CN110329707A - Can climb AGV and warehousing system - Google Patents
Can climb AGV and warehousing system Download PDFInfo
- Publication number
- CN110329707A CN110329707A CN201910756263.8A CN201910756263A CN110329707A CN 110329707 A CN110329707 A CN 110329707A CN 201910756263 A CN201910756263 A CN 201910756263A CN 110329707 A CN110329707 A CN 110329707A
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- Prior art keywords
- climbs
- flexible
- wheel
- climbing
- climb
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Classifications
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
It can climb AGV and warehousing system the invention discloses one kind, be related to AGV conveying technology field.The AGV that can climb includes car body, telescopic component and the component that climbs, the component that climbs includes climb wheel and the actuator that climbs mutually being sequentially connected, telescopic component includes flexible actuator and flexible driving member, flexible actuator and the actuator that climbs are mounted on car body, slipping of climbing is connected to car body, the both ends of flexible driving member are respectively the first driving end and the second driving end, and it is rotationally connected with flexible actuator respectively and the wheel that climbs, flexible actuator is able to drive the first driving end and moves along first direction, so that the drive of the second driving end is climbed, wheel is along flexible track to vehicle extracorporeal movement, the wheel that climbs is enabled to move to position of climbing, and the side walking of shelf can be held in, wherein, first direction and flexible track are arranged in angle.Can climb AGV and the warehousing system have can the stable motion between shelf, and the characteristics of cost is relatively low.
Description
Technical field
The present invention relates to AGV conveying technology field, can climb AGV and warehousing system in particular to one kind.
Background technique
Independent navigation AGV's (Automated Guided Vehicle, automated guided vehicle) is more and more used for
Warehousing industry etc..
In existing warehousing system, AGV is responsible for the cargo transfer on ground, elevator or shuttle etc. for pick and place cargo in
Shelf, the higher cost of system.
In view of this, R & D design go out it is a kind of be able to solve above-mentioned technical problem climb AGV and warehousing system seems
It is particularly important.
Summary of the invention
Climb AGV the purpose of the present invention is to provide one kind, have can the stable motion between shelf, and cost is relatively low
The characteristics of.
Another object of the present invention is to provide a kind of warehousing system, have can the stable motion between shelf, and at
This lower feature.
The present invention provides a kind of technical solution:
In a first aspect, can climb AGV, including car body, telescopic component and the component that climbs the embodiment of the invention provides one kind,
The component that climbs includes climb wheel and the actuator that climbs mutually being sequentially connected, the telescopic component include flexible actuator and
Flexible driving member；The flexible actuator and the actuator that climbs are mounted on the car body, the slipping connection of climbing
In the car body, the both ends of the flexible driving member are respectively the first driving end and the second driving end, and are rotationally connected with respectively
The flexible actuator and the wheel that climbs；The flexible actuator is able to drive first driving end and transports along first direction
It is dynamic so that second driving end drive described in climb wheel along flexible track to vehicle extracorporeal movement, enable the wheel that climbs
Position of climbing is moved to, and the side walking of shelf can be held in, wherein the first direction and the flexible track are in angle
Setting.
With reference to first aspect, in the first implementation of first aspect, the quantity of the wheel that climbs is multiple and more
A wheel that climbs is slidably connected to the two sides of the car body respectively；The quantity of the flexible driving member be it is multiple, it is multiple described
Second driving end is rotationally connected with the multiple wheels that climb positioned at the car body two sides one by one；The flexible actuator can
Multiple first driving ends are driven to move along the first direction simultaneously, so that multiple second driving ends drive institute simultaneously
Multiple described climb for stating car body two sides are taken turns to vehicle extracorporeal movement.
With reference to first aspect and its above-mentioned implementation, in second of implementation of first aspect, described flexible group
Part further includes multiple flexible STATEMENT OF FEDERALLY SPONSOREDs, and the component that climbs further includes multiple installation parts that climb；The wheel that climbs is installed on described climb
Installation part, the installation part that climbs are slidably connected to the car body, with wheel and the car body of climbing that be slidably connected；It is described to stretch
The installation part that climbs described in contracting STATEMENT OF FEDERALLY SPONSORED is ipsilateral with the car body respectively is connect, and second driving end is rotationally connected with described stretch
Contracting STATEMENT OF FEDERALLY SPONSORED, with wheel and corresponding second driving end of climbing described in rotation connection.
With reference to first aspect and its above-mentioned implementation, in the third implementation of first aspect, described flexible group
Part further includes telescopic resilience part, and the flexible STATEMENT OF FEDERALLY SPONSORED is slidably connected to the installation part that climbs, and can be along the expansion rail
Mark is relative to the installation part sliding of climbing；The telescopic resilience part respectively with the flexible STATEMENT OF FEDERALLY SPONSORED and the installation part that climbs
Connection, and between the flexible STATEMENT OF FEDERALLY SPONSORED and the installation part that climbs elastic deformation can occur for the telescopic resilience part.
With reference to first aspect and its above-mentioned implementation, described flexible in the 4th kind of implementation of first aspect
Moving part is plate, and the thickness direction of the flexible STATEMENT OF FEDERALLY SPONSORED is vertical with the flexible track.
With reference to first aspect and its above-mentioned implementation climbs in the 5th kind of implementation of first aspect described
Wheel moves to described when climbing, and the extending direction of the flexible driving member is parallel with the flexible track.
With reference to first aspect and its above-mentioned implementation, in the 6th kind of implementation of first aspect, the group of climbing
Part further includes the shaft coupling that climbs, and the shaft coupling that climbs is scalable shaft coupling, and is arranged along the flexible track, and respectively with
Climb actuator and the wheel transmission connection of climbing, with actuator and the wheel that climbs of climbing described in transmission connection.
With reference to first aspect and its above-mentioned implementation, in the 7th kind of implementation of first aspect, the group of climbing
Part further includes interlocking bar of climbing, and Hooks coupling universal coupling, the both ends difference of the interlocking bar of climbing are provided in the interlocking bar of climbing
With it is ipsilateral described in climb wheel connection.
Second aspect, the embodiment of the invention provides a kind of warehousing systems, including the AGV that climbs.It is described to climb
Rising AGV includes car body, telescopic component and the component that climbs, and the component that climbs includes climb wheel and the drive of climbing mutually being sequentially connected
Moving part, the telescopic component include flexible actuator and flexible driving member；The flexible actuator and the actuator that climbs are equal
It is installed on the car body, the slipping of climbing is connected to the car body, and the both ends of the flexible driving member are respectively the first biography
Moved end and the second driving end, and it is rotationally connected with the flexible actuator and the wheel that climbs respectively；The flexible actuator energy
First driving end is enough driven to move along first direction, so that the wheel that climbs described in second driving end drive is along flexible track
To vehicle extracorporeal movement, the wheel that climbs is enabled to move to position of climbing, and the side walking of shelf can be held in, wherein
The first direction and the flexible track are arranged in angle.
In conjunction with second aspect, in the first implementation of second aspect, the warehousing system further includes shelf and climbs
Chain is risen, shelf interval setting, the side of the shelf described in chain that climb, the wheel that climbs is sprocket wheel, and can be
It is engaged when moving to default climb with the chain that climbs, to walk on the chain that climbs.
Compared with prior art, AGV and warehousing system having compared with the existing technology provided in an embodiment of the present invention of climbing
Beneficial effect is:
The component that climbs includes climb wheel and the actuator that climbs mutually being sequentially connected, and telescopic component includes flexible actuator
With flexible driving member, wherein flexible actuator and the actuator that climbs are mounted on car body, and slipping of climbing is connected to car body, and
The actuator that climbs can drive wheel rotation of climbing, and the both ends of flexible driving member are respectively the first driving end and the second driving end, and
And first driving end and the second driving end be rotationally connected with flexible actuator respectively and the wheel that climbs.And flexible actuator being capable of band
Dynamic first driving end is moved along first direction, so that the drive of the second driving end is climbed, wheel makes along flexible track to vehicle extracorporeal movement
The wheel that must climb can move to position of climbing, and can be held in the side walking of shelf, wherein first direction and flexible track are in
Angle setting.So, it is taken turns by included climbing and is moved come band motor vehicles bodies in shelf part, cost is relatively low, and passes through
The mechanism of flexible actuator and flexible driving member composition drives the wheel that climbs to stretch out to outside car body so that climb wheel steadily with goods
The side of frame supports.
To enable above-mentioned purpose of the invention, feature and advantage to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described.It should be appreciated that the following drawings illustrates only certain embodiments of the present invention, therefore it is not construed as pair
The restriction of range.It for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram that the AGV provided in an embodiment of the present invention that climbs is applied to warehousing system.
Under first visual angle of the part-structure when wheel that climbs that Fig. 2 is the AGV provided in an embodiment of the present invention that climbs is withdrawn
Structural schematic diagram.
Under first visual angle of the part-structure when wheel that climbs that Fig. 3 is the AGV provided in an embodiment of the present invention that climbs stretches out
Structural schematic diagram.
Fig. 4 is the schematic diagram under the second visual angle of the part-structure of the AGV provided in an embodiment of the present invention that climbs.
Fig. 5 is the structural schematic diagram of the partial enlargement at the V in Fig. 4.
Icon: 100- warehousing system；20- shelf；21- climbs chain；22- guide part；23- locating piece；10- can climb
AGV；12- climbs component；121- climbs wheel；122- climbs actuator；123- climbs shaft coupling；124- climbs interlocking bar；125-
Climb installation part；126- climbs directive wheel；128- horizontal guide sheave；129- alignment sensor；15- telescopic component；151- is flexible
Actuator；152- stretches driving member；The first driving end of 153-；The second driving end of 154-；155- telescopic slide part；The flexible connection of 156-
Moving part；157- telescopic resilience part；17- car body；171- climbs position；19- picks and places component；18- walking component.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Term " on ", "lower",
The orientation or positional relationship of the instructions such as "inner", "outside", "left", "right" be based on the orientation or positional relationship shown in the drawings, or
The invention product using when the orientation or positional relationship usually the put or orientation that usually understands of those skilled in the art
Or positional relationship, it is merely for convenience of description of the present invention and simplification of the description, rather than the equipment or element of indication or suggestion meaning
It must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.Term
" first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.Term " includes ", " packet
Containing " or any other variant thereof is intended to cover non-exclusive inclusion, so that including the process of a series of elements, side
Method, article or equipment not only include those elements, but also including other elements that are not explicitly listed, or further include
For elements inherent to such a process, method, article, or device.In the absence of more restrictions, by sentence " including one
It is a ... " limit element, it is not excluded that there is also in addition in the process, method, article or apparatus that includes the element
Identical element.
It should also be noted that, unless otherwise clearly defined and limited, the terms such as " setting ", " connection " should do broad sense reason
Solution, for example, " connection " may be fixed connection or may be dismantle connection, or integral connection；It can be mechanical connection,
It is also possible to be electrically connected；It can be and be directly connected to, can also be indirectly connected with by intermediary, be can be inside two elements
Connection.For the ordinary skill in the art, the tool of above-mentioned term in the present invention can be understood as the case may be
Body meaning.
With reference to the accompanying drawing, detailed description of the preferred embodiments.
Embodiment:
Referring to Fig. 1, Fig. 1 is that the AGV10 provided in an embodiment of the present invention that climbs shows applied to the structure of warehousing system 100
It is intended to.
The embodiment of the present invention provides one kind and can climb AGV10, which can be used between shelf 20 and ground is worn
Shuttle, having can be in 20 stable motion of shelf, and the characteristics of cost is relatively low.The AGV that can climb can be applied to production system
The shelf 20 such as system and warehousing system 100 store the scene of goods, and certainly, which also can independently use.
Wherein, by taking the AGV10 that can climb is applied to warehousing system 100 as an example, which includes the AGV10 that can climb,
It passes through the AGV10 transshipment cargo that can climb.Certainly, which further includes shelf 20 and the chain 21 that climbs, between shelf 20
Every setting, and climbing on the side that chain 21 is set between shelf 20, the AGV10 that can climb can walk on the chain 21 that climbs,
To be gone up and down along shelf 20.
Since warehousing system 100 uses the AGV10 provided in an embodiment of the present invention that climbs, so the warehousing system 100
Also having can be in 20 stable motion of shelf, and the characteristics of cost is relatively low.
The structure composition of the AGV10 provided in an embodiment of the present invention that climbs, working principle and beneficial will be specifically introduced below
Effect.
Please refer to figs. 2 and 3, when the wheel 121 that climbs that Fig. 2 is the AGV10 provided in an embodiment of the present invention that climbs is withdrawn
Structural schematic diagram under first visual angle of part-structure.Fig. 3 is the wheel that climbs of the AGV10 provided in an embodiment of the present invention that climbs
Structural schematic diagram under first visual angle of part-structure when 121 stretching.The direction of the arrow of oblique upper left is in Fig. 2 and Fig. 3
First direction, the direction of the arrow of oblique lower-left are a direction of flexible track.
The AGV10 that can climb includes car body 17, telescopic component 15 and the component 12 that climbs, and climb component 12 and telescopic component 15
It is all set on car body 17, telescopic component 15 can drive the component 12 that climbs to move to outside car body 17, so that climb component 12 and goods
The side of frame 20 supports, and moves with motor vehicles bodies 17 along the side of shelf 20, and the AGV10 that can climb is transported between shelf 20
It is dynamic.
Specifically, this climbs, component 12 includes climb wheel 121 and the actuator 122 that climbs mutually being sequentially connected, group of stretching
Part 15 includes flexible actuator 151 and flexible driving member 152, wherein flexible actuator 151 and the actuator 122 that climbs are respectively mounted
In car body 17, the wheel 121 that climbs is slidably connected to car body 17, and the actuator 122 that climbs can drive 121 rotation of wheel of climbing, and stretch
The both ends of driving member 152 are respectively the first driving end 153 and the second driving end 154, also, the first driving end 153 and second passes
Moved end 154 is rotationally connected with flexible actuator 151 and the wheel 121 that climbs respectively.
And flexible actuator 151 is able to drive the first driving end 153 and moves along first direction, so that the second driving end 154
The drive wheel that climbs 121 is moved along flexible track to outside car body 17, enables the wheel 121 that climbs to move to position 171 of climbing, and can
It is held in the side walking of shelf 20, wherein first direction and flexible track are arranged in angle, that is to say, that its flexible driving
The movement of the first direction of flexible actuator 151 is converted to the wheel 121 that climbs by flexible driving member 152 along expansion rail by part 151
The movement of mark improves 121 shock proof abilities of wheel of climbing, and improves the stability that the wheel 121 that climbs is held in 20 side of shelf, changes
Yan Zhi, flexible actuator 151 make driving link, and flexible driving member 152 is connected to flexible actuator 151 by two revolute pairs and climbs
Wheel 121 is risen, and the wheel 121 that climbs is slidably connected to car body 17 by prismatic pair, so that flexible driving member 152 can be by flexible actuator
Movement on 151 first direction is converted to the movement of the wheel 121 that climbs along flexible track by the driving member 152 that stretches.
So, it is moved by included 121 come the band motor vehicles bodies 17 of wheel that climb in shelf 20, cost is relatively low,
And drive the wheel 121 that climbs to stretch out to outside car body 17 by the mechanism of stretch actuator 151 and the composition of flexible driving member 152, with
Side of the wheel 121 steadily with shelf 20 that make to climb supports.
It should be noted that in the present embodiment, track of stretching is straight line, and the wheel 121 that climbs is by being mutually slidably connected
Sliding rail and slideway are slidably connected with car body 17, and flexible track is the railway line of sliding rail, and in other embodiments, track of stretching
It can also be the non-directional tracks such as wave or bending, track general direction of stretching and first direction are in angle, bending or waveform
Flexible track can convenient for climb wheel the 121 more stable sides with shelf 20 support, for example, climb wheel 121 be sprocket wheel,
Stretch out to outside car body 17 and up and down or swing, in order to climb wheel 121 and the chain 21 that climbs of 20 side of shelf it is better
Engagement, improves its stability.Also, in the present embodiment, first direction is vertical with the general direction of flexible track, and at other
In embodiment, the angle of the two can also be other degrees.Further, it is to be appreciated that in other embodiments, climb wheel 121
It can also be anti-pulley, the side of shelf 20 can be equipped with climbing face, and the wheel 121 that climbs directly is held in climbing face, along shelf 20
It climbs.
Further, telescopic component 15 may also include telescopic slide part 155, and telescopic slide part 155 is slidably connected to car body
17, and can be slided along first direction, flexible actuator 151 is connected to the first driving end 153 by telescopic slide part 155, also
It is to say, flexible actuator 151 is connected to telescopic slide part 155, and the first driving end 153 is rotationally connected on telescopic slide part 155.
Further, the quantity of wheel 121 of climbing can be to be multiple, also, multiple wheels 121 that climb are slidably connected to car body respectively
17 two sides, and the quantity of flexible driving member 152 can also be it is multiple, the second driving end 154 of multiple flexible driving members 152 is one by one
It is rotationally connected with multiple wheels 121 that climb positioned at 17 two sides of car body.
Also, drive respective first driving end of multiple flexible driving members 152 153 along first party in flexible actuator 151
To movement, enables to multiple second driving ends 154 of multiple flexible driving members 152 while driving corresponding 17 two sides of car body
The wheel 121 that climbs is moved to outside car body 17, to improve the synchronism that the wheel 121 that climbs is moved to outside car body 17, so that climbing wheel 121 can
The more stable side for being held in shelf 20.
It should be noted that in the present embodiment, the quantity for the wheel 121 that climbs is four, respectively symmetrically be set to car body
17 two sides, the quantity for the driving member 152 that stretches are two, are connected to two opposite climbing and take turns on 121, ipsilateral climbs
It rises wheel 121 to connect by the flexible STATEMENT OF FEDERALLY SPONSORED 156 of telescopic component 15, so that the ipsilateral wheel 121 that climbs can be simultaneously to outside car body 17
Movement, and in other embodiments, the quantity of flexible driving member 152 can also be equal with the quantity of wheel 121 of climbing, and one by one with climb
121 connection of wheel is risen, for example, the second driving end 154 of four flexible driving members 152 climbs with four one by one, wheel 121 is connect, and
When flexible actuator 151 drives the first driving end 153 to move along first direction, multiple second driving ends 154 drive corresponding
The wheel 121 that climbs is moved to outside car body 17.
Please continue to refer to Fig. 3, when the wheel 121 that climbs moves to and climbs position 171, the extending direction for the driving member 152 that stretches can
Parallel with flexible track, in other words, when driving the wheel 121 that climbs to move out with flexible actuator 151, stretch driving member 152
It will deflect, and when the wheel 121 that climbs reaches and climbs position 171, the actuator 151 that stretches, flexible driving member 152 and the wheel that climbs
The mechanism of 121 compositions reaches critical point just, at this point, flexible driving member 152 is parallel with the direction of motion of wheel 121 of climbing, in this way
One, so that the wheel 121 that climbs stretched out is not easy to shrink under the effect of external force.
In addition, in the present embodiment, track of stretching is vertical with first direction, at this time flexible driving member 152 also with flexible drive
The direction of motion of moving part 151 is vertical, and the wheel 121 that climbs is less susceptible to shrink under the effect of external force.
Further, the component 12 that climbs may also include the shaft coupling 123 that climbs, which is scalable shaft coupling
Device, and be arranged along flexible track, and climbed drive with actuator 122 and 121 transmission connection of wheel of climbing of climbing with being sequentially connected respectively
Moving part 122 and climb wheel 121, in order to it is fixed climb actuator 122 in the case where to climb wheel 121 can be relative to climbing
Actuator 122 moves.
In addition, the component 12 that climbs can further include interlocking bar 124 of climbing, universal joint shaft is provided in the interlocking bar 124 of climbing
Device (figure is not marked), and the both ends for interlocking bar 124 of climbing are connect with the ipsilateral wheel 121 that climbs respectively, so that the ipsilateral wheel 121 that climbs
It can rotate synchronously, and by setting Hooks coupling universal coupling, so that the ipsilateral wheel 121 that climbs can also be suitable in the case where incomplete coaxial
Benefit linkage, improves its suitability.
Fig. 4 and Fig. 5 are please referred to, Fig. 4 is the second visual angle of the part-structure of the AGV10 provided in an embodiment of the present invention that climbs
Under schematic diagram.Fig. 5 is the structural schematic diagram of the partial enlargement at the V in Fig. 4.
Further, the component 12 that climbs may also include multiple installation parts 125 that climb, and the wheel 121 that climbs is installed on installation of climbing
Part 125, and the installation part 125 that climbs is slidably connected to car body 17, to be slidably connected, in other words the wheel 121 that climbs climbs with car body 17
Installation part 125 can be slided relative to car body 17 along flexible track.
And the climb installation part 125 ipsilateral with car body 17 connect flexible STATEMENT OF FEDERALLY SPONSORED 156 respectively, and then connection is ipsilateral climbs
Wheel 121, also, the second driving end 154 is rotationally connected with flexible STATEMENT OF FEDERALLY SPONSORED 156, is climbed wheel 121 and corresponding the with rotation connection
Two driving ends 154.It is mentioned with the ipsilateral wheel 121 that climbs that links so that the ipsilateral wheel 121 that climbs can while be moved to outside car body 17
The synchronism of the high ipsilateral wheel 121 that climbs.
It should be noted that in the present embodiment, STATEMENT OF FEDERALLY SPONSORED 156 of stretching is plate, also, the thickness for STATEMENT OF FEDERALLY SPONSORED 156 of stretching
It is vertical with flexible track to spend direction, in other words, the deformation on flexible track is smaller, so that flexible STATEMENT OF FEDERALLY SPONSORED 156 can be more
Firmly the installation part 125 that climbs is driven to move to outside car body 17.In addition, this can climb, AGV10 may also include for picking and placing cargo
Pick-and-place component 19 and for motor vehicles bodies 17 in the walking component 18 of ground running.
Further, which may also include telescopic resilience part 157, and flexible STATEMENT OF FEDERALLY SPONSORED 156, which is slidably connected to, climbs
Installation part 125 is risen, and can be slided along flexible track relative to the installation part 125 that climbs, that is to say, that flexible 156 He of STATEMENT OF FEDERALLY SPONSORED
Climb installation part 125 glide direction it is identical, also, telescopic resilience part 157 respectively with flexible STATEMENT OF FEDERALLY SPONSORED 156 and the installation part that climbs
125 connections, and between flexible STATEMENT OF FEDERALLY SPONSORED 156 and the installation part 125 that climbs elastic deformation can occur for telescopic resilience part 157.In this way
One, when moving under the action of flexible STATEMENT OF FEDERALLY SPONSORED 156 is in the second driving end 154 along first direction, telescopic resilience will be passed through
Part 157 drives the movement of installation part 125 of climbing, so that each wheel 121 that climbs stretches under different force effect and the positions of car body 17
Setting can be different, to adapt to the fluctuations of 20 side of shelf, improves the suitability for the AGV10 that can climb.
The component 12 that climbs may also include the directive wheel 126 that climbs, and the directive wheel 126 that climbs is installed on the installation part 125 that climbs, and
And the wheel 121 that climbs is located between the ipsilateral wheel 121 that climbs so that the directive wheel 126 that climbs can be located at two climb chain 21 it
Between, to keep climbing, wheel 121 is not easy to be disengaged by the chain 21 that climbs.
Also, there are two climb directive wheel 126, and two directive wheels that climb for rotation connection on the installation part 125 that each climbs
126 are located at the upper and lower of the wheel 121 that climbs, so that car body 17 is in inclination, the directive wheel 126 that climbs will be with chain 21 or the goods of climbing
Frame 20 supports, and improves the stability for the AGV10 that can climb.
It is also provided with guide part 22 in the bottom of shelf 20, which is located at the end of shelf 20, with two
Channel extending direction between shelf 20 is arranged in angle, so that the protuberance of guide part 22 is between shelf 20, it is corresponding, it is climbing
Component 12 may also include horizontal guide sheave 128, horizontal when entering the channel between adjacent shelf 20 in the AGV10 that can climb
Directive wheel 128 can be held in guide part 22, so that on the predeterminated position between the channel between 17 position shelf 20 of car body.And it drops
The low AGV10 that climbs is fastened in the probability of 20 end of shelf.
In addition, the component 12 that climbs may also include alignment sensor 129, locating piece 23, the positioning can be also equipped on shelf 20
Part 23 is set to chain side, with when car body 17 moves to locating piece 23, locating piece 23 is can be detected in alignment sensor 129,
To determine the position of car body 17, for example, on position equal with 20 laminate of shelf at the top of car body 17, in order to the AGV10 that can climb
Pick and place cargo.
The working principle of the AGV10 provided in an embodiment of the present invention that climbs is:
The component 12 that climbs includes that climbing of being mutually sequentially connected and is climbed actuator 122 at wheel 121, and telescopic component 15 includes
Flexible actuator 151 and flexible driving member 152, wherein flexible actuator 151 and the actuator 122 that climbs are mounted on car body 17,
The wheel 121 that climbs is slidably connected to car body 17, and the actuator 122 that climbs can drive 121 rotation of wheel of climbing, and stretch driving member 152
Both ends be respectively the first driving end 153 and the second driving end 154, also, the first driving end 153 and the second driving end 154 divide
It is not rotationally connected with flexible actuator 151 and the wheel 121 that climbs.And flexible actuator 151 is able to drive the first driving end 153 along the
The movement of one direction, so that the drive of the second driving end 154 is climbed, wheel 121 is moved along flexible track to outside car body 17, so that the wheel that climbs
121 can move to position 171 of climbing, and can be held in the side walking of shelf 20, wherein first direction and flexible track are in
Angle setting, that is to say, that its flexible actuator 151 is by flexible driving member 152 by the first direction of flexible actuator 151
Movement is converted to the wheel 121 that climbs along the movement of flexible track, improves 121 shock proof abilities of wheel of climbing, improves the wheel 121 that climbs
It is held in the stability of 20 side of shelf, in other words, flexible actuator 151 makees driving link, and the driving member 152 that stretches is turned by two
Dynamic pair is connected to flexible actuator 151 and the wheel 121 that climbs, and the wheel 121 that climbs is slidably connected to car body 17 by prismatic pair, so that
Flexible driving member 152 can be converted to the movement on the first direction of flexible actuator 151 along flexible by flexible driving member 152
The movement of the wheel 121 that climbs of track.So, it is transported by included 121 come the band motor vehicles bodies 17 of wheel that climb in shelf 20
Dynamic, cost is relatively low, and takes turns 121 to vehicle to drive to climb by the mechanism that actuator 151 and flexible driving member 152 form of stretching
It is stretched out outside body 17, so that side of the wheel 121 steadily with shelf 20 of climbing supports.
In summary:
The embodiment of the present invention provides one kind and can climb AGV10, have can in 20 stable motions of shelf, and cost compared with
Low feature.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, in the absence of conflict, the feature in the above embodiments be can be combined with each other, and the present invention can also have respectively
Kind change and variation.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should all wrap
Containing within protection scope of the present invention.Also, it should regard embodiment as exemplary, and be non-limiting, this hair
Bright range is indicated by the appended claims rather than the foregoing description, it is intended that containing for the equivalent requirements of the claims will be fallen in
All changes in justice and range are included within the present invention.It should not treat any reference in the claims as involved by limitation
And claim.
Claims (10)
- The AGV 1. one kind can climb, which is characterized in that including car body, telescopic component and the component that climbs, the component that climbs includes phase Climb wheel and the actuator that climbs mutually being sequentially connected, the telescopic component include flexible actuator and flexible driving member；The flexible actuator and the actuator that climbs are mounted on the car body, and the slipping of climbing is connected to the vehicle Body, the both ends of the flexible driving member are respectively the first driving end and the second driving end, and are rotationally connected with respectively described flexible Actuator and the wheel that climbs；The flexible actuator is able to drive first driving end and moves along first direction, so that second driving end drives The wheel that climbs, to vehicle extracorporeal movement, enables the wheel that climbs to move to position of climbing, and can be held in along flexible track It walks the side of shelf, wherein the first direction and the flexible track are arranged in angle.
- 2. the AGV according to claim 1 that climbs, which is characterized in that the quantity of the wheel that climbs is multiple, and multiple institutes State the two sides that the wheel that climbs is slidably connected to the car body respectively；The quantity of the flexible driving member be it is multiple, multiple second driving ends are rotationally connected with one by one positioned at the car body two The wheel that climbs of multiple of side；The flexible actuator can drive multiple first driving ends to move along the first direction simultaneously, so that multiple institutes It states the second driving end while multiple described climb of the car body two sides being driven to take turns to vehicle extracorporeal movement.
- 3. the AGV according to claim 2 that climbs, which is characterized in that the telescopic component further includes multiple flexible linkages Part, the component that climbs further include multiple installation parts that climb；The wheel that climbs is installed on the installation part that climbs, and the installation part that climbs is slidably connected to the car body, with the company of sliding Connect wheel and the car body of climbing；The installation part that climbs described in the flexible STATEMENT OF FEDERALLY SPONSORED is ipsilateral with the car body respectively is connect, and the second driving end rotation connects It is connected to the flexible STATEMENT OF FEDERALLY SPONSORED, with wheel and corresponding second driving end of climbing described in rotation connection.
- 4. the AGV according to claim 3 that climbs, which is characterized in that the telescopic component further includes telescopic resilience part, institute It states flexible STATEMENT OF FEDERALLY SPONSORED and is slidably connected to the installation part that climbs, and can be along the flexible track relative to the installation part that climbs Sliding；The telescopic resilience part is connect with the flexible STATEMENT OF FEDERALLY SPONSORED and the installation part that climbs respectively, and the telescopic resilience part can Elastic deformation occurs between the flexible STATEMENT OF FEDERALLY SPONSORED and the installation part that climbs.
- 5. the AGV according to claim 3 that climbs, which is characterized in that the flexible STATEMENT OF FEDERALLY SPONSORED is plate, described flexible The thickness direction of moving part is vertical with the flexible track.
- 6. the AGV according to claim 1 that climbs, which is characterized in that when the wheel that climbs moves to described climb, The extending direction of the flexible driving member is parallel with the flexible track.
- 7. climb described in -6 any one AGV according to claim 1, which is characterized in that the component that climbs further includes climbing Rise shaft coupling, the shaft coupling that climbs is scalable shaft coupling, and is arranged along the flexible track, and respectively with the drive of climbing Moving part and the wheel transmission connection of climbing, with actuator and the wheel that climbs of climbing described in transmission connection.
- 8. climb described in -6 any one AGV according to claim 1, which is characterized in that the component that climbs further includes climbing Rise interlocking bar, be provided with Hooks coupling universal coupling in the interlocking bar of climbing, the both ends of the interlocking bar of climbing respectively with ipsilateral institute State wheel connection of climbing.
- 9. a kind of warehousing system, which is characterized in that including the AGV that climbs as described in any one of claim 1-8.
- 10. warehousing system according to claim 9, which is characterized in that the warehousing system further includes shelf and the chain that climbs Item, the shelf interval setting, the side of the shelf described in chain that climb, the wheel that climbs is sprocket wheel, and can moved It is engaged when to default climbing with the chain that climbs, to walk on the chain that climbs.
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| CN201910756263.8A CN110329707B (en) | 2019-08-15 | 2019-08-15 | AGV capable of climbing and warehousing system |
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| CN201910756263.8A CN110329707B (en) | 2019-08-15 | 2019-08-15 | AGV capable of climbing and warehousing system |
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| CN110329707B CN110329707B (en) | 2024-06-21 |
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| CN111674803A (en) * | 2020-06-09 | 2020-09-18 | 重庆城市管理职业学院 | Storage system |
| CN111761589A (en) * | 2019-11-14 | 2020-10-13 | 北京京东乾石科技有限公司 | Warehousing robot |
| CN112660679A (en) * | 2020-12-18 | 2021-04-16 | 北京京东乾石科技有限公司 | Chassis of storage logistics vehicle, storage logistics vehicle and storage logistics system |
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| CN113734680A (en) * | 2021-09-13 | 2021-12-03 | 南通理工学院 | Intelligent material storage management system based on big data |
| CN113859840A (en) * | 2021-10-28 | 2021-12-31 | 上海仙工智能科技有限公司 | Three-dimensional storage system and freight storage method thereof |
| EP3992115A1 (en) * | 2020-10-27 | 2022-05-04 | Stow International N.V. | A shuttle for propelling horizontally and vertically in a racking system |
| FR3121435A1 (en) * | 2020-09-18 | 2022-10-07 | Exotec | ORDER PICKING OR BUFFER STORAGE SYSTEM |
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| CN113859840A (en) * | 2021-10-28 | 2021-12-31 | 上海仙工智能科技有限公司 | Three-dimensional storage system and freight storage method thereof |
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