WO2023103674A1 - Agv叉车 - Google Patents

Agv叉车 Download PDF

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Publication number
WO2023103674A1
WO2023103674A1 PCT/CN2022/130357 CN2022130357W WO2023103674A1 WO 2023103674 A1 WO2023103674 A1 WO 2023103674A1 CN 2022130357 W CN2022130357 W CN 2022130357W WO 2023103674 A1 WO2023103674 A1 WO 2023103674A1
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WO
WIPO (PCT)
Prior art keywords
frame
lifting
agv forklift
fork
agv
Prior art date
Application number
PCT/CN2022/130357
Other languages
English (en)
French (fr)
Inventor
吕峰
史亚奇
Original Assignee
北京捷象灵越科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京捷象灵越科技有限公司 filed Critical 北京捷象灵越科技有限公司
Publication of WO2023103674A1 publication Critical patent/WO2023103674A1/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
    • 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
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • 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 application relates to the field of AGV technology, in particular, to an AGV forklift.
  • Forklift is an industrial handling vehicle, which refers to various wheeled handling vehicles for loading and unloading, stacking and short-distance transportation of palletized goods.
  • the AGV forklift currently used in the workshop is more applicable than manual forklifts, and saves manpower and improves work efficiency.
  • the goods are prone to tilting, center shifting, or being inconsistent with the working environment. Abnormalities such as rubbing and hang-up of other equipment in the warehouse may easily cause loss of goods or even danger.
  • the present application provides an AGV forklift.
  • the AGV forklift has at least the following advantages: strong protection, effectively avoiding abnormalities such as cargo tilting during transportation, and improving the handling stability of the AGV forklift.
  • the application provides an AGV forklift.
  • the AGV forklift may include: a U-shaped frame, including an end frame and side frames oppositely arranged at both ends of the end frame; a lifting drive mechanism, which is arranged on the end frame; Under the driving of the lifting drive mechanism, it can be raised and lowered in the space surrounded by the U-shaped frame.
  • the fork is used to pick up the pallet;
  • the traveling drive mechanism is located at the bottom of the U-shaped frame and is used to drive the U-shaped frame to travel and rotate.
  • the U-shaped frame is set to facilitate the formation of a three-sided covering limit for the goods, avoiding the dangers of tilting, center shifting or falling of the goods during the movement and handling of the AGV forklift, and can effectively avoid the danger of goods and operations.
  • setting up forks driven by the lifting drive mechanism is convenient for lifting goods; setting a visual monitoring mechanism on the lifting drive mechanism, compared to setting the visual sensor on the On the U-shaped bracket, on the one hand, the visual monitoring mechanism and the fork lift synchronously, which is convenient for accurately obtaining the position and attitude of the goods placed on the ground or on the production line, so as to more accurately adjust the position and attitude of the AGV forklift and the fork. height; on the other hand, the visual monitoring mechanism and the fork lift synchronously, which is convenient for timely judging whether the posture of the pallet is normal when the fork picks and places the goods.
  • the AGV itself is at risk of damage, thereby improving the stability of the AGV operation.
  • the AGV forklift may further include: a material arrival switch, which is arranged at the execution end of the lifting drive mechanism, and is used to obtain position information of the pallet on the fork.
  • a material arrival switch can be respectively arranged on both sides of the two prongs of the pallet fork on the execution end of the lifting drive mechanism.
  • a material in-position switch is set at the execution end of the lifting drive mechanism, and the material in-position switch is synchronized with the fork, so that it can be judged in time whether the goods have reached the preset position on the fork.
  • the follow-up actions further ensure the safety and stability of the fork to insert and take out the goods.
  • the traveling driving mechanism may include: two driving wheels arranged at the center of the bottoms of the two side frames; four sets of driven wheel assemblies symmetrically arranged at both ends of the bottoms of the two side frames.
  • two drive wheels are arranged at the center of the bottom of the two side frames, which facilitates the in-situ rotation of the entire AGV car body by controlling the speed and steering of the two drive wheels.
  • the structure of the top angle of the car body effectively shortens the requirement for the rotation radius of the AGV car body, thereby reducing the space required for the car body to run, and facilitating normal rotation and transportation in a narrow working space;
  • a set of driven wheels forms a stable support for the entire U-shaped frame.
  • the two driving wheels can be coaxially arranged at the centers of the bottoms of the two side frames, and each driving wheel is driven to rotate forward and reverse around the axis of the driving wheel by a separate rotating drive assembly.
  • the two drive wheels are coaxially arranged and each drive wheel is driven by a separate rotary drive assembly to rotate forward and reverse around the axis of the drive wheel, so that the AGV forklift adopts a double drive wheel differential drive mode, and the two drive wheels
  • the driving wheels are driven in reverse at the same speed to realize the in-situ rotation of the AGV forklift, and the rotation diameter is the diagonal size of the AGV forklift;
  • the two driving wheels are driven in the same direction at the same speed to realize the straight-line walking of the AGV forklift;
  • the two driving wheels are not constant When rotating in the same direction, the steering movement of the AGV forklift is realized.
  • the rotation driving assembly may include: a first sprocket, coaxially connected with the driving wheel; a second sprocket, rotatably disposed on the side frame, and the first sprocket through a first chain Synchronous transmission: the first motor drives the second sprocket to rotate forward and reverse to drive the drive wheel to rotate forward and reverse.
  • the transmission stability of the sprocket chain assembly is strong.
  • the drive wheel may be a steering wheel.
  • the steering wheel is directly used as the driving wheel.
  • it can also control the lateral or oblique movement of the entire AGV body, further enhancing the flexibility of the AGV body operation.
  • each drive wheel assembly may include at least one spring caster.
  • each of the driven wheel assemblies includes a spring caster, and four of the spring casters are respectively arranged at both ends of the bottoms of the two side frames.
  • the driven wheel adopts a spring caster, which has a spring structure.
  • the spring caster plays an auxiliary shock-absorbing role, and effectively assists in balancing the entire AGV body, strengthening the AGV The stability of the vehicle body running.
  • the traveling driving mechanism may further include: two load-bearing driven wheels arranged at the bottom of the end frame, and the two load-bearing driven wheels are mutually symmetrical with respect to the vertical centerline of the end frame.
  • the setting of the load-bearing driven wheels effectively shares the weight of the AGV body itself, further improving the support stability of the AGV body and smooth operation.
  • the lifting drive mechanism may include: a lead screw, vertically arranged on the end frame, the lead screw is driven to rotate by a second motor, and the lead screw is equipped with a drive nut; a lift plate, connected to the drive nut, and the fork is arranged on the lift plate.
  • the lifting drive mechanism adopts the screw nut assembly, and the lowering space of the fork is large, which is convenient for lowering the fork to the grounding position, and facilitates the AGV body to directly fork the pallet placed on the ground.
  • the lifting drive mechanism may include: a door frame, which is arranged on the end frame; a lifting frame, which slides up and down and is arranged on the door frame, and a fork is arranged on the lifting frame; a hydraulic cylinder, which is arranged on the end frame or the door frame; , the lifting frame is connected to the execution end of the hydraulic cylinder through a transmission assembly, so as to be lifted and lowered under the drive of the hydraulic cylinder.
  • a guide chute is vertically provided on the opposite inner sides of the two side frames of the door frame, and guide rollers are arranged in the guide chute, and the guide rollers are connected with the lifting frame.
  • the lifting drive mechanism adopts a hydraulic cylinder with a chain transmission.
  • the driving fork is lifted or lowered at twice the speed.
  • the lifting speed is fast, which effectively shortens the lifting time of the fork and maintains a stable
  • the lifting space of the fork is large, it is convenient for the AGV body to fork the pallet placed on the production line or other work areas with a certain height.
  • Fig. 1 is the structural representation A of the AGV forklift that some embodiments of the present application provide;
  • Fig. 2 is the bottom view of the AGV forklift shown in Fig. 1;
  • Fig. 3 is a partial structural schematic diagram A of an AGV forklift provided by some embodiments of the present application.
  • Fig. 4 is the front view of the walking drive mechanism shown in Fig. 3;
  • Fig. 5 is a schematic structural diagram of the lifting drive mechanism provided by some embodiments of the present application.
  • Fig. 6 is a side view shown in Fig. 5;
  • Fig. 7 is an appearance perspective view A of an AGV forklift provided by some embodiments of the present application.
  • Fig. 8 is a front view of the appearance of the AGV forklift shown in Fig. 7;
  • Fig. 9 is a bottom view of the appearance of the AGV forklift shown in Fig. 7;
  • Fig. 10 is a schematic structural diagram B of an AGV forklift provided in some embodiments of the present application.
  • Fig. 11 is a partial structural schematic diagram B of an AGV forklift provided by some embodiments of the present application.
  • Fig. 12 is the front view shown in Fig. 11;
  • Fig. 13 is an appearance perspective view B of an AGV forklift provided by some embodiments of the present application.
  • Icon 100-AGV forklift; 10-U-shaped frame; 11-side frame; 12-end frame; 13-protection plate; 20-lifting drive mechanism; 21-support column; 22-support plate; -Linear slide rail slider assembly; 25-lifting plate; 26-second motor; 27-gantry; 28-installation plate; 29-hydraulic cylinder; 210-third sprocket wheel; 211-second chain; Frame; 213-guide chute; 214-guide roller; 215-lifting frame; 216-hydraulic motor; 30-fork; 40-visual monitoring mechanism; ;53-rotary drive assembly; 531-first sprocket; 532-first chain; 533-second sprocket; 534-first motor; 535-installation frame; 536-chain tensioning mechanism; ; 55-underframe; 60-material arrival switch; 70-lidar.
  • orientation or positional relationship indicated by the terms “inner”, “outer”, etc. is based on the orientation or positional relationship shown in the drawings, or the usual placement of the application product when it is used. Orientation or positional relationship is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application.
  • first”, “second”, etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance.
  • setting and “connection” should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, or Integral connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary, and it can be the internal communication of two components.
  • connection should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, or Integral connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary, and it can be the internal communication of two components.
  • AGV Automated Guided Vehicle, automatic guided transport vehicle
  • AGV flatbed trucks cannot directly pick up and carry randomly placed pallets, and require the assistance of manual or robotic arms and other automatic devices.
  • the pallets are placed on the auxiliary rack in advance, and the AGV flatbed truck drags the auxiliary rack or drills into the bottom of the auxiliary rack and Jack up the auxiliary frame to realize the handling of the pallet.
  • This method needs to add auxiliary equipment, which involves the transformation of the factory environment and layout, with heavy workload and high cost.
  • AGV forklift 100 refers to an automatic guided transport vehicle with a fork 30, which uses the fork 30 to directly fork the pallet to carry out logistics handling of the goods on the pallet without the use of auxiliary devices. Compared with ordinary AGV flatbed trucks, AGV When the forklift 100 is applied to pallet handling, it has strong flexibility and a higher degree of automation.
  • the embodiment of the present application provides an AGV forklift 100
  • the AGV forklift 100 may include: a U-shaped frame 10, including an end frame 12 and side frames 11 oppositely arranged at both ends of the end frame;
  • the driving mechanism 20 is located on the end frame 12;
  • the fork 30 is connected to the execution end of the lifting driving mechanism 20, so as to be lifted in the space surrounded by the U-shaped frame 10 under the driving of the lifting driving mechanism 20, and the fork 30 is used for Fork pallets;
  • visual monitoring mechanism 40 located at the execution end of lifting drive mechanism 20, to obtain the image of the pallet on the fork 30;
  • walking drive mechanism 50 located at the bottom of U-shaped frame 10, for driving U-shaped The frame 10 travels and rotates.
  • the fork 30 functions For the pallet on which the goods are placed, there is a space for the insertion of the pallet fork 30 on the pallet.
  • the fork has a lifting function, which can be lowered to the lowest height of the ground, so that it can be docked with standardized load-carrying appliances, that is, pallets, such as standard pallets, wooden boxes and other non-customized appliances, to meet the needs of most common pallets (plastic pallets, wooden pallets, etc.) etc.) fork and handling.
  • a pallet should be understood as a broad concept, and any non-customized exclusive carrier can be considered a standardized pallet.
  • the side frame 11 and the end frame 12 of the U-shaped frame 10 can be covered with a protective plate 13 to facilitate the complete covering of the goods on three sides and ensure the stability of the goods.
  • 30 can adopt a standard double-toothed fork 30, and the fork 30 is horizontally arranged in the space surrounded by the U-shaped frame 10.
  • One end of the fork 30 is connected to the lifting drive mechanism 20 arranged on the end frame 12, and the fork 30
  • the other end of the fork 30 (that is, the end away from the lifting drive mechanism 20) is facing the open end of the U-shaped frame 10 opposite to the end frame.
  • the space formed also can stretch out the side plate certain length of U-shaped frame 10.
  • the visual monitoring mechanism 40 can use a rear camera, of course, the visual monitoring mechanism 40 can be any image capture device.
  • the rear camera can be arranged on the execution end of the lifting drive mechanism 20, that is, the relative position of the rear camera and the fork 30 is fixed, and the rear camera and the fork 30 are lifted and lowered synchronously, so as to accurately obtain the relative position of the fork 30 and the goods, and It is convenient to monitor the state of the goods on the pallet fork 30 at any time.
  • the AGV forklift 100 can also include: a material arrival switch 60, which is arranged at the execution end of the lifting drive mechanism 20, and is used to obtain the position information of the pallet on the fork 30.
  • a material in-position switch 60 can be respectively set on both sides of the two teeth of the pallet fork 30 on the execution end of the lifting drive mechanism 20, and the material in-position switch 60 can be arranged on both sides of the two teeth.
  • the inner side can also be arranged on the two outer sides of the two gear teeth.
  • the relative position of the material arrival switch 60 and the pallet fork 30 is fixed. Set the position, that is, whether the AGV forklift 100 drives the fork 30 to the preset position to ensure that the fork 30 can pick up the goods safely and stably. Moving the AGV forklift 100 in place causes damage to the goods or the body of the AGV forklift 100, further ensuring the safety and stability of the fork 30 for inserting and taking out the goods.
  • the travel driving mechanism 50 may include: two driving wheels 51, arranged at the centers of the bottoms of the two side frames 11; end.
  • the two drive wheels 51 can be coaxially arranged at the center of the bottom of the two side frames 11, and each drive wheel 51 is driven by a separate rotary drive assembly 53 in forward and reverse directions around the axis of the drive wheel 51. rotate.
  • the bottoms of the two side frames 11 can be equipped with underframes 55 parallel to the side frames 11, and the two driving wheels 51 are coaxially arranged on the bottoms of the two underframes 55, and the coaxial It is understood that the rotation axes of the two driving wheels 51 coincide, and the two driving wheels 51 can be respectively rotated at the centers of the bottoms of the two chassis 55 through two rotating shafts.
  • the two driving wheels 51 are driven by a rotating drive assembly 53
  • the drive rotates, so that the AGV forklift 100 adopts the differential drive mode of double drive wheels 51, and the center point of the line connecting the two drive wheels 51, that is, the geometric center point of the AGV forklift 100, is the center of rotation, and the two drive wheels 51 are driven in reverse at a constant speed.
  • the rotation diameter is the diagonal size of the AGV forklift 100; the two drive wheels 51 are driven in the same direction at the same speed to realize the straight-line walking of the AGV forklift 100; when the two drive wheels 51 rotate in the same direction at different speeds , to realize the steering movement of the AGV forklift 100.
  • the rotation driving assembly 53 may be driven by a conventional servo motor to rotate.
  • the rotary drive assembly 53 may include: a first sprocket 531 coaxially connected with the driving wheel 51; a second sprocket 533 arranged in rotation The side frame 11 is synchronously driven with the first sprocket 531 through the first chain 532; the first motor 534 drives the second sprocket 533 to rotate forward and reverse to drive the driving wheel 51 forward and reverse to rotate.
  • the transmission stability of the sprocket chain assembly is strong.
  • the second sprocket 533 can be arranged on the underframe 55, and the underframe 55 is provided with a chain tensioning mechanism 536 between the first sprocket 531 and the second sprocket 533, and the chain tensioning mechanism 536 acts on the first chain.
  • the chain tensioning mechanism 536 can adopt the conventional tensioning mechanism in the related art, and the structure of the chain tensioning mechanism 536 is not limited here as an example, it can be installed on the chassis Connect the tensioning mounting plate on the tensioning mounting plate, rotate and install the tensioning sprocket that cooperates with the first chain 532 on the tensioning mounting plate, adjust the tensioning sprocket and the first chain 532 is tensioned.
  • 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, and then drives the driving wheel 51 to rotate, thereby realizing the drive The drive of the wheel 51.
  • the first motor 534 drives the second sprocket 533 to rotate forward (such as clockwise), the driving wheel 51 rotates forward; the first motor 534 drives the second sprocket 533 to rotate reversely (such as counterclockwise) , the drive wheel 51 rotates in reverse.
  • the drive wheel 51 may be a steering wheel.
  • the AGV forklift 100 is driven by dual rudder wheels. In addition to realizing the in-situ rotation function of the entire AGV body, it can also control the lateral or oblique movement of the entire AGV body, further enhancing the flexibility of the AGV body operation.
  • the steering wheel is widely used in AGV drive.
  • the wheel body of the steering wheel itself is connected to the rotating motor and the steering motor.
  • the rotation axes of the output ends of the rotating motor and the steering motor are perpendicular to each other and have different planes.
  • the application can be based on the AGV forklift 100.
  • the size of the steering wheel can be selected from the existing suitable specifications in the market.
  • the structure and control method of the steering wheel are related technologies.
  • the embodiment of the present application does not make any improvement to the steering wheel itself, so it will not be repeated here.
  • each driven wheel assembly 52 may include at least one sprung caster.
  • each driven wheel assembly 52 may include a spring caster, and four spring casters are respectively arranged at both ends of the bottom of the two side frames.
  • two ends of the bottom of the two side frames 11 can each be provided with two spring casters side by side along the extending direction of the side frames 11, and the spring casters are installed on the chassis 55 at the bottom of the side frame 11.
  • the driven wheel adopts spring casters, which itself has a spring structure.
  • the spring casters play an auxiliary shock-absorbing role, and effectively assist in balancing the entire AGV body, enhancing the AGV body's running stability. smoothness.
  • one end near the end frame 12 of the two underframes 55 can be provided with a mounting frame 535, and the two spring casters near the end frame 12 are installed on the bottom of the mounting frame 535, and the second sprocket 533 and the first motor 534 are set On both sides of the mounting frame 535, in this way, the travel drive mechanism 50 of the U-shaped frame 10 reasonably utilizes the space at the bottom of the U-shaped frame 10, and the support is stable and integrated.
  • the spring casters of appropriate specifications that are already on the market.
  • the structure of installing compression springs on ordinary universal wheels can also be adopted, as long as the buffering and shock absorption function of the AGV car body is realized.
  • the travel driving mechanism 50 may further include: two load-bearing driven wheels 54 disposed on the bottom of the end frame 12 , and the two load-bearing driven wheels 54 are mutually symmetrical with respect to the vertical centerline of the end frame 12 .
  • load-bearing driven wheel 54 can select conventional universal wheel for use, and the setting of load-bearing driven wheel 54 effectively shares the weight of AGV car body itself, further improves the support stability of AGV car body and runs smoothly.
  • the lifting drive mechanism 20 may include: a lead screw 23, vertically arranged on the end frame 12, the lead screw 23 is driven to rotate by the second motor 26, and the lead screw 23 is equipped with a driving nut; the lifting plate 25 is connected to the The nut is driven, and the cargo fork 30 is arranged on the lifting plate 25 .
  • two support columns 21 can be vertically arranged on the end frame 12, the bottom ends of the two support columns 21 extend downward and a support plate is provided between the bottom ends of the two support columns 21 22, wherein two load-bearing driven wheels 54 are arranged at both ends of the bottom of the support plate 22.
  • the leading screw 23 is vertically arranged on the supporting plate 22, and the leading screw 23 is rotated on the supporting plate 22 through the bearing seat, the top of the leading screw 23 is provided with a second motor 26 that drives the rotating screw 23, and the lifting plate 25 is connected to the driving nut , in order to ensure the stability of the lifting plate 25 lifting, the linear slide rail slider assembly 24 is set on the support column 21, the lifting plate 25 is connected to the slider of the linear slide rail slider assembly 24, and the linear slide rail slider assembly 24 pairs of the lifting plate 25 plays a guiding support role.
  • the linear slide rail slider assembly 24 can also be replaced by other conventional linear guide mechanisms, such as guide rod guide sleeve assembly, linear bearing and so on.
  • the second motor 26 is connected with a reducer and is connected with the lead screw 23 through a coupling, and the lead screw 23 may be a trapezoidal lead screw.
  • the lifting drive mechanism 20 adopts the lead screw nut assembly, and the descending space of the cargo fork 30 is large, which is convenient for the cargo fork 30 to be lowered to the grounding position, and is convenient for the AGV body to directly fork the pallet placed on the ground.
  • the lifting drive mechanism 20 may include: a door frame 27, which is arranged on the end frame 12; a lifting frame 215, which is slid up and down and arranged on the door frame 27, and the fork 30 is arranged on the lifting frame 215; a hydraulic cylinder 29, which is set On the end frame 12 or the door frame 27; wherein, the lifting frame is connected to the execution end of the hydraulic cylinder through the transmission assembly, so as to be lifted and lowered under the drive of the hydraulic cylinder.
  • the hydraulic cylinder 29 drives the lifting frame 215 up and down as the main driver of the driving lifting frame 215, and there are various ways to set it up.
  • the body of the hydraulic cylinder 29 is placed on the top of the lifting frame 215 upside down.
  • the actuating end faces downwards to provide a driving force in the vertical direction for the lifting frame 215 .
  • the body of the hydraulic cylinder 29 can be arranged on the end frame 12 , and the execution end of the hydraulic cylinder 29 is vertically upward to provide a vertical driving force for the lifting frame 215 .
  • transmission components refer to the intermediate transmission components set up to achieve the drive of the main drive parts (such as hydraulic cylinders, motors, etc.) to the final actuator. On the one hand, it can make the transmission force more stable. On the other hand, some transmission components The driving force of the main driving part can be amplified or reduced to make it applicable. For example, when the motor drives the shaft to rotate, a reducer is often set as a transmission component to transmit the rotating driving force.
  • the transmission assembly may include: a third sprocket 210, which is rotatably arranged at the driving end of the hydraulic cylinder 29; a second chain 211, and one end of the second chain 211 is fixedly arranged on the end frame 12 or the door frame 27, the other end is fixedly connected with the lifting frame 215 around the third sprocket 210.
  • the door frame 27 can be vertically arranged on the end frame 12, the bottom ends of the two side frames 11 of the door frame 27 extend downwards and the bottom ends of the two side frames 11 A mounting plate 28 can be set between them, and a hydraulic cylinder 29 is vertically arranged on the mounting plate 28.
  • the hydraulic cylinder 29 is driven by a hydraulic motor 216 and a hydraulic pump, and the top of the door frame 27 extends upwards and is higher than the end frame 12, and the door frame A horizontal frame 212 is connected between the two side frames 11 of 27 , one end of the second chain 211 is fixed to the horizontal frame 212 , and the other end is connected to the lifting frame 215 around the third chain wheel 210 .
  • guide chute 213 can be vertically set on the relative inner side of two side frames 11 of door frame 27, is equipped with guide roller 214 in guide chute 213, and guide roller 214 is connected with elevating frame 215, and guide chute 213 and The setting of the guide roller 214 limits the lifting plate 25 to slide up and down on the door frame 27, and plays a guiding and supporting role for the lifting plate 25.
  • the guide roller 214 cooperates with the guide chute 213, and the frictional force is small, which effectively reduces the force loss.
  • the lifting frame 215 can also slide up and down relative to the door frame 27 through the slide rail slider assembly.
  • the lifting drive mechanism 20 adopts the hydraulic cylinder 29 to cooperate with the chain transmission.
  • the hydraulic cylinder 29 When the hydraulic cylinder 29 is lifted or lowered, the driving fork 30 is lifted or lowered at twice the speed.
  • the lifting speed is fast, which effectively shortens the lifting time of the fork 30 and maintains a stable
  • the AGV car body On the premise that the lifting space of the fork 30 is large, it is convenient for the AGV car body to fork and place pallets placed in the production line or other work areas with a certain height.
  • the AGV forklift 100 of the embodiment of the present application can be powered by a lithium battery.
  • components such as processors, communication modules, drive devices, and guidance modules are not shown in the drawings, those skilled in the art should understand , these components must be included in the AGV forklift 100 to assist in the realization of its handling function, since these components are not the technical improvement points of this application, this application will not repeat them here.
  • the guidance module of the AGV forklift 100 can use magnetic strip guidance or laser guidance. This application does not make any improvements to the guidance system of the AGV, and which guidance module is used does not affect the expression of the technical solution of this application.
  • the height and extension length of the end frame 12 and side frame 11 (the extension length of the end frame 12 determines the body width of the AGV forklift 100, and the extension length of the side frame 11 determines the body length of the AGV forklift 100) can be flexibly set according to actual use requirements , in order to ensure the running stability of the AGV forklift 100, the height of the side frame 11 and the end frame 12 from the ground is preferably 0.8m to 1.2m.
  • laser radars 70 can be arranged at the two opposite corners of the U-shaped frame 10, as shown in Figure 13, one laser radar is arranged at the right front corner and the left rear corner of the U-shaped frame 10. 70.
  • the two lidars 70 include the U-shaped body of the AGV forklift 100 within the detection range, realizing 360-degree safety detection of the body of the AGV forklift 100.
  • the AGV body moves along the navigation to the preset pick-up position, the lifting drive mechanism 20 drives the fork 30 down to the bottom, and the rear camera obtains the exact position of the pallet.
  • the AGV forklift 100 According to the precise position of the pallet, the position of the AGV forklift 100 and the height and posture of the fork 30 are further corrected, and then the AGV forklift 100 approaches the pallet so that the fork 30 is gradually placed on the bottom of the pallet.
  • the material is triggered
  • the in-position switch 60 after confirming that the pallet is in place through the material in-position switch 60, the lifting drive mechanism 20 lifts the fork 30 to lift the pallet off the ground, and the AGV forklift 100 carries the pallet and transports it to the target point.
  • the AGV forklift 100 runs to the target placement point, the lifting drive mechanism 20 drives the fork 30 down to make the pallet fall to the ground, and then the AGV forklift 100 moves back to make the fork 30 exit the pallet.
  • the AGV body runs along the navigation to the preset pick-up position, and the lifting drive mechanism 20 drives the fork 30 to lift to the preset height, and the rear
  • the camera acquires the exact position and height of the pallet, and the AGV forklift 100 further corrects the position of the AGV forklift 100 and the height and attitude of the fork 30 according to the precise position of the pallet, and then the AGV forklift 100 approaches the pallet so that the fork 30 is gradually fully positioned At the bottom of the pallet, after the pallet is forked in place, the material arrival switch 60 is triggered.
  • the AGV forklift 100 moves back to make the pallet leave the top of the initial placement point, and then the lifting drive mechanism 20 can Drive the fork 30 down to a safe transportation height, and the AGV forklift 100 carries the pallet and transports it to the target point.
  • the AGV forklift 100 runs to the target placement point, the lifting drive mechanism 20 drives the fork 30 to rise to a height higher than the placement point, and the AGV forklift 100 approaches the placement point.
  • the pallet is located above the placement point, and the lifting drive mechanism 20 drives the fork 30 down to a certain height, so that the pallet falls on the placement point, and then the AGV forklift 100 moves back to make the fork 30 exit the pallet.
  • the AGV forklift includes: a U-shaped frame, including an end frame and side frames oppositely arranged at both ends of the end frame; a lifting drive mechanism, which is arranged on the end frame; The execution end of the driving mechanism is used to lift and lower under the driving of the lifting drive mechanism; the visual monitoring mechanism is set at the execution end of the lifting drive mechanism to obtain the image of the pallet on the fork; the walking drive mechanism is set at the bottom of the U-shaped frame , used to drive the U-shaped frame to walk and rotate.
  • This application sets a U-shaped frame to facilitate the formation of a three-sided covering limit for the goods, improving the safety of the AGV forklift handling; setting a visual monitoring mechanism and synchronous lifting of the fork to facilitate accurate acquisition of images of pallets placed on the ground or at a certain height; Moreover, the visual monitoring mechanism is convenient for timely judging whether the posture of the pallet is normal when the goods are picked and placed by the fork, and further improves the safety of picking and placing the goods.
  • the AGV forklift of the present application is reproducible and can be used in a variety of applications.
  • the AGV forklift of the present application can be applied to the field of AGV technology and the like.

Abstract

一种AGV叉车，包括：U型框架（10），该U型框架（10）包括端架（12）和相对设置在端架两端的侧架（11）；升降驱动机构（20），设于端架（12）；货叉（30），连接于升降驱动机构（20）的执行端，以在升降驱动机构（20）的驱动下升降；视觉监测机构（40），设于升降驱动机构（20）的执行端，以获取货叉（30）上货盘的图像；行走驱动机构（50），设于U型框架（10）的底部，用于驱动U型框架（10）行走和旋转。该AGV叉车设置了U型框架，便于对货物形成三面包覆式限位，提高AGV叉车搬运安全性；设置视觉监测机构与货叉同步升降，便于准确获取放置在地面或一定高度的货盘的图像；且视觉监测机构便于及时判断货叉取放货物时货盘的姿态是否正常，进一步提高货物取放的安全性。

Description

AGV叉车
相关公开的交叉引用
本公开要求于2021年12月10日提交中国国家知识产权局的公开号为202123108720.4、名称为“一种AGV叉车”的中国专利公开的优先权，其全部内容通过引用结合在本公开中。
技术领域
本申请涉及AGV技术领域，具体而言，涉及一种AGV叉车。
背景技术
叉车是工业搬运车辆，是指对成件托盘货物进行装卸、堆垛和短距离运输作业的各种轮式搬运车辆。
人工叉车费时费力，效率低下，且工人操作水平参差不齐，容易出现危险，造成损失，不符合工厂的5S标准，逐渐被淘汰。
目前在车间使用的AGV叉车，相较于人工叉车适用性更强，且节省人力提高了工作效率，但相关的AGV叉车在移动、搬运过程中，货物容易出现倾斜、中心偏移或者与作业环境中其他设备擦挂等异常，易造成货物损失甚至发生危险。
发明内容
本申请提供一种AGV叉车，该AGV叉车至少具有以下优势：防护性强，有效避免运输过程中货物倾斜等异常，提高AGV叉车搬运稳定性。
本申请提供一种AGV叉车，AGV叉车可以包括：U型框架，包括端架和相对设置在端架两端的侧架；升降驱动机构，设于端架；货叉，连接于升降驱动机构的执行端，以在升降驱动机构的驱动下在U型框架围成的空间内升降，货叉用于叉取货盘；视觉监测机构，设于升降驱动机构的执行端，用于获取货叉上货盘的图像；行走驱动机构，设于U型框架的底部，用于驱动U型框架行走和旋转。
上述技术方案中，设置U型框架便于对货物形成三面包覆式的限位，避免AGV叉车在移动、搬运过程中货物出现倾斜、中心偏移或者掉落等危险，且可有效避免货物与作业环境中其他设备发生擦挂，造成货物损失甚至发生危险；设置由升降驱动机构驱动的货叉，便于举升货物；在升降驱动机构上设置视觉监测机构，相较于将视觉传感件设置在U型支架上的方式，一方面，视觉监测机构与货叉同步升降，便于准确获取放置在地面或生产线上的货物的位置及姿态，以更准确的调整AGV叉车的位置和姿态以及货叉的高度；另一方面，视觉监测机构与货叉同步升降，便于及时判断货叉取放货物时货盘的姿态是否正常，有异常时能够及时停机，进一步提高货物取放的安全性，降低货物或AGV本身损坏风险，从而提高AGV运行稳定性。
在一些实施例中，AGV叉车还可以包括：物料到位开关，设于升降驱动机构的执行端，用于获取货叉上的货盘的位置信息。
在一些实施例中，在所述升降驱动机构的执行端上位于所述货叉的两个插齿的两侧可以分别设置一个物料到位开关。
上述技术方案中，在升降驱动机构的执行端设置物料到位开关，物料到位开关与货叉同步，能够及时判断货物是否到达货叉上的预设位置，货物到达货叉的预设位置后再进行后续动作，进一步保证货叉插取货物的安全稳定性。
在一些实施例中，行走驱动机构可以包括：两个驱动轮，设于两个侧架的底部的中心；四组从动轮组件，对称设于两个侧架的底部的两端。
上述技术方案中，在两个侧架的底部的中心设置两个驱动轮，便于通过控制两个驱动轮的速度、转向而实现整个AGV车体的原地旋转，相较于将驱动轮设置在车体顶角的结构，有效缩短AGV车体旋转半径需求，从而减小车体运行所需空间，便于在狭窄的作业空间内正常旋转搬运；在两个侧架的底部的两端均设置一组从动轮，对整个U型框架形成稳定的支撑。
在一些实施例中，两个驱动轮可以同轴设于两个侧架的底部的中心，每个驱动轮由一个单独的旋转驱动组件驱动绕驱动轮的轴心线正反向旋转。
上述技术方案中，两个驱动轮同轴设置且每个驱动轮由一个单独的旋转驱动组件驱动绕驱动轮的轴心线正反向旋转，使得AGV叉车采用双驱动轮差速驱动方式，两驱动轮等速反向驱动，以实现AGV叉车的原地旋转，旋转直径为AGV叉车的对角线尺寸；两驱动轮等速同向驱动，实现AGV叉车的直线行走；两驱动轮不等速同向旋转时，实现该AGV叉车的转向运动。
在一些实施例中，旋转驱动组件可以包括：第一链轮，与所述驱动轮同轴连接；第二链轮，转动设置于所述侧架，与所述第一链轮通过第一链条同步传动；第一电机，驱动所述第二链轮正反向旋转，以带动所述驱动轮正反向旋转。采用链轮链条组件传动稳定性强。
在一些实施例中，驱动轮可以为舵轮。
上述技术方案中，驱动轮直接采用舵轮，除了可实现整个AGV车体的原地旋转功能外，还可控制整个AGV车体横向或斜向运行，进一步增强AGV车体运行的灵活性。
在一些实施例中，每个驱动轮组件可以包括至少一个弹簧脚轮。
在一些实施例中，每个所述从动轮组件包括一个弹簧脚轮，四个所述弹簧脚轮分别设置于两个所述侧架的底部的两端。
上述技术方案中，从动轮采用弹簧脚轮，其带有弹簧结构，AGV车体在地面不平整的环境中运行时，弹簧脚轮起到辅助减震作用，并有效辅助平衡整个AGV车体，增强AGV 车体运行的平稳性。
在一些实施例中，行走驱动机构还可以包括：两个承重从动轮，设于端架的底部，两个承重从动轮相对于端架的竖直中心线相互对称。承重从动轮的设置有效分担AGV车体自身的重量，进一步提高AGV车体的支撑稳定性运行平稳性。
在一些实施例中，升降驱动机构可以包括：丝杠，竖直设置于端架，丝杠由第二电机驱动旋转，丝杠配有驱动螺母；升降板，连接于驱动螺母，货叉设于升降板。
上述技术方案中，升降驱动机构采用丝杠螺母组件，货叉的下降空间大，方便将货叉下降至接地位置，便于AGV车体直接叉取放置在地面的货盘。
在一些实施例中，升降驱动机构可以包括：门架，设置于端架；升降架，上下滑动设置在门架上，货叉设置于升降架；液压缸，设置于端架或门架；其中，所述升降架通过传动组件连接于所述液压缸的执行端，以在所述液压缸的驱动下升降。
在一些实施例中，在所述门架的两个侧架的相对的内侧竖直设置导向滑槽，所述导向滑槽内配有导向滚轮，所述导向滚轮与所述升降架连接。
上述技术方案中，升降驱动机构采用液压缸配合链条传动，液压缸举升或下降时，驱动货叉以两倍的速度提升或下降，升降速度快，有效缩短货叉升降时间，且保持稳定的前提下货叉的提升空间大，便于AGV车体叉取放置在生产线或其他具有一定高度的作业区的货盘。
附图说明
为了更清楚地说明本实用新型实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本实用新型的某些实施例，因此不应被看作是对范围的限定，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相关的附图。
图1为本申请一些实施例提供的AGV叉车的结构示意图A；
图2为图1所示的AGV叉车的仰视图；
图3为本申请一些实施例提供的AGV叉车的局部结构示意图A；
图4为图3所示的行走驱动机构的主视图；
图5为本申请一些实施例提供的升降驱动机构的结构示意图；
图6为图5所示的侧视图；
图7为本申请一些实施例提供的AGV叉车的外观立体图A；
图8为图7所示的AGV叉车的外观主视图；
图9为图7所示的AGV叉车的外观仰视图；
图10为本申请一些实施例提供的AGV叉车的结构示意图B；
图11为本申请一些实施例提供的AGV叉车的局部结构示意图B；
图12为图11所示的主视图；
图13为本申请一些实施例提供的AGV叉车的外观立体图B。
图标：100-AGV叉车；10-U型框架；11-侧架；12-端架；13-保护板；20-升降驱动机构；21-支撑柱；22-支撑板；23-丝杠；24-直线滑轨滑块组件；25-升降板；26-第二电机；27-门架；28-安装板；29-液压缸；210-第三链轮；211-第二链条；212-横架；213-导向滑槽；214-导向滚轮；215-升降架；216-液压电机；30-货叉；40-视觉监测机构；50-行走驱动机构；51-驱动轮；52-从动轮组件；53-旋转驱动组件；531-第一链轮；532-第一链条；533-第二链轮；534-第一电机；535-安装架；536-链条张紧机构；54-承重从动轮；55-底架；60-物料到位开关；70-激光雷达。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本申请实施例的组件可以以各种不同的配置来布置和设计。
因此，以下对在附图中提供的本申请的实施例的详细描述并非旨在限制要求保护的本申请的范围，而是仅仅表示本申请的选定实施例。基于本申请中的实施例，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，都属于本申请保护的范围。
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定义和解释。
在本申请的描述中，需要说明的是，术语“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，或者是该申请产品使用时惯常摆放的方位或位置关系，仅是为了便于描述本申请和简化描述，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申请的限制。此外，术语“第一”、“第二”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
在本申请的描述中，还需要说明的是，除非另有明确的规定和限定，术语“设置”、“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申请中的具体含义。
AGV(Automated Guided Vehicle，自动导引运输车)通常应用于工业生产现场的工站间的物流移转，以实现工业物流自动化。但普通的AGV平板车无法直接拿取并搬运随意放 置的货盘，需要人工或机械臂等自动装置协助，事先将货盘放置在辅助架上，AGV平板车拖拽辅助架或钻进辅助架底部并顶起辅助架，实现对货盘的搬运。该方式需要添加辅助设备，涉及到对工厂环境和布局的改造，工作量大，成本较高。
AGV叉车100指带有货叉30的自动导引运输车，使用货叉30直接叉取货盘，以对货盘上的货物进行物流搬运，无需借助辅助装置，相较于普通AGV平板车，AGV叉车100应用于货盘搬运时灵活性强自动化程度更高。
但普通的AGV叉车100在取放货盘以及移动搬运过程中，货物容易出现倾斜、中心偏移、掉落或者与作业环境中其他设备擦挂等异常，易造成货物损失且存在较大安全隐患，整体AGV车体取放货物及搬运的稳定性不足。
请参照图1和图2所示，本申请实施例提供一种AGV叉车100，该AGV叉车100可以包括：U型框架10，包括端架12和相对设置在端架两端的侧架11；升降驱动机构20，设于端架12；货叉30，连接于升降驱动机构20的执行端，以在升降驱动机构20的驱动下在U型框架10围成的空间内升降，货叉30用于叉取货盘；视觉监测机构40，设于升降驱动机构20的执行端，以获取货叉30上货盘的图像；行走驱动机构50，设于U型框架10的底部，用于驱动U型框架10行走和旋转。
可以理解的是，与常规叉车的应用一样(货物放置在货盘上，叉车的货叉叉取货盘，完成货物的搬运)，本申请的AGV叉车100在进行货物搬运时，货叉30作用于放置货物的货盘，货盘上留有容纳货叉30插入的空间。货叉具有升降功能，可最低降至地面的高度，从而可对接标准化承载器具也就是货盘，如标准托盘、木箱等非定制化器具，以满足大多数常见货盘(塑料托盘、木质托盘等)的叉取和搬运。在此，货盘应被理解为一个广义概念，任何非定制的专属承载器具均可以被认为是标准化货盘。
如图7至图9所示，U型框架10的侧架11和端架12上可以均覆盖有保护板13，以方便对货物实现三面完全包覆，保证货物限位的稳定性，货叉30可以采用标准的双齿型货叉30，货叉30水平设置在U型框架10围成的空间内，货叉30的一端连接于设置在端架12上的升降驱动机构20，货叉30的另一端(即远离升降驱动机构20的一端)朝向U型框架10的与端架相对的开口端，可以理解的是，货叉30远离升降驱动机构20的一端既可以位于U型框架10围成的空间内，也可以伸出U型框架10的侧板一定长度。
视觉监测机构40可以使用后置摄像头，当然，视觉监测机构40可以是任何图像捕获装置。后置摄像头可以设置于升降驱动机构20的执行端，即后置摄像头与货叉30的相对位置固定，后置摄像头与货叉30同步升降，便于准确获取货叉30与货物的相对位置，并便于随时监测货叉30上货物的状态。
在一些实施例中，AGV叉车100还可以包括：物料到位开关60，设于升降驱动机构 20的执行端，用于获取货叉30上的货盘的位置信息。
如图2所示，在升降驱动机构20的执行端上位于货叉30的两个插齿的两侧可以分别设置一个物料到位开关60，物料到位开关60既可以设置于两个插齿的两内侧，也可以设置于两个插齿的两外侧，物料到位开关60与货叉30的相对位置固定，物料到位开关60与货叉30同步升降，能够及时判断货物是否到达货叉30上的预设位置，即AGV叉车100是否驱动货叉30运行至预设位置，以确保货叉30安全稳定的叉取货物，货物到达货叉30的预设位置后再进行后续动作，避免货物叉取不到位移动AGV叉车100而造成货物或AGV叉车100车体损坏，进一步保证货叉30插取货物的安全稳定性。
在一些实施例中，行走驱动机构50可以包括：两个驱动轮51，设于两个侧架11的底部的中心；四组从动轮组件52，对称设于两个侧架11的底部的两端。
可选地，两个驱动轮51可以同轴设于两个侧架11的底部的中心，每个驱动轮51由一个单独的旋转驱动组件53驱动而绕驱动轮51的轴心线正反向旋转。
如图3和图4所示，两个侧架11的底部可以均安装有与侧架11平行的底架55，两个驱动轮51同轴设在两个底架55的底部，同轴应理解为两个驱动轮51的旋转轴心线重合，两个驱动轮51可以通过两个转轴分别转动安装于两个底架55的底部的中心，两个驱动轮51分别由一个旋转驱动组件53驱动旋转，使得AGV叉车100采用双驱动轮51差速驱动方式，以两个驱动轮51连线的中心点即AGV叉车100的几何中心点为旋转中心，两驱动轮51等速反向驱动，实现AGV叉车100的原地旋转，旋转直径为AGV叉车100的对角线尺寸；两驱动轮51等速同向驱动，实现AGV叉车100的直线行走；两驱动轮51不等速同向旋转时，实现该AGV叉车100的转向运动。
其中，旋转驱动组件53可以采用常规的伺服电机驱动旋转。可选地，为了保证驱动稳定性，如图3和图4所示，旋转驱动组件53可以包括：第一链轮531，与所述驱动轮51同轴连接；第二链轮533，转动设置于所述侧架11，与所述第一链轮531通过第一链条532同步传动；第一电机534，驱动所述第二链轮533正反向旋转，以带动所述驱动轮51正反向旋转。采用链轮链条组件传动稳定性强。
其中，第二链轮533可以设置于底架55，底架55上位于第一链轮531和第二链轮533之间设置有链条张紧机构536，链条张紧机构536作用于第一链条532以实现第一链条532的张紧调整，链条张紧机构536可以采用相关技术中常规的张紧机构，此处不对链条张紧机构536的结构做唯一性限定示例性的，可以在底架上连接张紧安装板，在张紧安装板上转动安装与第一链条532配合的张紧链轮，调整张紧链轮而对第一链条532进行张紧。
当第一电机534工作时，第一电机534驱动第二链轮533旋转，第二链轮533旋转带动第一链条532及第一链轮531旋转，进而带动驱动轮51旋转，从而实现对驱动轮51的 驱动。相应地，第一电机534驱动第二链轮533正向旋转(如顺时针旋转)时，驱动轮51正向旋转；第一电机534驱动第二链轮533反向旋转(如逆时针旋转)时，驱动轮51反向旋转。
在一些实施例中，驱动轮51可以为舵轮。AGV叉车100使用双舵轮驱动，除了可实现整个AGV车体的原地旋转功能外，还可控制整个AGV车体横向或斜向运行，进一步增强AGV车体运行的灵活性。
可以理解的是，舵轮广泛应用于AGV驱动，舵轮的轮体本身连接旋转电机和转向电机，旋转电机和转向电机的输出端的旋转轴心线相互垂直且不同面，应用时可以根据AGV叉车100的尺寸选择市场已有的合适规格的舵轮即可，舵轮的结构、控制方式均为相关的技术，本申请实施例未对舵轮本身做任何改进，在此不再赘述。
在一些实施例中，每个从动轮组件52可以包括至少一个弹簧脚轮。
可选地，每个从动轮组件52可以包括一个弹簧脚轮，四个弹簧脚轮分别设置于两个侧架的底部的两端。
可选地，如图4所示，两个侧架11的底部两端可以各沿侧架11的延伸方向并排设置两个弹簧脚轮，弹簧脚轮均安装在侧架11底部的底架55上，从动轮采用弹簧脚轮，其本身带有弹簧结构，AGV车体在地面不平整的环境中运行时，弹簧脚轮起到辅助减震作用，并有效辅助平衡整个AGV车体，增强AGV车体运行的平稳性。
其中，两个底架55的靠近端架12的一端可以均设有安装架535，靠近端架12的两个弹簧脚轮安装在安装架535的底部，第二链轮533和第一电机534设置在安装架535的两侧面，这样，U型框架10的行走驱动机构50合理利用U型框架10底部的空间，支撑稳定、整合性强，弹簧脚轮可根据AGV叉车100的尺寸、重量、核定负载等选择市场上已有的合适规格的弹簧脚轮即可。当然，可以理解的是，也可以采用在普通万向轮上安装压缩弹簧的结构，只要实现对AGV车体的缓冲减震功能即可。
在一些实施例中，行走驱动机构50还可以包括：两个承重从动轮54，设于端架12的底部，两个承重从动轮54相对于端架12的竖直中心线相互对称。
其中，承重从动轮54可以选用常规的万向轮，承重从动轮54的设置有效分担AGV车体自身的重量，进一步提高AGV车体的支撑稳定性运行平稳性。
在一些实施例中，升降驱动机构20可以包括：丝杠23，竖直设置于端架12，丝杠23由第二电机26驱动旋转，丝杠23配有驱动螺母；升降板25，连接于驱动螺母，货叉30设于升降板25。
如图5和图6所示，可以在端架12上竖直设置两个支撑柱21，两个支撑柱21的底端向下延伸且两个支撑柱21的底端之间设有支撑板22，其中，两个承重从动轮54设置于支 撑板22底部的两端。丝杠23竖直设置在支撑板22上，且丝杠23通过轴承座转动设置于支撑板22，丝杠23的顶部设置驱动丝杠23旋转的第二电机26，升降板25连接于驱动螺母，为了保证升降板25升降的稳定性，在支撑柱21上设置直线滑轨滑块组件24，升降板25连接直线滑轨滑块组件24的滑块，直线滑轨滑块组件24对升降板25起到导向支撑作用。当然，直线滑轨滑块组件24还可采用其他常规的直线导向机构代替，比如导向杆导套组件、直线轴承等。
可以理解的是，第二电机26连接有减速机并通过联轴器连接丝杠23，丝杠23可以采用梯形丝杠。升降驱动机构20采用丝杠螺母组件，货叉30的下降空间大，方便将货叉30下降至接地位置，便于AGV车体直接叉取放置在地面的货盘。
在一些实施例中，升降驱动机构20可以包括：门架27，设置于端架12；升降架215，上下滑动设置在门架27上，货叉30设置于升降架215；液压缸29，设置于端架12或门架27；其中，升降架通过传动组件连接于液压缸的执行端，以在液压缸的驱动下升降。
可以理解的是，液压缸29作为驱动升降架215的主驱动件驱动升降架215升降，其设置方式有多种，比如，将液压缸29的本体倒置于升降架215的顶部，液压缸29的执行端朝下为升降架215提供竖直方向的驱动力。
可选地，如图10所示，液压缸29的本体可以设置于端架12，液压缸29的执行端竖直朝上为升降架215提供竖直方向的驱动力。
传动组件在实际应用中是指为了达成主驱动件(如液压缸、电机等)对最终执行件的驱动所设置的中间传动件，一方面可以使传动力更加稳定，另一方面，一些传动组件可以对主驱动件的驱动力进行放大或缩小，使其变得适用，比如电机驱动轴旋转时，往往设置减速机作为传动组件进行旋转驱动力传递。
在本申请的一些实施例中，传动组件可以包括：第三链轮210，转动设置于液压缸29的驱动端；第二链条211，第二链条211的一端固定设置于端架12或门架27，另一端绕过第三链轮210与升降架215固定连接。
可选地，如图10至图13所示，门架27可以竖直设置在端架12上，门架27的两个侧架11的底端向下延伸且两个侧架11的底端之间可以设置安装板28，液压缸29竖直设置在安装板28上，当然，液压缸29通过液压电机216和液压泵驱动，门架27的顶端向上延伸且高于端架12，门架27的两个侧架11之间连接有横架212，第二链条211的一端固定于横架212，另一端绕过第三链轮210连接升降架215。
其中，可以在门架27的两个侧架11的相对的内侧竖直设置导向滑槽213，导向滑槽213内配有导向滚轮214，导向滚轮214与升降架215连接，导向滑槽213和导向滚轮214的设置限定升降板25在门架27上上下滑动，且对升降板25起到导向及支撑作用，导向滚 轮214与导向滑槽213相配合，摩擦力小，有效降低力损失，当然，可以理解的是，升降架215还可以通过滑轨滑块组件而相对门架27上下滑动。
升降驱动机构20采用液压缸29配合链条传动，液压缸29举升或下降时，驱动货叉30以两倍的速度提升或下降，升降速度快，有效缩短货叉30升降时间，且保持稳定的前提下货叉30的抬升空间大，便于AGV车体叉取放置在生产线或其他具有一定高度的作业区的货盘。
需要说明的是，本申请实施例的AGV叉车100可以使用锂电池供电，尽管附图中未示出诸如处理器、通信模块、驱动装置、导引模块等部件，但本领域技术人员应能理解，这些部件必然包含于AGV叉车100中以辅助实现其搬运功能，由于这些部件并非本申请的技术改进点，本申请在此不做赘述。AGV叉车100的导引模块可以使用磁条导引或激光导引，本申请未对AGV的导引系统做任何改进，采用何种导引模块并不影响本申请技术方案的表达。端架12和侧架11的高度和延伸长度(端架12的延伸长度决定AGV叉车100的车体宽度，侧架11的延伸长度决定AGV叉车100的车体长度)可根据实际使用需求灵活设置，为了确保AGV叉车100的运行稳定性，侧架11和端架12距离地面的高度优选为0.8m至1.2米。
为了进一步提高AGV叉车100运行的安全性，可在U型框架10的两对角设置激光雷达70，如图13所示，在U型框架10的右前角和左后角位置各布置一个激光雷达70，AGV叉车100运行时，两个激光雷达70将U型的AGV叉车100车体纳入检测范围内，实现对AGV叉车100车体的360度的安全检测。
需要说明的是，在实际应用中，可以根据叉取货盘的高度需求和放置货盘的落地与否需求而灵活选择使用采用丝杠的升降驱动机构或采用液压缸的升降驱动机构为货叉30提供升降驱动力。
本申请实施例的AGV叉车100的工作原理：
在叉取放置在地面上的货盘时，AGV车体沿导航运行至预设取货位置，升降驱动机构20驱动货叉30下降至底部，后置摄像头获取货盘的准确位置，AGV叉车100根据货盘的精确位置进一步矫正AGV叉车100的位置和货叉30的高度及姿态，然后AGV叉车100靠近货盘使货叉30逐渐完全置于货盘底部，货盘叉取到位后，触发物料到位开关60，通过物料到位开关60确认货盘到位后，升降驱动机构20抬升货叉30使货盘离地，AGV叉车100承载货盘将其运输至目标点即可。
在将货盘放置在地面上时，AGV叉车100运行至目标放置点，升降驱动机构20驱动货叉30下降，使货盘落地，然后AGV叉车100后退使货叉30退出货盘即可。
在叉取放置在生产线上或其他具有一定高度的非地面位置的货盘时，AGV车体沿导航 运行至预设取货位置，升降驱动机构20驱动货叉30抬升至预设高度，后置摄像头获取货盘的准确位置和准确高度，AGV叉车100根据货盘的精确位置进一步矫正AGV叉车100的位置和货叉30的高度及姿态，然后AGV叉车100靠近货盘使货叉30逐渐完全置于货盘底部，货盘叉取到位后，触发物料到位开关60，通过物料到位开关60确认货盘到位后，AGV叉车100后退，使货盘离开初始放置点的上方，然后升降驱动机构20可以驱动货叉30下降至安全运输高度，AGV叉车100承载货盘将其运输至目标点即可。
在将货盘放置在生产线上或其他具有一定高度的非地面位置时，AGV叉车100运行至目标放置点，升降驱动机构20驱动货叉30上升至高于放置点的高度，AGV叉车100靠近放置点使货盘位于放置点的上方，升降驱动机构20驱动货叉30下降一定高度，使货盘落在放置点，然后AGV叉车100后退使货叉30退出货盘即可。
需要说明的是，在不冲突的情况下，本实用新型中的实施例中的特征可以相互结合。
以上所述仅为本实用新型的优选实施例而已，并不用于限制本实用新型，对于本领域的技术人员来说，本实用新型可以有各种更改和变化。凡在本实用新型的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本实用新型的保护范围之内。
工业实用性
本申请涉及一种AGV叉车，属于AGV技术领域，AGV叉车包括：U型框架，包括端架和相对设置在端架两端的侧架；升降驱动机构，设于端架；货叉，连接于升降驱动机构的执行端，以在升降驱动机构的驱动下升降；视觉监测机构，设于升降驱动机构的执行端，以获取货叉上货盘的图像；行走驱动机构，设于U型框架的底部，用于驱动U型框架行走和旋转。本申请设置U型框架便于对货物形成三面包覆式的限位，提高AGV叉车搬运安全性；设置视觉监测机构与货叉同步升降，便于准确获取放置在地面或一定高度的货盘的图像；且视觉监测机构便于及时判断货叉取放货物时货盘的姿态是否正常，进一步提高货物取放的安全性。
此外，可以理解的是，本申请的AGV叉车是可以重现的，并且可以应用在多种应用中。例如，本申请的AGV叉车可以应用于AGV技术领域等。

Claims (12)

  1. 一种AGV叉车，其中，所述AGV叉车包括：
    U型框架，包括端架和相对设置在所述端架的两端的两个侧架；
    升降驱动机构，设于所述端架；
    货叉，连接于所述升降驱动机构的执行端，以在所述升降驱动机构的驱动下在所述U型框架围成的空间内升降，所述货叉用于叉取货盘；
    视觉监测机构，设于所述升降驱动机构的执行端，用于获取所述货叉上的所述货盘的图像；
    行走驱动机构，设于所述U型框架的底部，用于驱动所述U型框架行走和旋转。
  2. 根据权利要求1所述的AGV叉车，其中，所述AGV叉车还包括：
    物料到位开关，设于所述升降驱动机构的执行端，用于获取所述货叉上的所述货盘的位置信息。
  3. 根据权利要求1或2所述的AGV叉车，其中，在所述升降驱动机构的执行端上位于所述货叉的两个插齿的两侧分别设置一个物料到位开关。
  4. 根据权利要求1至3中的任一项所述的AGV叉车，其中，所述行走驱动机构包括：
    两个驱动轮，分别设于两个所述侧架的底部的中心；
    四个从动轮组件，分别设于两个所述侧架的底部的两端。
  5. 根据权利要求4所述的AGV叉车，其中，两个所述驱动轮同轴设于两个所述侧架的底部的中心，每个所述驱动轮由一个单独的旋转驱动组件驱动绕所述驱动轮的轴心线正反向旋转。
  6. 根据权利要求5所述的AGV叉车，其中，所述旋转驱动组件包括：
    第一链轮，与所述驱动轮同轴连接；
    第二链轮，转动设置于所述侧架，与所述第一链轮通过第一链条同步传动；
    第一电机，驱动所述第二链轮正反向旋转，以带动所述驱动轮正反向旋转。
  7. 根据权利要求4至6中的任一项所述的AGV叉车，其中，每个所述从动轮组件包括至少一个弹簧脚轮。
  8. 根据权利要求4至6中的任一项所述的AGV叉车，其中，每个所述从动轮组件包括一个弹簧脚轮，四个所述弹簧脚轮分别设置于两个所述侧架的底部的两端。
  9. 根据权利要求4至8中的任一项所述的AGV叉车，其中，所述行走驱动机构还包括：
    两个承重从动轮，设于所述端架的底部，两个所述承重从动轮相对于所述端架的竖直中心线相互对称。
  10. 根据权利要求1至9中的任一项所述的AGV叉车，其中，所述升降驱动机构包括：
    丝杠，竖直设置于所述端架，所述丝杠由第二电机驱动旋转，所述丝杠配有驱动螺母；
    升降板，连接于所述驱动螺母，所述货叉设于所述升降板。
  11. 根据权利要求1至9中的任一项所述的AGV叉车，其中，所述升降驱动机构包括：
    门架，设置于所述端架；
    升降架，上下滑动设置在所述门架上，所述货叉设置于所述升降架；
    液压缸，设置于所述端架或所述门架；
    其中，所述升降架通过传动组件连接于所述液压缸的执行端，以在所述液压缸的驱动下升降。
  12. 根据权利要求11所述的AGV叉车，其中，在所述门架的两个侧架的相对的内侧竖直设置导向滑槽，所述导向滑槽内配有导向滚轮，所述导向滚轮与所述升降架连接。
PCT/CN2022/130357 2021-12-10 2022-11-07 Agv叉车 WO2023103674A1 (zh)

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