An AGV with all-directional driving for heavy-duty coil materials and stable center of gravity

Abstract

The present invention relates to the field of automated logistics, and particularly to the overall vehicle mechanical design of an AGV. The present invention is achieved through the following technical solutions: A heavy-load coil material omnidirectional AGV with stable center of gravity, comprising a vehicle body, the vehicle body includes a chassis frame and a main frame connected to the chassis frame, a traveling device is provided on the chassis frame, and further includes a light-load frame, a heavy-load frame, and a lifting device for driving the light-load frame and the heavy-load frame to lift in the vertical direction. The forks of the light-load frame and the forks of the heavy-load frame both extend in the horizontal direction, and the fork-out directions are opposite. The purpose of the present invention is to provide a heavy-load coil material omnidirectional AGV with stable center of gravity, which can not only adapt to and meet handling tasks of different weights, has good versatility and high efficiency; but also has a stable center of gravity, is small in size, and meets the space requirements for narrow aisle operations.

Description

Technical Field

[0001] The present invention relates to the field of automated logistics, and particularly to the overall vehicle mechanical design of an AGV. Background Art

[0002] An AGV (Automated Guided Vehicle) is a transport vehicle equipped with an automatic guiding device such as electromagnetic or optical means, and it can travel along a specified guiding path. With the progress of information technology and the maturity of automation level, the application of AGVs has become increasingly common, and they are widely used in various fields such as handling, stacking, and logistics.

[0003] For example, a Chinese patent document with the publication number CN202110912839 discloses an AGV, an unmanned forklift. This type of AGV cart includes a vehicle body, on which a battery and a control box are installed. A traveling device is provided on the chassis at the bottom of the vehicle. The AGV cart moves in a specified area under corresponding control commands. An elevating fork device is installed on the AGV cart for handling goods. Since this type of AGV cart can travel in all directions relying on the traveling device, it is also called an omnidirectional AGV cart.

[0004] Omnidirectional AGV carts include a specific type, heavy-duty omnidirectional AGV carts, which have a heavier load and stronger forks compared to ordinary omnidirectional AGVs. For example, a Chinese patent document with the publication number CN202110601227 discloses a heavy-duty stacking forklift type AGV, which uses a large lifting oil cylinder to drive large-sized heavy forks, thereby achieving applicability to large-weight goods. In order to improve the safety of heavy-duty AGVs, it is necessary to consider the center-of-gravity stability during vehicle operation. Therefore, a strong and large-sized support arm that extends in the fork-out direction of the heavy forks is specially provided on the main vehicle body, and additional load-bearing wheels are attached to the support arm to increase the center-of-gravity stability.

[0005] However, this technical solution has certain defects. First, the operating environment and types of heavy-duty omnidirectional AGV carts are complex, and there are not only heavy-duty goods but also ordinary goods. And this type of heavy-duty AGV can only carry one heavy-duty good in a single trip, resulting in low efficiency. Second, due to the need to use the extended support arm to achieve center-of-gravity stability, objectively, the overall size of the vehicle becomes larger, which is not conducive to operation in narrow aisles. Third, due to the need to lay components such as support arms and corresponding load-bearing wheels, the production cost of the entire heavy-duty AGV is relatively high. Summary of the Invention

[0006] The object of the present invention is to provide a heavy-duty coil omnidirectional traveling AGV with stable center of gravity, which can not only adapt to and meet handling tasks of different weights, has good versatility and high efficiency; but also has a stable center of gravity, is small in size, and meets the space requirements for operation in narrow aisles.

[0007] The above technical object of the present invention is achieved through the following technical solutions: An all-directionally traveling AGV for heavy-duty coil materials with stable center of gravity, including a vehicle body, the vehicle body includes a chassis frame and a main frame connected to the chassis frame, a traveling device is provided on the chassis frame, and further includes a light-load frame, a heavy-load frame, and a lifting device for driving the light-load frame and the heavy-load frame to lift in the vertical direction. The forks of the light-load frame and the heavy-load frame both extend in the horizontal direction, and the fork-out directions are opposite; the light-load frame and the heavy-load frame are both installed on the main frame, and the main frame is horizontally offset front and back on this kind of AGV and is installed on one side of the chassis frame in the fork-out direction of the light-load frame.

[0008] As a preference of the present invention, the lifting device is installed on the main frame, and the lifting device includes a heavy-lifting device for driving the heavy-load frame to lift and a light-lifting device for driving the light-load frame to lift.

[0009] As a preference of the present invention, there are two light-lifting devices, and in the width direction of the AGV, the heavy-lifting device is located between the two light-lifting devices.

[0010] As a preference of the present invention, the light-load frame is connected with a first guiding wheel, the heavy-load frame is connected with a second guiding wheel, the main frame includes guiding columns extending in the vertical direction, and the first guiding wheel and the second guiding wheel respectively abut against the front and back surfaces of the guiding columns.

[0011] As a preference of the present invention, the projection of the light-load frame on the horizontal plane does not exceed the projection of the chassis frame on the horizontal plane in the front and back direction of the AGV.

[0012] As a preference of the present invention, the heavy-load frame includes a main bearing frame, a bearing shelf connected to the main bearing frame and used for loading goods, and a side shifter connected to the main bearing frame and used for driving the main bearing frame to move in the width direction of the AGV.

[0013] As a preference of the present invention, the main bearing frame includes a transverse connecting frame and a side extending frame, the bearing shelf is installed on the side extending frame, the transverse connecting frame is of a frame structure, and the projection of the side shifter on the horizontal plane overlaps in the projection of the transverse connecting frame on the horizontal plane.

[0014] As a preference of the present invention, the transverse connecting frame includes an upper cross beam and a lower cross beam extending in the horizontal direction, and the side shifter is located between the upper cross beam and the lower cross beam in the height direction.

[0015] As a preference of the present invention, a V-shaped shaft dropping groove for placing a coil shaft is formed on the bearing shelf.

[0016] In summary, the present invention has the following beneficial effects:

[0017] 1. The extending directions of the two forks of the heavy-load rack and the light-load rack are opposite, enabling the AGV to load two goods at a time by steering. The AGV has high working efficiency and can meet the loading requirements of different weights.

[0018] 2. The main rack is arranged with an offset in the front-back direction of the AGV. The heavy-load coil with large weight and volume is located above the chassis rack instead of on the outside. On the one hand, it is more conducive to the stability of the overall vehicle's center of gravity and prevents tipping; on the other hand, it is not easy to interfere and collide with the shelves in the roadway, which is more conducive to the operation of the AGV in a narrow roadway.

[0019] 3. Two sets of lifting devices are provided, enabling the operation of heavy goods and light goods to be independent and efficient.

[0020] 4. The quantity and spatial layout scheme of the lifting devices reduce the overall size of the entire lifting device, which is beneficial to controlling the size of the entire AGV in the front-back direction, thereby further reducing the turning radius of the vehicle.

[0021] 5. Under the action of the side shifter, the main support frame moves in the horizontal width direction of the AGV, thereby adjusting the fork-out position of the heavy-load rack.

[0022] 6. In the horizontal front-back direction of the AGV, the side shifter does not occupy additional space, and the length of the front and rear vehicle bodies of the AGV does not increase at all. The size of the AGV is further controlled without expanding the turning radius of the AGV. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic diagram of Embodiment 1;

[0024] Figure 2 is Figure 1 a side view of

[0025] Figure 3 is Figure 1 a schematic diagram after hiding the goods of

[0026] Figure 4 is Figure 3 a schematic diagram at the heavy-load rack of

[0027] In the figure: 1. Traveling device, 2. Light-load rack, 3. Heavy-load rack, 31. Main support frame, 311. Cross-connecting frame, 312. Side-extending frame, 32. Loading shelf, 321. Axle-drop groove, 36. Side shifter, 4. Lifting device, 41. Heavy lifting device, 42. Light lifting device, 9. Vehicle body, 91. Main rack, 911. Guide post, 92. Chassis rack, 100. Coil. DETAILED DESCRIPTION OF THE INVENTION

[0028] The present invention will be further described in detail below with reference to the accompanying drawings.

[0029] This specific embodiment is only an interpretation of the present invention and does not limit the present invention. After reading this specification, those skilled in the art can make modifications to this embodiment without creative contributions as needed, but as long as it is within the scope of the claims of the present invention, it is protected by the patent law.

[0030] Embodiment 1, as Figure 1 shown, an omnidirectional AGV for heavy-duty coil materials with stable center of gravity, the main component is the vehicle body 9, usually made of metal materials, which includes the main frame 91 and the chassis frame 92. The latter is installed with a traveling device 1, such as wheel bodies like driving wheels, omnidirectional wheels, load-bearing wheels, etc., so that the AGV can travel and move normally in the working environment.

[0031] The main frame 91 extends in the vertical direction. Different from the prior art, there are two forklifts in this case, and the extending directions of the forklifts are opposite, one in front and one behind. As Figure 1 shown, the two forklifts are respectively the heavy-load frame 3 and the light-load frame 2. The former is used for loading and handling heavy-duty coil materials and is suitable for heavy goods, such as goods weighing about 3 tons; the latter is used for loading and handling empty coil materials, with a small cargo weight, generally about 100 - 200 kg. And the extending directions of the two forklifts are opposite, so that the AGV can load two goods at a time through steering, one heavy-duty coil material and one empty coil material, with high working efficiency of the AGV. The designs of the light-load frame 2 and the heavy-load frame 3 can meet the loading requirements of different weights.

[0032] As Figure 1 and Figure 2 shown, the main frame 91 is offset. This offset is not the offset in the left-right direction of the width of the AGV vehicle, but the offset in the front-back direction of the AGV. And it is biased towards the side where the forklift of the light-load frame 2 extends.

[0033] As Figure 2 shown, Figure 2 is the side view of this kind of AGV. The left-right direction in the figure is the front-back direction of the AGV vehicle. In the figure, the extending direction of the forklift of the light-load frame 2 is to the left, and the extending direction of the forklift of the heavy-load frame 3 is to the right. Then the main frame 91 is arranged on the left. Specifically, L1 is the midline of the chassis frame 92 in the front-back direction, L2 is the midline of the main frame 91, and L2 is offset, that is, L2 does not coincide with L1, but L2 is located on the left side of L1.

[0034] Such an offset setting enables the heavy-load frame 3 to have a larger space above the chassis frame 92, and the heavy-duty coil materials can be arranged in such a large space. The heavy-duty coil materials with large weight and large volume are located above the chassis frame 92 rather than on the outside. On the one hand, it is more conducive to the center of gravity stability of the whole vehicle and does not tip over; on the other hand, it is not easy to interfere and collide with the shelves in the roadway, which is more conducive to the operation of the AGV in a narrow roadway.

[0035] Further, the projection of the light load rack 2 on the horizontal plane does not exceed the projection of the chassis rack 92 on the horizontal plane in the front-rear direction of the AGV. That is, in Figure 2 the leftmost side of the light load rack 2 does not exceed the leftmost side of the chassis rack 92, which also makes it less likely for the goods on the light load rack 2 to interfere and collide with the shelves in the roadway, and is more conducive to the operation of the AGV in the narrow roadway.

[0036] As Figure 3 shown, in order to ensure the independence and efficiency of the operation of heavy and light goods, two sets of lifting devices 4 are provided. They are the heavy lifting device 41 and the light lifting device 42 respectively. The structures of both can select mature lifting products in the prior art, such as driving structures like chains, sprockets, oil cylinders, etc., which drive the heavy load rack 3 and the light load rack 2 to lift independently. In terms of spatial layout, there is one heavy lifting device 41, which is arranged in the middle in the width direction of the AGV, while there are two light lifting devices 42, which are arranged on both sides in the width direction of the AGV. Such a quantity and spatial arrangement enable the heavy lifting device 41 in the middle to select an oil cylinder with a larger size and stronger driving force, thereby obtaining greater stability. And the two light lifting devices 42 can not only ensure the lifting balance of the light load rack 2, but also select small-sized small oil cylinders, which are more flexible in spatial arrangement, reduce the overall size of the entire lifting device 4, and are beneficial to controlling the size of the entire AGV in the front-rear direction, thereby further reducing the turning radius of the vehicle.

[0037] Guide columns 911 extending in the height direction are provided on the main frame 91. They are H-shaped steels. The heavy load rack and the light load rack are respectively connected with guide wheels. The two sets of guide wheels are in contact with the guide columns 911, strengthening the stability of the lifting of the two forks. And the two sets of guide wheels are respectively in contact with the front and back surfaces of the guide columns 911, improving the utilization rate of the H-shaped steel component and further optimizing the spatial layout to control the overall size of the vehicle.

[0038] As Figure 4 shown, the heavy load rack 3 has the function of moving horizontally in the width direction of the vehicle. Specifically, it includes a main support frame 31 and a load-bearing shelf 32. The main support frame 31 includes a horizontally connected frame 311 in a frame shape and a side extension frame 312 connected thereto. The side shifter 36 is connected with the heavy lifting device 41 and is also connected with the horizontally connected frame 311. The side shifter 36 can be a power component such as an oil cylinder or a cylinder. Its pushing trajectory is the horizontal width direction of the AGV. Under the action of the side shifter 36, the main support frame 31 moves in the horizontal width direction of the AGV, thereby adjusting the fork-out position of the heavy load rack 3. Different from the prior art, the spatial layout of the side shifter 36 has a new design. The projection of the side shifter 36 on the horizontal plane overlaps in the projection of the horizontally connected frame 311 on the horizontal plane. As Figure 4As shown, the transverse connecting frame 311 includes an upper cross beam and a lower cross beam. The side shifter 36 is located between the upper and lower cross beams and does not occupy additional space in the front-back direction of the AGV. This enables that even with the presence of the side shifter 36, it does not occupy additional space in the horizontal front-back direction of the AGV, and the length of the front and rear bodies of the AGV does not increase at all. Further control the size of the AGV and do not increase the turning radius of the AGV.

[0039] The side extension frame 312 is connected to the transverse connecting frame 311, and a load-bearing rack 32 is installed above it. A V-shaped shaft dropping groove 321 is provided on the load-bearing rack 32, which makes it more convenient to place the connecting central shaft of the coil material 100 therein, not easy to slide and shift, and has better safety.

Claims

1. An omnidirectional AGV for heavy-duty coil materials with stable center of gravity, comprising a vehicle body (9), the vehicle body (9) comprising a chassis frame (92) and a main frame (91) connected to the chassis frame (92), a traveling device (1) being provided on the chassis frame (92), characterized in that: It also includes a light load rack (2), a heavy load rack (3), and a lifting device (4) for driving the light load rack (2) and the heavy load rack (3) to lift in the vertical direction. The forks of the light load rack (2) and the heavy load rack (3) both extend in the horizontal direction, and the fork-out directions are opposite; both the light load rack (2) and the heavy load rack (3) are installed on the main frame (91). The main frame (91) is horizontally offset in the front and rear directions of the AGV and is on one side of the light load rack (2) in the fork-out direction installed on the chassis frame (92). The lifting device (4) is installed on the main frame (91). The lifting device (4) includes a heavy lifting device (41) for driving the heavy load rack (3) to lift and a light lifting device (42) for driving the light load rack (2) to lift. There are two light lifting devices (42). In the width direction of the AGV, the heavy lifting device (41) is located between the two light lifting devices (42). The light load rack (2) is connected with a first guiding wheel, and the heavy load rack (3) is connected with a second guiding wheel. The main frame (91) includes guiding columns (911) extending in the vertical direction. The first guiding wheel and the second guiding wheel respectively abut against the front and back surfaces of the guiding columns (911). The projection of the light load rack (2) on the horizontal plane does not exceed the projection of the chassis frame (92) on the horizontal plane in the front and rear directions of the AGV.

2. The omnidirectional traveling AGV for heavy-duty coil materials with stable center of gravity according to claim 1, characterized in that: The heavy load rack (3) includes a main bearing frame (31), a bearing shelf (32) connected to the main bearing frame (31) and used for loading goods, and a side shifter (36) connected to the main bearing frame (31) and used for driving the main bearing frame (31) to move in the width direction of the AGV.

3. The omnidirectional traveling AGV for heavy-duty coil materials with stable center of gravity according to claim 2, wherein: The main bearing frame (31) includes a transverse connecting frame (311) and a side extending frame (312). The bearing shelf (32) is installed on the side extending frame (312). The transverse connecting frame (311) is of a frame structure. The projection of the side shifter (36) on the horizontal plane overlaps the projection of the transverse connecting frame (311) on the horizontal plane.

4. A heavy-duty coil material omnidirectional traveling AGV with stable center of gravity according to claim 3, characterized in that: The transverse connecting frame (311) includes an upper cross beam and a lower cross beam extending in the horizontal direction. The side shifter (36) is located between the upper cross beam and the lower cross beam in the height direction.

5. The omnidirectional traveling AGV with a stable center of gravity for heavy-duty coil materials according to claim 2, characterized in that: A V-shaped shaft dropping groove (321) for placing a coiling shaft is formed on the bearing shelf (32).

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