CN111003397A

CN111003397A - Light multidirectional stacking AGV

Info

Publication number: CN111003397A
Application number: CN201911224192.3A
Authority: CN
Inventors: 赵立; 刘鹏飞; 卫津民; 唐艳英; 时吕; 钱鸿顺; 李志涛
Original assignee: Yunnan Ksec Intelligent Equipment Co ltd
Current assignee: Yunnan Ksec Intelligent Equipment Co ltd
Priority date: 2019-12-04
Filing date: 2019-12-04
Publication date: 2020-04-14

Abstract

The invention discloses a light multidirectional stacking AGV, and belongs to the field of industrial vehicle transportation. The AGV comprises an AGV body (1-1) and a transfer mechanism (1-3) arranged on the AGV body (1-1), wherein the front, the back and the turning of the AGV body (1-1) are realized by arranging two floating driving steering wheels (2-2), a left floating mechanism and a right floating mechanism combined front wheel (2-1) and two combined rear caster wheels (2-3) at the bottom of the AGV body (1-1). The shifting mechanism (1-3) arranged on the AGV body (1-1) realizes 270-degree rotation, expansion and contraction of the pallet forks (3-6) and lifting and stacking functions through a lifting servo motor (4-1), a telescopic servo motor (3-5) for driving a gear and a chain wheel. The invention has the characteristics of light weight, multiple directions, capability of driving at a differential speed, multi-direction steering lifting and the like, and can be widely applied to a three-dimensional warehouse logistics system.

Description

Light multidirectional stacking AGV

Technical Field

The invention belongs to the field of industrial vehicle transportation, is suitable for three-dimensional storage logistics transportation, and particularly relates to a light multidirectional stacking AGV.

Background

In recent years, the AGV is widely applied to a three-dimensional storage logistics system, on one hand, the logistics level and the operation efficiency are remarkably improved, on the other hand, the AGV can greatly reduce the labor intensity, can also reduce the storage cost and optimize the resource allocation, and has a wide development prospect.

The AGV is applied to warehouse logistics, so that the time and space for transferring the traditional warehouse and the logistics are saved, the accuracy of storage and transportation is improved, and intelligent logistics transportation and warehousing are realized.

In addition, the AGV can realize the independent control, can guarantee work efficiency and precision conscientiously, can also effectively reduce the cost, can adapt to the heavy burden operation that high flexibility, frequency are high.

At present, due to the limitation of a field and a space, the stacking of three-dimensional storage has the requirements of light weight, multiple directions, capability of running at a differential speed, multi-direction steering lifting and the like for the AGV, and the existing AGV is difficult to meet the requirements.

Disclosure of Invention

The invention provides a light multidirectional stacking AGV which travels at a differential speed, turns to lift in multiple directions and stacks in multiple containers in order to meet the requirements of the existing warehouse logistics transportation.

The utility model provides a light-duty multidirectional stack AGV, includes AGV automobile body, drive arrangement, moves the mechanism and establishes the goods shelves on the AGV automobile body, move the mechanism and link to each other with goods shelves, AGV automobile body, drive arrangement links to each other with the AGV automobile body, goods shelves link to each other with the AGV automobile body. The method is characterized in that: the transfer mechanism is provided with a container, a guide rail, a sliding block, a lifting platform, a lifting servo motor, a telescopic servo motor and a fork. The driving device is provided with a left floating mechanism, a right floating mechanism, a combined front wheel, a floating driving steering wheel and a combined rear caster wheel. The method is characterized in that: a lifting servo motor in the transfer mechanism drives a middle chain wheel of a driving shaft to enable chain wheels at two ends of the driving shaft to move and simultaneously drive chain wheels on a goods shelf to move, so that the functions of up-and-down movement of a fork platform and stacking and warehousing of goods in multiple goods shelves are realized; the pallet fork telescopic servo motor drives the small gear to rotate around the large gear to drive the pallet fork platform to rotate 270 degrees; a servo motor is arranged in the driving device, drives the floating driving steering wheel to move forward, move backward and steer, and is connected with the AGV body and the crank through a spring, so that the floating driving steering wheel is tightly attached to the ground in the driving process; the left and right floating mechanisms are combined with the floating connecting frames in the front wheels to keep the balance of the AGV body in the running process.

The invention has the characteristics of light weight, multiple directions, capability of driving at a differential speed, multi-direction steering lifting and the like, and can be widely applied to a three-dimensional warehouse logistics system.

Drawings

FIG. 1 is a front view of the structure of the present invention.

Fig. 2 is a bottom view of the structure of the present invention.

Fig. 3 is a diagram of a driving apparatus of the present invention.

Fig. 4 is a transfer mechanism diagram of the present invention.

Fig. 5 is a view of a driving sprocket in the transfer mechanism of the present invention.

Fig. 6 is a diagram of a lifting servo motor in the transfer mechanism of the present invention.

Detailed Description

As shown in FIG. 1, the light multidirectional stacking AGV comprises an AGV body 1-1, a driving device 1-2, a transfer mechanism 1-3 and a goods shelf 1-4 arranged on the AGV body. The fork supports and the forks 3-6 of the transfer mechanism 1-3 are fixed on the lifting platform through bolts, and the sliding blocks on the lifting platform are connected with the guide rails on the AGV body 1-1 to form reciprocating motion. And a vertical frame bottom plate of the driving device 1-2 is fastened with a base plate of the AGV body 1-1 through bolts. 4 vertical supports on goods shelves 1-4 are welded fastening with goods shelves PMKD, and reuse bolt fastens AGV automobile body backing plate and goods shelves PMKD. The method is characterized in that: the driving device 1-2 is provided with a left floating mechanism and a right floating mechanism combined front wheel 2-1 in front of the AGV body 1-1, a middle section is provided with a floating driving steering wheel 2-2, and two combined rear trundles 2-3 are arranged behind the AGV body 1-1.

The forks 3-6 in the transfer mechanism 1-3 are connected with the gear and the motor through a fork bracket; the drive shaft is shown connected to sprockets on the pallet by a chain.

The floating driving steering wheel 2-2, the left and right floating mechanism combined front wheel 2-1 and the combined rear caster wheel 2-3 in the driving device 1-2 are connected with the bottom of the AGV body 1-1.

The light multidirectional stacking AGV has the working principle that:

the driving device 1-2 on the AGV body 1-1 comprises a floating driving steering wheel 2-2, a left floating mechanism, a right floating mechanism, a combined front wheel 2-1 and a combined rear caster wheel 2-3, the floating driving steering wheel 2-2 is driven to move forwards, move backwards and steer through a servo motor, and the servo motor is connected with the AGV body 1-1 and a crank through a spring, so that the floating driving steering wheel 2-2 is tightly attached to the ground in the driving process; the left and right floating mechanisms are combined with the floating connection frames in the front wheels 2-1 to keep the balance of the AGV body 1-1 in the running process. And a lifting servo motor 4-1 in the transfer mechanism 1-3 drives a pinion to rotate around a bull gear to drive a pallet fork 3-6 platform to rotate by 270 degrees. In the process of realizing the storage function, the fork 3-6 rotates to the right front of the goods, and the fork 3-6 is driven by the fork telescopic servo motor 3-5 to extend to the lower end of the goods from the front end; a lifting servo motor 4-1 on an AGV body 1-1 drives a driving shaft middle chain wheel 4-3 to enable chain wheels 4-2 at two ends of the driving shaft to move, and simultaneously drives chain wheels 4-4 on a goods shelf 1-4 to move, so that a lifting platform is lifted along a guide rail to lift goods by a proper distance, and collision of the goods is avoided; the fork 3-6 is contracted to the initial position after bearing the goods and then lifted to the proper position of the goods warehouse cabinet along with the lifting platform, the fork telescopic servo motor 3-5 drives the fork 3-6 to extend to the goods cabinet towards the rear end, then the lifting platform descends to enable the goods to be placed on the goods supporting plate, finally the fork 3-6 is contracted, the lifting platform descends, and the whole goods warehousing process is completed. The AGV body 1-1 is provided with an AGV trolley stop switch, a goods in-place detection switch and a tensioning chain wheel.

The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention, and all such changes or substitutions are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. A light multidirectional stacking AGV comprises an AGV body (1-1), a driving device (1-2), a transferring mechanism (1-3) and a goods shelf (1-4) arranged on the AGV body (1-1), wherein the transferring mechanism (1-3) is connected with the goods shelf (1-4) and the AGV body (1-1), the driving device (1-2) is connected with the AGV body (1-1), and the goods shelf (1-4) is connected with the AGV body (1-1); the method is characterized in that: the transfer mechanism (1-3) is provided with a container (3-1), a guide rail (3-2), a sliding block (3-3), a lifting table (3-4), a lifting servo motor (4-1), a telescopic servo motor (3-5) and a fork (3-6); the driving device (1-2) is provided with a left floating mechanism, a right floating mechanism, a combined front wheel (2-1), a floating driving steering wheel (2-2) and a combined rear caster wheel (2-3).

2. A lightweight multidirectional stacking AGV according to claim 1 and further including: a lifting servo motor (4-1) in the transfer mechanism (1-3) drives a middle chain wheel (4-3) of a driving shaft to enable chain wheels (4-2) at two ends of the driving shaft to move and simultaneously drive chain wheels (4-4) on a goods shelf (1-4) to move, so that the up-and-down movement of a fork (3-6) platform and the goods stacking and warehousing functions of multiple goods containers are realized; the fork telescopic servo motor (3-5) drives the small gear to rotate around the large gear to drive the fork (3-6) platform to rotate by 270 degrees.

3. A lightweight multidirectional stacking AGV according to claim 1 and further including: a servo motor is arranged in the driving device (1-2), drives the floating driving steering wheel (2-2) to move forward, move backward and steer, and is connected with the AGV body (1-1) and the crank through a spring, so that the floating driving steering wheel (2-2) is tightly attached to the ground in the driving process; the left and right floating mechanisms are combined with the floating connection frames in the front wheels (2-1) to keep the balance of the AGV body in the running process.