A lifting device suitable for AGV

Abstract

The present invention relates to the field of automated logistics, and in particular to the mechanical design of AGV. The present invention is achieved through the following technical solutions: a lifting device suitable for AGV, comprising a vehicle body and a lifting unit, wherein the lifting units are two, each of the lifting units comprises an oil cylinder and a bracket that is lifted and lowered in a vertical direction under the drive of the oil cylinder, and further comprises an oil supply device, wherein the oil supply device comprises an oil supply pump and a diverter valve connected to the oil supply pump, and each of the oil cylinders is connected to the diverter valve. The purpose of the present invention is to provide a lifting device suitable for AGV, which has a high degree of cargo lifting balance, is not easy to tilt, and is easy to control.

Description

Technical Field

[0001] The present invention relates to the field of automated logistics, and in particular to the mechanical design of AGV. Background Art

[0002] AGV (Automated Guided Vehicle) refers to a transport vehicle equipped with an electromagnetic or optical automatic guidance device, which can travel along a specified guidance path. With the advancement of information technology and the maturity of automation, the application of AGV is becoming more and more common, and is widely used in various fields such as handling, stacking, and logistics.

[0003] For example, a Chinese patent document with publication number CN108657714A discloses an AGV, which includes a vehicle body and a lifting device installed on the vehicle body. The lifting device includes a lifting gear and a lifting plate. As the lifting gear rotates, the height position of the lifting plate is driven to change. However, such a technical solution has certain defects. On the one hand, the lifting force point is often in the middle of the pallet. If there is a large volume of cargo and the placement position is not in the center of the pallet, the pallet may be unstable and tilted, affecting the stability and safety of the AGV trolley carrying cargo. On the other hand, this structure is a design method of rotary lifting. When the lifting device lifts, the object will also rotate, which brings inconvenience to the lifting. Summary of the invention

[0004] The object of the present invention is to provide a lifting device suitable for AGV, which has high cargo lifting balance, is not prone to tilting, and is easy to control.

[0005] The above technical purpose of the present invention is achieved through the following technical solutions: a lifting device suitable for AGV, comprising a vehicle body and a lifting unit, wherein there are two lifting units, each of which comprises an oil cylinder and a bracket that is lifted and lowered in the vertical direction under the drive of the oil cylinder, and also comprises an oil supply device, wherein the oil supply device comprises an oil supply pump and a diverter valve connected to the oil supply pump, and each of the oil cylinders is connected to the diverter valve.

[0006] As a preferred embodiment of the present invention, each of the oil cylinders is connected to the diverter valve via an oil supply pipe and an oil return pipe, and a one-way valve is installed in each oil supply pipe.

[0007] As a preferred embodiment of the present invention, it also includes a guiding device for providing guidance for the lifting and lowering of the lifting unit.

[0008] As a preferred embodiment of the present invention, it further comprises a connecting frame connected to the vehicle body, the guiding device comprises a guiding sleeve connected to the connecting frame and a guiding rod sliding in the guiding sleeve, and the guiding rod is connected to the bracket.

[0009] As a preferred embodiment of the present invention, each of the brackets is connected to two guide devices, and the two guide devices are located on both sides of the cylinder.

[0010] As a preferred embodiment of the present invention, the connecting frame is located below the bracket.

[0011] As a preferred embodiment of the present invention, the oil cylinder comprises a cylinder body and a piston rod, the vehicle body is connected to a mounting seat, and the cylinder body is hinged to the mounting seat.

[0012] As a preferred embodiment of the present invention, the connecting frame is provided with a through hole for the oil cylinder, and the size of the through hole is larger than the outer diameter of the oil cylinder.

[0013] In summary, the present invention has the following beneficial effects:

[0014] 1. Two sets of lifting units are symmetrically arranged to lift the goods steadily and ensure balanced force on the goods.

[0015] 2. The diverter valve diverts the oil supply, and the one-way valve prevents the oil from flowing back, further improving the balance.

[0016] 3. The cylinder allows a small range of movement so that the various parts of the cylinder will not be damaged in extreme cases.

[0017] 4. The four wheels are arranged at four corners, two driving wheels and two steering wheels. The two driving wheels are arranged in a diagonal position, which not only controls the cost, but also has enough power to make the vehicle move forward and turn. It is also highly stable during driving and is not easy to slip.

[0018] 5. The floating wheel can move up and down in the vertical direction, so that no matter on any road surface, the two driving wheels can normally contact the ground, and the driving wheels will not be suspended or slipping, which increases driving stability.

[0019] 6. During the steering process, the right-angle steering motor will not rotate in the horizontal direction, and avoid interfering with the sensing light path of the sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic diagram of embodiment 1;

[0021] Figure 2 It is a schematic diagram of the floating wheel;

[0022] Figure 3 yes Figure 1 Schematic diagram of another angle with the car body shell hidden;

[0023] Figure 4 yes Figure 3 An enlarged schematic diagram of A in FIG.

[0024] Figure 5 yes Figure 3 Schematic diagram from another angle;

[0025] Figure 6 yes Figure 5 An enlarged schematic diagram of point A in FIG.

[0026] In the figure:

[0027] 1. Car body, 2. Travel wheel set, 21. Driving wheel, 211. Outer wheel, 212. Travel motor, 213. Steering gear, 214. Steering drive, 2141. Right-angle steering motor, 2142. Output gear, 22. Steering wheel, 221. Floating wheel, 2211. Wheel body, 2212. Wheel axle, 3. Up and down swing device, 31. Car body connecting part, 311. Bearing, 312. Bearing mounting plate, 313. Contact plate, 32. Wheel body turning part, 321. Buckle groove, 34. Elastic connecting part, 341. Main column, 342. Fastener, 343. Elastic body, 344. Upper pressure plate, 4. Sensor, 5. Oil supply device, 51. Oil supply pump, 52. Diverter valve, 53. Oil supply pipe, 54. Oil return pipe, 6. Connecting frame,, 8. Lifting unit, 81. Bracket, 82. Cylinder, 821. Cylinder body, 822. Piston rod, 83. Mounting seat, 9. Guide device, 91. Guide sleeve, 92. Guide rod. DETAILED DESCRIPTION

[0028] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0029] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

[0030] Embodiment 1 includes a vehicle body 1, on which a running wheel set 2 is provided. In this case, the running wheel set 2 includes a total of four wheels, which are arranged at four corners. They are two driving wheels 21 and two steering wheels 22, respectively. The two driving wheels 21 are arranged in a diagonal position, and the steering wheel 22 can be a universal wheel. Such a setting not only controls the cost, but also has sufficient power to make the vehicle move forward and turn, and the stability during driving is high and it is not easy to slip.

[0031] In addition, in the technical solution, only one of the four wheels adopts a special up-and-down floating design, namely, the floating wheel 221. In this embodiment, one of the steering wheels 22 is the floating wheel 221. When the AGV is traveling on an uneven ground, since the floating wheel 221 can move up and down in the vertical direction, the two driving wheels 21 can normally contact the ground regardless of the road surface, and the driving wheels will not be suspended or slipped, thereby increasing the driving stability.

[0032] The specific structure of the floating wheel 221 is as follows: Figure 2 As shown, the bearing mounting plate 312 can be fixedly connected to the vehicle body 1, wherein the rear bearing 311 is installed, so that the entire floating wheel 221 can rotate 360° in the horizontal direction. The upper and lower swinging device 3 is designed to rotate separately, including an upper vehicle body connecting member 31 and a lower wheel body flipping member 32, and the wheel body flipping member 32 is connected to the wheel body 2211 through a wheel axle 2212. The vehicle body connecting member 31 and the wheel body flipping member 32 are hinged by a connecting shaft, so that both can flip in the vertical plane.

[0033] The elastic connector 34 is a connecting component of the two, which includes a main column 341 extending in the vertical direction, and a fastener 342 is connected to its lower end. A fastening groove 321 is provided on the wheel body flip member 32, and the fastener 342 can slide in the fastening groove 321 and contact with the upper wall of the fastening groove 321. An elastic body 343 is sleeved on the upper half of the main column 341, which can be a spring. The upper end surface of the spring contacts the upper pressure plate 344, and the lower end surface contacts the contact plate 313, which is a part of the vehicle body connector 31. The spring is always in a compressed state.

[0034] Since the spring is in a compressed state, the spring will give an upward force to the upper pressure plate 344, and the buckle 342 will give an upward force to the buckle groove 321. From the horizontal position, the connecting shaft is in the middle, and the wheel shaft 2212 and the buckle groove 321 are on both sides. Figure 2 As shown, the buckle groove 321 is on the right side, the connecting shaft is in the middle, and the wheel axle 2212 is on the left side. When the buckle groove 321 is subjected to an upward force, the wheel axle 2212 on the other side and the wheel body 2211 connected thereto naturally have a downward tendency. When the ground is uneven and encounters a concave depression, the wheel body 2211 will fall. On the contrary, when the ground encounters a convex high place, the wheel body 2211 rises, the elastic connector 34 is pressed down, and the spring is further compressed.

[0035] like Figure 3 and Figure 4As shown, two sensors 4 can be arranged at the bottom of the entire vehicle body. The sensors can be 270° range sensors for scanning the surrounding environment and avoiding obstacles. The sensors can be purchased from mature products in the existing technology. The two sensors 4 can be arranged at the diagonal position at the bottom of the vehicle body 1. In order to avoid interference with the scanning light of the sensor 4 and reduce the size of the entire AGV body, the vehicle is specially designed.

[0036] Specifically, Figure 4 As shown, the driving wheel 21 is specially designed. It includes an outer wheel 211, and the travel motor 212 is a horizontal motor, which is placed horizontally in the middle of the outer wheel 211 and directly drives the outer wheel 211 to rotate. The steering of the driving wheel 21 depends on the steering gear 213 and the steering drive 214. The steering drive 214 includes a right-angle steering motor 2141 connected to the vehicle body 1 and in an L shape. There is an output gear 2142 at its output end. When the right-angle steering motor 2141 is in operation, the output gear 2142 rotates, driving the steering gear 213 meshed therewith to rotate. The steering gear 213 connects the outer wheel 211 and the travel motor 212, driving the outer wheel 211 to turn in the horizontal direction. Such a setting, on the one hand, does not require too much vertical extension space because the right-angle steering motor 2141 is at a right angle, and its right-angle extension direction can be arranged so as not to interfere with the sensing light path of the sensor 4. Furthermore, during the steering process, the right-angle steering motor 2141 will not rotate in the horizontal direction, and will also avoid interfering with the sensing light path of the sensor 4.

[0037] like Figure 5 and Figure 6 As shown, the vehicle comprises an oil supply device 5, which comprises an oil supply pump 51 and a diverter valve 52, which are connected by pipelines. There are two lifting units 8, which are located near both sides of the vehicle. The power of each lifting unit 8 comes from an oil cylinder 82.

[0038] Each oil cylinder 82 is connected to the diverter valve 52, and the oil enters the diverter valve through the oil supply pump 51, and is then divided into two and transported to the two oil cylinders 82. This allows the oil to enter the two oil cylinders 82 evenly during the lifting process, thereby providing a uniform lifting effect on both sides, and the two oil cylinders 82 rise and fall synchronously.

[0039] like Figure 6 As shown, each oil cylinder 82 is connected to the diverter valve 52 through a set of loop pipes. Specifically, oil enters the oil cylinder 82 from the diverter valve 52 through the oil supply pipe 53, and the oil returns from the oil cylinder 82 to the diverter valve 52 through the oil return pipe 54. A one-way valve is provided in the oil supply pipe 53.

[0040] This ensures that, even when the center of gravity of some cargo is uneven and the forces acting on the two lifting units 8 are unbalanced, the oil will not flow back from the oil supply pipe 53 to the diverter valve 52 , thereby further improving the lifting stability of the two lifting units 8 .

[0041] The vehicle body 1 is connected with a connecting frame 6, and the bracket 81 is located above the connecting frame 6. When the oil cylinder 82 drives the bracket 81 to rise and fall, the guide device 9 provides stability of the lifting path. The guide device 9 is installed at both sides of the oil cylinder 82, and includes a guide sleeve 91 connected to the connecting frame 6 and a guide rod 92 connected to the bracket 81, and the guide rod 92 slides in the guide sleeve 91.

[0042] However, in extreme cases where the road surface is very bumpy or the load on the cargo is very unbalanced, the oil cylinder 82 will shake slightly. In order to protect the various components of the oil cylinder, in this technical solution, a certain amount of offset is allowed for the oil cylinder 82 during the slight shaking process. Figure 6 As shown, a piston rod 822 is provided in the cylinder body 821, and the upper end of the piston rod 822 is connected to the bracket 81. The bottom of the cylinder body 821 is hinged to the mounting seat 83, and the mounting seat 83 is connected to the vehicle body. The hinged connection between the cylinder body 821 and the mounting seat 83 enables the oil cylinder 82 to rotate in a small range and a small angle. A through hole for the cylinder body 821 to pass through is provided on the connecting frame 6. The aperture of the hole is slightly larger than the outer diameter of the cylinder body 821. On the one hand, a small range of rotation of the cylinder body 821 is allowed. On the other hand, the through hole also provides a limiting effect on the rotation angle of the cylinder body 821, further ensuring the stability of the lifting process.

Claims

1. A lifting device suitable for an AGV, comprising a vehicle body (1) and a lifting unit (8), characterized in that: There are two lifting units (8), each of which comprises an oil cylinder (82) and a bracket (81) that is lifted and lowered in a vertical direction under the drive of the oil cylinder (82), and further comprises an oil supply device (5), wherein the oil supply device (5) comprises an oil supply pump (51) and a diverter valve (52) connected to the oil supply pump (51), and each of the oil cylinders (82) is connected to the diverter valve (52). A running wheel set (2) is connected to the vehicle body (1), wherein the running wheel set (2) comprises two driving wheels (21) arranged in a diagonal position and two steering wheels (22) arranged in a diagonal position, and one of the wheels of the running wheel set (2) is a floating wheel (221) that can move relative to the vehicle body (1) and can adjust its height relative to the vehicle body (1), and the floating wheel (221) is connected to the vehicle body (1). An up-and-down swing device (3) is provided. The up-and-down swing device (3) comprises a wheel body flipping member (32) and a vehicle body connecting member (31) which are hinged to each other. The vehicle body connecting member (31) is connected to the vehicle body (1). The wheel body flipping member (32) is connected to the floating wheel (221). The wheel body flipping member (32) is provided with a buckling groove (321). The up-and-down swing device (3) further comprises an elastic connecting member (34). The elastic connecting member (34) comprises a main column (341), an elastic body (342) provided on the main column (341), an upper pressing plate (344) which abuts against the upper end surface of the elastic body (342) and is connected to the main column (341), and a buckle (342) connected to the main column (341). The buckle (342) is installed in the buckling groove (321).

2. A lifting device suitable for AGV according to claim 1, characterized in that: Each oil cylinder (82) is connected to the diverter valve (52) via an oil supply pipe (53) and an oil return pipe (54), and a one-way valve is installed in each oil supply pipe (53).

3. The lifting device suitable for AGV according to claim 1, characterized in that: It also comprises a guide device (9) for providing guidance for the lifting and lowering of the lifting unit (8).

4. The lifting device suitable for AGV according to claim 3, characterized in that: It also comprises a connecting frame (6) connected to the vehicle body (1), the guiding device (9) comprising a guiding sleeve (91) connected to the connecting frame (6) and a guiding rod (92) sliding in the guiding sleeve (91), and the guiding rod (92) is connected to the bracket (81).

5. The lifting device suitable for AGV according to claim 4, characterized in that: Each of the brackets (81) is connected to two guide devices (9), and the two guide devices (9) are located on both sides of the oil cylinder (82).

6. The lifting device suitable for AGV according to claim 4, characterized in that: The connecting frame (6) is located below the bracket (81).

7. The lifting device suitable for AGV according to claim 1, characterized in that: The oil cylinder (82) comprises a cylinder body (821) and a piston rod (822); the vehicle body (1) is connected to a mounting seat (83); and the cylinder body (821) is hinged to the mounting seat (83).

8. The lifting device suitable for AGV according to claim 4, characterized in that: The connecting frame (6) is provided with a passage opening for the oil cylinder (82), and the size of the passage opening is larger than the outer diameter of the oil cylinder (82).

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