CN111994545A - An automatic guided transport vehicle that can climb shelves - Google Patents

Abstract

The invention relates to an automatic guide transport vehicle capable of climbing a goods shelf, which comprises a vehicle body, a driving walking assembly, two chain wheel climbing walking mechanisms, two telescopic mechanisms and a telescopic pallet fork, wherein the vehicle body is of a shell structure, the driving walking assembly is assembled in the vehicle body and is provided with a driving wheel extending to the lower part of the vehicle body, the two chain wheel climbing walking mechanisms are respectively assembled at two sides of the vehicle body, the two telescopic mechanisms are respectively assembled in the vehicle body and are respectively in transmission connection with the two chain wheel climbing walking mechanisms in a one-to-one correspondence manner, the two telescopic mechanisms are respectively used for driving the corresponding chain wheel climbing walking mechanisms to horizontally extend or retract towards the outer part of the corresponding side of the vehicle body, the telescopic pallet fork is assembled at the upper end of the vehicle body, and the pallet fork can horizontally extend. The advantages are that: structural design is reasonable, and operation convenient to use has promoted conveying efficiency, especially cooperates goods shelves to realize climbing storage operation, has improved the redundancy of warehouse storage, has promoted the space utilization of storage.

Description

An automatic guided transport vehicle that can climb shelves

technical field

The invention relates to the technical field of warehousing and logistics, in particular to an automatic guided transport vehicle capable of climbing a shelf.

Background technique

In the field of warehousing and logistics technology, there are mainly three different types of warehousing in the current warehousing system:

1) Use the stacker to access the goods: the cost of the stacker is high, and one stacker can only be used in one roadway. If the stacker fails, the entire roadway will not work, which will seriously affect the work efficiency and cause The three-dimensional warehouse has insufficient redundancy.

2) Use hoist and shuttle to access goods: There are two situations in this method. One is that each roadway uses a hoist and a two-way shuttle to access goods. Once the hoist or shuttle fails, both It will cause the entire aisle to be unable to work, resulting in insufficient redundancy of the warehouse. The other is to use two elevators and several four-way shuttles to store and store goods. When the four-way shuttle breaks down, maintenance is extremely inconvenient.

3) Use mobile robots to directly carry goods: Due to the limited height of goods carried by mobile robots, the height of the shelves is limited, and the space on the height cannot be fully utilized, resulting in low space utilization.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide an automatic guided transport vehicle capable of climbing a shelf, which effectively overcomes the defects of the prior art.

The technical scheme that the present invention solves the above-mentioned technical problems is as follows:

An automatic guided transport vehicle capable of climbing shelves, comprising a vehicle body, a driving and traveling assembly, two sprocket climbing and traveling mechanisms, two telescopic mechanisms and a telescopic fork, wherein the vehicle body is a shell structure, and the above-mentioned driving and traveling assembly Assembled in the above-mentioned vehicle body, it has a driving wheel extending below the above-mentioned vehicle body, the two above-mentioned sprocket climbing and traveling mechanisms are respectively assembled on both sides of the above-mentioned vehicle body, and the two above-mentioned telescopic mechanisms are respectively assembled inside the above-mentioned vehicle body, and The two are in a one-to-one correspondence with the two above-mentioned sprocket climbing and walking mechanisms, and the two above-mentioned telescopic mechanisms are respectively used to drive the corresponding sprocket climbing and walking mechanisms to horizontally extend or retract toward the outside of the corresponding side of the vehicle body. The telescopic fork is assembled on the upper end of the vehicle body, and the fork can be horizontally extended or retracted toward the outside of one side of the vehicle body.

On the basis of the above technical solutions, the present invention can also be improved as follows.

Further, the above-mentioned sprocket climbing and traveling mechanism includes an active push plate, two auxiliary push plates, two transmission shafts, a shaft connecting rod and a drive mechanism, and the above-mentioned active push plate is a horizontally arranged straight plate body, and the two above-mentioned auxiliary push plates. The plate is assembled on the upper part of the two ends of the above-mentioned active push plate, and the two above-mentioned transmission shafts are respectively arranged horizontally along the length direction of the above-mentioned active push plate, and are rotatably assembled on the upper ends of the two above-mentioned auxiliary push plates in a one-to-one correspondence. The ends of the shafts that are close to each other are connected by the above-mentioned shaft connecting rod, and the ends of the two that are relatively far away correspond to the positions of the outer sides of the two ends of the above-mentioned active push plate, respectively, are coaxially rotated with climbing sprockets, and the above-mentioned driving mechanism is installed on any one of the above-mentioned auxiliary push plates. , and is connected with the corresponding transmission shaft to drive the two above-mentioned transmission shafts to drive the corresponding climbing sprockets to rotate synchronously. Correspondingly, the above-mentioned telescopic mechanism is driven and connected.

Further, the above-mentioned telescopic mechanism includes a drive shaft, a rotary drive mechanism, two gears and two racks, and the two racks are respectively horizontally arranged on the corresponding sides of the inner bottom wall of the vehicle body along the direction across both sides of the vehicle body. , and are arranged at intervals along the extending direction of both ends of the vehicle body, the two above-mentioned racks can slide along the bottom wall of the above-mentioned vehicle body in their own length direction, and one end of the two is connected with the corresponding active push plate. Fixed, the above-mentioned drive shaft is arranged horizontally along the extending direction of both ends of the above-mentioned vehicle body, and is rotatably assembled inside the above-mentioned vehicle body through a bracket, and is located above the one end of the two above-mentioned racks away from the active push plate, and the two above-mentioned gears are the same as The shaft is assembled on the above-mentioned drive shaft, and meshes with the tooth surfaces of the upper parts of the two above-mentioned racks in a one-to-one correspondence. The driving mechanism is used to drive the corresponding driving shaft to drive the two gears to rotate, thereby driving the rack meshing with the gears to move linearly, and then driving the corresponding sprocket climbing and traveling mechanism to horizontally extend or retract toward the outside of the corresponding side of the vehicle body. .

Further, the above-mentioned rotational drive mechanism is a worm gear reducer.

Further, the above-mentioned driving and traveling assembly includes two driving and traveling mechanisms, and the two above-mentioned driving and traveling mechanisms are assembled on both sides of the interior of the vehicle body at intervals, and both have driving wheels extending below the vehicle body.

Further, the above-mentioned driving running mechanisms are respectively assembled in the above-mentioned vehicle body through a shock absorbing device.

Further, the above-mentioned driving traveling mechanism comprises a fixed plate, a driving wheel and a walking driving motor, the above-mentioned driving wheel is vertically arranged on one side of the above-mentioned fixed plate, and the above-mentioned walking driving motor is assembled on the other side of the above-mentioned fixed plate, and its driving shaft passes through. The fixed plate passes through the above-mentioned fixed plate and is coaxially connected with the above-mentioned driving wheel. The above-mentioned fixed plate is assembled inside the above-mentioned vehicle body through the above-mentioned shock absorbing device. side.

Further, one side of the fixing plate is vertically provided with a linear guide rail, the linear guide rail is assembled on the corresponding shock absorber, and the linear guide rail is used to adjust the lifting height of the fixing plate and the driving wheel relative to the bottom of the vehicle body.

Further, the upper end of the vehicle body is concavely provided with an assembly area spanning both sides thereof, and the telescopic fork is horizontally assembled in the assembly area.

The beneficial effects of the invention are that the structure design is reasonable, the operation and use are convenient, and the transportation efficiency is improved.

Description of drawings

1 is a schematic structural diagram of an automatic guided transport vehicle capable of climbing a rack of the present invention;

Fig. 2 is the partial structure schematic diagram of the automatic guided transport vehicle capable of climbing the rack of the present invention;

Fig. 3 is the top-view structure schematic diagram of the automatic guided transport vehicle capable of climbing the rack of the present invention climbing up on the rack;

4 is a schematic structural diagram of a sprocket climbing running mechanism in an automatic guided transport vehicle capable of climbing shelves according to the present invention;

Fig. 5 is the structural schematic diagram of the driving traveling mechanism in the automatic guided transport vehicle capable of climbing the rack of the present invention;

FIG. 6 is a schematic structural diagram of a telescopic fork in an automatic guided transport vehicle capable of climbing a rack according to the present invention.

In the accompanying drawings, the list of components represented by each number is as follows:

1. Car body, 2. Sprocket climbing travel mechanism, 3. Telescopic mechanism, 4. Driving travel mechanism, 5. Telescopic fork, 6. Damping device, 21. Active push plate, 22, Auxiliary push plate, 23, Transmission shaft, 24, Shaft connecting rod, 25, Drive mechanism, 26, Climbing sprocket, 31, Drive shaft, 32, Rotary drive mechanism, 33, Gear, 34, Rack, 41, Fixed plate, 42, Drive wheel, 43. Walking drive motor, 81, buffer seat, 82, limit mechanism, 83, slide rail, 821, limit seat, 822, limit bolt, 231, bearing seat.

Detailed ways

The principles and features of the present invention will be described below with reference to the accompanying drawings. The examples are only used to explain the present invention, but not to limit the scope of the present invention.

Embodiment: As shown in Figures 1, 2, and 3, the automatic guided transport vehicle capable of climbing racks in this embodiment includes a vehicle body 1, a drive travel assembly, two sprocket climbing travel mechanisms 2, two telescopic mechanisms 3 and Telescopic fork 5, the above-mentioned vehicle body 1 is a casing structure, the above-mentioned driving and traveling assembly is assembled in the above-mentioned vehicle body 1, and has a driving wheel extending below the above-mentioned vehicle body 1, and the two above-mentioned sprocket climbing and traveling mechanisms 2 are respectively Assembled on both sides of the above-mentioned vehicle body 1, the two above-mentioned telescopic mechanisms 3 are respectively assembled inside the above-mentioned vehicle body 1, and the two are respectively connected to the two above-mentioned sprocket climbing and walking mechanisms 2 in a one-to-one correspondence. 3 are respectively used to drive the corresponding sprocket climbing and traveling mechanism 2 to extend or retract horizontally toward the outside of the corresponding side of the vehicle body 1. The above-mentioned telescopic forks 5 are assembled on the upper end of the above-mentioned vehicle body 1, and its forks can face the above-mentioned vehicle body 1. one of the outer sides extends or retracts horizontally.

More specifically, the entire automatic guided transport vehicle should cooperate with the racks to achieve climbing storage. The racks generally include two groups of spaced-apart racks, and a climbing channel extending up and down is defined between the two groups of racks. Each group of racks is provided with a row of multiple vertical racks. The extended frame, each frame is provided with multi-layer storage compartments, the frames of the two sets of shelves are relatively distributed, each frame is composed of four vertical beams 7, and the four vertical beams 7 are distributed in the same cuboid shape At the four right angles, two oppositely distributed frame frames, two vertical beams 7 that are close to each other are vertically provided with chains 8 that are adapted to the sprocket climbing and walking mechanism 2, and automatically guide the transport vehicle to pass the telescopic fork. 5 After acquiring the object (such as a cigarette), the telescopic fork 5 is retracted into the vehicle body 1, and will not protrude from the two sides of the vehicle body 1. After that, the vehicle body 1 moves to the two relatively distributed frames by driving the traveling assembly. Then, the telescopic mechanisms 3 on both sides synchronously drive the corresponding sprocket climbing and traveling mechanisms 2 to protrude from the outside of the corresponding side of the housing 1, until the sprockets of the sprocket climbing and traveling mechanisms 2 are engaged with the corresponding chains. A sprocket climbing walking mechanism 2 can climb up and down along the corresponding chain to each storage compartment, and store the goods in the storage compartment through the telescopic forks 5 (of course, it can also be entered with an empty vehicle, in the Each storage compartment is used to obtain goods), the overall structure design is reasonable, the operation and use are convenient, and the transportation efficiency is improved. .

The above-mentioned vehicle body 1 is also provided with an electrical control system (a control system in the prior art), which is connected with various electrical components on the vehicle body 1 to realize intelligent control operations, such as, with the sprocket climbing travel mechanism 2. The electrical components (such as the power mechanism) of the telescopic fork are connected, and the power telescopic mechanism of the telescopic fork 5 is connected.

The two sides of the vehicle body 1 can be provided with inlets and outlets that match the sprocket climbing and walking mechanism 2, and the telescopic mechanism 3 can drive the corresponding sprocket climbing and walking mechanism 2 to extend out of the vehicle body 1 from the inlet and outlet, or retract the vehicle body. 1 in.

The above-mentioned vehicle body 1 has its own power supply to supply power to various electrical components inside it (eg, driving the traveling assembly, etc.).

As a preferred embodiment, as shown in FIG. 4 , the above-mentioned sprocket climbing and traveling mechanism 2 includes an active push plate 21 , two auxiliary push plates 22 , two transmission shafts 23 , a shaft link 24 and a drive mechanism 25 . The active push plate 21 is a horizontally arranged straight plate body, the two auxiliary push plates 22 are assembled on the upper parts of the two ends of the active push plate 1 , and the two transmission shafts 23 are respectively arranged horizontally along the length direction of the active push plate 21 . , and are rotatably assembled on the upper ends of the two auxiliary push plates 22 in one-to-one correspondence, the ends of the two transmission shafts 23 that are close to each other are connected by the shaft connecting rod 24, and the ends of the two relatively far away correspond to the above-mentioned active push plates 21. The positions on the outer sides of the two ends are respectively coaxially rotated with climbing sprockets 26, and the above-mentioned driving mechanism 25 is installed on any one of the above-mentioned auxiliary push plates 22, and is connected with the corresponding above-mentioned transmission shaft 23 to drive the two above-mentioned transmission shafts 23. The corresponding climbing sprockets 26 are driven to rotate synchronously, and the active push plates 21 are disposed on the corresponding sides of the vehicle body 1 along the extending direction of both ends of the vehicle body 1 , and are connected to the corresponding telescopic mechanism 3 by transmission.

In this embodiment, stable climbing along the corresponding chain can be achieved by driving the corresponding climbing sprocket 6 to rotate by the driving mechanism 25 .

The above-mentioned drive mechanism 25 is a combined structure of a motor and a reducer, and a synchronous pulley is set on the output shaft of the reducer. Correspondingly, a synchronous pulley is also set on one of the transmission shafts 23, and the positions of the two synchronous pulleys are corresponding. And around the synchronous belt, the rotation speed of the climbing sprocket 26 can be adjusted through the driving mechanism 25, that is, the climbing speed of the guide vehicle on the shelf can be adjusted. Specifically, the frame speed can be appropriately set during the climbing process. It can be slowed down appropriately to make it arrive accurately.

As a preferred embodiment, the auxiliary push plates 22 are respectively assembled on the upper parts of the corresponding ends of the active push plates 21 through elastic expansion and contraction buffer assemblies, and can elastically expand and contract toward both sides of the active push plates 21. 24 is a universal expansion joint.

In this embodiment, the elastic telescopic buffer assembly can compensate for rack assembly errors, make climbing more stable and smooth, and can play an adaptive elastic adjustment role, enabling the climbing sprocket 26 to be closely matched with the corresponding chain.

As a preferred embodiment, the elastic telescopic buffer assembly includes a buffer seat 81 , a limiting mechanism 82 and a slide rail 83 . The slide rail 83 is assembled on the upper portion of the corresponding end of the active push plate 21 and is connected to the active push plate 21 . The length direction is vertical, the above-mentioned auxiliary push plate 22 is slidably installed on the upper end of the corresponding above-mentioned slide rail 83, the above-mentioned buffer seat 81 and the limit mechanism 82 are respectively assembled on the upper part of the corresponding end of the above-mentioned active push plate 21, and are respectively located in the corresponding above-mentioned On both sides of the auxiliary push plate 22 , the lower end of the auxiliary push plate 22 is connected to the buffer seat 81 through an elastic member, and the auxiliary push plate 22 can elastically expand and contract between the buffer seat 81 and the limiting mechanism 82 along the slide rail 83 . buffer.

In this embodiment, the elastic expansion and contraction buffer assembly is simple in design, and the elastic force of the elastic member can be adjusted by the limit mechanism 82 to adjust its elastic expansion and contraction buffer performance, so as to ensure that the climbing sprocket 26 is closely matched with the chain to achieve stable climbing.

The above-mentioned sliding rails 83 are provided with two groups, which are distributed at intervals along the length direction of the active push plate 21 , and the elastic member is arranged between the two sliding rails 83 .

The elastic member is generally a spring, and both ends of the spring are connected and fixed with the lower end of the 81-level auxiliary push plate 2 of the buffer seat.

As a preferred embodiment, the auxiliary push plate 22 is provided with a notch in the middle of one side corresponding to the limiting mechanism 82 , and the limiting mechanism 82 is placed in the notch.

In this embodiment, the limiting mechanism 82 does not protrude, does not occupy additional space and volume, and the overall structure is more compact.

As a preferred embodiment, the limiting mechanism 82 includes a limiting seat 821 and a limiting bolt 822 , the limiting seat 821 is fixedly installed on the upper part of the corresponding auxiliary push plate 22 , and there is a penetrating device on the limiting seat 821 . In the screw holes on both sides of the plate 21 , the limiting bolts 822 pass through the screw holes and are screwed together, and the ends of the stop bolts abut against the corresponding sides of the auxiliary push plate 82 .

In this embodiment, the elastic compression amount of the auxiliary push plate 22 acting on the elastic member can be adjusted by screwing the limit bolt 822, so as to realize quick and convenient adjustment, and the operation is relatively simple.

As a preferred embodiment, both ends of the above-mentioned transmission shaft 23 are respectively mounted on the upper part of the corresponding above-mentioned auxiliary push plates 22 through bearing seats 231 that are rotatably matched with them.

In this embodiment, the cooperation between the transmission shaft 23 and the bearing seat 231 enables a firm and stable assembly on the auxiliary push plate 22 and facilitates its good rotation.

As a preferred embodiment, as shown in FIG. 2 , the telescopic mechanism 3 includes a drive shaft 31 , a rotary drive mechanism 32 , two gears 33 and two racks 34 , and the two racks 34 extend across the The directions of both sides of the vehicle body 1 are horizontally arranged on the corresponding sides of the inner bottom wall of the vehicle body 1 , and are arranged at intervals along the extending directions of both ends of the vehicle body 1 . It slides in its own length direction, and one end of both is connected and fixed with the corresponding active push plate 21. The drive shaft 31 is horizontally arranged along the extending direction of both ends of the vehicle body 1, and is rotatably assembled by a bracket. Inside the vehicle body 1 and above the ends of the two racks 34 away from the active push plate 21 , the two gears 33 are coaxially assembled on the drive shaft 31 and correspond to the two racks one-to-one. The tooth surfaces on the upper part of 34 are meshed with each other, and the above-mentioned rotary drive mechanism 32 is assembled in the above-mentioned vehicle body 1 and is connected with one end of the corresponding above-mentioned drive shaft 31 in a driving manner. The above-mentioned rotary drive mechanism 32 is used to drive the corresponding above-mentioned drive shaft 31 to drive two The gear 33 rotates, thereby driving the rack 34 meshing with the gear 33 to move linearly, thereby driving the corresponding sprocket climbing running mechanism 2 to horizontally extend or retract toward the outside of the corresponding side of the vehicle body 1 .

In this embodiment, the rack 34 should be assembled in the corresponding track, or cooperate with the corresponding guide structure. There are guide grooves on both sides in the length direction of the 34, and the limit blocks extend into the corresponding guide grooves and are relatively slidably matched. Smooth sliding, during the operation of the entire telescopic mechanism 3, the drive shaft 31 is driven to rotate by rotating the driving drum 32, thereby driving the gear 33 to rotate, and then driving the rack 34 meshing with the gear 33 to move along the bottom wall of the vehicle body 1 toward its corresponding side Make horizontal telescopic movement to realize the purpose of driving the corresponding sprocket climbing running mechanism 2 to expand and contract to engage or release the meshing with the corresponding chain on the shelf. Steady climb of the car.

Specifically, the above-mentioned rotary drive mechanism 32 is a worm gear reducer, and a reducer with a large worm gear and worm gear ratio can realize mechanical self-locking, so as to ensure that the automatic guided transport vehicle does not cause a machine fall accident caused by an electrical failure when climbing the shelf.

As a preferred embodiment, the above-mentioned driving running assembly includes two driving running mechanisms 4 , and the two above-mentioned driving running mechanisms 4 are assembled on both sides of the interior of the above-mentioned vehicle body 1 at intervals, and both of them have extending to the above-mentioned vehicle body 1 . Drive wheel 42 below.

In this embodiment, two driving running mechanisms 4 are provided to realize smooth running and steering of the entire guided vehicle.

More preferably, the above-mentioned driving running mechanisms 4 are respectively assembled in the above-mentioned vehicle body 1 through the shock-absorbing device 6, and the shock-absorbing device 6 enables the guided vehicle to pass well on bumpy road surfaces, and improves its stable passing performance.

The above-mentioned driving running mechanism 4 can adopt the running mechanism in the traditional AGV, such as a steering wheel, or the following driving mechanism, specifically:

As shown in FIG. 5 , the driving mechanism 4 includes a fixed plate 41 , a driving wheel 42 and a driving motor 43 . The driving wheel 42 is vertically arranged on one side of the fixing plate 41 , and the driving motor 43 is assembled on the fixed plate 41 . The other side of the plate 41, and its drive shaft passes through the above-mentioned fixed plate 41, and is coaxially connected to the above-mentioned driving wheel 42. The above-mentioned fixed plate 41 is assembled inside the above-mentioned vehicle body 1 through the above-mentioned shock absorbing device 6, and the two above-mentioned The driving wheels 42 for driving the traveling mechanism 4 are respectively located on the sides of the two above-mentioned fixed plates 41 away from each other.

The operation process of the driving mechanism 4 is as follows: the driving wheel 42 is driven to rotate by the walking driving motor 43 to walk along the ground.

It should be noted that: the above-mentioned traveling drive motor 43 is connected to the electrical control system of the guide vehicle to realize automatic and intelligent operation.

As a preferred embodiment, one side of the fixing plate 41 is vertically provided with a linear guide 44, the linear guide 44 is assembled on the corresponding shock absorbing device 6, and the linear guide 44 is used to adjust the fixing plate 41 and the The elevation height of the drive wheel 42 relative to the bottom of the vehicle body 1 .

In this embodiment, the linear guide 44 is an automated guide, which is connected to the electrical control system of the guiding vehicle, and can adjust the distance between the lower part of the driving wheel 42 and the bottom of the vehicle body 1, that is, adjust the height of the bottom of the vehicle body 1 from the ground, so that the It can adapt to different road conditions and improve the passing performance of the guided vehicle.

As a preferred embodiment, the upper end of the vehicle body 1 is concavely provided with an assembly area spanning both sides thereof, and the telescopic fork 5 is horizontally assembled in the assembly area.

In this embodiment, the arrangement of the assembly area facilitates the compact installation of the telescopic fork 5, does not occupy additional volume, and has a bright overall appearance, which does not occupy additional space and volume.

The above-mentioned telescopic forks 5 can adopt the telescopic forks of traditional AGV trolleys or other fork vehicles (which are the prior art, and will not be described here), and the power mechanism of the telescopic forks 5 is connected to the electrical control system of the guide vehicle , to achieve automatic and intelligent control operation, of course, the following structure can also be used, specifically:

As shown in FIG. 6 , the telescopic fork 5 includes a bar-shaped lower fork 51, a long middle fork 52 and an upper fork plate 53. The lower fork 51 is installed in the middle area of the assembly area and spans both sides of the vehicle body 1. It is a groove body structure with openings on the upper part and the upper part of both ends. During the period, at least one group of transmission gears 55 is arranged along its length direction. The middle fork 52 is slidably assembled on the upper part of the lower fork 51. The lower end is provided with a rack extending into the lower fork 51. The tooth surface of the rack faces downward and meshes with the transmission gear 55 in the lower fork 51. The side end of the lower fork 51 is provided with a motor 54 that is connected to the transmission gear 55. The upper fork plate is slidably assembled on the upper part of the middle fork 52, and is connected with the push-pull mechanism assembled on the middle fork 52. The telescopic push mechanism on the upper surface of the middle fork 52 (which is involved in many fields of the prior art, and will not be repeated here), but it should be noted that both the above-mentioned motor or the telescopic push mechanism should be connected with the electric motor of the guide vehicle. The control system is electrically connected to realize intelligent electric operation.

The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (9)

1. The utility model provides an automatic guide transport vechicle that can climb goods shelves which characterized in that: the automatic lifting device comprises a vehicle body (1), a driving walking assembly, two chain wheel climbing walking mechanisms (2), two telescopic mechanisms (3) and a telescopic pallet fork (5), wherein the vehicle body (1) is of a shell structure, the driving walking assembly is assembled in the vehicle body (1) and is provided with a driving wheel extending to the lower part of the vehicle body (1), the two chain wheel climbing walking mechanisms (2) are respectively assembled at two sides of the vehicle body (1), the two telescopic mechanisms (3) are respectively assembled in the vehicle body (1) and are in transmission connection with the two chain wheel climbing walking mechanisms (2) in a one-to-one correspondence manner, the two telescopic mechanisms (3) are respectively used for driving the corresponding chain wheel climbing walking mechanisms (2) to horizontally extend or retract towards the outer part of the corresponding side of the vehicle body (1), and the telescopic pallet fork (5) is assembled at the upper end of the vehicle body (1), the fork can horizontally extend or retract towards the outside of one side of the vehicle body (1).

2. The automatic guided vehicle capable of climbing a shelf of claim 1, characterized in that: the chain wheel climbing walking mechanism (2) comprises a driving push plate (21), two auxiliary push plates (22), two transmission shafts (23), a shaft connecting rod (24) and a driving mechanism (25), the driving push plate (21) is a horizontally arranged straight strip-shaped plate body, the two auxiliary push plates (22) are assembled at the upper parts of the two ends of the driving push plate (1), the two transmission shafts (23) are respectively horizontally arranged along the length direction of the driving push plate (21) and are assembled at the upper ends of the two auxiliary push plates (22) in a one-to-one correspondence and rotatable manner, the ends, close to each other, of the two transmission shafts (23) are connected through the shaft connecting rod (24), the positions, far away from each other, corresponding to the outer sides of the two ends of the driving push plate (21) are respectively matched with climbing chain wheels (26) in the same shaft manner, and the driving mechanism (25) is installed on any one of the auxiliary, and the driving push plate (21) is arranged on the corresponding side of the vehicle body (1) along the extending direction of the two ends of the vehicle body (1) and is in transmission connection with the corresponding telescopic mechanism (3).

3. The automatic guided vehicle capable of climbing a shelf of claim 2, characterized in that: the telescopic mechanism (3) comprises a driving shaft (31), a rotary driving mechanism (32), two gears (33) and two racks (34), wherein the two racks (34) are horizontally arranged on the corresponding side of the bottom wall inside the vehicle body (1) respectively along the direction crossing the two sides of the vehicle body (1) and are arranged at intervals along the extending direction of the two ends of the vehicle body (1), the two racks (34) can slide along the bottom wall of the vehicle body (1) in the length direction of the bottom wall, one ends of the two racks are fixedly connected with the corresponding driving push plate (21), the driving shaft (31) is horizontally arranged along the extending direction of the two ends of the vehicle body (1) and is rotatably assembled inside the vehicle body (1) through a support and is positioned above one end, far away from the driving push plate (21), of the two racks (34), and the two gears (33) are coaxially assembled on the driving shaft (31), the chain wheel climbing travelling mechanism comprises two driving shafts (31), rotating driving mechanisms (32), a chain wheel climbing travelling mechanism (2) and a chain wheel climbing travelling mechanism (2), wherein the driving shafts (31) are arranged on the vehicle body (1) and are in transmission connection with the upper parts of the two racks (34), the rotating driving mechanisms (32) are assembled in the vehicle body (1) and are in transmission connection with one ends of the corresponding driving shafts (31), and the rotating driving mechanisms (32) are used for driving the corresponding driving shafts (31) to drive the two gears (33) to rotate, so that the racks (34) meshed with the gears (33) are driven to move linearly, and the corresponding chain wheel climbing travelling mechanism (2) is.

4. The automatic guided vehicle capable of climbing a shelf of claim 3, characterized in that: the rotary driving mechanism (32) is a worm gear speed reducer.

5. The automatic guided transporting vehicle capable of climbing a shelf according to any one of claims 1 to 4, characterized in that: the driving walking assembly comprises two driving walking mechanisms (4), wherein the two driving walking mechanisms (4) are assembled at two sides in the vehicle body (1) at intervals, and the two driving walking mechanisms are provided with driving wheels (42) extending to the lower part of the vehicle body (1).

6. The automatic guided vehicle capable of climbing a shelf of claim 5, wherein: the driving and traveling mechanisms (4) are respectively assembled in the vehicle body (1) through damping devices (6).

7. The automatic guided vehicle capable of climbing a shelf of claim 6, wherein: drive running gear (4) include fixed plate (41), drive wheel (42) and walking driving motor (43), drive wheel (42) vertical set up in one side of fixed plate (41), walking driving motor (43) assemble in the opposite side of fixed plate (41), and its drive shaft passes fixed plate (41), and with drive wheel (42) coaxial transmission is connected, fixed plate (41) pass through damping device (6) assemble in inside automobile body (1), two drive wheel (42) of drive running gear (4) are located two respectively one side that fixed plate (41) deviates from each other.

8. The automatic guided vehicle capable of climbing a shelf of claim 7, wherein: one side of the fixed plate (41) is vertically provided with a linear guide rail, the linear guide rail is assembled on the corresponding damping device (6), and the linear guide rail is used for adjusting the lifting height of the fixed plate (41) and the driving wheel (42) relative to the bottom of the vehicle body (1).

9. The automatic guided transporting vehicle capable of climbing a shelf according to any one of claims 1 to 4, characterized in that: the upper end of the vehicle body (1) is concavely provided with an assembly area stretching across two sides of the vehicle body, and the telescopic fork (5) is horizontally assembled in the assembly area.

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