆(3)和所述连杆(7)均位于所述第一车轮(4)的轮轴线的一侧。
  9. 根据权利要求1所述的分拣型自动导引运输车，其中，所述电动推杆(3)的电能取自所述分拣型自动导引运输车自身的电源。
  10. 根据权利要求1所述的分拣型自动导引运输车，其中，所述预设角度为50°～70°。
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