WO2019137046A1 - 车架及叉车agv - Google Patents

车架及叉车agv Download PDF

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Publication number
WO2019137046A1
WO2019137046A1 PCT/CN2018/108852 CN2018108852W WO2019137046A1 WO 2019137046 A1 WO2019137046 A1 WO 2019137046A1 CN 2018108852 W CN2018108852 W CN 2018108852W WO 2019137046 A1 WO2019137046 A1 WO 2019137046A1
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WO
WIPO (PCT)
Prior art keywords
frame
side panel
disposed
gantry
vehicle frame
Prior art date
Application number
PCT/CN2018/108852
Other languages
English (en)
French (fr)
Inventor
张小艺
张贻弓
吴耀华
蒋霞
Original Assignee
山东兰剑物流科技股份有限公司
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Application filed by 山东兰剑物流科技股份有限公司 filed Critical 山东兰剑物流科技股份有限公司
Publication of WO2019137046A1 publication Critical patent/WO2019137046A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07572—Propulsion arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems

Definitions

  • the present disclosure relates to the field of AGV technology, and more particularly to a frame and forklift AGV.
  • the existing AGV forklifts are all modified according to the prior art manual operation forklift for realizing a certain function.
  • the prior art manual operation forklift itself has a manual operation table, which leads to the modified AGV.
  • the overall size of the forklift is large, and the internal space is wasted, which is not suitable for use in intensive automated warehousing and transportation systems or automated production systems.
  • the existing AGV forklifts are mostly single-drive, cannot achieve in-situ steering, and require a large turning radius, while the intensive automatic storage and transportation system or the automated production system has more lanes and turning space for AGV driving. It is small, so it puts high demands on the miniaturization and movement flexibility of the AGV forklift.
  • the purpose of the present disclosure is to provide a frame and forklift AGV, which can solve the problem that the frame structure of the prior art is not compact enough and takes up a large space.
  • a first aspect of the embodiments of the present disclosure provides a vehicle frame for use in a forklift AGV, including: a frame main plate, a frame connecting plate, and two opposite frame side plates; the frame main plate is disposed on the frame side plate One end, and two frame side plates are connected; the frame connecting plate is horizontally disposed between the two side plates of the frame, and two side frames of the frame are connected; the opposite inner faces of the side plates of the two frames are respectively provided A through-guide rail, the guide rail is used to support the movement of the gantry; the inner surface is also fixedly connected with a rack or a lead screw; the rack is matched with the gear of the gantry, or the moving end of the lead screw is matched with the connecting member of the gantry.
  • an embodiment of the present disclosure provides a first possible embodiment of the first aspect, wherein at least one end of the guide rail extends to an end of the frame side panel.
  • an embodiment of the present disclosure provides a second possible implementation of the first aspect, wherein both ends of the guide rail extend to both ends of the side panel of the frame.
  • an embodiment of the present disclosure provides a third possible embodiment of the first aspect, wherein the guide track is parallel to the frame side panel.
  • the embodiment of the present disclosure provides a fourth possible implementation manner of the first aspect, wherein the frame connecting plates are respectively connected to the positions of the two side panels of the side frame near the bottom edge. Fixed, the frame of the frame is parallel to the horizontal plane.
  • an embodiment of the present disclosure provides a fifth possible embodiment of the first aspect, wherein the frame web surface is machined with a hollow strip groove.
  • an embodiment of the present disclosure provides a sixth possible implementation of the first aspect, wherein the rack is parallel to the guide track.
  • an embodiment of the present disclosure provides a seventh possible implementation of the first aspect, wherein the ratio of the length of the guide track to the length of the side panel of the frame is greater than or equal to 2/3.
  • an embodiment of the present disclosure provides an eighth possible implementation of the first aspect, wherein the guide track is a guide channel.
  • an embodiment of the present disclosure provides a ninth possible implementation manner of the first aspect, wherein the outer side of the side panel of the frame is provided with a mounting bracket, and the mounting bracket is provided with a mounting groove; the bottom of the mounting bracket It is flush with the frame of the frame or higher than the frame of the frame.
  • an embodiment of the present disclosure provides a tenth possible embodiment of the first aspect, wherein at least one end of the frame side panel is provided with a horizontal mounting panel.
  • an embodiment of the present disclosure provides an eleventh possible implementation manner of the first aspect, wherein two ends of the frame side panel are respectively provided with a horizontal mounting board, and two horizontal mounting boards are on the side panel of the frame The settings are the same height.
  • an embodiment of the present disclosure provides a twelfth possible implementation manner of the first aspect, further including a wheel, the wheel includes a driving wheel and a universal wheel, and the driving wheel is further connected with a steering motor, and the steering motor is fixedly disposed In the horizontal mounting upper portion, the driving wheel and the universal wheel are disposed at a lower portion of the horizontal mounting plate, and the steering motor drives the driving wheel by internal meshing.
  • an embodiment of the present disclosure provides a thirteenth possible implementation manner of the first aspect, wherein the battery compartment is disposed on an upper portion of the frame main board and connected to the frame mainboard for accommodating power for the frame Battery.
  • a second aspect of the embodiments of the present disclosure provides a forklift AGV comprising: a gantry, a fork, an electric control device, and the frame provided by any of the above first aspects and various possible embodiments thereof;
  • the gantry includes a hydraulic pressure
  • the gantry is connected to the side panel of the frame through a gear or a rack, and slides along the guiding rail;
  • the fork is disposed on the gantry;
  • the electric control device is disposed outside the side panel of the frame.
  • an embodiment of the present disclosure provides a first possible implementation of the second aspect, further comprising a drive wheel and a battery; the drive wheel is coupled to the horizontal mounting plate of the frame side panel; at least two drive wheels are along the vehicle The diagonal line of the rack is set; the battery is disposed in the battery compartment of the frame and electrically connected with the electric control device; the main frame of the frame is provided with a receiving space at the lower part of the battery compartment for accommodating the hydraulic station.
  • the frame and the forklift AGV provided by the embodiments of the present disclosure improve the frame by providing a through-type guide rail on opposite inner faces of the two frame side plates, and adopting a power form of a rack and pinion or a screw rod.
  • the movement stroke and the movement flexibility are improved, the structure of the frame is more compact, the space occupied by the frame is reduced, and the frame can be adapted to a narrower operation space.
  • FIG. 1 is a schematic structural diagram of a vehicle frame according to an embodiment of the present disclosure
  • FIG. 2 is a schematic top view of a vehicle frame according to an embodiment of the present disclosure
  • FIG. 3 is a schematic structural diagram of a forklift AGV according to an embodiment of the present disclosure
  • FIG. 4 is a side view of a forklift AGV according to an embodiment of the present disclosure.
  • FIG. 5 is a schematic top view of a forklift AGV according to an embodiment of the present disclosure.
  • Icons 11-frame main board; 12-frame connecting board; 13-frame side board; 14-guide rail; 15--rack; 16-mounting groove; 17-horizontal mounting plate; 18-battery bin; - stiffener; 31-gantry; 32-fork; 33-electric control device; 34-battery; 35-drive wheel; 36-universal wheel; 37-hydraulic station; 38-accommodating space; 39-gear.
  • AGV is a common stacking vehicle used in the logistics and warehousing industries.
  • the existing AGV mainly includes two types: one is an AGV modified by an electric forklift or an electric pallet truck, and the other is an AGV directly designed and manufactured.
  • the space saving is not fully considered in the modification or design, for example, due to the size limitation of the conventional forklift and the structural limitation of the cab, the travel of the forward movement mechanism is limited, and the longitudinal length of the AGV is increased in order to achieve the predetermined stroke. This requires more space for cornering.
  • the existing AGV uses the cylinder as the power of the forward movement mechanism, and the structural characteristics of the cylinder itself require that the movement direction of the cylinder and the advancement mechanism be horizontally disposed, resulting in occupying a larger longitudinal length.
  • the AGV is used in a large-scale automated warehousing and transportation system or an automated production system, and the roadway and the turning space for the AGV driving are relatively narrow. Based on this, the frame and the forklift AGV provided by the embodiments of the present disclosure are compact and occupying. The space is small.
  • the embodiment of the present disclosure provides a frame for use in a forklift AGV, including: a frame main plate 11, a frame connecting plate 12, and two opposite frame side plates 13.
  • the frame main board 11 is disposed at one end of the frame side panel 13 and connects the two frame side panels 13.
  • the frame connecting plate 12 is horizontally disposed between the two frame side plates 13 and connects the two frame side plates 13.
  • the opposite inner faces of the two frame side plates 13 are respectively provided with through guide rails 14 for supporting the movement of the gantry 31.
  • the inner surface is also fixedly coupled with a rack 15 or a lead screw; the rack 15 is matched with the gear 39 of the gantry 31, or the moving end of the lead screw is matched with the connecting member of the gantry 31.
  • the door frame 31 is fixed with a gear 39, and the gear 39 is driven by the rotation of the motor to drive the gantry 31 to move back and forth; or the connecting member of the gantry 31 is connected to the moving end of the screw, and when the lead screw rotates, the gantry 31 Then move back and forth.
  • the frame provided by the embodiment can be independently developed according to the needs of use, and does not need to be modified on the basis of the existing manned forklift, and the structure of the forklift AGV can be designed to be more compact and space-saving.
  • the frame main board 11 is disposed at one end of the two frame side panels 13, and connects the two frame side panels 13 to support the frame side panel 13 and the overall load bearing of the frame.
  • the frame main board 11 and the two frame side plates 13 may be integrally formed, or may be separately fixed and connected.
  • the frame connecting board 12 includes three independent connecting boards as an example. It can be understood that the number of the connecting boards can be set according to actual needs, which is not limited in this embodiment.
  • the above-described frame connecting plate 12 is horizontally disposed between the two frame side plates 13, and the frame connecting plate 12 is used for frame support and connection.
  • the frame connecting plates 12 are respectively fixedly connected to the positions of the two frame side plates 13 near the bottom side, and the frame connecting plates 12 are parallel to the horizontal plane.
  • the frame connecting plate 12 is disposed flush with the bottom edge of the side frame 13 of the frame, which can neither reduce the height of the ground of the frame and the ground, and can increase the installation of other devices between the side plates 13 of the frame.
  • the space for example, is provided with a guide rail 14, a rack 15 or a gear 39.
  • a hollow strip groove is formed on the surface of the frame connecting plate 12.
  • the hollow strip groove is usually arranged in a structural pattern that is symmetrical along the center line of the moving direction of the frame.
  • a pair of guide rails 14 (only one of which is shown in Fig. 1) are provided on the opposite inner faces of the two frame side plates 13, and the guide rails 14 are used to support the movement of the gantry 31.
  • the length of the through-type guide rail 14 can be close to the length of the frame side panel 13, for example, the ratio of the length of the guide rail 14 to the length of the frame side panel 13 is greater than or equal to 2/3, that is, the guide rail 14 is greater than or equal to the vehicle. Two-thirds of the length of the side panel 13 is used to make full use of the working space of the side panel 13 of the frame to improve the movement of the frame.
  • the rack 15 is further provided with an inner surface as an example. Accordingly, a matching gear 39 (the gear 39 is not shown in Fig. 1) is provided on the gantry 31.
  • the rack 15 is a special gear in which teeth are distributed on the strip.
  • the rack 15 is also divided into a straight rack and a helical rack, which are paired with a spur gear and a helical gear.
  • the guide rail 14 is parallel to the frame side panel 13, and the rack 15 is parallel to the guide rail 14 to improve the stability of the overall movement of the frame during operation.
  • the through-type guide rail 14 can accommodate the movement of the gantry 31 and can provide a larger stroke.
  • the gantry 31 is provided with a larger stroke space in the case where the longitudinal length of the frame is the same.
  • the power is a hydraulic cylinder.
  • the cylinder and piston rod of the hydraulic cylinder itself take up at least half of the stroke. Therefore, when the total travel of the forward movement mechanism (ie, the gantry 31) is 1000 mm by using the frame provided in this embodiment, the moving distance of the forward movement mechanism of the conventional forklift is about 500 mm.
  • the through-type guide rail 14 can adopt the method of guiding the channel steel, and the channel steel is a long steel material with a groove shape in section, which is matched with the support member of the door frame 31.
  • At least one end of the guide rail 14 may extend to one end of the frame side panel 13, that is, at least one end of the guide rail 14 is flush with the end of the frame side panel 13 to which the frame is fixed.
  • the two ends of the guiding rail 14 can respectively extend to the two ends of the frame side panel 13, that is, both ends of the guiding rail 14 are flush with the two ends of the frame side panel 13, the guiding rail 14 and the frame side panel.
  • the length of 13 is the same. In FIG. 1 , the lengths of the two are the same, and the two ends of the guide rail 14 are flush with the two ends of the frame side panel 13 . It can be understood that the guide rail 14 can be set according to actual needs.
  • the frame provided by the embodiment of the present disclosure can be applied to a forklift AGV by providing a through-type guide rail 14 on opposite inner faces of the two frame side plates 13, and adopting a power form of the rack and pinion to improve the vehicle.
  • the movement of the frame and the flexibility of movement make the structure of the frame more compact, reducing the space occupied by the frame, and making the frame suitable for a narrower operation space.
  • a mounting bracket is disposed on an outer side surface of the frame side panel 13 , and a mounting groove 16 is disposed in the mounting bracket, and the bottom of the mounting bracket is flush with the frame connecting plate 12 or higher than the frame connecting plate 12 .
  • the structure that is paid out in FIG. 1 is that the bottom of the mounting bracket is flush with the frame connecting plate 12.
  • the mounting recess 16 can be of a bin design and can be used to mount AGV related controls or counterweights to take full advantage of the available space inside the frame. This part adopts the warehouse type design without increasing the size and related structure of the car body, which increases the utilization ratio of the car body space, and makes the installation of the electric control device 33 and the like more convenient and easy to maintain.
  • a horizontal mounting plate 17 may be separately provided at both ends, and the lower surface of the horizontal mounting plate 17 may be used for mounting a wheel, which may be used for mounting a sensor, a detecting device or an anti-collision device.
  • the wheels may be drive wheels 35 (eg, steering wheels) or driven wheels (eg, caster 36).
  • four horizontal mounting plates 17 are shown, which are respectively located at the four corners of the frame for mounting four wheels, and two of the wheels can be driven wheels 35. The other two are driven wheels.
  • the frame may further include a driving wheel 35.
  • the steering motor of the driving wheel 35 is fixedly disposed at an upper portion of the horizontal mounting plate 17, and the driving wheel 35 is disposed at a lower portion of the horizontal mounting plate 17, and the steering motor drives the driving wheel 35 by internal meshing.
  • the steering motor is fixed to the horizontal mounting plate 17, and the power is transmitted to the driving wheels 35 only by the driving motor and the internally meshing gear 39, so that the installation space under the horizontal mounting plate 17 can be saved.
  • FIGS. 1 and 2 Also shown in FIGS. 1 and 2 is a battery compartment 18 that is coupled to the frame main board 11 and is disposed at an upper portion of the frame main board 11 for accommodating a battery that supplies power to the frame.
  • a rib 19 which can increase the structural strength of the vehicle body.
  • An embodiment of the present disclosure provides a forklift AGV including the vehicle body provided by the above embodiment.
  • the forklift AGV is shown to include a gantry 31, a fork 32, an electronic control unit 33, a battery 34, a drive wheel 35, and a universal wheel 36.
  • the fork 32 is disposed on the gantry 31, and the gantry 31 serves the purpose of moving back and forth and moving the fork 32 up and down.
  • the gantry 31 is connected to the frame side panel 13 via the gear 39 or the rack 15, and is guided along the guide rail. 14 slides.
  • the electric control device 33 is disposed outside the frame side panel 13. Since the frame provided by the above embodiment is more compact in structure, it can accommodate more functional components of the forklift AGV, and the forklift AGV has more functions.
  • a battery 34 Also shown in FIG. 3 is a battery 34, a drive wheel 35 and a universal wheel 36.
  • the drive wheel 35 and the universal wheel 36 are coupled to the horizontal mounting plate 17 of the frame side panel 13, and the battery 34 is disposed in the battery compartment of the frame. 18 is electrically connected to the electronic control unit 33, and the power supply of the battery 34 can be controlled by the electronic control unit 33.
  • the driving wheel 35 can adopt an internal meshing driving motor and a gear structure.
  • the driving motor is fixed on the horizontal mounting plate 17, and does not need a steering motor or a speed reducer. Only the driving motor and the internally meshing gear 39 transmit power to the driving wheel 35.
  • the installation space under the horizontal mounting plate 17 can be saved.
  • the gantry 31 includes a hydraulic station 37 that is a separate hydraulic device that draws electrical energy from the battery 34 and that is driven by the motor to rotate the oil pump to convert the mechanical energy into the pressure energy of the hydraulic oil.
  • the gantry 31 is provided to lift and lower the power of the fork 32.
  • a housing space 38 is provided in the lower portion of the battery compartment 18 in the frame main plate 11, and the hydraulic station 37 can be accommodated when the gantry 31 is retracted.
  • the mounting groove 16 of the frame is the lowest position of the frame, and the space on the upper side can be used to accommodate the electric control device 33, and the wheels on the same side are the drive wheels 35 and Universal wheel 36.
  • an electric control device 33 is disposed in the mounting recess 16 of the frame, and the gantry 31 is coupled to the frame by a rack and pinion. Also shown therein is a rack 15 on the frame and a gear 39 on the gantry 31, which is driven by a motor.
  • the forklift AGV provided by the embodiment of the present disclosure has the same technical features as the frame provided by the above embodiment, so that the same technical problem can be solved and the same technical effect can be achieved.
  • the terms “installation”, “connected”, and “connected” are to be understood broadly, and may be a fixed connection or a detachable connection, unless otherwise explicitly defined and defined. , or connected integrally; may be mechanical connection or electrical connection; may be directly connected, or may be indirectly connected through an intermediate medium, and may be internal communication between the two elements.
  • installation may be a fixed connection or a detachable connection, unless otherwise explicitly defined and defined.
  • connected integrally may be mechanical connection or electrical connection; may be directly connected, or may be indirectly connected through an intermediate medium, and may be internal communication between the two elements.
  • the disclosed systems, devices, and methods may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of cells is only a logical function division.
  • multiple units or components may be combined or integrated. Go to another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some communication interface, device or unit, and may be electrical, mechanical or otherwise.
  • the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • the present disclosure provides a frame and forklift AGV, which is provided by providing a through-type guide rail 14 on opposite inner faces of the two frame side plates 13, and adopting a power form of a rack and pinion or a screw to improve the vehicle.
  • the utility model has the advantages of the movement stroke applied to the forklift AGV and the flexibility of the movement, the compact structure of the frame, the reduction of the space occupied by the frame, and the weight reduction of the forklift AGV, which can be applied to a narrower and more cumbersome operation space.

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  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
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  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

一种车架及叉车AGV，车架包括：车架主板（11）、车架连板（12）及相对设置的两个车架侧板（13）；车架主板（11）设置于车架侧板（13）的一端，并连接两个车架侧板（13）；车架连板（12）水平设置于两个车架侧板（13）之间，并连接两个车架侧板（13）；两个车架侧板（13）的相对的内面分别设置有贯通式导向轨道（14），导向轨道（14）用于支撑门架（31）移动；内面还固定连接有齿条（15）或丝杠；齿条（15）与门架（31）的齿轮（39）相匹配，或丝杠的移动端与门架（31）的连接件相匹配。提高车架的移动行程和移动灵活性，减小车架占用空间。

Description

车架及叉车AGV
相关申请的交叉引用
本申请要求于2018年01月15日提交中国专利局的申请号为2018100395678、名称为“车架及叉车AGV”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本公开涉及AGV技术领域，尤其是涉及一种车架及叉车AGV。
背景技术
现在的运输业及物流业中，货品的搬运一般由叉车完成，现在的叉车多为人工操作的方式，即由工人在人工操作台内观察并操纵叉车的运行及叉车上货叉的举升动作和下降动作，进而完成搬运作业。随着AGV(Automated Guided Vehicle，自动导引运输车)的快速兴起，人们寄希望于通过AGV车完成无人驾驶的搬运功能。
现有的AGV叉车都是为了实现某种功能而对现有技术的人工操作叉车进行相应的改造而成，现有技术的人工操作叉车本身都有人工操作台，这样就会导致改造后的AGV叉车整体体积较大，内部空间浪费，不适用于密集型的自动化仓储运输系统或者自动化生产系统中。并且，现有的AGV叉车由于多为单驱动形式，不能实现原地转向，需要较大的转弯半径，而密集型的自动化仓储运输系统或者自动化生产系统中供AGV行驶的巷道和转弯空间都较狭小，因此对AGV叉车的小型化和运动灵活性提出很高的要求。
发明内容
有鉴于此，本公开的目的在于提供一种车架及叉车AGV，能够解决现有技术的车架结构不够紧凑、占用空间较大的问题。
本公开实施例的第一方面，提供一种车架，应用于叉车AGV，包括：车架主板、车架连板及相对设置的两个车架侧板；车架主板设置于车架侧板的一端，并连接两个车架侧板；车架连板水平设置于两个车架侧板之间，并连接两个车架侧板；两个车架侧板的相对的内面分别设置有贯通式导向轨道，导向轨道用于支撑门架移动；内面还固定连接有齿条或丝杠；齿条与门架的齿轮相匹配，或丝杠的移动端与门架的连接件相匹配。
结合第一方面，本公开实施例提供了第一方面的第一种可能的实施方式，其中，导向轨道的至少一端延伸至车架侧板的端部。
结合第一方面，本公开实施例提供了第一方面的第二种可能的实施方式，其中，导向轨道的两端分别延伸至车架侧板的两端。
结合第一方面及其各可能的实施方式，本公开实施例提供了第一方面的第三种可能的实施方式，其中，导向轨道平行于车架侧板。
结合第一方面及其各可能的实施方式，本公开实施例提供了第一方面的第四种可能的实施方式，其中，车架连板分别与两个车架侧板靠近底边的位置连接固定，车架连板与水平面平行。
结合第一方面及其各可能的实施方式，本公开实施例提供了第一方面的第五种可能的实施方式，其中，车架连板表面加工有镂空条形槽。
结合第一方面，本公开实施例提供了第一方面的第六种可能的实施方式，其中，齿条平行于导向轨道。
结合第一方面，本公开实施例提供了第一方面的第七种可能的实施方式，其中，导向轨道的长度与车架侧板的长度的比值大于等于2/3。
结合第一方面，本公开实施例提供了第一方面的第八种可能的实施方式，其中，导向轨道为导向槽钢。
结合第一方面，本公开实施例提供了第一方面的第九种可能的实施方式，其中，车架侧板的外侧面设置有安装架，安装架内设置有安装凹槽；安装架的底部与车架连板平齐或者高于车架连板。
结合第一方面，本公开实施例提供了第一方面的第十种可能的实施方式，其中，车架侧板的至少一端设置有水平安装板。
结合第一方面，本公开实施例提供了第一方面的第十一种可能的实施方式，其中，车架侧板的两端分别设置水平安装板，两个水平安装板在车架侧板上的设置高度相同。
结合第一方面，本公开实施例提供了第一方面的第十二种可能的实施方式，还包括车轮，车轮包括驱动轮和万向轮，驱动轮还连接设置有转向电机，转向电机固定设置于水平安装板上部，驱动轮和万向轮设置于水平安装板下部，转向电机通过内啮合的方式驱动该驱动轮。
结合第一方面，本公开实施例提供了第一方面的第十三种可能的实施方式，其中，电池仓设置于车架主板的上部且与车架主板连接，用于容纳为车架提供电源的蓄电池。
本公开实施例的第二方面，提供一种叉车AGV，包括：门架、货叉、电控装置和上述第一方面及其各可能的实施方式任一项提供的车架；门架包括液压站；门架通过齿轮或齿条与车架侧板连接，并沿导向轨道滑动；货叉设置于门架上；电控装置设置于车架侧板外侧。
结合第二方面，本公开实施例提供了第二方面的第一种可能的实施方式，还包括驱动轮和蓄电池；驱动轮与车架侧板的水平安装板连接；至少两个驱动轮沿车架的对角线设置；蓄电池设置于车架的电池仓内并与电控装置电连接；车架主板在电池仓下部设置有容纳空间，用于容纳液压站。
本公开实施例至少带来了以下有益效果：
本公开实施例提供的车架及叉车AGV，通过在两个车架侧板的相对的内面分别设置有贯通式的导向轨道，并且采用齿轮齿条或丝杆的动力实现形式，提高车架的移动行程且提高移动灵活性，使车架的结构更加紧凑，减小车架的占用空间，使车架能够适用于更狭小的操作空间。
本公开的其他特征和优点将在随后的说明书中阐述，或者，部分特征和优点可以从说明书推知或毫无疑义地确定，或者通过实施本公开的上述技术即可得知。
为使本公开的上述目的、特征和优点能更明显易懂，下文特举较佳实施例，并配合所附附图，作详细说明如下。
附图说明
为了更清楚地说明本公开具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本公开的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本公开实施例提供的一种车架的结构示意图；
图2为本公开实施例提供的一种车架的俯视示意图；
图3为本公开实施例提供的一种叉车AGV的结构示意图；
图4为本公开实施例提供的一种叉车AGV的侧视示意图；
图5为本公开实施例提供的一种叉车AGV的俯视示意图。
图标：11-车架主板；12-车架连板；13-车架侧板；14-导向轨道；15-齿条；16-安装凹槽；17-水平安装板；18-电池仓；19-加强筋；31-门架；32-货叉；33-电控装置；34-电池；35-驱动轮；36-万向轮；37-液压站；38-容纳空间；39-齿轮。
具体实施方式
以下对在附图中提供的本公开的实施例的详细描述并非旨在限制要求保护的本公开的范围，而是仅仅表示本公开的选定实施例。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。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例的”、“具体示例”、或“一些示例”、“例如”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合附图对本公开的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做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。通常在此处附图中描述和示出的本公开实施例的组件可以以各种不同的配置来布置和设计。AGV是物流、仓储行业常用的搬运堆垛车辆，现有的AGV主要包括两种：一种是由电动叉车或电动搬运车改装成的AGV，另一种是直接设计制造的AGV。由于在改造或者设计时未充分考虑节省占用空间，例如常规叉车由于尺寸限制和驾驶室的结构形式限制，导致前移机构的行程受到限制，为了达到预定的行程而增大了AGV的纵向长度，导致转弯时需要更大空间，又例如现有的AGV采用油缸作为前移机构的动力，而油缸本身的结构特点要求油缸和前移机构的移动方向水平设置，导致占用更大的纵向长度。AGV多应用于密集型的自动化仓储运输系统或者自动化生产系统中，供AGV行驶的巷道和转弯空间都较狭小，基于此，本公开实施例提供的一种车架及叉车AGV，结构紧凑、占用空间小。
为便于对本实施例进行理解，首先对本公开实施例所公开的一种车架进行详细介绍。
实施例1
本公开实施例提供了一种车架，应用于叉车AGV，包括：车架主板11、车架连板12及相对设置的两个车架侧板13。
其中，车架主板11设置于车架侧板13的一端，并连接两个车架侧板13。车架连板12水平设置于两个车架侧板13之间，并连接两个车架侧板13。两个车架侧板13的相对的内面分别设置有贯通式导向轨道14，导向轨道14用于支撑门架31移动。内面还固定连接有齿条15或丝杠；该齿条15与门架31的齿轮39相匹配，或该丝杠的移动端与门架31的连接件相匹配。门架31固定有齿轮39，通过电机的转动带动该齿轮39，从而带动门架31前后移动；或者，门架31的连接件与丝杠的移动端连接，在丝杠旋转时，门架31随之前后移动。本实施例提供的车架，可以根据使用需要自主研发，而不需要在现有的有人驾驶叉车的基础上改装，可以在设计上使叉车AGV的结构更紧凑、节省空间。
参见图1所示的车架的结构示意图，以前后移动的动力方式采用齿条齿轮配合为例进 行说明，其中主要示出了车架主板11、车架连板12及相对设置的两个车架侧板13。在图1中，车架主板11设置于两个车架侧板13的一端，并连接两个车架侧板13，起到连接车架侧板13以及车架整体的受力承载。在实际生产时，该车架主板11及两个车架侧板13可以一体成型，也可以分别制作后固定连接。
在图1中以车架连板12包括3块独立的连接板为例进行说明，可以理解的是连接板的数量可以根据实际需要进行设置，本实施例对此不作限制。在两个车架侧板13之间水平设置上述车架连板12，该车架连板12用于车架支撑和连接。
示例的，如图1所示，车架连板12分别与两个车架侧板13靠近底边的位置连接固定，车架连板12与水平面平行。
例如车架连板12设置为与车架侧板13的底部边缘齐平，可以既不减小车架与地面的离地高度，还可以增大车架侧板13之间用于安装其他装置的空间，例如设置导向轨道14、齿条15或齿轮39。
为了降低车架的总重，进一步提高整车轻量化的目的，如图1所示，在车架连板12的表面加工有镂空条形槽。
其中，为了提高车架的平衡性，镂空条形槽通常设置为沿车架的运动方向的中心线对称的结构图案。
参见图1，在两个车架侧板13相对的内面分别设置有贯通式的导向轨道14(图1中只示出其中之一)，该导向轨道14用于支撑门架31移动。该贯通式导向轨道14的长度可以接近该车架侧板13的长度，例如，导向轨道14的长度与车架侧板13的长度的比值大于等于2/3，即导向轨道14的大于等于车架侧板13长度的三分之二，以充分利用车架侧板13的工作空间，提高车架的移动行程。
在图1中以内面还设置有齿条15为例进行说明，相应地在门架31上设置有匹配的齿轮39(图1中未示出齿轮39)。齿条15是一种齿分布于条形体上的特殊齿轮。齿条15也分直齿齿条和斜齿齿条，分别与直齿圆柱齿轮和斜齿圆柱齿轮配对使用。导向轨道14平行于车架侧板13，齿条15平行于导向轨道14，以提高车架在工作过程中的整体运动的平稳性。
上述贯通式的导向轨道14可以容纳门架31移动，并可以提供更大的行程。在采用了贯通式的导向轨道14和齿轮齿条驱动方式后，在车架的纵向长度相同的情况下给门架31提供了更大的行程空间。常规叉车无法做到的主要原因有两个：一是由于尺寸限制和驾驶室的结构形式限制，导致无法采用贯通式的轨道结构设计；二是动力为液压缸。液压缸本身的缸筒和活塞杆至少会占用一半行程。因此采用本实施例提供的车架做到前移机构(即门架31)总的行程为1000mm时，常规叉车的前移机构的移动距离为500mm左右。
其中，贯通式的导向轨道14可以采用导向槽钢的方式，槽钢是截面为凹槽形的长条钢材，与门架31的支撑件相匹配。
为了增大前移机构的行程，导向轨道14的至少一端可以延伸至车架侧板13一端部，即导向轨道14的至少一端与其所安装固定的车架侧板13的端部齐平。同样的，该导向轨道14的两端可以分别延伸至车架侧板13的两端，即导向轨道14的两端与车架侧板13的两端齐平，导向轨道14与车架侧板13的长度相同。在图1中以两者长度相同，导向轨道14的两端与车架侧板13的两端齐平为例进行说明，可以理解的是，该导向轨道14可以根据实际需要设置其长度。
本公开实施例提供的车架，可以应用于叉车AGV，通过在两个车架侧板13的相对的内面分别设置有贯通式的导向轨道14，并且采用齿轮齿条的动力实现形式，提高车架的移动行程且提高移动灵活性，使车架的结构更加紧凑，减小车架的占用空间，使车架能够适用于更狭小的操作空间。
参见图1所示，在车架侧板13的外侧面设置有安装架，安装架内设置有安装凹槽16，安装架的底部与车架连板12平齐或者高于车架连板12，图1中支出的结构为安装架的底部与车架连板12平齐。示例的，安装凹槽16可以采用仓室式设计，可以用于安装AGV的相关控制装置或者配重等部件，以充分利用车架内部的可使用空间。该部分在不额外地增加车体尺寸和相关结构的基础上，采用了仓室式设计，增大了车体空间的利用率，而且使得电控装置33等安装更为方便和易于维护。
在图1中还示出了，车架侧板13的至少一端设置有水平安装板17。示例的，可以在两端分别设置水平安装板17，该水平安装板17的下面可以用于安装车轮、上面可以用于安装传感器、检测装置或防撞装置等。上述车轮可以是驱动轮35(例如转向舵轮)或者从动轮(例如万向轮36)。参见图2所示的车架的俯视示意图，其中示出了4个水平安装板17，分别位于车架的四角，用于安装4个车轮，车轮可以采用对角线的两个为驱动轮35、其余两个为从动轮的方式进行。上述车架还可以包括驱动轮35，该驱动轮35的转向电机固定设置于水平安装板17上部，驱动轮35设置于水平安装板17下部，转向电机通过内啮合的方式驱动该驱动轮35。转向电机固定在水平安装板17上，仅通过驱动电机及内啮合的齿轮39将动力传递给驱动轮35，可以节省水平安装板17下的安装空间。
在图1、2中还示出了电池仓18，该电池仓18与车架主板11连接，设置于车架主板11的上部，用于容纳为车架提供电源的蓄电池。
在图2中还示出了加强筋19，可以增加车体的结构强度。
实施例2
本公开实施例提供了一种叉车AGV，包括上述实施例提供的车体。
参见图3所示的叉车AGV的结构示意图，其中示出了叉车AGV包括：门架31、货叉32、电控装置33、电池34、驱动轮35和万向轮36。
货叉32设置于门架31上，门架31起到前后移动和上下移动货叉32的目的，其中，门架31通过齿轮39或齿条15与车架侧板13连接，并沿导向轨道14滑动。门架31前后移动时通过与车体的车架侧板13连接的齿轮39或齿条15方式提供的动力。电控装置33设置于车架侧板13外侧。由于上述实施例提供的车架在结构上更加紧凑，因此可以容纳更多的叉车AGV的功能组件，使叉车AGV的功能更丰富。
在图3中还示出了电池34、驱动轮35和万向轮36，驱动轮35和万向轮36与车架侧板13的水平安装板17连接，电池34设置于车架的电池仓18内并与电控装置33电连接，可通过电控装置33控制电池34的供电。驱动轮35可以采用内啮合的驱动电机及齿轮结构，驱动电机固定在水平安装板17上，不需要转向电机或减速机，仅通过驱动电机及内啮合的齿轮39将动力传递给驱动轮35，可以节省水平安装板17下的安装空间。
在图3中还示出了门架31包括液压站37，该液压站37是独立的液压装置，从电池34处获取电能，由电机带动油泵旋转，将机械能转化为液压油的压力能，用于提供门架31升降该货叉32的动力。
考虑到液压站37具有一定的厚度，为不增加叉车AGV的纵向长度，在车架主板11在电池仓18下部设置有容纳空间38，在门架31收回时可以容纳该液压站37。
参见图4所示的叉车AGV的侧视示意图，车架的安装凹槽16为车架的最低位置，上侧的空间可以用于容纳电控装置33，同侧的车轮分别为驱动轮35和万向轮36。
参见图5所示的叉车AGV的俯视示意图，车架的安装凹槽16内设置了电控装置33，门架31通过齿轮齿条方式与车架连接。其中还示出了车架上的齿条15和门架31上的齿轮39，该齿轮39由电机驱动。
本公开实施例提供的叉车AGV，与上述实施例提供的车架具有相同的技术特征，所以也能解决相同的技术问题，达到相同的技术效果。
另外，在本公开实施例的描述中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本公开中的具体含义。
在本公开的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”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和简化描述，而不是指示或暗示所指的装置或元件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的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，又例如，多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些通信接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
最后应说明的是：以上实施例，仅为本公开的具体实施方式，用以说明本公开的技术方案，而非对其限制，本公开的保护范围并不局限于此，尽管参照前述实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：任何熟悉本技术领域的技术人员在本公开揭露的技术范围内，其依然可以对前述实施例所记载的技术方案进行修改或可轻易想到变化，或者对其中部分技术特征进行等同替换；而这些修改、变化或者替换，并不使相应技术方案的本质脱离本公开实施例技术方案的精神和范围，都应涵盖在本公开的保护范围之内。因此，本公开的保护范围应以权利要求的保护范围为准。
工业实用性
本公开提供了一种车架及叉车AGV，通过在两个车架侧板13的相对的内面分别设置有贯通式的导向轨道14，并且采用齿轮齿条或丝杆的动力实现形式，提高车架在应用于叉车AGV上工作的移动行程且提高移动的灵活性，使车架的结构紧凑，减小车架的占用空间，并使得叉车AGV轻量化，能够适用于更狭小逼仄的操作空间。

Claims (16)

  1. 一种车架，其特征在于，应用于叉车AGV，包括：车架主板、车架连板及相对设置的两个车架侧板；
    所述车架主板设置于所述车架侧板的一端，并连接两个所述车架侧板；
    所述车架连板水平设置于两个所述车架侧板之间，并连接两个所述车架侧板；
    两个所述车架侧板的相对的内面分别设置有贯通式导向轨道，所述导向轨道用于支撑门架移动；
    所述内面还固定连接有齿条或丝杠；所述齿条与所述门架的齿轮相匹配，或所述丝杠的移动端与所述门架的连接件相匹配。
  2. 根据权利要求1所述的车架，其特征在于，所述导向轨道的至少一端延伸至所述车架侧板的端部。
  3. 根据权利要求2所述的车架，其特征在于，所述导向轨道的两端分别延伸至所述车架侧板的两端。
  4. 根据权利要求1-3任一项所述的车架，其特征在于，所述导向轨道平行于所述车架侧板。
  5. 根据权利要求1-4任一项所述的车架，其特征在于，所述车架连板分别与两个所述车架侧板靠近底边的位置连接固定，所述车架连板与水平面平行。
  6. 根据权利要求1-5任一项所述的车架，其特征在于，所述车架连板表面加工有镂空条形槽。
  7. 根据权利要求1-6任一项所述的车架，其特征在于，所述齿条平行于所述导向轨道。
  8. 根据权利要求1-7任一项所述的车架，其特征在于，所述导向轨道的长度与所述车架侧板的长度的比值大于等于2/3。
  9. 根据权利要求1-8任一项所述的车架，其特征在于，所述导向轨道为导向槽钢。
  10. 根据权利要求1-9任一项所述的车架，其特征在于，所述车架侧板的外侧面设置有安装架，所述安装架内设置有安装凹槽；所述安装架的底部与所述车架连板平齐或者高于所述车架连板。
  11. 根据权利要求1-10任一项所述的车架，其特征在于，所述车架侧板的至少一端设置有水平安装板。
  12. 根据权利要求11所述的车架，其特征在于，所述车架侧板的两端分别设置水平安装板，两个所述水平安装板在所述车架侧板上的设置高度相同。
  13. 根据权利要求12所述的车架，其特征在于，还包括车轮，所述车轮包括驱动轮和万向轮，所述驱动轮还连接设置有转向电机，所述转向电机固定设置于所述水平安装板上部，所述驱动轮和所述万向轮分别设置于所述水平安装板下部，所述转向电机通过内啮合的方式驱动所述驱动轮。
  14. 根据其权利要求1-13任一项所述的车架，其特征在于，还包括电池仓，所述电池仓设置于所述车架主板的上部且与所述车架主板连接，用于容纳为所述车架提供电源的蓄电池。
  15. 一种叉车AGV，其特征在于，包括：门架、货叉、电控装置和权利要求1-14任一项所述的车架；
    所述门架包括液压站；
    所述门架通过齿轮或齿条与所述车架侧板连接，并沿所述导向轨道滑动；
    所述货叉设置于所述门架上；
    所述电控装置设置于所述车架侧板外侧。
  16. 根据权利要求15所述的叉车AGV，其特征在于，还包括驱动轮和蓄电池；
    所述驱动轮与所述车架侧板的水平安装板连接；至少两个驱动轮沿所述车架的对角线设置；
    所述蓄电池设置于所述车架的电池仓内并与所述电控装置电连接；
    所述车架主板在所述电池仓下部设置有容纳空间，用于容纳所述液压站。
PCT/CN2018/108852 2018-01-15 2018-09-29 车架及叉车agv WO2019137046A1 (zh)

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CN113816305B (zh) * 2021-08-25 2023-06-06 浙江宇捷智能装备有限公司 一种轻便灵活型托盘堆垛车
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