1. An automated guided vehicle having a rack, comprising: the vehicle comprises a vehicle body and a partition board arranged on the vehicle body, wherein the partition board is single-layer or multi-layer, an article storage space is formed on the partition board, and the article storage space is provided with an opening; and the side part of the article storage space is also provided with a carrying mechanism, the carrying mechanism has an extending state and a retracting state, the carrying mechanism carries the articles outside the transport vehicle to the article storage space through the opening in the process of changing from the extending state to the retracting state, and/or the carrying mechanism carries the articles in the article storage space to the outside of the transport vehicle through the opening in the process of changing from the retracting state to the extending state.

2. The automated guided vehicle of claim 1, wherein the handling mechanism comprises a handling guide mechanism and a handling actuator disposed on the handling guide mechanism, wherein the handling guide mechanism is connected to a side portion of the partition, and the handling actuator is telescopically movable relative to the handling guide mechanism.

3. The automated guided vehicle of claim 1, wherein the transport mechanism comprises a transport guide mechanism and a transport actuator disposed on the transport guide mechanism, wherein the transport guide mechanism is disposed on a side of the partition and is movable relative to the partition, and the transport actuator is telescopically movable relative to the transport guide mechanism.

4. The automated guided vehicle of claim 3, wherein a first column is vertically disposed on the body, and the partition is disposed on the first column.

5. The automated guided vehicle according to claim 2 or 3, wherein a second pillar is vertically provided on the vehicle body at a side portion of the article storage space adjacent to the opening, and the carrying guide mechanism is provided on the second pillar; alternatively, the first and second electrodes may be,

when the carrying actuating mechanism is in a retraction state, the carrying actuating mechanism is folded at the side part of the article storage space adjacent to the opening.

6. The automated guided vehicle of claim 1, wherein the handling mechanism is of a flat configuration, one of the largest faces of the flat configuration being disposed toward the article storage space of the partition.

7. The automated guided vehicle of claim 2 or 3,

a clamping mechanism is arranged on the conveying guide mechanism or the conveying executing mechanism; alternatively, the first and second electrodes may be,

the conveying guide mechanism comprises a first conveying guide part and a second conveying guide part which are arranged on two sides of the article storage space adjacent to the opening in parallel; the first conveying guide piece is provided with a first conveying executing mechanism, and the second conveying guide piece is provided with a second conveying executing mechanism;

the first conveying guide part and/or the second conveying guide part are/is connected with a clamping mechanism, the clamping mechanism drives the first conveying guide part and/or the second conveying guide part to be close to each other, the first conveying executing mechanism and the second conveying executing mechanism are driven to be close to each other and clamp articles outside the transport vehicle, and in the process that the first conveying executing mechanism and the second conveying executing mechanism are changed from an extending state to a retracting state, the articles are clamped into the article storage space through the opening.

8. The automated guided vehicle according to claim 2 or 3, wherein the carrying actuator is provided with an article hooking mechanism for hooking an article outside the vehicle after the carrying actuator is extended to a predetermined position and pulling the article through the opening into the article storage space during a change of the carrying actuator from the extended state to the retracted state, and/or pulling the article in the article storage space through the opening to the outside of the vehicle during a change of the carrying actuator from the retracted state to the extended state; alternatively, the first and second electrodes may be,

the transport actuating mechanism is provided with an article hooking mechanism, so that after the transport actuating mechanism extends out to a preset position, the transport actuating mechanism hooks articles outside the transport vehicle, and in the process that the transport actuating mechanism changes from an extending state to a retracting state, the transport actuating mechanism pulls the articles to pass through the opening to the article storage space, wherein the article hooking mechanism comprises: the rotatable hooking component is arranged at the front end of the carrying actuating mechanism; alternatively, the first and second electrodes may be,

the carrying executing mechanism is provided with an article adsorbing mechanism, so that the carrying executing mechanism adsorbs articles outside the transport vehicle after extending to a preset position, and the carrying executing mechanism adsorbs the articles to pass through the opening to the article storage space in the process of changing from the extending state to the retracting state, and/or the carrying mechanism adsorbs the articles in the article storage space to pass through the opening to the outside of the transport vehicle in the process of changing from the retracting state to the extending state.

9. The automated guided vehicle of claim 2 or 3,

the conveying guide mechanism comprises a first conveying guide part and a second conveying guide part, and the first conveying guide part and the second conveying guide part are arranged on two sides of the article storage space adjacent to the opening in parallel;

the carrying actuating mechanism comprises a first arm body, a first telescopic driving mechanism, a second arm body and a second telescopic driving mechanism;

the first arm body is arranged on the first conveying guide piece and can perform telescopic movement in the horizontal direction relative to the first conveying guide piece under the driving of the first telescopic driving mechanism;

the second arm body is arranged on the second conveying guide piece and can do telescopic movement in the horizontal direction relative to the second conveying guide piece under the driving of the second telescopic driving mechanism.

10. The automated guided vehicle of claim 7, wherein the clamping mechanism is connected between the first handling guide and the second handling guide, the clamping mechanism comprising: a lead screw and a lead screw driving mechanism;

the screw rod is transversely arranged on one side of the article storage space opposite to the opening, the first end of the screw rod is in threaded connection with a first nut fixed on the first carrying guide piece, and the second end of the screw rod is in threaded connection with a second nut fixed on the second carrying guide piece;

the lead screw is connected with the lead screw driving mechanism, the lead screw driving mechanism drives the lead screw to rotate along a first direction, and the first carrying guide piece and the second carrying guide piece are close to each other.

11. The automated guided vehicle of claim 5, wherein the second pillars are vertically provided on both sides of the article storage space; a first lifting mechanism is arranged on the second upright column on one side, and a second lifting mechanism is arranged on the second upright column on the other side;

the first conveying guide piece is connected to the first lifting mechanism, and the second conveying guide piece is connected to the second lifting mechanism;

the first lifting mechanism and the second lifting mechanism perform synchronous lifting action to drive the first conveying guide piece and the second conveying guide piece to synchronously lift.

12. The automated guided vehicle of claim 1, wherein the opening of the article storage space for entry of articles is opposite the initial position of the articles prior to their being carried by the carrying mechanism.

13. The automated guided vehicle of claim 1, wherein the opening comprises a first opening and a second opening opposite the first opening;

the carrying mechanism carries the articles outside the transport vehicle to the article storage space through the first opening or the second opening during the process of changing from the extended state to the retracted state, and/or carries the articles in the article storage space to the outside of the transport vehicle through the first opening or the second opening during the process of changing from the retracted state to the extended state.

14. An automated guided vehicle having a rack, comprising: a vehicle body, a goods shelf and a carrying mechanism;

the goods shelf is arranged on the vehicle body, and at least one layer of partition board for placing articles is arranged on the goods shelf;

the carrying mechanism comprises a first arm body assembly and a second arm body assembly which can stretch out and draw back along the horizontal direction, and the first arm body assembly and the second arm body assembly are arranged on two sides of the goods shelf in parallel; the first arm body assembly and/or the second arm body assembly are/is provided with a clamping mechanism, an article hooking mechanism or an article adsorption mechanism;

when the first arm body assembly and the second arm body assembly are in a contraction state, the first arm body assembly and the second arm body assembly are gathered on two sides of the storage rack.

15. The automated guided vehicle of claim 14, wherein the shelf comprises a first upright disposed vertically on the body, the partition being disposed on the first upright; alternatively, the first and second electrodes may be,

an article storage space is arranged at the upper part of the partition board, and the article storage space is provided with an opening for articles to enter;

second upright posts are vertically arranged on two sides of the article storage space, which are adjacent to the opening, on the vehicle body, the first arm body assembly is arranged on the second upright post on one side, and the second arm body assembly is arranged on the second upright post on the other side.

16. The automated guided vehicle of claim 14, wherein the first and second arm assemblies each have a flat configuration, one of the largest faces of the flat configuration being disposed toward the shelf.

17. The automated guided vehicle of claim 14, wherein an article storage space is provided in an upper portion of the partition, the article storage space having an opening for entry of articles;

the clamping mechanism includes: a lead screw and a lead screw driving mechanism;

the screw rod is transversely arranged on one side of the article storage space opposite to the opening, the first end of the screw rod is in threaded connection with a first nut fixed on the first arm body assembly, and the second end of the screw rod is in threaded connection with a second nut fixed on the second arm body assembly;

the lead screw is connected with the lead screw driving mechanism, the lead screw driving mechanism drives the lead screw to rotate along a first direction, the first arm body assembly and the second arm body assembly are close to each other, the lead screw driving mechanism drives the lead screw to rotate along a second direction, and the first arm body assembly and the second arm body assembly are far away from each other.

18. The automated guided vehicle of claim 14, wherein the item-catching mechanism comprises: the rotatable hooking component is arranged at the front end of the first arm body component and/or the front end of the second arm body component; alternatively, the first and second electrodes may be,

the article adsorption mechanism includes: the negative pressure sucking disc is arranged at the front end of the first arm body assembly and/or the front end of the second arm body assembly.

19. The automated guided vehicle of claim 14,

the first arm assembly and the second arm assembly respectively include: the device comprises a guide plate, a primary arm body and a primary telescopic driving mechanism; the first-stage arm body is arranged on the guide plate and is matched with the guide plate through a guide rail and sliding groove structure; the first-stage arm body is provided with a rack; the primary telescopic driving mechanism comprises a first motor and a synchronous belt transmission mechanism, and a driving belt wheel of the synchronous belt transmission mechanism is fixedly connected with an output shaft of the first motor; teeth on the outer surface of a synchronous belt of the synchronous belt transmission mechanism are meshed with the racks on the primary arm body; alternatively, the first and second electrodes may be,

the first arm assembly and the second arm assembly respectively include: the device comprises a guide plate, a primary arm body, a secondary arm body, a primary telescopic driving mechanism and a secondary telescopic driving mechanism; the first-stage arm body is arranged on the guide plate and is matched with the guide plate through a guide rail and sliding groove structure; the first-stage arm body is provided with a rack; the primary telescopic driving mechanism comprises a first motor and a synchronous belt transmission mechanism, and a driving belt wheel of the synchronous belt transmission mechanism is fixedly connected with an output shaft of the first motor; teeth on the outer surface of a synchronous belt of the synchronous belt transmission mechanism are meshed with the racks on the primary arm body; the secondary arm body is arranged on the primary arm body and is matched with the primary arm body through a guide rail and a sliding groove structure; the second-stage arm body is connected with the second-stage telescopic driving mechanism so as to drive the second-stage arm body to extend or retract along the first-stage arm body through the second-stage telescopic driving mechanism.

20. The automated guided vehicle of claim 14, further comprising a first lift mechanism and a second lift mechanism;

the first lifting mechanism and the second lifting mechanism are synchronous lifting mechanisms and are respectively arranged on two sides of the goods shelf;

the first arm body assembly is connected to the first lifting mechanism, and the second arm body assembly is connected to the second lifting mechanism;

the first lifting mechanism and the second lifting mechanism act to drive the first arm body assembly and the second arm body assembly to synchronously move upwards or downwards relative to the goods shelf.

21. The automated guided vehicle according to claim 1, wherein an article storage space having an opening is provided at an upper portion of the partition;

the first arm body assembly and the second arm body assembly have an extended state and a retracted state, and the first arm body assembly and the second arm body assembly carry articles outside the transport vehicle through the opening into the article storage space during the change from the extended state to the retracted state, and/or carry articles in the article storage space through the opening to the outside of the transport vehicle during the change from the retracted state to the extended state.

22. The automated guided vehicle of claim 21, wherein the opening comprises a first opening and a second opening opposite the first opening;

and the first arm body assembly and the second arm body assembly carry articles outside the transport vehicle to the article storage space through the first opening or the second opening during the process of changing from the extending state to the retracting state, and/or carry articles in the article storage space to the outside of the transport vehicle through the first opening or the second opening during the process of changing from the retracting state to the extending state.

Background

An Automated Guided Vehicle (AGV) is a Vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path, and has safety protection and various transfer functions, and belongs to the category of a Wheel Mobile Robot (WMR).

The existing automatic guided transporting vehicle has an article carrying function, but the existing automatic guided transporting vehicle is often large in size.

Disclosure of Invention

In view of the above, the present disclosure provides an automated guided vehicle with a rack, which is smaller in size.

The embodiment of this application provides an automated guided transporting vehicle with goods shelves, includes: the partition board is single-layer or multi-layer, an article storage space is formed on the partition board, and the article storage space is provided with an opening for articles to enter; and the side part of the article storage space is also provided with a carrying mechanism, the carrying mechanism has an extending state and a retracting state, the carrying mechanism carries the articles outside the transport vehicle to the article storage space through the opening in the process of changing from the extending state to the retracting state, and/or the carrying mechanism carries the articles in the article storage space to the outside of the transport vehicle through the opening in the process of changing from the retracting state to the extending state.

According to a specific implementation manner of the embodiment of the application, the carrying mechanism comprises a carrying guide mechanism and a carrying execution mechanism arranged on the carrying guide mechanism, wherein the carrying guide mechanism is connected with the side part of the partition board, and the carrying execution mechanism can move in a telescopic mode relative to the carrying guide mechanism.

According to a specific implementation manner of the embodiment of the application, the carrying mechanism comprises a carrying guide mechanism and a carrying execution mechanism arranged on the carrying guide mechanism, wherein the carrying guide mechanism is arranged on the side portion of the partition plate and can move relative to the partition plate, and the carrying execution mechanism can move in a telescopic mode relative to the carrying guide mechanism.

According to a specific implementation manner of the embodiment of the application, a first upright column is vertically arranged on the vehicle body, and the partition plate is arranged on the first upright column.

According to a specific implementation manner of the embodiment of the application, a second upright column is vertically arranged on the vehicle body at the side part of the article storage space adjacent to the opening, and the carrying guide mechanism is arranged on the second upright column.

According to a specific implementation manner of the embodiment of the application, when the carrying executing mechanism is in the retracted state, the carrying executing mechanism is folded at the side part of the article storage space, which is adjacent to the opening.

According to a specific implementation manner of the embodiment of the application, the carrying mechanism is of a flat structure, and one of the largest surfaces of the flat structure is arranged towards the article storage space of the partition board.

According to a specific implementation manner of the embodiment of the application, a clamping mechanism is arranged on the conveying guide mechanism or the conveying executing mechanism.

According to a specific implementation manner of the embodiment of the application, the carrying guide mechanism comprises a first carrying guide part and a second carrying guide part, and the first carrying guide part and the second carrying guide part are arranged on two sides of the article storage space adjacent to the opening in parallel; the first conveying guide piece is provided with a first conveying executing mechanism, and the second conveying guide piece is provided with a second conveying executing mechanism;

the first conveying guide part and/or the second conveying guide part are/is connected with a clamping mechanism, the clamping mechanism drives the first conveying guide part and/or the second conveying guide part to be close to each other, the first conveying executing mechanism and the second conveying executing mechanism are driven to be close to each other and clamp articles outside the transport vehicle, and in the process that the first conveying executing mechanism and the second conveying executing mechanism are changed from an extending state to a retracting state, the articles are clamped into the article storage space through the opening.

According to a specific implementation mode of the embodiment of the application, the carrying executing mechanism is provided with an article hooking mechanism, so that after the carrying executing mechanism stretches out to a preset position, the article outside the transport vehicle is hooked, the carrying executing mechanism changes from a stretching state to a retracting state in the process, pulls the article to pass through the opening to the article storage space, and/or the carrying executing mechanism changes from the retracting state to the stretching state in the process, pulls the article in the article storage space to pass through the opening to the outside of the transport vehicle.

According to a concrete implementation mode of the embodiment of the application, be equipped with article on the transport actuating mechanism and collude holding mechanism, with transport actuating mechanism stretches out to predetermined position after, collude holding the outside article of transport vechicle, and transport actuating mechanism changes to withdrawal state in-process from stretching out the state, pulls article process the opening arrives in the article parking space, wherein, article collude holding mechanism includes: the rotatable hooking component is arranged at the front end of the carrying executing mechanism.

According to a specific implementation manner of the embodiment of the application, the carrying executing mechanism is provided with an article adsorbing mechanism, so that after the carrying executing mechanism extends out to a preset position, the article outside the transport vehicle is adsorbed, and in the process that the carrying executing mechanism changes from the extending state to the retracting state, the article passes through the opening to the article storage space, and/or in the process that the carrying mechanism changes from the retracting state to the extending state, the article in the article storage space is adsorbed to the outside of the transport vehicle through the opening.

According to a specific implementation manner of the embodiment of the application, the carrying guide mechanism comprises a first carrying guide part and a second carrying guide part, and the first carrying guide part and the second carrying guide part are arranged on two sides of the article storage space adjacent to the opening in parallel; the carrying actuating mechanism comprises a first arm body, a first telescopic driving mechanism, a second arm body and a second telescopic driving mechanism; the first arm body is arranged on the first conveying guide piece and can perform telescopic movement in the horizontal direction relative to the first conveying guide piece under the driving of the first telescopic driving mechanism; the second arm body is arranged on the second conveying guide piece and can do telescopic movement in the horizontal direction relative to the second conveying guide piece under the driving of the second telescopic driving mechanism.

According to a specific implementation manner of the embodiment of the present application, the clamping mechanism is connected between the first carrying guide and the second carrying guide, and the clamping mechanism includes: a lead screw and a lead screw driving mechanism; the screw rod is transversely arranged on one side of the article storage space opposite to the opening, the first end of the screw rod is in threaded connection with a first nut fixed on the first carrying guide piece, and the second end of the screw rod is in threaded connection with a second nut fixed on the second carrying guide piece; the lead screw is connected with the lead screw driving mechanism, the lead screw driving mechanism drives the lead screw to rotate along a first direction, and the first carrying guide piece and the second carrying guide piece are close to each other.

According to a specific implementation manner of the embodiment of the application, the second upright columns are vertically arranged on two sides of the article storage space; a first lifting mechanism is arranged on the second upright column on one side, and a second lifting mechanism is arranged on the second upright column on the other side; the first conveying guide piece is connected to the first lifting mechanism, and the second conveying guide piece is connected to the second lifting mechanism; the first lifting mechanism and the second lifting mechanism perform synchronous lifting action to drive the first conveying guide piece and the second conveying guide piece to synchronously lift.

According to a specific implementation manner of the embodiment of the application, the opening of the article storage space for the article to enter is opposite to the initial position where the article is located before being carried by the carrying mechanism.

According to a specific implementation manner of the embodiment of the present application, the opening includes a first opening and a second opening opposite to the first opening; the carrying mechanism carries the articles outside the transport vehicle to the article storage space through the first opening or the second opening during the process of changing from the extended state to the retracted state, and/or carries the articles in the article storage space to the outside of the transport vehicle through the first opening or the second opening during the process of changing from the retracted state to the extended state.

The automated guided transporting vehicle of this embodiment, because transport mechanism changes to the withdrawal state in-process from the state of stretching out, can directly carry the outside article of transport vechicle and pass through the opening arrives in the article parking space, the centre need not carry out the transfer to article (if need not carry out rotation operation to article in handling), correspondingly, need not set up the structure that carries out the transfer to article for article transport is more swift, and can make the structure of whole transport vechicle simpler, and the volume is littleer.

The embodiment of the present application further provides another automated guided vehicle with a goods shelf, including: a vehicle body, a goods shelf and a carrying mechanism; the goods shelf is arranged on the vehicle body, and at least one layer of partition board for placing articles is arranged on the goods shelf; the carrying mechanism comprises a first arm body assembly and a second arm body assembly which can stretch out and draw back along the horizontal direction, and the first arm body assembly and the second arm body assembly are arranged on two sides of the goods shelf in parallel; and the first arm body assembly and/or the second arm body assembly are/is provided with a clamping mechanism. An article hooking mechanism or an article adsorbing mechanism; when the first arm body assembly and the second arm body assembly are in a contraction state, the first arm body assembly and the second arm body assembly are gathered on two sides of the storage rack.

According to a specific implementation mode of the embodiment of the application, the goods shelf comprises a first upright column which is vertically arranged on the car body, and the partition board is arranged on the first upright column.

According to a specific implementation manner of the embodiment of the application, an article storage space is arranged at the upper part of the partition board, and the article storage space is provided with an opening for articles to enter; second upright posts are vertically arranged on two sides of the article storage space, which are adjacent to the opening, on the vehicle body, the first arm body assembly is arranged on the second upright post on one side, and the second arm body assembly is arranged on the second upright post on the other side.

According to a specific implementation manner of the embodiment of the application, the first arm body assembly and the second arm body assembly are respectively of a flat structure, and one of the largest surfaces of the flat structures faces the shelf.

According to a specific implementation manner of the embodiment of the application, an article storage space is arranged at the upper part of the partition board, and the article storage space is provided with an opening for articles to enter; the clamping mechanism includes: a lead screw and a lead screw driving mechanism; the screw rod is transversely arranged on one side of the article storage space opposite to the opening, the first end of the screw rod is in threaded connection with a first nut fixed on the first arm body assembly, and the second end of the screw rod is in threaded connection with a second nut fixed on the second arm body assembly; the lead screw is connected with the lead screw driving mechanism, the lead screw driving mechanism drives the lead screw to rotate along a first direction, the first arm body assembly and the second arm body assembly are close to each other, the lead screw driving mechanism drives the lead screw to rotate along a second direction, and the first arm body assembly and the second arm body assembly are far away from each other.

According to a specific implementation manner of the embodiment of the present application, the article hooking mechanism includes: the rotatable part of colluding, it establishes to collude the part the front end of first arm body subassembly or establish the front end of second arm body subassembly.

According to a specific implementation manner of the embodiment of the present application, the article adsorption mechanism includes: the negative pressure sucking disc is arranged at the front end of the first arm body assembly and/or the front end of the second arm body assembly.

According to a specific implementation manner of the embodiment of the present application, the first arm assembly and the second arm assembly respectively include: the device comprises a guide plate, a primary arm body and a primary telescopic driving mechanism; the first-stage arm body is arranged on the guide plate and is matched with the guide plate through a guide rail and sliding groove structure; the first-stage arm body is provided with a rack; the primary telescopic driving mechanism comprises a first motor and a synchronous belt transmission mechanism, and a driving belt wheel of the synchronous belt transmission mechanism is fixedly connected with an output shaft of the first motor; and teeth on the outer surface of a synchronous belt of the synchronous belt transmission mechanism are meshed with the racks on the primary arm body.

According to a specific implementation manner of the embodiment of the present application, the first arm assembly and the second arm assembly respectively include: the device comprises a guide plate, a primary arm body, a secondary arm body, a primary telescopic driving mechanism and a secondary telescopic driving mechanism; the first-stage arm body is arranged on the guide plate and is matched with the guide plate through a guide rail and sliding groove structure; the first-stage arm body is provided with a rack; the primary telescopic driving mechanism comprises a first motor and a synchronous belt transmission mechanism, and a driving belt wheel of the synchronous belt transmission mechanism is fixedly connected with an output shaft of the first motor; teeth on the outer surface of a synchronous belt of the synchronous belt transmission mechanism are meshed with the racks on the primary arm body; the secondary arm body is arranged on the primary arm body and is matched with the primary arm body through a guide rail and a sliding groove structure; the second-stage arm body is connected with the second-stage telescopic driving mechanism so as to drive the second-stage arm body to extend or retract along the first-stage arm body through the second-stage telescopic driving mechanism.

According to a specific implementation manner of the embodiment of the application, the automatic guided vehicle further comprises a first lifting mechanism and a second lifting mechanism; the first lifting mechanism and the second lifting mechanism are synchronous lifting mechanisms and are respectively arranged on two sides of the goods shelf; the first arm body assembly is connected to the first lifting mechanism, and the second arm body assembly is connected to the second lifting mechanism; the first lifting mechanism and the second lifting mechanism act to drive the first arm body assembly and the second arm body assembly to synchronously move upwards or downwards relative to the goods shelf.

According to a specific implementation manner of the embodiment of the application, an article storage space is arranged at the upper part of the partition plate, and the article storage space is provided with an opening; the first arm body assembly and the second arm body assembly have an extended state and a retracted state, and the first arm body assembly and the second arm body assembly carry articles outside the transport vehicle through the opening into the article storage space during the change from the extended state to the retracted state, and/or carry articles in the article storage space through the opening to the outside of the transport vehicle during the change from the retracted state to the extended state.

According to a specific implementation manner of the embodiment of the present application, the opening includes a first opening and a second opening opposite to the first opening; and the first arm body assembly and the second arm body assembly carry articles outside the transport vehicle to the article storage space through the first opening or the second opening during the process of changing from the extending state to the retracting state, and/or carry articles in the article storage space to the outside of the transport vehicle through the first opening or the second opening during the process of changing from the retracting state to the extending state.

According to the automatic guide transport vehicle, the carrying mechanism comprises a first arm body assembly and a second arm body assembly which can stretch out and draw back along the horizontal direction, and the first arm body assembly and the second arm body assembly are arranged on two sides of the goods shelf in parallel; the first arm body assembly and/or the second arm body assembly are/is provided with a clamping mechanism or an article hooking mechanism; when the first arm body assembly and the second arm body assembly are in a contraction state, the first arm body assembly and the second arm body assembly are gathered on two sides of the goods shelf, so that the whole volume of the automatic guided transport vehicle is small.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic perspective view of an automated guided vehicle handling mechanism having a pallet according to an embodiment of the present application in a retracted state;

FIG. 2 is a schematic perspective view of an automated guided vehicle handling mechanism with a shelf according to an embodiment of the present application in an extended position;

FIG. 3 is a schematic perspective view of an automated guided vehicle having a shelf according to an embodiment of the present application;

FIG. 4 is a schematic structural view of the carrying mechanism in FIGS. 1 and 2;

FIG. 5 is a schematic view of a portion of an automated guided vehicle having a rack according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a handling mechanism of an automated guided vehicle having a rack according to another embodiment of the present application;

FIG. 7 is a schematic perspective view of a automated guided vehicle handling mechanism having a pallet according to yet another embodiment of the present application in a retracted state;

FIG. 8 is a schematic perspective view of an automated guided vehicle handling mechanism having a shelf according to yet another embodiment of the present application in an extended position;

FIG. 9 is a schematic view of another embodiment of the automated guided vehicle having a shelf according to the present application;

FIG. 10 is a schematic structural view of the carrying mechanism in FIGS. 7 and 8;

FIG. 11 is a partial schematic view of an automated guided vehicle having a rack according to yet another embodiment of the present application;

fig. 12 is a schematic structural view of a carrying mechanism of an automated guided vehicle having a rack according to still another embodiment of the present application.

Detailed Description

The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

It should be understood that the embodiments described are only a few embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The embodiment of the application provides an automated guided transporting vehicle with goods shelves, this automated guided transporting vehicle includes: the vehicle comprises a vehicle body and a partition plate arranged on the vehicle body, wherein an article storage space is formed on the partition plate, and the article storage space is provided with an opening; and the side part of the article storage space is also provided with a carrying mechanism, the carrying mechanism has an extending state and a retracting state, the carrying mechanism carries the articles outside the transport vehicle to the article storage space through the opening in the process of changing from the extending state to the retracting state, and/or the carrying mechanism carries the articles in the article storage space to the outside of the transport vehicle through the opening in the process of changing from the retracting state to the extending state. Because the carrying mechanism changes to the retraction state in-process from the extension state, can directly carry the outside article of transport vechicle through the opening to in the article parking space, the centre need not carry out the transfer to article (if need not carry out rotation operation to article in the handling), correspondingly, need not set up the structure that carries out the transfer to article for article carry more swiftly, and can make the structure of whole transport vechicle simpler, the volume is littleer.

Referring to fig. 1 to 3, an automated guided vehicle according to an embodiment of the present application may include: the vehicle comprises a vehicle body 102 and a partition plate 104 arranged on the vehicle body 102, wherein an article storage space 106 is formed on the partition plate 104, and the article storage space 106 is provided with an opening for articles to enter; the side of the article storage space 106 is also provided with a carrying mechanism 108.

An automated guided vehicle may also be referred to as a walking robot, a wheeled robot, a transfer robot, or an AGV cart. Wheels are arranged at the bottom of the vehicle body 102, and an automatic guide mechanism can be arranged on the vehicle body 102. Under the guidance of the automatic guide mechanism, the automatic guide transport vehicle can travel along the reserved route.

The automated guided vehicle has a rack for placing or carrying items. The shelves may be disposed on the body 102. The form of the pallet may include a bulkhead 104 disposed on the body 102. In one example, a first pillar 110 is provided vertically on the vehicle body 102, and the bulkhead 104 is provided on the first pillar 110. The number of the first pillars 110 may be single or plural.

The partition board 104 may be a whole board body, a board body with a hollow structure, and a plurality of support bars arranged side by side. The article-supporting surface of the baffle 104 may be rectangular, square, or the like in shape. The material of the spacer 104 may be an aluminum alloy. The partition 104 is horizontally disposed so that the articles can be smoothly put in. The separator 104 may be single-layered or multi-layered. When the partitions 104 are multi-layered, an article storage space 106 is formed on each layer of the partitions 104, that is, each layer of the partitions 104 can be used for storing articles.

An article storage space 106 having an opening for entry of articles, for entry of articles from the outside into the article storage space 106 and storage on the partition 104. The items already stored in the item storage space 106 can be fed out through this opening, and also through other openings of the item storage space 106.

In an embodiment, the opening may include a first opening and a second opening opposite the first opening; and in the process that the conveying mechanism is changed from the extending state to the retracting state, conveying the articles outside the transport vehicle to the article storage space through the first opening or the second opening, and/or in the process that the conveying mechanism is changed from the retracting state to the extending state, conveying the articles in the article storage space to the outside of the transport vehicle through the first opening or the second opening, so that the articles can be conveyed in or out in two directions on the automatic guided transport vehicle.

The carrying mechanism 108 has an extended state and a retracted state, and after the carrying mechanism 108 is extended, the carrying mechanism can reach an original position where the carried object is located and "capture" the object, for example, the object can be "captured" by clamping, hooking, supporting and the like, and during the process that the carrying mechanism 108 is changed from the extended state to the retracted state, the object outside the transport vehicle is carried into the object storage space 106 through the opening. Because the carrying mechanism 108 changes from the extending state to the retracting state, the articles outside the transport vehicle can be directly carried into the article storage space 106 through the opening, and the articles do not need to be transferred in the middle (if the articles do not need to be rotated in the carrying process), and correspondingly, a structure for transferring the articles does not need to be arranged, so that the articles can be carried more quickly, and the whole transport vehicle has a simpler structure and a smaller volume.

The carrying mechanism 108 may be a flat structure, and one of the largest surfaces of the flat structure is disposed toward the article storage space 106 of the partition 104, so that the volume occupied by the carrying mechanism 108 in the horizontal direction can be reduced, and the size of the transportation vehicle in the width direction can be reduced.

Referring to fig. 4, the carrying mechanism 108 may include a carrying guide mechanism 1081 and a carrying actuator 1082 provided on the carrying guide mechanism 1081.

The conveying guide mechanism 1081 is disposed on a side portion of the partition 104 and is movable relative to the partition 104 (for example, the conveying guide mechanism can move up and down or move closer to or away from the partition in a horizontal direction, which will be described in detail later). In one example, a second upright 120 is vertically disposed on the vehicle body 102 at a side portion of the article storage space 106 adjacent to the opening, and the carrying guide mechanism 1081 may be disposed on the second upright 120, and the carrying guide mechanism 1081 may be supported by the second upright 120.

The carrying actuator 1082 is capable of moving in a telescopic manner with respect to the carrying guide 1081, and is in an extended state after being extended and in a retracted state after being retracted. The transport actuator 1082 "catches" the items after being extended, and during the transition of the transport actuator 1082 from the extended state to the retracted state, items external to the transport vehicle are transported through the opening into the item storage space 106. In one example, the carrying actuator 1082, when in a retracted position, can be stowed adjacent to the side of the storage space 106 adjacent to the opening, thereby providing a compact and compact overall vehicle for passage through narrow passages.

In one specific application scenario, the automated guided vehicle travels in front of a shelf placed on the ground, adjusts its position so that the opening of the storage space 106 on the vehicle body 102 for the items is opposite to the initial position where the items are located before being transported by the transporting mechanism 108, i.e. opposite to the items on the shelf on the ground, and then the transporting mechanism 108 extends to reach the position where the items are located and "catches" the items (e.g. clamps the items), and the transporting mechanism 108 moves from the extended state to the retracted state to directly transport the items through the opening into the storage space 106.

A clamping mechanism may be provided on the handling mechanism 108. The article to be conveyed may be gripped by the gripping mechanism itself, or may be gripped by the conveying mechanism 108 (for example, by gripping from both sides in the horizontal direction of the article) by the gripping action of the gripping mechanism. When the article to be conveyed is gripped by the conveying mechanism 108, the gripping mechanism may be provided on the conveying guide mechanism 1081 or on the conveying actuator 1082.

The following description will be given taking an example in which the clamp mechanism is provided on the conveyance guide mechanism 1081.

Referring to fig. 4, transport guide mechanism 1081 may include a first transport guide 1081a and a second transport guide 1081 b; transport actuator 1082 may include a first transport actuator 1082a and a second transport actuator 1082 b.

A first carrying guide 1081a and a second carrying guide 1081b arranged in parallel on both sides of the article storage space 106 adjacent to the opening; in other words, the first and second carrying guides 1081a and 1081b are arranged in parallel on the first and second sides of the article storage space 106. The first and second sides of the item storage space 106 are two sides adjacent to the opening. The first conveyance guide 1081a is provided with a first conveyance actuator 1082a, and the second conveyance guide 1081b is provided with a second conveyance actuator 1082 b.

The clamp mechanism 112 is connected between the first conveyance guide 1081a and the second conveyance guide 1081b, and drives the first conveyance guide 1081a and the second conveyance guide 1081b to approach each other when the clamp mechanism 112 performs a clamping operation. When the first carrying guide 1081a and the second carrying guide 1081b approach each other, the first carrying actuator 1082a and the second carrying actuator 1082b are driven to approach each other and clamp the articles outside the transportation vehicle, and the articles are clamped into the article storage space 106 through the opening when the first carrying actuator 1082a and the second carrying actuator 1082b change from the extended state to the retracted state.

In other embodiments, the clamping mechanism may be separately disposed on the first conveying guide or the second conveying guide, drive the first conveying guide or the second conveying guide to make the first conveying guide and the second conveying guide approach each other, drive the first conveying executing mechanism and the second conveying executing mechanism to approach each other and clamp the article outside the transport vehicle, and clamp the article through the opening into the article storage space when the first conveying executing mechanism and the second conveying executing mechanism change from the extended state to the retracted state.

In one example, when the clamping mechanism 112 is coupled between the first and second carrying guides, the clamping mechanism 112 may include: a lead screw 1122 and a lead screw drive mechanism 1124; the screw rod is transversely arranged on one side of the article storage space opposite to the opening, in other words, the screw rod is arranged on the third side of the article storage space. The third side of the article storage space is the side opposite the opening of the article storage space. The first end of the screw is screwed with a first nut (not shown in the figure) fixed to the first carrying guide 1081a, and the second end is screwed with a second nut (not shown in the figure) fixed to the second carrying guide 1081 b.

The lead screw is connected with the lead screw driving mechanism. The screw rod driving mechanism drives the screw rod to rotate along a first direction, the first carrying guide piece 1081a and the second carrying guide piece 1081b are close to each other, the first carrying executing mechanism 1082a and the second carrying executing mechanism 1082b are driven to close to each other and clamp articles outside the transport vehicle, and the articles are clamped into the article storage space 106 through the opening when the first carrying executing mechanism 1082a and the second carrying executing mechanism 1082b are changed from the extending state to the retracting state; the screw driving mechanism drives the screw to rotate in a second direction (opposite to the first direction), and the first carrying guide 1081a and the second carrying guide 1081b are moved away from each other to drive the first carrying actuator 1082a and the second carrying actuator 1082b to move away from each other to release the clamped article on the partition 104.

The screw driving mechanism can comprise a screw driving motor, the screw driving motor is connected with the screw, and the screw is driven to rotate through the rotation of the screw driving motor. In order to reduce the space volume occupied by the screw rod driving mechanism, in one example, the screw rod driving mechanism comprises a screw rod driving motor and a turbine, the screw rod driving motor is vertically arranged, the turbine is fixed on an output shaft of the screw rod driving motor, and the turbine is meshed with threads on the screw rod. The position where the turbine is meshed with the screw rod is positioned between the two ends of the screw rod.

In other embodiments, the clamping mechanism can also be an electric push rod, a hydraulic push rod and the like.

In one example, the handling actuator 1082 may specifically include: a first arm body L1, a first telescopic driving mechanism S1, a second arm body L2 and a second telescopic driving mechanism S2; a first arm L1 provided on the first conveyance guide 1081a and capable of horizontally extending and contracting with respect to the first conveyance guide 1081a by being driven by a first extension/contraction driving mechanism S1; the second arm L2 is provided on the second conveyance guide 1081b and is driven by the second telescopic driving mechanism S2 to be horizontally telescopic relative to the second conveyance guide 1081 b. The first arm L1 and the first telescopic driving mechanism S1 constitute a first transport actuator 1082a, and the second arm L2 and the second telescopic driving mechanism S2 constitute a second transport actuator 1082 b.

In one example, a rack is arranged on the first arm body L1, the first telescopic driving mechanism S1 includes a first motor and a first synchronous belt transmission mechanism, and a driving pulley of the first synchronous belt transmission mechanism is fixedly connected with an output shaft of the first motor; teeth on the outer surface of a synchronous belt of the first synchronous belt transmission mechanism are meshed with racks on the first arm body L1. Correspondingly, a rack is arranged on the second arm body L2, the second telescopic driving mechanism S2 comprises a second motor and a second synchronous belt transmission mechanism, and a driving belt wheel of the second synchronous belt transmission mechanism is fixedly connected with an output shaft of the second motor; teeth on the outer surface of a synchronous belt of the second synchronous belt transmission mechanism are meshed with racks on the second arm body L2. The teeth on the outer surface of the synchronous belt transmission mechanism are meshed with the racks on the arm body, so that the noise generated when the arm body stretches relative to the conveying guide piece can be reduced.

To facilitate the raising and lowering of the carrying mechanism 108 to store items in the item storage spaces 106 of the partitions 104 of different levels, the transporter is also provided with a raising and lowering mechanism. Referring to fig. 1, specifically, a lifting mechanism 114 may be disposed on the second upright 120, and the carrying guide mechanism 1081 is connected to the lifting mechanism 114, so that when the lifting mechanism 114 performs a lifting operation, the carrying guide mechanism 1081 is driven to move upwards; accordingly, the lifting mechanism 114 can drive the carrying guide mechanism 1081 to move downward when it descends.

When the carrying guide mechanism 1081 includes the first carrying guide 1081a and the second carrying guide 1081b as described above, the second upright 120 needs to be vertically disposed on both sides of the article storage space 106; a first lifting mechanism 114a is arranged on the second upright post 120 on one side (for example, a first side), and a second lifting mechanism 114b is arranged on the second upright post 120 on the other side (for example, a second side); the first conveyance guide 1081a is connected to the first elevating mechanism 114a, and the second conveyance guide 1081b is connected to the second elevating mechanism 114 b; the first lifting mechanism 114a and the second lifting mechanism 114b perform synchronous lifting actions to drive the first conveying guide 1081a and the second conveying guide 1081b to synchronously lift.

The first and second lifting mechanisms 114a and 114b may be chain driven lifting mechanisms 114. Specifically, a first sprocket may be disposed at the bottom of second column 120, a second sprocket may be disposed at the upper portion of second column 120, and an endless chain may be wound between the first sprocket and the second sprocket. The chain on the same side can also be a non-closed ring, and two ends of the chain are respectively fixed on the first arm body L1 component or the second arm body component. The first chain wheels of the first lifting mechanism 114a and the second lifting mechanism 114b can be fixed at two ends of the same driving shaft, and the driving shaft is driven to rotate by a motor, so that the first lifting mechanism 114a and the second lifting mechanism 114b can be lifted synchronously. Referring to fig. 5, the driving shaft 116 and the motor 118 for driving the driving shaft to rotate may be disposed at the bottom of the vehicle body to fully utilize the space at the bottom of the vehicle body, so that the entire vehicle is more compact.

In another embodiment, the first and second lifting mechanisms may also be belt driven lifting mechanisms that are substantially identical to the chain driven lifting mechanisms except that the sprocket is replaced with a pulley and the chain is replaced with a conveyor belt.

In another embodiment, the first lifting mechanism and the second lifting mechanism may also be a lead screw lifting mechanism or a push rod lifting mechanism.

In order to keep the whole conveying mechanism 108 stable when the conveying actuator 1082 conveys articles and keep the first conveying guide 1081a and the second conveying guide 1081b stable when the first conveying guide 1081a and the second conveying guide 1081b are lifted synchronously, the first conveying guide 1081a and the second conveying guide 1081b and the second upright post 120 can be matched by a guide rail and a sliding groove, the second upright post 120 can be used for providing guidance for the lifting of the first conveying guide 1081a and the second conveying guide 1081b and providing stable support for the conveying mechanism 108 during the conveying of articles.

In one example, a plate body having an opening in the middle thereof, which may be square-shaped, is connected between the first and second carrying guides 1081a and 1081b, and the partition and the first column may pass through the opening in the middle of the plate body when the first and second carrying guides 1081a and 1081b are moved up and down. The plate body has a first end for supporting a screw drive mechanism and a second end (an end adjacent to the opening of the article storage space) for mounting a camera. The camera can be specifically installed at the bottom of the second end of the plate body, and can be used for shooting images outside the transport vehicle, so that the specific spatial position of a goods shelf outside the transport vehicle or objects on the goods shelf can be determined according to the shot images.

Fig. 6 is a schematic structural diagram of a conveying mechanism of an automated guided vehicle having a rack according to another embodiment of the present invention, and referring to fig. 6, the structure of the automated guided vehicle according to the embodiment of the present invention is substantially the same as that of the embodiment shown in fig. 1, except that in the present embodiment, the conveying actuator 1082 "captures" the articles in a manner not by clamping, but instead by hooking. Specifically, the carrying executing mechanism 1082 is provided with an article hooking mechanism, so as to hook the article W outside the transportation vehicle after the carrying executing mechanism 1082 extends to a predetermined position, and pull the article W to pass through the opening into the article storage space 106 when the carrying executing mechanism 1082 changes from the extending state to the retracting state, and/or pull the article in the article storage space to pass through the opening to the outside of the transportation vehicle when the carrying mechanism (such as the carrying executing mechanism 1082) changes from the retracting state to the extending state.

In one example, the article retaining mechanism may comprise: a rotatable hooking member 122 provided at a front end of the carrying actuator 1082. The rotatable hooking member 122 may include a lever and a lever driving mechanism that drives the lever to rotate. When the carrying executing mechanism 1082 is in a retracted state or in an extending process, the blocking rod can be attached to or hidden at the front end of the carrying executing mechanism 1082, and when the carrying executing mechanism 1082 is extended to a proper position, the blocking rod can be driven by the blocking rod driving mechanism to extend or rotate to the rear of the article; when the carrying actuator 1082 is retracted, the article can be pulled back into the article storage space 106 on the vehicle body 102 by the stopper lever. The extension/positioning can be determined by presetting the extension of the carrying actuator 1082 to a predetermined length (for example, 30cm or 35 cm), or by detecting a sensor to determine whether the carrying actuator 1082 is extended to a predetermined position.

In another example, the article retaining mechanism may include a hook or a claw. When the carrying actuator 1082 is extended to a proper position, the hook or claw can hold or grasp the object.

When the conveyance guide mechanism 1081 includes the first conveyance guide 1081a and the second conveyance guide 1081b, and the conveyance actuator 1082 includes the first conveyance actuator 1082a and the second conveyance actuator 1082b, the article hooking mechanism may be provided at the front end of the first conveyance actuator 1082a, the second conveyance actuator 1082b, or both the first conveyance actuator 1082a and the second conveyance actuator 1082 b.

In another embodiment, the carrying executing mechanism is provided with an article adsorbing mechanism for adsorbing articles outside the transport vehicle after the carrying executing mechanism extends to a predetermined position, and adsorbing the articles to the article storage space through the opening when the carrying executing mechanism changes from the extending state to the retracting state, and/or adsorbing the articles in the article storage space to the outside of the transport vehicle through the opening when the carrying executing mechanism changes from the retracting state to the extending state. The article adsorption mechanism can comprise a negative pressure sucker, the surface of the negative pressure sucker is attached to the surface of an article, and the negative pressure sucker and the article are adsorbed together through the negative pressure inside the sucker and the surface of the article.

The structure of the automated guided vehicle according to the embodiment of the present application is substantially the same as that of the embodiment shown in fig. 1 to 5, except that, in the embodiment, the side portion of the partition plate 104 is connected to the carrying guide 1081 and can move together with the carrying guide 1081.

In one example, the side portions of the partition 104 are slidably connected to the bottom portions of the first conveyance guide 1081a and the first conveyance guide 1081b in the horizontal direction.

In the horizontal direction, the first carrying guide mechanism 1081a and the first carrying guide mechanism 1081b are slidable relative to the partition plate 104 so as to be driven by the clamping mechanism to move toward each other, thereby driving the first carrying actuator 1082a and the second carrying actuator 1082b to approach each other and clamp the articles outside the transport vehicle, and clamping the articles onto the partition plate 104 during the change from the extended state to the retracted state of the first carrying actuator 1082a and the second carrying actuator 1082 b.

In the vertical direction, the partition 104 can also move up and down along with the first conveying guide mechanism 1081a and the first conveying guide mechanism 1081b under the driving of the lifting mechanism 114, so that the openings of the article storage spaces on the partition 104 correspond to articles with different heights outside, and the articles outside the transport vehicle can be conveniently and directly conveyed to the partition 104.

In another example, the side of the partition 104 is fixedly connected to the bottom of the carrying guide 1081, and the article outside the transportation vehicle is pulled onto the partition 104 by the article hooking mechanism. In this example, the partition 104 can move up and down with the first conveying guide mechanism 1081a and the first conveying guide mechanism 1081b under the driving of the lifting mechanism 114 in the vertical direction, so that the openings of the article storage spaces on the partition 104 correspond to articles with different heights outside, and the articles outside the transport vehicle can be conveniently and directly conveyed to the partition 104.

Referring to fig. 7 to 9, another embodiment of the present application provides an automated guided vehicle with a rack, including: body 202, rack 204, and handling mechanism 206; the shelf 204 is arranged on the vehicle body 202, and at least one layer of clapboard 208 for placing goods is arranged on the shelf 204; the carrying mechanism 206 includes a first arm assembly 210 and a second arm assembly 212 which are retractable in the horizontal direction, and the first arm assembly 210 and the second arm assembly 212 are arranged in parallel on both sides of the shelf 204; a clamping mechanism 214 is arranged on the first arm body assembly 210 and/or the second arm body assembly 212; when the first arm assembly 210 and the second arm assembly 212 are in the retracted state, the first arm assembly 210 and the second arm assembly 212 are folded on both sides of the shelf 204.

An automated guided vehicle may also be referred to as a walking robot, a wheeled robot, a transfer robot, or an AGV cart. Wheels are arranged at the bottom of the vehicle body 202, and an automatic guide mechanism can be arranged on the vehicle body 202. Under the guidance of the automatic guide mechanism, the automatic guide transport vehicle can travel along the reserved route.

The rack 204 may include a first upright 216 vertically disposed on the vehicle body. The number of the first columns 216 may be single or plural, and the partition plate 208 is provided on the first columns 216.

The partition 208, also referred to as the partition 104, may be a whole plate, a plate with a hollow structure, a plurality of support bars arranged side by side, or the like. An article storage space 209 having an opening for entry of articles is provided above the partition 208. The article support surface of the baffle 208 may be rectangular, square, etc. in shape. The shelf 204 and the partition 208 may be made of aluminum alloy. The partition 208 is horizontally disposed to facilitate smooth insertion of the object. The separator 208 may be a single layer or a plurality of layers.

And a carrying mechanism 206 for carrying the articles outside the transport vehicle to the partition 208. Items already stored on the shelf 208 may also be transported to a fixed shelf outside the transporter. The carrying mechanism comprises a first arm body assembly 210 and a second arm body assembly 212 which can stretch and retract along the horizontal direction, and the first arm body assembly 210 and the second arm body assembly 212 are arranged on two sides of the shelf 204 in parallel; the first arm assembly 210 and the second arm assembly 212 may be simultaneously extended to an item outside the transporter.

Second pillars 218 may be vertically provided on the vehicle body at both sides of the article storage space adjacent to the opening. In other words, the second pillar 218 may be provided on the vehicle body on the first and second sides of the article storage space. The first and second sides of the item storage space are two sides adjacent to the opening of the item storage space. Second stud 218 may be made of an aluminum alloy material. The first arm assembly 210 is disposed on a second upright 218 on one side (e.g., a first side) and the second arm assembly 212 is disposed on a second upright 218 on the other side (e.g., a second side), the second uprights on both sides providing vertical support for the first arm assembly 210 and the second arm assembly 212, respectively.

In one embodiment, the first arm assembly 210 and the second arm assembly 212 are respectively in a flat structure, and one of the largest surfaces of the flat structure is disposed toward the shelf 204, i.e., toward the storage space of the articles on the partition 208, so that the volume occupied by the carrying mechanism 206 in the horizontal direction can be reduced, and the size of the transportation vehicle in the width direction can be reduced.

In one example, the first arm assembly 210 and the second arm assembly 212 may each include: a guide plate 220, a primary arm 222, and a primary telescopic drive mechanism 224. The guide plate 220 and the first-stage arm 222 may be flat plate structures made of sheet metal. The first-stage arm body 222 is arranged on the guide plate 220 and is matched with the guide plate 220 through a guide rail and sliding groove structure; the first-stage arm 222 is provided with a rack. The primary telescopic driving mechanism 224 comprises a first motor and a synchronous belt transmission mechanism, and a driving belt wheel of the synchronous belt transmission mechanism is fixedly connected with an output shaft of the first motor; the teeth on the outer surface of the timing belt transmission mechanism are meshed with the racks on the primary arm body 222. The teeth on the outer surface of the synchronous belt transmission mechanism are meshed with the racks on the primary arm body 222, so that noise generated when the primary arm body 222 stretches relative to the guide plate 220 can be reduced.

The sliding fit between the primary arm 222 and the guide plate 220 may also be in the form of a roller or the like. The primary arm 222 is driven to move relative to the guide plate 220, and may be a gear and rack structure or an electric push rod structure.

The primary arm 222 extends and contracts in a primary manner with respect to the guide plate 220. To increase the extension and retraction stroke of the first arm assembly 210 and the second arm assembly 212, and at the same time, to make the overall length of the first arm assembly 210 and the second arm assembly 212 not too long, in one example, the first arm assembly 210 and the second arm assembly 212 further include: a secondary arm 226 and a secondary telescopic driving mechanism (not shown); the secondary arm body 226 is arranged on the primary arm body 222 and is matched with the primary arm body 222 through a guide rail and sliding groove structure; the secondary arm 226 is connected to a secondary telescopic driving mechanism for driving the secondary arm 226 to extend or retract along the primary arm 222. The secondary arm 226 can extend along the primary arm 222 to form a secondary extension. The secondary arm 226 may also be a flat plate structure made of sheet metal material. The secondary telescopic driving mechanism may be a chain transmission mechanism, a belt transmission mechanism, an electric push rod or a hydraulic cylinder, etc. arranged between the primary arm body 222 and the secondary arm body 226.

The clamping mechanism 214 may be provided on the first arm assembly 210 alone, on the second arm assembly 212 alone, or on both the first arm assembly 210 and the second arm assembly 212. When the first arm body assembly 210 and the second arm body assembly 212 synchronously extend to the article outside the transport vehicle, the first arm body assembly 210 and the second arm body assembly 212 clamp the article under the driving of the clamping mechanism 214; when the first arm assembly 210 and the second arm assembly 212 are retracted, the item is carried onto the bulkhead 208. When the first arm assembly 210 and the second arm assembly 212 are in the retracted state, the first arm assembly 210 and the second arm assembly 212 are folded on both sides of the shelf 204, so that the overall volume of the automated guided vehicle is small.

Referring to fig. 9 and 10, in one example, the clamping mechanism 214 may include: a lead screw 228 and a lead screw drive mechanism 230; the lead screw 228 is laterally disposed at a side of the article storage space opposite to the opening. In other words, the lead screw is provided on the third side of the article storage space. The third side of the article storage space is the side opposite the opening of the article storage space. The lead screw 228 is threadedly coupled at a first end to a first nut (not shown) secured to the first arm assembly 210 and at a second end to a second nut (not shown) secured to the second arm assembly 212; the lead screw 228 is coupled to a lead screw drive mechanism 230, the lead screw drive mechanism 230 drives the lead screw 228 to rotate in a first direction, the first arm assembly 210 and the second arm assembly 212 move toward each other and clamp an item outside the transporter, and when the first arm assembly 210 and the second arm assembly 212 are retracted, the lead screw drive mechanism 230 drives the lead screw 228 to rotate in a second direction (opposite the first direction), and the first arm assembly 210 and the second arm assembly 212 move away from each other to release the clamped item on the partition 208.

In one specific example, a first nut is secured to the guide plate 220a of the first arm assembly 210 and a second nut is secured to the guide plate 220b of the second arm assembly 212. That is, a first end of the lead screw is threadedly coupled to the guide plate 220a of the first arm assembly 210, and a second end thereof is threadedly coupled to the guide plate 220b of the second arm assembly 212. The screw rod driving mechanism drives the screw rod to rotate along the first direction, the guide plate 220a of the first arm body assembly 210 and the guide plate 220b of the second arm body assembly 212 are close to each other, the first-stage arm body 222 of the first arm body assembly 210 and the first-stage arm body 222 of the second arm body assembly 212 are driven to be close to each other, and articles outside the transport vehicle are clamped. When the primary arm 222 of the first arm assembly 210 and the primary arm 222 of the second arm assembly 212 are retracted, the lead screw driving mechanism 230 drives the lead screw 228 to rotate in a second direction (opposite to the first direction), and the guide plate 220a of the first arm assembly 210 and the guide plate 220b of the second arm assembly 212 move away from each other, so as to drive the primary arm 222 of the first arm assembly 210 and the primary arm 222 of the second arm assembly 212 to move away from each other, so as to release the clamped object on the partition 208.

The specific example above is illustrated with only one stage of telescoping, it being understood that in the case of two or more stages of telescoping, the last stage of arm may be used to grip or release an article.

Referring to fig. 7, to facilitate the lifting of the handling mechanism 206 to deposit items on the partitions 208 of different levels, the automated guided vehicle may further include a first lifting mechanism 232a and a second lifting mechanism 232 b; the first lifting mechanism 232a and the second lifting mechanism 232b are synchronous lifting mechanisms and are respectively arranged on the second upright posts 218 on the two sides of the shelf 204; the first arm assembly 210 is connected to the first lifting mechanism 232a, and the second arm assembly 212 is connected to the second lifting mechanism 232 b; the first lifting mechanism 232a and the second lifting mechanism 232b act to drive the first arm assembly 210 and the second arm assembly 212 to synchronously move upwards or downwards relative to the shelf 204.

The first and second elevating mechanisms 232a and 232b may be chain-driven elevating mechanisms. Specifically, a first sprocket may be provided at the bottom of second column 218, a second sprocket may be provided at the upper portion of second column 218, and an endless chain may be wound between the first sprocket and the second sprocket. The chain on the same side may also be in the form of a non-closed loop, with both ends of the chain being secured to the first arm assembly 210 or the second arm assembly 212, respectively. The first chain wheels of the first lifting mechanism 232a and the second lifting mechanism 232b can be fixed at two ends of the same driving shaft, and a motor is used for driving the driving shaft to rotate, so that the synchronous lifting of the first lifting mechanism and the second lifting mechanism can be realized. Referring to fig. 11, a driving shaft 234 and a motor 236 for driving the driving shaft to rotate may be disposed at the bottom of the vehicle body below the loading shelf 204 to make full use of the space at the bottom of the vehicle body, so that the entire vehicle is more compact.

In another embodiment, the first and second lifting mechanisms may also be belt driven lifting mechanisms that are substantially identical to the chain driven lifting mechanisms except that the sprocket is replaced with a pulley and the chain is replaced with a conveyor belt. In another embodiment, the first lifting mechanism and the second lifting mechanism may also be a lead screw lifting mechanism or a push rod lifting mechanism.

In order to keep the whole carrying mechanism 108 stable when the carrying mechanism 108 carries an article and keep the first arm assembly 210 and the second arm assembly 212 stable when the first arm assembly 210 and the second arm assembly 212 are lifted synchronously, the first arm assembly 210, the second arm assembly 212 and the second upright post can be matched by adopting a guide rail and a sliding groove, the second upright post can be used for providing guidance for the lifting of the first arm assembly 210 and the second arm assembly 212 and providing stable support for the carrying mechanism in the process of carrying the article.

Fig. 12 is a schematic view of a conveying mechanism of an automated guided vehicle having a rack 204 according to another embodiment of the present invention, and referring to fig. 12, the structure of the automated guided vehicle according to the embodiment of the present invention is substantially the same as that of the embodiment shown in fig. 7 to 11, except that in the present embodiment, the conveying mechanism 206 "catches" the article instead of clamping, but alternatively hooking. Specifically, the first arm assembly 210 and/or the second arm assembly 212 are provided with an article hooking mechanism to hook the article W outside the transportation vehicle after the first arm assembly 210 and the second arm assembly 212 are extended to a predetermined position, and to pull the article W onto the partition 208 on the vehicle body 202 when the first arm assembly 210 and the second arm assembly 212 are retracted.

In one example, the article retaining mechanism may comprise: a rotatable hooking component 222, which is arranged at the front end of the first arm component 210 and/or the second arm component 212. The rotatable hooking member 222 may include a lever and a lever driving mechanism that drives the lever to rotate. When the first arm body assembly 210 and the second arm body assembly 212 are in a retracted state or in an extending process, the stop lever can be abutted against or hidden at the front ends of the first arm body assembly 210 and the second arm body assembly 212, and after the first arm body assembly 210 and the second arm body assembly 212 carrying executing mechanism 1082 is extended to the right position, the stop lever can be extended or rotated to the rear of the article W under the driving of the stop lever driving mechanism; when first arm assembly 210 and second arm assembly 212 are retracted, article W may be pulled back onto bulkhead 208 on body 202 via the check rod. The first arm assembly 210 and the second arm assembly 212 may be extended to a predetermined length (for example, 30cm or 35 cm) in advance to determine the extension position, or the first arm assembly 210 and the second arm assembly 212 may be detected by a sensor to determine whether the first arm assembly 210 and the second arm assembly 212 are extended to the position.

In another example, the article retaining mechanism may include a hook or a claw. When the first arm assembly 210 and the second arm assembly 212 are extended to the proper position, the object is hooked or held by the hook or claw.

When the first arm assembly 210 and the second arm assembly 212 are primary telescopic mechanisms, and when the first arm assembly 210 and the second arm assembly 212 respectively include the first arm L1, the hooking part may be disposed at the front end of the first arm L1.

In another embodiment, a clamping mechanism, an article hooking mechanism or an article adsorbing mechanism is arranged on the first arm assembly and/or the second arm assembly, and is used for adsorbing articles so as to convey the articles.

In one example, the article adsorption mechanism includes: the negative pressure sucking disc is arranged at the front end of the first arm body assembly and/or the front end of the second arm body assembly.

In one embodiment, the partition has an article storage space at an upper portion thereof, and the article storage space has an opening through which an external article can be carried onto the automated guided vehicle, and through which an article on the automated guided vehicle can be carried to the outside of the automated guided vehicle. Specifically, the first arm assembly and the second arm assembly have an extended state and a retracted state, and the first arm assembly and the second arm assembly carry an article outside the transport vehicle through the opening into the article storage space during a change from the extended state to the retracted state, and/or carry an article in the article storage space through the opening to the outside of the transport vehicle during a change from the retracted state to the extended state.

In one example, the opening includes a first opening and a second opening opposite the first opening;

and in the process that the first arm body assembly and the second arm body assembly are changed from the extending state to the retracting state, objects outside the transport vehicle are transported to the object storage space through the first opening or the second opening, and/or in the process that the first arm body assembly and the second arm body assembly are changed from the retracting state to the extending state, the objects in the object storage space are transported to the outside of the transport vehicle through the first opening or the second opening, so that the objects can be transported in or out in two directions on the automatic guided transport vehicle.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "comprising", without further limitation, means that the element so defined is not excluded from the group consisting of additional identical elements in the process, method, article, or apparatus that comprises the element.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.