CN110329707B - AGV capable of climbing and warehousing system - Google Patents
AGV capable of climbing and warehousing system Download PDFInfo
- Publication number
- CN110329707B CN110329707B CN201910756263.8A CN201910756263A CN110329707B CN 110329707 B CN110329707 B CN 110329707B CN 201910756263 A CN201910756263 A CN 201910756263A CN 110329707 B CN110329707 B CN 110329707B
- Authority
- CN
- China
- Prior art keywords
- climbing
- telescopic
- piece
- vehicle body
- driving
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 270
- 230000005540 biological transmission Effects 0.000 claims abstract description 38
- 238000009434 installation Methods 0.000 claims description 17
- 230000008878 coupling Effects 0.000 description 10
- 238000010168 coupling process Methods 0.000 description 10
- 238000005859 coupling reaction Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 241001503987 Clematis vitalba Species 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses an AGV capable of climbing and a warehouse system, and relates to the technical field of AGV conveying. The climbing assembly comprises a climbing wheel and a climbing driving piece which are connected in a mutual transmission mode, the telescopic assembly comprises a telescopic driving piece and a telescopic driving piece, the telescopic driving piece and the climbing driving piece are both installed on the vehicle body, the climbing wheel is connected to the vehicle body in a sliding mode, two ends of the telescopic driving piece are a first driving end and a second driving end respectively, the telescopic driving piece is respectively connected to the telescopic driving piece and the climbing wheel in a rotating mode, the telescopic driving piece can drive the first driving end to move along a first direction, so that the second driving end drives the climbing wheel to move outwards along a telescopic track, the climbing wheel can move to a climbing position, and can abut against the side face of a goods shelf to walk, and the first direction and the telescopic track are arranged in an included angle mode. The climbing AGV and the warehousing system have the characteristics of being capable of stably moving between shelves and low in cost.
Description
Technical Field
The invention relates to the technical field of AGV conveying, in particular to a climbing AGV and a warehousing system.
Background
Autonomous guided AGVs (Automated Guided Vehicle, automated guided vehicles) are increasingly used in the warehouse industry and the like.
In the existing warehouse system, AGVs are responsible for transporting goods on the ground, and elevators or shuttling vehicles and the like are used for taking and placing the goods on a goods shelf, so that the system has higher cost.
In view of this, it is important to develop a climbing AGV and warehouse system that can solve the above-mentioned technical problems.
Disclosure of Invention
The invention aims to provide a climbing AGV which has the characteristics of stable movement between shelves and low cost.
Another object of the present invention is to provide a warehouse system, which can stably move between shelves and has the advantage of low cost.
The invention provides a technical scheme that:
In a first aspect, an embodiment of the invention provides a climbable AGV, which comprises a vehicle body, a telescopic assembly and a climbing assembly, wherein the climbing assembly comprises climbing wheels and climbing driving pieces which are in transmission connection with each other, and the telescopic assembly comprises a telescopic driving piece and a telescopic transmission piece; the telescopic driving piece and the climbing driving piece are both arranged on the vehicle body, the climbing wheel is connected with the vehicle body in a sliding manner, and two ends of the telescopic driving piece are respectively provided with a first driving end and a second driving end and are respectively connected with the telescopic driving piece and the climbing wheel in a rotating manner; the telescopic driving piece can drive the first driving end to move along a first direction, so that the second driving end drives the climbing wheel to move outwards from the vehicle body along a telescopic track, the climbing wheel can move to a climbing position and can prop against the side face of the goods shelf to walk, and the first direction and the telescopic track are arranged at an included angle.
With reference to the first aspect, in a first implementation manner of the first aspect, the number of climbing wheels is multiple, and the climbing wheels are respectively connected to two sides of the vehicle body in a sliding manner; the number of the telescopic transmission parts is multiple, and the second transmission ends are in one-to-one rotary connection with the climbing wheels positioned on two sides of the vehicle body; the telescopic driving piece can drive a plurality of first driving ends to move along the first direction at the same time, so that a plurality of second driving ends drive a plurality of climbing wheels on two sides of the vehicle body to move outside the vehicle body at the same time.
With reference to the first aspect and the foregoing implementation manner, in a second implementation manner of the first aspect, the telescopic assembly further includes a plurality of telescopic links, and the climbing assembly further includes a plurality of climbing mountings; the climbing wheel is mounted on the climbing mounting piece, and the climbing mounting piece is connected with the vehicle body in a sliding manner so as to be connected with the climbing wheel and the vehicle body in a sliding manner; the telescopic linkage piece is respectively connected with the climbing installation piece on the same side of the vehicle body, and the second transmission end is rotationally connected with the telescopic linkage piece so as to rotationally connect the climbing wheel and the corresponding second transmission end.
With reference to the first aspect and the foregoing implementation manner of the first aspect, in a third implementation manner of the first aspect, the telescopic assembly further includes a telescopic elastic member, and the telescopic linkage member is slidably connected to the climbing installation member and is capable of sliding along the telescopic track relative to the climbing installation member; the telescopic elastic piece is respectively connected with the telescopic linkage piece and the climbing installation piece, and the telescopic elastic piece can elastically deform between the telescopic linkage piece and the climbing installation piece.
With reference to the first aspect and the foregoing implementation manner of the first aspect, in a fourth implementation manner of the first aspect, the telescopic link is plate-shaped, and a thickness direction of the telescopic link is perpendicular to the telescopic track.
With reference to the first aspect and the foregoing implementation manner of the first aspect, in a fifth implementation manner of the first aspect, when the climbing wheel moves to the climbing position, an extending direction of the telescopic transmission member is parallel to the telescopic track.
With reference to the first aspect and the foregoing implementation manner of the first aspect, in a sixth implementation manner of the first aspect, the climbing assembly further includes a climbing coupling, where the climbing coupling is a telescopic coupling, is disposed along the telescopic track, and is in driving connection with the climbing driving member and the climbing wheel respectively, so as to connect the climbing driving member and the climbing wheel in a driving manner.
With reference to the first aspect and the foregoing implementation manner of the first aspect, in a seventh implementation manner of the first aspect, the climbing assembly further includes a climbing linkage rod, a universal coupling is disposed on the climbing linkage rod, and two ends of the climbing linkage rod are respectively connected with the climbing wheels on the same side.
In a second aspect, an embodiment of the present invention provides a warehousing system including the climbable AGV. The climbing AGV comprises a vehicle body, a telescopic assembly and a climbing assembly, wherein the climbing assembly comprises climbing wheels and climbing driving pieces which are in transmission connection with each other, and the telescopic assembly comprises a telescopic driving piece and a telescopic transmission piece; the telescopic driving piece and the climbing driving piece are both arranged on the vehicle body, the climbing wheel is connected with the vehicle body in a sliding manner, and two ends of the telescopic driving piece are respectively provided with a first driving end and a second driving end and are respectively connected with the telescopic driving piece and the climbing wheel in a rotating manner; the telescopic driving piece can drive the first driving end to move along a first direction, so that the second driving end drives the climbing wheel to move outwards from the vehicle body along a telescopic track, the climbing wheel can move to a climbing position and can prop against the side face of the goods shelf to walk, and the first direction and the telescopic track are arranged at an included angle.
With reference to the second aspect, in a first implementation manner of the second aspect, the warehouse system further includes a shelf and a climbing chain, the shelf is arranged at intervals, the climbing chain is arranged on a side surface of the shelf, and the climbing wheel is a sprocket and can be meshed with the climbing chain when moving to a preset climbing position so as to walk on the climbing chain.
Compared with the prior art, the climbing AGV and the warehouse system provided by the embodiment of the invention have the beneficial effects that compared with the prior art:
The climbing assembly comprises a climbing wheel and a climbing driving piece which are in transmission connection with each other, the telescopic assembly comprises a telescopic driving piece and a telescopic transmission piece, the telescopic driving piece and the climbing driving piece are both installed on a vehicle body, the climbing wheel is connected to the vehicle body in a sliding mode, the climbing driving piece can drive the climbing wheel to rotate, two ends of the telescopic transmission piece are a first transmission end and a second transmission end respectively, and the first transmission end and the second transmission end are respectively connected to the telescopic driving piece and the climbing wheel in a rotating mode. The telescopic driving piece can drive the first driving end to move along the first direction, so that the second driving end drives the climbing wheel to move outwards from the vehicle body along the telescopic track, the climbing wheel can move to the climbing position and can prop against the side face of the goods shelf to walk, and the first direction and the telescopic track are arranged at an included angle. Therefore, the climbing wheel drives the vehicle body to move on the goods shelf part, the cost is low, and the climbing wheel is driven to extend out of the vehicle body through a mechanism consisting of the telescopic driving part and the telescopic driving part, so that the climbing wheel is stably propped against the side face of the goods shelf.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described. It is appreciated that the following drawings depict only certain embodiments of the invention and are therefore not to be considered limiting of its scope. Other relevant drawings may be made by those of ordinary skill in the art without undue burden from these drawings.
FIG. 1 is a schematic diagram of an exemplary embodiment of an AGV capable of climbing in a warehouse system.
FIG. 2 is a schematic view of a portion of the structure of a climbable AGV according to an embodiment of the invention at a first view angle when the climbable wheels are retracted.
FIG. 3 is a schematic view of a portion of the structure of a climbable AGV according to an embodiment of the invention at a first view angle.
FIG. 4 is a schematic view of a portion of the structure of a climbable AGV according to an embodiment of the invention at a second view angle.
Fig. 5 is a partially enlarged structural schematic view at V in fig. 4.
Icon: 100-warehousing systems; 20-shelf; 21-climbing chain; 22-a guide; 23-positioning pieces; 10-climbing AGVs; 12-climbing assembly; 121-climbing wheels; 122-climbing drive; 123-climbing shaft coupling; 124-climbing linkage rod; 125-climbing mount; 126-climbing guide wheels; 128-horizontal guide wheels; 129-positioning sensor; 15-a telescoping assembly; 151-telescoping drive; 152-telescoping transmission; 153-first drive end; 154-a second drive end; 155-telescoping slide; 156-telescoping linkage; 157-a telescopic elastic member; 17-a vehicle body; 171-climb position; 19-a pick-and-place assembly; 18-a walking assembly.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. The terms "upper," "lower," "inner," "outer," "left," "right," and the like refer to an orientation or positional relationship based on that shown in the drawings, or that is conventionally put in place when the inventive product is used, or that is conventionally understood by those skilled in the art, merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. The terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
It should also be noted that unless explicitly stated or limited otherwise, terms such as "disposed," "connected," and the like should be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The following describes specific embodiments of the present invention in detail with reference to the drawings.
Examples:
Referring to FIG. 1, FIG. 1 is a schematic diagram of an embodiment of a climbing AGV10 according to the present invention applied to a warehouse system 100.
Embodiments of the present invention provide a climbable AGV10, which can be used for shuttling between shelves 20 and on the ground, and which has the characteristics of stable movement between shelves 20 and low cost. The climbable AGV10 can be used independently in a scenario where the goods are stored on the shelf 20 such as the production system and the warehouse system 100.
In the example of the application of the climbable AGV10 to the warehouse system 100, the warehouse system 100 includes the climbable AGV10 that transports loads through the climbable AGV 10. Of course, the warehouse system 100 further includes a shelf 20 and climbing chains 21, the shelf 20 is arranged at intervals, the climbing chains 21 are arranged on the side surfaces between the shelf 20, and the climbing AGVs 10 can walk on the climbing chains 21 to lift along the shelf 20.
Because the warehouse system 100 adopts the climbable AGV10 provided by the embodiment of the invention, the warehouse system 100 also has the characteristics of stable movement among the shelves 20 and lower cost.
The structural components, operating principles and beneficial effects of the climbable AGV10 provided by embodiments of the invention will be described in detail below.
Referring to fig. 2 and 3, fig. 2 is a schematic view of a part of a climbing wheel 121 of a climbable AGV10 according to an embodiment of the invention in a first view. Fig. 3 is a schematic view of a part of the structure of the climber wheel 121 of the climbable AGV10 according to the embodiment of the invention at a first view angle. The direction of the arrow obliquely upward to the left in fig. 2 and 3 is the first direction, and the direction of the arrow obliquely downward to the left is the direction of the telescopic track.
The climbable AGV10 comprises a vehicle body 17, a telescopic component 15 and a climbing component 12, wherein the climbing component 12 and the telescopic component 15 are arranged on the vehicle body 17, the telescopic component 15 can drive the climbing component 12 to move outwards of the vehicle body 17, so that the climbing component 12 is propped against the side face of the goods shelf 20, and the vehicle body 17 is driven to move along the side face of the goods shelf 20, so that the climbable AGV10 can move between the goods shelves 20.
Specifically, the climbing assembly 12 includes a climbing wheel 121 and a climbing driving member 122 that are in transmission connection with each other, the telescopic assembly 15 includes a telescopic driving member 151 and a telescopic driving member 152, wherein the telescopic driving member 151 and the climbing driving member 122 are both installed on the vehicle body 17, the climbing wheel 121 is slidably connected to the vehicle body 17, and the climbing driving member 122 can drive the climbing wheel 121 to rotate, two ends of the telescopic driving member 152 are respectively provided with a first driving end 153 and a second driving end 154, and the first driving end 153 and the second driving end 154 are respectively rotatably connected to the telescopic driving member 151 and the climbing wheel 121.
The telescopic driving piece 151 can drive the first driving end 153 to move along the first direction, so that the second driving end 154 drives the climbing wheel 121 to move along the telescopic track to the outside of the vehicle body 17, so that the climbing wheel 121 can move to the climbing position 171 and can prop against the side surface of the goods shelf 20 to walk, wherein the first direction and the telescopic track are arranged at an included angle, that is, the telescopic driving piece 151 converts the movement of the telescopic driving piece 151 in the first direction into the movement of the climbing wheel 121 along the telescopic track through the telescopic driving piece 152, the shock resistance capability of the climbing wheel 121 is improved, the stability of the climbing wheel 121 propping against the side surface of the goods shelf 20 is improved, in other words, the telescopic driving piece 151 serves as a driving piece, the telescopic driving piece 152 is connected to the telescopic driving piece 151 and the climbing wheel 121 through two revolute pairs, and the telescopic driving piece 152 is connected to the vehicle body 17 in a sliding manner, so that the telescopic driving piece 152 can convert the movement of the telescopic driving piece 151 in the first direction into the movement of the climbing wheel 121 along the telescopic track through the telescopic driving piece 152.
In this way, the self climbing wheel 121 drives the vehicle body 17 to move on the goods shelf 20, the cost is low, and the climbing wheel 121 is driven to extend out of the vehicle body 17 by a mechanism consisting of the telescopic driving piece 151 and the telescopic transmission piece 152, so that the climbing wheel 121 is stably abutted against the side surface of the goods shelf 20.
It should be noted that, in this embodiment, the telescopic track is a straight line, the climbing wheel 121 is slidably connected to the vehicle body 17 through a sliding rail and a sliding way which are slidably connected to each other, the telescopic track is a track line of the sliding rail, and in other embodiments, the telescopic track may also be a non-straight track such as a wave track or a curved track, the telescopic track is approximately in an included angle with the first direction, the curved track or the wavy track may facilitate the climbing wheel 121 to be more stably abutted against the side of the shelf 20, for example, the climbing wheel 121 is a sprocket wheel, which extends out of the vehicle body 17 and swings up and down or left and right, so that the climbing wheel 121 is better engaged with the climbing chain 21 on the side of the shelf 20, and stability thereof is improved. In addition, in the present embodiment, the first direction is perpendicular to the general direction of the telescopic track, and in other embodiments, the included angle between the first direction and the telescopic track may be other degrees. Furthermore, it will be appreciated that in other embodiments, the climbing wheels 121 may also be anti-skid wheels, and the sides of the pallet 20 may be provided with climbing surfaces against which the climbing wheels 121 bear directly to climb along the pallet 20.
Further, the telescopic assembly 15 may further include a telescopic sliding member 155, wherein the telescopic sliding member 155 is slidably connected to the vehicle body 17 and is slidable along the first direction, and the telescopic driving member 151 is connected to the first driving end 153 through the telescopic sliding member 155, that is, the telescopic driving member 151 is connected to the telescopic sliding member 155, and the first driving end 153 is rotatably connected to the telescopic sliding member 155.
Further, the number of climbing wheels 121 may be plural, and the plurality of climbing wheels 121 are slidably connected to two sides of the vehicle body 17, and the number of telescopic driving members 152 may be plural, and the second driving ends 154 of the plurality of telescopic driving members 152 are rotatably connected to the plurality of climbing wheels 121 located on two sides of the vehicle body 17.
Moreover, the telescopic driving piece 151 drives the first driving ends 153 of the telescopic driving pieces 152 to move along the first direction, so that the second driving ends 154 of the telescopic driving pieces 152 simultaneously drive the climbing wheels 121 on two sides of the corresponding vehicle body 17 to move outwards of the vehicle body 17, so as to improve the synchronism of the movement of the climbing wheels 121 outwards of the vehicle body 17, and enable the climbing wheels 121 to be more stably abutted against the side surfaces of the goods shelves 20.
It should be noted that in this embodiment, the number of climbing wheels 121 is four, the four climbing wheels are symmetrically disposed on two sides of the vehicle body 17, the number of telescopic driving members 152 is two, the telescopic driving members are respectively connected to two opposite climbing wheels 121, the climbing wheels 121 on the same side are connected through telescopic linkage members 156 of the telescopic assembly 15, so that the climbing wheels 121 on the same side can move outwards of the vehicle body 17 at the same time, in other embodiments, the number of telescopic driving members 152 can be equal to the number of climbing wheels 121, and are connected with the climbing wheels 121 one by one, for example, second driving ends 154 of the four telescopic driving members 152 are connected with the four climbing wheels 121 one by one, and when the telescopic driving members 151 drive the first driving ends 153 to move along the first direction, the plurality of second driving ends 154 drive the corresponding climbing wheels 121 to move outwards of the vehicle body 17.
With continued reference to fig. 3, when the climbing wheel 121 moves to the climbing position 171, the extending direction of the telescopic transmission member 152 may be parallel to the telescopic track, in other words, when the climbing wheel 121 is driven by the telescopic driving member 151 to move outwards, the telescopic transmission member 152 will deflect, and when the climbing wheel 121 reaches the climbing position 171, the mechanism formed by the telescopic driving member 151, the telescopic transmission member 152 and the climbing wheel 121 just reaches the critical point, at this time, the moving direction of the telescopic transmission member 152 and the climbing wheel 121 is parallel, so that the stretched climbing wheel 121 is not easy to shrink under the action of external force.
In addition, in the present embodiment, the telescopic track is perpendicular to the first direction, and at this time, the telescopic transmission member 152 is also perpendicular to the moving direction of the telescopic driving member 151, so that the climbing wheel 121 is less prone to shrinking under the action of external force.
Further, the climbing assembly 12 may also include a climbing coupling 123, the climbing coupling 123 being a telescoping coupling and disposed along a telescoping trajectory and in driving connection with the climbing drive 122 and the climbing wheel 121, respectively, to drivingly connect the climbing drive 122 and the climbing wheel 121 so as to allow movement of the climbing wheel 121 relative to the climbing drive 122 with the climbing drive 122 stationary.
In addition, the climbing assembly 12 may further include a climbing linkage rod 124, where a universal coupling (not shown) is disposed on the climbing linkage rod 124, and two ends of the climbing linkage rod 124 are respectively connected with the climbing wheels 121 on the same side, so that the climbing wheels 121 on the same side can synchronously rotate, and by disposing the universal coupling, the climbing wheels 121 on the same side can be smoothly linked under the condition of incomplete coaxiality, so as to improve the adaptability thereof.
Referring to fig. 4 and 5, fig. 4 is a schematic view of a portion of the structure of a climbable AGV10 according to an embodiment of the invention. Fig. 5 is a partially enlarged structural schematic view at V in fig. 4.
Further, the climbing assembly 12 may also include a plurality of climbing mounts 125, with the climbing wheels 121 mounted to the climbing mounts 125, and the climbing mounts 125 slidably coupled to the vehicle body 17 to slidably couple the climbing wheels 121 to the vehicle body 17, in other words, the climbing mounts 125 may be slidable relative to the vehicle body 17 along a telescoping trajectory.
The telescopic linkage members 156 are respectively connected with the climbing installation members 125 on the same side of the vehicle body 17, so as to be connected with the climbing wheels 121 on the same side, and the second transmission ends 154 are rotatably connected with the telescopic linkage members 156 so as to be rotatably connected with the climbing wheels 121 and the corresponding second transmission ends 154. The climbing wheels 121 on the same side are linked, so that the climbing wheels 121 on the same side can move outwards of the vehicle body 17 at the same time, and the synchronism of the climbing wheels 121 on the same side is improved.
In this embodiment, the telescopic link 156 is plate-shaped, and the thickness direction of the telescopic link 156 is perpendicular to the telescopic track, in other words, the deformation of the telescopic link on the telescopic track is small, so that the telescopic link 156 can more firmly drive the climbing installation member 125 to move outside the vehicle body 17. In addition, the climbable AGV10 may also include a pick-and-place assembly 19 for picking and placing the load and a travel assembly 18 for driving the vehicle body 17 to travel over the ground.
Further, the telescopic assembly 15 may further include a telescopic elastic member 157, where the telescopic link member 156 is slidably connected to the climbing installation member 125 and is capable of sliding along a telescopic track relative to the climbing installation member 125, that is, the sliding directions of the telescopic link member 156 and the climbing installation member 125 are the same, and the telescopic elastic member 157 is connected to the telescopic link member 156 and the climbing installation member 125, respectively, and the telescopic elastic member 157 is elastically deformable between the telescopic link member 156 and the climbing installation member 125. Thus, when the telescopic linkage 156 moves along the first direction under the action of the second driving end 154, it drives the climbing installation member 125 to move through the telescopic elastic member 157, so that the positions of the climbing wheels 121 and the vehicle body 17 can be different under the action of different external forces, so as to adapt to the fluctuation of the side surface of the shelf 20 and improve the adaptability of the climbable AGV 10.
The climbing assembly 12 may also include a climbing guide 126, the climbing guide 126 being mounted to the climbing mount 125, and the climbing wheels 121 being located between the same-side climbing wheels 121, such that the climbing guide 126 may be located between two climbing chains 21 to keep the climbing wheels 121 from being easily disengaged from the climbing chains 21.
And, two climbing guide wheels 126 are rotatably connected to each climbing installation member 125, and the two climbing guide wheels 126 are respectively located above and below the climbing wheel 121, so that when the vehicle body 17 is inclined, the climbing guide wheels 126 are abutted against the climbing chain 21 or the goods shelf 20, and the stability of the climbable AGV10 is improved.
At the bottom of the shelves 20 there may also be provided a guide 22, the guide 22 being positioned at the end of the shelf 20 at an angle to the direction of travel of the aisle between two shelves 20 such that the guide 22 bulges between the shelves 20, and correspondingly, the climbing assembly 12 may also include a horizontal guide wheel 128, the horizontal guide wheel 128 being adapted to abut the guide 22 when the climbing AGV10 enters the aisle between adjacent shelves 20 to allow the body 17 to be positioned at a predetermined location between the aisles between the shelves 20. And reduces the chance that the climbable AGV10 will become stuck at the end of the shelf 20.
In addition, the climbing assembly 12 may further include a positioning sensor 129, and the pallet 20 may further include a positioning member 23, where the positioning member 23 is disposed on one side of the chain, such that when the vehicle body 17 moves to the positioning member 23, the positioning sensor 129 may detect the positioning member 23 to determine the position of the vehicle body 17, e.g., where the top of the vehicle body 17 is level with the deck of the pallet 20, so that the AGV10 may climb to pick up and place loads.
The working principle of the climbable AGV10 provided by the embodiment of the invention is as follows:
The climbing assembly 12 comprises a climbing wheel 121 and a climbing driving member 122 which are in transmission connection with each other, the telescopic assembly 15 comprises a telescopic driving member 151 and a telescopic driving member 152, the telescopic driving member 151 and the climbing driving member 122 are both arranged on the vehicle body 17, the climbing wheel 121 is slidably connected to the vehicle body 17, the climbing driving member 122 can drive the climbing wheel 121 to rotate, two ends of the telescopic driving member 152 are respectively provided with a first driving end 153 and a second driving end 154, and the first driving end 153 and the second driving end 154 are respectively connected to the telescopic driving member 151 and the climbing wheel 121 in a rotating manner. The telescopic driving piece 151 can drive the first driving end 153 to move along the first direction, so that the second driving end 154 drives the climbing wheel 121 to move along the telescopic track to the outside of the vehicle body 17, so that the climbing wheel 121 can move to the climbing position 171 and can prop against the side surface of the goods shelf 20 to walk, wherein the first direction and the telescopic track are arranged at an included angle, that is, the telescopic driving piece 151 converts the movement of the telescopic driving piece 151 in the first direction into the movement of the climbing wheel 121 along the telescopic track through the telescopic driving piece 152, the shock resistance capability of the climbing wheel 121 is improved, the stability of the climbing wheel 121 propping against the side surface of the goods shelf 20 is improved, in other words, the telescopic driving piece 151 serves as a driving piece, the telescopic driving piece 152 is connected to the telescopic driving piece 151 and the climbing wheel 121 through two revolute pairs, and the telescopic driving piece 152 is connected to the vehicle body 17 in a sliding manner, so that the telescopic driving piece 152 can convert the movement of the telescopic driving piece 151 in the first direction into the movement of the climbing wheel 121 along the telescopic track through the telescopic driving piece 152. In this way, the self climbing wheel 121 drives the vehicle body 17 to move on the goods shelf 20, the cost is low, and the climbing wheel 121 is driven to extend out of the vehicle body 17 by a mechanism consisting of the telescopic driving piece 151 and the telescopic transmission piece 152, so that the climbing wheel 121 is stably abutted against the side surface of the goods shelf 20.
To sum up:
the embodiment of the invention provides a climbable AGV10, which has the characteristics of stable movement among shelves 20 and lower cost.
The above description is only of the preferred embodiments of the present invention, and is not intended to limit the present invention, and the features of the above embodiments may be combined with each other, and various modifications and variations may be possible to those skilled in the art without collision. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention. Moreover, the present embodiments are to be considered as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. The climbing assembly comprises climbing wheels and climbing driving pieces which are in transmission connection with each other, and the telescopic assembly comprises a telescopic driving piece and a telescopic transmission piece;
The telescopic driving piece and the climbing driving piece are both arranged on the vehicle body, the climbing wheel is connected with the vehicle body in a sliding manner, and two ends of the telescopic driving piece are respectively provided with a first driving end and a second driving end and are respectively connected with the telescopic driving piece and the climbing wheel in a rotating manner;
the telescopic driving piece can drive the first driving end to move along a first direction, so that the second driving end drives the climbing wheel to move outwards of the vehicle body along a telescopic track, the climbing wheel can move to a climbing position and can prop against the side face of the goods shelf to walk, and the first direction and the telescopic track are arranged in an included angle;
The climbing assembly further comprises a climbing coupler, wherein the climbing coupler is a telescopic coupler, is arranged along the telescopic track, and is respectively in transmission connection with the climbing driving piece and the climbing wheel so as to be in transmission connection with the climbing driving piece and the climbing wheel;
The climbing assembly further comprises a climbing linkage rod, a universal coupler is arranged on the climbing linkage rod, and two ends of the climbing linkage rod are respectively connected with the climbing wheels on the same side.
2. The climbable AGV according to claim 1, wherein the number of climbing wheels is plural, and the plurality of climbing wheels are respectively slidably connected to both sides of the vehicle body;
The number of the telescopic transmission parts is multiple, and the second transmission ends are in one-to-one rotary connection with the climbing wheels positioned on two sides of the vehicle body;
the telescopic driving piece can drive a plurality of first driving ends to move along the first direction at the same time, so that a plurality of second driving ends drive a plurality of climbing wheels on two sides of the vehicle body to move outside the vehicle body at the same time.
3. The climbable AGV of claim 2, wherein said telescoping assembly further comprises a plurality of telescoping linkages, and wherein the climbing assembly further comprises a plurality of climbing mounts;
The climbing wheel is mounted on the climbing mounting piece, and the climbing mounting piece is connected with the vehicle body in a sliding manner so as to be connected with the climbing wheel and the vehicle body in a sliding manner;
The telescopic linkage piece is respectively connected with the climbing installation piece on the same side of the vehicle body, and the second transmission end is rotationally connected with the telescopic linkage piece so as to rotationally connect the climbing wheel and the corresponding second transmission end.
4. The climbable AGV of claim 3, wherein said retraction assembly further comprises a retraction spring, said retraction linkage being slidably coupled to said climb mount and slidable relative to said climb mount along said retraction trajectory;
The telescopic elastic piece is respectively connected with the telescopic linkage piece and the climbing installation piece, and the telescopic elastic piece can elastically deform between the telescopic linkage piece and the climbing installation piece.
5. The climbing AGV according to claim 3 wherein the telescopic link is plate-shaped, and a thickness direction of the telescopic link is perpendicular to the telescopic track.
6. The climbable AGV of claim 1, wherein the extension direction of said telescoping transmission is parallel to said telescoping track when said climbing wheel is moved to said climbing position.
7. A warehousing system comprising the climbable AGV of any one of claims 1-6.
8. The warehousing system of claim 7 further comprising a shelf and a climbing chain, the shelf being spaced apart, the climbing chain being disposed to a side of the shelf, the climbing wheel being a sprocket and being engageable with the climbing chain when moved to a predetermined climbing position to walk on the climbing chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910756263.8A CN110329707B (en) | 2019-08-15 | 2019-08-15 | AGV capable of climbing and warehousing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910756263.8A CN110329707B (en) | 2019-08-15 | 2019-08-15 | AGV capable of climbing and warehousing system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110329707A CN110329707A (en) | 2019-10-15 |
| CN110329707B true CN110329707B (en) | 2024-06-21 |
Family
ID=68149707
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910756263.8A Active CN110329707B (en) | 2019-08-15 | 2019-08-15 | AGV capable of climbing and warehousing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110329707B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111284982B (en) * | 2020-01-18 | 2021-11-26 | 山东力诺特种玻璃股份有限公司 | Full-automatic shuttling intelligent warehousing system for glass production |
| CN111791708A (en) * | 2020-01-19 | 2020-10-20 | 北京京东乾石科技有限公司 | Logistics vehicle and logistics system |
| CN111674803A (en) * | 2020-06-09 | 2020-09-18 | 重庆城市管理职业学院 | Storage system |
| FR3121435A1 (en) * | 2020-09-18 | 2022-10-07 | Exotec | ORDER PICKING OR BUFFER STORAGE SYSTEM |
| EP3992115A1 (en) * | 2020-10-27 | 2022-05-04 | Stow International N.V. | A shuttle for propelling horizontally and vertically in a racking system |
| CN112660679B (en) * | 2020-12-18 | 2023-04-07 | 北京京东乾石科技有限公司 | Chassis of storage logistics vehicle, storage logistics vehicle and storage logistics system |
| CN113734680B (en) * | 2021-09-13 | 2022-03-25 | 南通理工学院 | Intelligent material storage management system based on big data |
| CN113859840B (en) * | 2021-10-28 | 2023-03-10 | 上海仙工智能科技有限公司 | Three-dimensional storage system and freight storage method thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018189110A1 (en) * | 2017-04-12 | 2018-10-18 | Exotec Solutions | Order-picking system |
| CN109850724A (en) * | 2019-03-29 | 2019-06-07 | 东南电梯股份有限公司 | Car elevator flatly moving type automatic telescopic limits retention device |
| CN210504203U (en) * | 2019-08-15 | 2020-05-12 | 广东嘉腾机器人自动化有限公司 | Climbing AGV and warehousing system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07215414A (en) * | 1994-02-03 | 1995-08-15 | Ishikawajima Harima Heavy Ind Co Ltd | Automatic warehouse |
| CN202670565U (en) * | 2012-08-02 | 2013-01-16 | 林海山 | Conveyor |
| CN205441792U (en) * | 2015-12-31 | 2016-08-10 | 贵州航天南海科技有限责任公司 | Arris car is worn to drum -type |
| CN207174610U (en) * | 2017-08-10 | 2018-04-03 | 周口师范学院 | A kind of Three-dimensional warehouse system |
| TWI627113B (en) * | 2017-10-06 | 2018-06-21 | Hong Rui Li | Warehousing and handling system |
-
2019
- 2019-08-15 CN CN201910756263.8A patent/CN110329707B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018189110A1 (en) * | 2017-04-12 | 2018-10-18 | Exotec Solutions | Order-picking system |
| CN109850724A (en) * | 2019-03-29 | 2019-06-07 | 东南电梯股份有限公司 | Car elevator flatly moving type automatic telescopic limits retention device |
| CN210504203U (en) * | 2019-08-15 | 2020-05-12 | 广东嘉腾机器人自动化有限公司 | Climbing AGV and warehousing system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110329707A (en) | 2019-10-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110329707B (en) | AGV capable of climbing and warehousing system | |
| EP3515852B1 (en) | Robotic enabled vertical lift | |
| EP3569523A1 (en) | Robot for carrying container | |
| CN110510544B (en) | Logistics transport vehicle suitable for automatic production line | |
| EP2733094B1 (en) | Accumulation pallet conveyor | |
| CN211197464U (en) | Carrying device and carrying robot with same | |
| CN109383965B (en) | Intelligent warehousing robot | |
| US20190359423A1 (en) | Automated warehouse storage and retrieval system | |
| CN105745166A (en) | Slat for a conveyor | |
| CN209973401U (en) | Automatic guide transport vechicle and warehouse system | |
| CN113415563B (en) | Method for dispatching and carrying disk fault robot | |
| CN210504203U (en) | Climbing AGV and warehousing system | |
| CN111267793A (en) | Obstacle-surmountable robot and obstacle-surmountable method thereof | |
| CN111410147A (en) | Lifting module and AGV dolly | |
| CN112061709A (en) | AGV trolley capable of climbing | |
| CN109533085B (en) | Heavy load AGV | |
| CN113716494B (en) | Running gear and transport vechicle | |
| CN221343895U (en) | Anti-falling workbin robot | |
| CN210392605U (en) | AGV carrier and use its conveying system | |
| CN108820671B (en) | Pallet robot | |
| CN108674524B (en) | AGV anticollision keeps away barrier safety arrangement with adjustable position | |
| CN220245466U (en) | Conveying device | |
| CN112938271A (en) | Transmission equipment | |
| CN211998685U (en) | Lifting module and AGV dolly | |
| CN218930859U (en) | Chain plate conveying line for logistics conveying |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |