CN107473140A - AGV and AGV system - Google Patents
AGV and AGV system Download PDFInfo
- Publication number
- CN107473140A CN107473140A CN201710927084.7A CN201710927084A CN107473140A CN 107473140 A CN107473140 A CN 107473140A CN 201710927084 A CN201710927084 A CN 201710927084A CN 107473140 A CN107473140 A CN 107473140A
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- China
- Prior art keywords
- supporting leg
- agv
- drive device
- pallet
- car body
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Classifications
-
- 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
-
- 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
- B66F9/07504—Accessories, e.g. for towing, charging, locking
-
- 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
- B66F9/07581—Remote controls
-
- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention provides a kind of AGV and AGV system, is related to AGV technical fields, and the AGV includes car body, at least two pallet forks, at least two supporting legs and supporting leg drive device；Car body is connected respectively with pallet fork, supporting leg；Supporting leg drive device is connected with supporting leg；Pallet fork is arranged between supporting leg, and the spacing of supporting leg is adjustable；Supporting leg drive device is used to drive supporting leg to move towards or move backward, to change the spacing of two supporting legs.The embodiment of the present invention is provided with the adjustable supporting leg of spacing and supporting leg drive device, and the supporting leg drive device can change the spacing of two supporting legs, after pallet fork lifts pallet, reduces the spacing of supporting leg to reduce carrying width；In pallet fork pallet to be put down, the spacing for increasing supporting leg allows pallet to fall to leave sufficient space；Space-consuming can be reduced when transporting goods by the adjustable supporting leg of above-mentioned spacing and supporting leg drive device, suitable for narrower storage passage, so as to improve the storage density of goods.
Description
Technical field
The present invention relates to AGV technical fields, more particularly, to a kind of AGV and AGV system.
Background technology
AGV (Automated Guided Vehicle, automatical pilot transportation vehicle) is the conventional carrying of logistics, storage sector
Stacking vehicle, existing AGV mainly include two kinds：A kind of is the AGV repacked into by electri forklift or electrocar, another
It is the AGV directly manufactured and designed.Wherein, the AGV repacked into by electri forklift or electrocar, the pallet fork of coincidence is generally comprised
And front leg strut, pallet fork and front leg strut while driven into when transporting goods below goods, lifting goods by pallet fork is carried；Directly
The AGV of design and manufacture includes the AGV of wide supporting leg, and the spacing of two supporting legs is wider than the spacing of two pallet forks, when transporting goods only
Two pallet forks are stretched into below goods, and for two supporting legs in goods both sides, Breadth Maximum is that the width of two supporting legs (it is wide to be more than goods
Degree), take up an area larger.
The first above-mentioned AGV only can be suitably used for river word pallet (river word pallet can accommodate front leg strut entrance), it is impossible to be applicable
In field word pallet etc., second of AGV goes for various pallets, but space-consuming is big, is unfavorable for the intensive storage of goods.
The problem of existing for above-mentioned AGV, effective solution is not yet proposed at present.
The content of the invention
In view of this, it is an object of the invention to provide a kind of AGV and AGV system, suitable for various pallets and take empty
Between it is small.
In a first aspect, the embodiments of the invention provide a kind of AGV, including：Car body, at least two pallet forks, at least two
Leg and supporting leg drive device；Car body is connected respectively with pallet fork, supporting leg；Supporting leg drive device is connected with supporting leg；Pallet fork is arranged at
Between supporting leg, the spacing of supporting leg is adjustable；Supporting leg drive device is used to drive supporting leg to move towards or move backward, to change two
The spacing of supporting leg.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the first of first aspect, wherein,
When pallet fork lifts goods, supporting leg drive device is used for the spacing for driving supporting leg to be moved together to reduce supporting leg；In arrangement of goods,
Supporting leg drive device is used to drive supporting leg reverse movement to increase the spacing of supporting leg.
With reference to the possible embodiment of the first of first aspect or first aspect, the embodiments of the invention provide first party
Second of possible embodiment in face, wherein, supporting leg drive device includes at least two electronic guiding steering wheels；Electronic guiding rudder
Wheel is arranged on supporting leg, and each supporting leg is at least provided with an electronic guiding steering wheel；Electronic guiding steering wheel comprises at least driving electricity
Machine and steering motor.
With reference to the possible embodiment of the first of first aspect or first aspect, the embodiments of the invention provide first party
The third possible embodiment in face, wherein, supporting leg drive device comprises at least interior guide rail, outer guide groove and hydraulic cylinder；Lead outside
Groove is fixedly installed on car body；Interior guide rail comprises at least two, and one end of each interior guide rail is connected with a supporting leg respectively, is inside led
Rail is placed in outer guide groove；The piston rod of hydraulic cylinder is connected with interior guide rail, and the cylinder body of hydraulic cylinder is fixed with outer guide groove or car body to be connected
Connect；Hydraulic cylinder is used to drive interior guide rail to slide in outer guide groove.
With reference to the possible embodiment of the first of first aspect or first aspect, the embodiments of the invention provide first party
The 4th kind of possible embodiment in face, wherein, supporting leg drive device comprise at least motor, leading screw, leading screw axle sleeve, interior guide rail and
Outer guide groove；Motor is fixedly installed on car body；Motor is connected with leading screw, and leading screw is placed in leading screw axle sleeve, leading screw axle sleeve and branch
Leg is fixedly connected；Outer guide groove is fixed on supporting leg and is connected with interior guide rail.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the 5th of first aspect kind, wherein, car
Body includes control device and driver element；Control device is connected respectively with pallet fork, supporting leg drive device；Driver element is included at least
One motor and at least one driving wheel, motor and driving wheel power connector.
With reference to one of first aspect and its first or second possible embodiment, the embodiments of the invention provide
6th kind of possible embodiment of one side, wherein, supporting leg drive device is provided with the first electronic guiding steering wheel；First is electronic
It is oriented to the centre position that steering wheel is arranged at supporting leg drive device.
With reference to one of first aspect and its first or second possible embodiment, the embodiments of the invention provide
7th kind of possible embodiment of one side, wherein, supporting leg drive device is provided with the first electronic guiding steering wheel and the second electricity
Action-oriented steering wheel；First electronic guiding steering wheel and the second electronic guiding steering wheel are respectively arranged at the both sides position of supporting leg drive device
Put.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the 8th of first aspect kind, in addition to
Two avoidance sensors；One avoidance sensor is arranged at near-end of the supporting leg relative to car body, another avoidance sensor
It is arranged at distal end of another supporting leg relative to car body；Or, two avoidance sensors are diagonally respectively arranged at supporting leg and car
Body.
Second aspect, the embodiment of the present invention also provide a kind of AGV system, including scheduling system, external control system and extremely
The AGV that few any one of a first aspect and its each possible embodiment provide；It is scheduling system and AGV control system, outer
Portion's control system communicates to connect respectively；AGV control system is used to receiving and performing the control instruction that the scheduling system is sent.
The embodiment of the present invention brings following beneficial effect：
AGV and AGV system provided in an embodiment of the present invention, the adjustable supporting leg of spacing and supporting leg drive device are provided with,
The supporting leg drive device can change the spacing of two supporting legs, and after pallet fork lifts pallet, the spacing for reducing supporting leg is removed with reducing
Transport width；In pallet fork pallet to be put down, the spacing for increasing supporting leg allows pallet to fall to leave sufficient space；By above-mentioned spacing
Adjustable supporting leg and supporting leg drive device improves flexibility so as to reducing space-consuming when transporting goods, can be with
Suitable for narrower storage passage, so as to improve the storage density of goods.
Other feature and advantage of the disclosure will illustrate in the following description, or, Partial Feature and advantage can be with
Deduce from specification or unambiguously determine, or the above-mentioned technology by implementing the disclosure can be learnt.
To enable the above-mentioned purpose of the disclosure, feature and advantage to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of AGV structural representation provided in an embodiment of the present invention；
Fig. 2 is another AGV provided in an embodiment of the present invention structural representation；
Fig. 3 is another AGV provided in an embodiment of the present invention structural representation；
Fig. 4 is a kind of AGV upward view provided in an embodiment of the present invention；
Fig. 5 is a kind of AGV rearview provided in an embodiment of the present invention；
Fig. 6 is another AGV provided in an embodiment of the present invention structural representation；
Fig. 7 is a kind of schematic diagram of AGV provided in an embodiment of the present invention supporting leg drive device；
Fig. 8 is the schematic diagram of another AGV provided in an embodiment of the present invention supporting leg drive device；
Fig. 9 is another AGV provided in an embodiment of the present invention structural representation；
Figure 10 is a kind of schematic diagram of AGV provided in an embodiment of the present invention supporting leg drive device；
Figure 11 is the schematic diagram of another AGV provided in an embodiment of the present invention supporting leg drive device；
Figure 12 is another AGV provided in an embodiment of the present invention structural representation；
Figure 13 is a kind of schematic diagram of AGV provided in an embodiment of the present invention supporting leg drive device；
Figure 14 is the schematic diagram of another AGV provided in an embodiment of the present invention supporting leg drive device；
Figure 15 is a kind of structural representation of AGV system provided in an embodiment of the present invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with accompanying drawing to the present invention
Technical scheme be clearly and completely described, it is clear that described embodiment is part of the embodiment of the present invention, rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belongs to the scope of protection of the invention.
At present there is the problem of taking up an area big and poor universality, based on this, one kind provided in an embodiment of the present invention in existing AGV
AGV and AGV system, it is applicable to various pallets and occupies little space.For ease of understanding the present embodiment, first to this hair
A kind of AGV disclosed in bright embodiment describes in detail.
Embodiment 1
The embodiments of the invention provide a kind of AGV, including car body, at least two pallet forks, at least two supporting legs and supporting leg
Drive device.
Wherein car body is connected respectively with pallet fork, supporting leg, and supporting leg drive device is connected with supporting leg.The present embodiment is with pallet fork and branch
Leg is to illustrate exemplified by two.Two pallet forks are arranged between two supporting legs, and the spacing of two supporting legs is more than two pallet forks
Spacing.Above-mentioned supporting leg drive device is used to drive above-mentioned two supporting leg to move towards or move backward, to change two supporting legs
Spacing.
Supporting leg is transportable relative to car body in the present embodiment, and usual two supporting legs be arranged in parallel, pass through supporting leg
The driving of drive device, two supporting legs can be moved towards or moved backward, and moving direction is to connect parallel to two supporting leg centers
The direction of line.
Above-mentioned two pallet fork is arranged between two supporting legs, when AGV carries to the goods being placed on pallet, is protected
The spacing for holding two supporting legs is more than the spacing of two pallet forks, and two supporting legs move forward into the jack of pallet, and now two supporting legs exist
The both sides of pallet.Because pallet fork is liftoff into jack, and supporting leg does not enter jack, therefore need not require that pallet must be
Accessible, the pallet that wheel can be allowed to drive between this jack of river word pallet and ground, but various supports can be applied to
Disk.Such as day word pallet, field word pallet etc..In original state, pallet fork may be at identical height with supporting leg to be in
Different height.
When pallet fork lifts goods, supporting leg drive device is used for the spacing for driving supporting leg to be moved together to reduce supporting leg；
During arrangement of goods, supporting leg drive device is used to drive supporting leg reverse movement to increase the spacing of supporting leg.Inserted in pallet fork into pallet
Kong Shi, supporting leg are located at pallet both sides, when now pallet fork lifts goods to the vertical thickness for being higher than supporting leg, are driven by supporting leg drive device
Move two supporting legs to move towards, i.e. two supporting legs are towards mobile, the spacing between two supporting legs of reduction below pallet.Above-mentioned supporting leg drives
Dynamic device drives two supporting legs to move towards, and can make two supporting legs completely into moving transport again behind the lower section of pallet,
Now supporting leg will not increase extra width to palletized transport, because car body the widest part is the width of two supporting legs, now AGV and
The Breadth Maximum of pallet is the width of pallet, compared to the mode that two supporting legs move in pallet both sides in the prior art,
The channel width taken in motion has obtained effective reduction, goes for narrower storage passage, when can reduce storage
Channel width, so as to improve the storage density of goods.
When needing arrangement of goods, supporting leg drive device driving supporting leg reverse movement is to increase the spacing of supporting leg, to pallet
The space for reserving enough width allows pallet to fall, and the spacing of two supporting legs is more than or equal to the width of pallet.After pallet is fallen,
Supporting leg and pallet fork retreat, and are detached from pallet and complete handling process.
In the case of above-mentioned supporting leg is transportable, two pallet forks can also move, so as to change its spacing or relative to
The position of car body, so as to be applied to a variety of support holder structures.
AGV provided in an embodiment of the present invention, it is provided with the adjustable supporting leg of spacing and supporting leg drive device, supporting leg driving
Device can change the spacing of two supporting legs, after pallet fork lifts pallet, reduce the spacing of supporting leg to reduce carrying width；In goods
When pitching pallet to be put down, the spacing for increasing supporting leg allows pallet to fall to leave sufficient space；By the adjustable supporting leg of above-mentioned spacing
And supporting leg drive device improves flexibility, gone for narrower so as to reduce space-consuming when transporting goods
Storage passage, so as to improve the storage density of goods.
Wherein, above-mentioned car body can be made up of vehicle frame and corresponding mechanical device, be AGV foundation, be other
The installation foundation of assembly part.AGV can also include：1st, electric power storage and charging device, 24V and 48V direct-flow storage batteries can be used
For power, storage battery power supply should typically keep the needs of continuous work more than 8 hours.2nd, drive device, by wheel, decelerator,
The part such as brake, motor and speed control forms, and is the device for controlling AGV normal operations.Its operating instruction is by counting
Calculation machine or manual control are volleyed out, and the speed of service, direction, the regulation of braking are controlled by computer respectively.For safety, powering off
When brake apparatus can lean on machinery realize braking.3rd, guider, the directional information of guidance system is received, by transfer come real
Turn now to act.4th, controller on car, receive the instruction of control centre and perform corresponding instruction, while by the state of itself
(such as position, speed) feeds back to control centre in time.5th, communicator, realize that AGV is set with ground control station and ground monitoring
Information between standby exchanges.6th, safety guard, including the side such as protection to AGV protections in itself, to people or other equipment
Face.7th, information transfer and processing unit, are monitored to AGV, monitor the state of ground residing for AGV, and real with ground control station
Shi Jinhang information transmissions.
Embodiment 2
The embodiments of the invention provide a kind of AGV, in a manner of supporting leg drive device uses electronic guiding steering wheel exemplified by enter
Row explanation.
AGV shown in Figure 1 structural representation, wherein the component such as supporting leg and supporting leg drive device is basically illustrated,
Including car body 11, two supporting legs 12, two pallet forks 13 and supporting leg drive device.Pallet fork 13 is in the shape for lifting off ground
State, now supporting leg drive device driving supporting leg 12 move towards, and width shared by two supporting legs 12 can be less than or equal to the width of pallet,
So as to reduce space-consuming.
Such as the width of supporting leg is generally 150mm, width of the existing AGV in transport is that pallet width (is generally
1200mm or 1000mm) plus twice of supporting leg width 300mm, even if not calculating the gap between supporting leg and pallet, overall width also reaches
To 1500mm (or 1300mm)；And the AGV in the present embodiment, using the supporting leg of adjustable spacing, driven by supporting leg drive device
Two supporting legs are contracted to below pallet, and overall width during transport is equal to the width of pallet, i.e. 1200mm (or 1000mm), compared to it is existing
There is technology space-consuming effectively to reduce, reduce the width requirement of radius of turn and reduction to transport channel.
Supporting leg drive device is by the way of electronic guiding steering wheel in the present embodiment, as shown in figure 1, supporting leg drive device
Including two electronic guiding steering wheels 17 close to car body, electronic guiding steering wheel 17 is arranged on supporting leg 12.Each supporting leg 12 is at least
An electronic guiding steering wheel is provided with, multiple electronic guiding steering wheels can also be set.Wherein, two wheels away from car body both may be used
To be electronic guiding steering wheel or universal wheel.
Avoidance sensor 18 is additionally provided with AGV as shown in Figure 1, in the present embodiment using two avoidance sensors,
Set relative to car body in diagonal, an avoidance sensor is arranged at near-end of the supporting leg relative to car body, and another is kept away
Barrier sensor is arranged at distal end of another supporting leg relative to car body.Wherein, two avoidance sensors can also diagonally divide
It is not arranged on supporting leg and car body.Above-mentioned avoidance sensor can also play navigation sensing under the control of AGV control device
The effect of device, so as to which avoidance and navigation feature are focused on same sensor, AGV cost can be reduced.
AGV shown in Figure 2 structural representation, electronic guiding steering wheel 17 can also be set in supporting leg drive device,
The electronic guiding steering wheel is arranged at the centre position of supporting leg drive device, and two universal wheels 171 are provided with supporting leg.Propped up
When leg spacing is adjusted, electronic guiding steering wheel 17 and two universal wheels 171 can play a part of supporting car body and goods.When two
In the case of electronic guiding steering wheel is also respectively provided with supporting leg (such as distal end in supporting leg relative to car body), supporting leg driving dress
Putting the electronic guiding steering wheel of setting can also coordinate with the electronic guiding steering wheel on supporting leg, realize AGV original place translation, make it
More flexible facility during transport.
AGV shown in Figure 3 structural representation, different from Fig. 2, its two side position in supporting leg drive device is set
Two electronic guiding steering wheels 17 are equipped with, and universal wheel need not be set again on supporting leg, support car body and goods can also be played
Effect.In the case of electronic guiding steering wheel is also respectively provided with two supporting legs, what is set in supporting leg drive device electronic leads
Can also coordinate to steering wheel with the electronic guiding steering wheel on supporting leg, realize AGV original place translation, when making its transport it is more flexible just
Profit.At this it should be noted that supporting leg drive device in above-mentioned Fig. 2 and Fig. 3 sets the mode of electronic guiding steering wheel can be with
Applied in subsequent embodiment.
Above-mentioned electronic guiding steering wheel comprises at least motor and steering motor, the motor can drive its advance or
Retreat, the steering motor can drive its steering.When driving supporting leg 12 to move towards or move backward, steering motor is first controlled
The direction of electronic guiding steering wheel is adjusted to perpendicular to the supporting leg bearing of trend, then controls motor to drive electronic guiding steering wheel
Advance or retreat.AGV shown in Figure 4 upward view, it is the upward view of the AGV shown in Fig. 1, illustrated therein is four electricity
Action-oriented steering wheel 17, and in the state perpendicular to supporting leg bearing of trend.Referring also to the rearview of the AGV shown in Fig. 5, its
In be also shown for electronic guiding steering wheel 17 be in perpendicular to supporting leg bearing of trend state.
Interior guide rail 15 and outer guide groove 16 are also show in Fig. 1, drive supporting leg to move towards or instead in electronic guiding rudder wheel
To during movement, interior guide rail 15 and outer guide groove 16 are used to support car body and goods, and both coordinate interior guide rail 15 sliding in outer guide groove 16
It is dynamic.In order to increase the stability of car body, wherein guide rail and outer guide groove in two groups can also be used, the upside of car body is respectively arranged at
And downside.Alternatively, the form of the square rail or circle rail in subsequent embodiment can also be used, the present embodiment is to this
It is not limited.As shown in fig. 1, in addition to alignment pin 19, for the position of fixed supporting leg, when supporting leg is moved to target location
Self-positioning reel latching apparatus is locked, for example, reach supporting leg retracted position or lifting goods when supporting leg extended position.Above-mentioned positioning
Pin can also be applied in subsequent embodiment, play a part of fixed supporting leg position.
Interior guide rail in the present embodiment can also be applied to subsequent embodiment with outer guide groove, with hydraulic cylinder, leading screw and motor
It is engaged the regulation for realizing supporting leg spacing.
Embodiment 3
The embodiments of the invention provide a kind of AGV, in a manner of supporting leg drive device uses Driven by Hydraulic Cylinder exemplified by carry out
Explanation.
AGV shown in Figure 6 structural representation, including car body 11, two supporting legs 12, two (pallet fork portions of pallet fork 13
Divide the jack into pallet) and supporting leg drive device 20.Pallet fork 13 is also show in figure 6, and pallet 14 has been lifted off into ground
Face, the now driving of supporting leg drive device 20 supporting leg 12 move towards, and width shared by two supporting legs 12 can be less than or equal to the width of pallet
Degree, so as to reduce space-consuming.For the ease of two supporting legs, 12 opposite or reverse movement, the wheel on supporting leg 12 is that can rotate court
To wheel, such as universal wheel or electronic guiding steering wheel can be used.
Supporting leg drive device includes interior guide rail, outer guide groove and hydraulic cylinder in the present embodiment.Outer lead is also show in figure 6
Groove 21, interior guide rail 22, hydraulic cylinder 23 and piston rod 24.The piston rod 24 of hydraulic cylinder 23 and interior guide rail 22 are also show in figure 6
Connection, the cylinder body of hydraulic cylinder 23 can be fixedly connected with outer guide groove or car body.Hydraulic cylinder can be by the movement of piston rod and band
Guide rail slides in outer guide groove in dynamic.Illustrated in above-mentioned Fig. 6 by taking square rail as an example, supporting leg drive device is adopted in the present embodiment
It is without limitation with the form of square rail or circle rail, the present embodiment.
The schematic diagram of supporting leg drive device shown in Figure 8, illustrated therein is two supporting legs 12 and with two supporting legs
The 12 interior guide rails 22 connected respectively, one end of each interior guide rail 22 are connected with a supporting leg 12 respectively, and the other end is placed in outer lead
In groove.Multiple guide wheels 25 are additionally provided with interior guide rail 22, the guide wheel 25 can rotate in outer guide groove, reduce outer guide groove and interior
Frictional force between guide rail.
The schematic diagram of supporting leg drive device shown in Figure 7, it illustrated therein is be fixedly installed on car body 11 outer and lead
The concrete structure of groove 21, include the channled rail of upper end open, the narrow slot for accommodating guide wheel is additionally provided with the inwall of groove, with guiding
Interior guide rail slides in outer guide groove.AGV shown in Figure 9 structural representation, it is different from Fig. 6, use two externally to lead
Guide groove and interior guide rail outside the power output of the form of groove and interior guide rail, hydraulic cylinder and piston rod to one pair of which.Referring to Figure 10 institutes
The schematic diagram for the supporting leg drive device shown, illustrated therein is two outer guide grooves 21, and leg drive device shown in Figure 11 is shown
It is intended to, illustrated therein is four interior guide rails 22, one end of each interior guide rail 22 is connected with supporting leg respectively, and the other end is placed in outer lead
In groove.Multiple guide wheels 25 are additionally provided with interior guide rail 22, the guide wheel 25 can rotate in outer guide groove, reduce outer guide groove and interior
Frictional force between guide rail.
Embodiment 4
The embodiments of the invention provide a kind of AGV, by supporting leg drive device using motor with screw mandrel driving in a manner of exemplified by
Illustrate.
AGV shown in Figure 12 structural representation, including car body 11, two supporting legs 12, two (pallet fork portions of pallet fork 13
Divide the jack into pallet) and supporting leg drive device 30.Pallet fork 13 is also show in fig. 12, and pallet 14 has been lifted off into ground
Face, the now driving of supporting leg drive device 30 supporting leg 12 move towards, and width shared by two supporting legs 12 can be less than or equal to the width of pallet
Degree, so as to reduce space-consuming.For the ease of two supporting legs, 12 opposite or reverse movement, the wheel on supporting leg 12 is that can rotate court
To wheel, such as universal wheel or electronic guiding steering wheel can be used.
Supporting leg drive device includes motor, leading screw, leading screw axle sleeve, interior guide rail and outer guide groove in the present embodiment.In Figure 12
In also show motor 31, leading screw 32, leading screw axle sleeve 33, interior guide rail 34 and outer guide groove 35.Wherein leading screw 32 and leading screw axle sleeve 33
Match, interior guide rail 34 and outer 35 matches.Illustrated in above-mentioned Figure 12 exemplified by justifying rail, supporting leg drives in the present embodiment
Device uses square rail or justifies the form of rail, and the present embodiment is without limitation.
It also show motor 31 in fig. 12 to be fixedly installed on car body 11, motor 31 is connected with leading screw 32, and leading screw 32 holds
It is placed in leading screw axle sleeve 33, leading screw axle sleeve 33 is fixedly connected with supporting leg 11；Outer guide groove 35 be fixed on supporting leg 11 and with interior guide rail
34 connections.When motor rotates, drive leading screw to rotate, draw or promote supporting leg to move by leading screw axle sleeve, to realize two branch
The regulation of leg spacing.When supporting leg moves, support and guiding function are played by outer guide groove and interior guide rail.When being moved in view of supporting leg
Stability, interior guide rail 34 and outer guide groove 35 in Figure 12 can include two groups, be symmetrically arranged at leading screw 32 and lead screw shaft
The both sides up and down of set 33.
The schematic diagram of supporting leg drive device shown in Figure 13, the part that illustrated therein is supporting leg drive device 30 are specific
Structure, including motor 31, leading screw 32 and interior guide rail 34, the wherein length of leading screw 32 and interior guide rail 34 are satisfied by extending respectively to silk
In thick stick axle sleeve and outer guide groove.The schematic diagram of supporting leg drive device shown in Figure 14, illustrated therein is supporting leg drive device 30
Part concrete structure, including leading screw axle sleeve 33 and outer guide groove 35.It is corresponding with Figure 12, leading screw axle sleeve is also shown in fig. 14
33 and outer guide groove 35 respectively have two.
Embodiment 5
The embodiments of the invention provide a kind of AGV system, the structural representation of AGV system shown in Figure 15, including
The AGV that scheduling system 100, external control system 200 and at least one above-described embodiment provide.
Specifically, above-mentioned AGV control system communicates to connect respectively with scheduling system, external control system；AGV control
System is used for the control instruction for receiving and performing the transmission of scheduling system.
Scheduling system refers to the fixed equipment of AGV system, and mainly responsible task distribution, vehicle scheduling, path (line) management, is handed over
Siphunculus is managed, the function such as automatic charging；AGV vehicle control syetem is responsible for AGV navigation meter after the instruction of Upper system is received
Calculate, guiding is realized, vehicle to run, the function such as charge and discharge operations；External control system and scheduling system communication connection, are controlled to it
System and information exchange.
Above-mentioned AGV system can also include navigation system, and the navigation system both can be the avoidance sensing installed on AGV
Device, the avoidance sensor can play a part of navigation sensor under the control of AGV control device；Can also individually pacify
The navigation sensor of dress, the embodiment of the present invention are without limitation.
AGV system provided in an embodiment of the present invention, the AGV provided with above-described embodiment have identical technical characteristic, institute
Can also solve identical technical problem, reach identical technique effect.
In addition, in the description of the embodiment of the present invention, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that instruction or hint relative importance.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, can be with
Realize by another way.Device embodiment described above is only schematical, for example, the division of the unit,
Only a kind of division of logic function, can there is other dividing mode when actually realizing, in another example, multiple units or component can
To combine or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, it is shown or beg for
The mutual coupling of opinion or direct-coupling or communication connection can be by some communication interfaces, device or unit it is indirect
Coupling or communication connection, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
Finally it should be noted that：Embodiment described above, it is only the embodiment of the present invention, to illustrate the present invention
Technical scheme, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those within the art that：Any one skilled in the art
The invention discloses technical scope in, it can still modify to the technical scheme described in previous embodiment or can be light
Change is readily conceivable that, or equivalent substitution is carried out to which part technical characteristic；And these modifications, change or replacement, do not make
The essence of appropriate technical solution departs from the spirit and scope of technical scheme of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
- A kind of 1. AGV, it is characterised in that including：Car body, at least two pallet forks, at least two supporting legs and supporting leg drive device； The car body is connected respectively with the pallet fork, the supporting leg；The supporting leg drive device is connected with the supporting leg；The pallet fork is arranged between the supporting leg, and the spacing of the supporting leg is adjustable；The supporting leg drive device is used to drive the supporting leg to move towards or move backward, between two supporting legs of change Away from.
- 2. AGV according to claim 1, it is characterised in thatWhen the pallet fork lifts goods, the supporting leg drive device reduces the branch for driving the supporting leg to be moved together to The spacing of leg；When placing the goods, the supporting leg drive device is used to drive the supporting leg reverse movement to increase the supporting leg Spacing.
- 3. AGV according to claim 1, it is characterised in that the supporting leg drive device includes at least two electronic guiding Steering wheel；The electronic guiding steering wheel is arranged on the supporting leg, and each supporting leg is at least provided with an electronic guiding rudder Wheel；The electronic guiding steering wheel comprises at least motor and steering motor.
- 4. AGV according to claim 1 or 2, it is characterised in that the supporting leg drive device comprises at least interior guide rail, outer Guide groove and hydraulic cylinder；The outer guide groove is fixedly installed on the car body；The interior guide rail comprises at least two, and one end of each interior guide rail is connected with a supporting leg respectively, described interior Guide rail is placed in the outer guide groove；The piston rod of the hydraulic cylinder is connected with the interior guide rail, the cylinder body of the hydraulic cylinder and the outer guide groove or the car body It is fixedly connected；The hydraulic cylinder is used to drive the interior guide rail to slide in the outer guide groove.
- 5. AGV according to claim 1 or 2, it is characterised in that the supporting leg drive device comprise at least motor, leading screw, Leading screw axle sleeve, interior guide rail and outer guide groove；The motor is fixedly installed on the car body；The motor is connected with the leading screw, and the leading screw is placed in the leading screw axle sleeve, the leading screw axle sleeve and the branch Leg is fixedly connected；The outer guide groove is fixed on the supporting leg and is connected with the interior guide rail.
- 6. AGV according to claim 1, it is characterised in that the car body includes control device and driver element；The control device is connected respectively with the pallet fork, the supporting leg drive device；The driver element includes at least one motor and at least one driving wheel, the motor and the driving wheel Power connector.
- 7. according to the AGV described in claim any one of 1-3, it is characterised in that the supporting leg drive device is provided with the first electricity Action-oriented steering wheel；The first electronic guiding steering wheel is arranged at the centre position of the supporting leg drive device.
- 8. according to the AGV described in claim any one of 1-3, it is characterised in that the supporting leg drive device is provided with the first electricity Action-oriented steering wheel and the second electronic guiding steering wheel；The first electronic guiding steering wheel and the second electronic guiding steering wheel are respectively arranged at the two of the supporting leg drive device Side position.
- 9. AGV according to claim 1, it is characterised in that also including two avoidance sensors；One avoidance sensing Device is arranged at near-end of the supporting leg relative to the car body, and another described avoidance sensor is arranged at described in another Supporting leg relative to the car body distal end；Or,Two avoidance sensors are diagonally respectively arranged at the supporting leg and the car body.
- 10. a kind of AGV system, it is characterised in that including scheduling system, external control system and at least one such as claim 1- AGV described in 9 any one；The scheduling system and the AGV control system, the external control system communicate to connect respectively；The control system of the AGV is used to receiving and performing the control instruction that the scheduling system is sent.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710927084.7A CN107473140A (en) | 2017-09-30 | 2017-09-30 | AGV and AGV system |
| PCT/CN2018/108577 WO2019062892A1 (en) | 2017-09-30 | 2018-09-29 | Agv, agv system, and agv control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710927084.7A CN107473140A (en) | 2017-09-30 | 2017-09-30 | AGV and AGV system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107473140A true CN107473140A (en) | 2017-12-15 |
Family
ID=60605044
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710927084.7A Pending CN107473140A (en) | 2017-09-30 | 2017-09-30 | AGV and AGV system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107473140A (en) |
| WO (1) | WO2019062892A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108516496A (en) * | 2018-05-31 | 2018-09-11 | 安徽智博新材料科技有限公司 | A kind of logistics fork truck bracing means |
| WO2019062892A1 (en) * | 2017-09-30 | 2019-04-04 | 山东兰剑物流科技股份有限公司 | Agv, agv system, and agv control method |
| CN110092151A (en) * | 2019-05-29 | 2019-08-06 | 中匠机器人(深圳)有限公司 | A kind of automatic guided vehicle |
| EP3521235A1 (en) | 2018-01-31 | 2019-08-07 | Toyota Material Handling Manufacturing Sweden AB | Material handling vehicle |
| CN111717846A (en) * | 2020-06-22 | 2020-09-29 | 北京极智嘉科技有限公司 | Forklift truck |
| CN114105041A (en) * | 2021-12-13 | 2022-03-01 | 中航宝胜智能技术(上海)有限公司 | But heavy load AGV of outdoor operation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT526006B1 (en) * | 2022-03-18 | 2024-07-15 | Agilox Systems Gmbh | TRANSPORT EQUIPMENT |
| FR3135455A1 (en) * | 2022-05-12 | 2023-11-17 | Renault S.A.S. | ADJUSTABLE MANUAL FORKLIFT |
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| WO2019062892A1 (en) * | 2017-09-30 | 2019-04-04 | 山东兰剑物流科技股份有限公司 | Agv, agv system, and agv control method |
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| CN114105041A (en) * | 2021-12-13 | 2022-03-01 | 中航宝胜智能技术(上海)有限公司 | But heavy load AGV of outdoor operation |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019062892A1 (en) | 2019-04-04 |
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Address after: 250000 Floor 19, Building No.1, No.9 Longyao North Road, Jinan High-tech Zone, Shandong Province, 909 Haixin Longyao 9 Applicant after: Lanjian Intelligent Technology Co.,Ltd. Address before: 250000 Shandong city of Ji'nan province high tech Zone Shun Road No. 1117 Department Building 6 layer Applicant before: SHANDONG BLUESWORD LOGISTICS Co.,Ltd. |
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