Multifunctional carrying lifting type AGV

Abstract

The invention discloses a multifunctional carrying lifting type AGV which comprises a base and an upper platform installed above the base, the top of the base is connected to the upper platform through a shear fork supporting device, and the base is further connected to the upper platform through two rigid chain driving devices. And a mechanical hard synchronization device, a sensor monitoring synchronization device and a program control synchronization device which are used for ensuring the two groups of rigid chain driving devices to synchronously work are also arranged on the base. The upper platform is lifted by arranging the rigid chain driving device and cooperating with the shear fork supporting device, and meanwhile, the mechanical hard synchronizing device, the sensor monitoring synchronizing device and the program control synchronizing device are arranged to ensure that output of a driving motor in the rigid chain driving device is kept synchronous; the aim of synchronization ensures that the output lengths of the rigid chains are synchronous so as to ensure that the platform does not incline or turn over; meanwhile, the integration level is high, the occupied area is reduced, and the stability is higher.

Description

Technical Field

[0001] The present invention relates to the technical field of garage AGVs, and in particular to a multifunctional transport and lifting AGV. Background Art

[0002] With the continuous growth of the national economy and the great improvement of people's living standards, cars have been widely popularized, and with the continuous increase in the number of cars, traditional ground parking spaces can no longer meet the demand. As the core component of parking equipment, the reliability, safety and efficiency of car lifts are increasingly required.

[0003] The existing garages are equipped with car-carrying plate type AGV and clamp-arm type AGV. The car-carrying plate type AGV adopts the method of lurking AGV + car-carrying plate. The car drives onto the top of the car-carrying plate at the entrance and exit. There are four corner supports at the bottom of the car-carrying plate. The lurking AGV drives into the bottom of the car-carrying plate. The AGV performs a slightly lifted state to lift the car-carrying plate and move it horizontally to the vehicle storage position to complete the storage of the vehicle. The main advantage of the clamp-arm type AGV is that it is used when the space height is insufficient. The AGV clamp-arm type AGV uses the principle of clamping the front and rear tires to transport and retrieve parking spaces. The clamp-arm type AGV cannot greatly improve the utilization rate of land. It is expensive and has high requirements for the ground. Therefore, the present application involves the car-carrying plate comb-tooth AGV.

[0004] The existing patent technology of the patent announcement number CN221073690U, named as a scissor-lift AGV trolley, specifically discloses "including a vehicle frame, a differential drive unit is installed in the drive installation frame at the four corners of the vehicle frame, and a lifting mechanism is installed in the lifting groove in the middle of the upper surface of the vehicle frame; the lifting mechanism includes a lower platform frame and an upper platform frame, a first guide rail is installed on the inner side of the lower platform frame, and a second guide rail is installed on the inner side of the upper platform frame. The left end of the lower platform frame is connected to the first scissor support rod, and the upper end of the first scissor support rod is movably connected to the second guide rail through the first guide wheel, the left end of the upper platform frame is connected to the second scissor support rod, and the upper end of the second scissor support rod is movably connected to the first guide rail through the second guide wheel; the second scissor support rod is connected to the first scissor support rod by a hydraulic telescopic rod, and a lifting plate is fixedly installed above the upper platform frame". When the above-mentioned AGV technology is used to lift the vehicle body, only the scissor structure is used for driving, and no corresponding precise positioning device is provided. In addition, its stability for heavy goods is only due to the insufficient strength of the scissor structure's load-bearing capacity.

[0005] In the existing patent technology with patent publication number CN118461972A, entitled Parking Equipment, Garage and Arrival Detection Method, it is specifically disclosed that "the parking equipment includes a vehicle loading plate, a parking rack and a transport trolley. The vehicle loading plate is used to carry the vehicle. The parking rack includes lifting pieces located at the four corners of the vehicle loading plate, and the vehicle loading plate can be supported and connected to the lifting pieces. The transport trolley is used to carry and transport the vehicle loading plate, and the transport trolley includes a lifting device, a first detection device, a second detection device and a control device. The lifting device is used to lift the vehicle loading plate. When the vehicle loading plate is lifted to the in-place height, it is located vertically above the lifting piece, and the first detection device generates an in-place signal." When the above-mentioned parking equipment is lifting the vehicle body, it only uses a scissors-type structure to drive it, and no corresponding precise positioning device is provided. In addition, its stability for heavy goods is only achieved through the load-bearing capacity of the scissors-type structure, which is not strong enough. Summary of the invention

[0006] The technical problem to be solved by the present invention is: how to provide a multifunctional transfer AGV with a simple and fixed structure, firm and safe lifting and reliably.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0008] A multifunctional handling and lifting AGV comprises a base and an upper platform installed above the base, the top of the base is connected to the upper platform through a scissor support device, the base is also connected to the upper platform through two sets of rigid chain drive devices, and the base is also provided with a mechanical hard synchronization device, a sensor monitoring synchronization device and a program control synchronization device for ensuring the synchronous operation of the two sets of rigid chain drive devices.

[0009] The present application realizes the lifting of the upper platform by setting up a rigid chain drive device and cooperating with a scissor support device. At the same time, a mechanical hard synchronization device and a program-controlled synchronization device are set to ensure that the output of the drive motor inside the rigid chain drive device remains synchronized. The purpose of synchronization is to ensure that the output length of the rigid chain is synchronized so as to ensure that the platform will not tilt or roll over during the rising process. The rigid chain adopted in the lifting structure of the AGV body has low operating noise and more stable lifting performance.

[0010] As a further solution of the present invention: the rigid chain driving device includes a servo motor, wherein the servo motor is connected to a reducer, the output shaft of the reducer is connected to a rigid chain assembly, and the top of the rigid chain assembly is connected to an upper platform.

[0011] As a further solution of the present invention: the sensor monitoring synchronization device includes a gear 1, the gear 1 is meshedly connected with a gear 2, and the central axis of the gear 2 is connected to a rotary encoder.

[0012] As a further solution of the present invention: the mechanical hard synchronization device is arranged between two sets of rigid chain drive devices;

[0013] The mechanical hard synchronization device comprises two meshing gears mounted on a base, wherein an output end of one of the gears is connected to a sprocket wheel 2, and the sprocket wheel 2 is connected to a sprocket wheel 1 through a chain wheel 1, and the sprocket wheel 1 is mounted on an output end of one of the rigid chain drive devices;

[0014] Another gear output end is connected to sprocket three, and sprocket three is connected to sprocket four through chain two. The sprocket four is installed at the output end of another rigid chain driving device.

[0015] As a further solution of the present invention: a tensioning sprocket bracket is arranged on the base and between the sprocket three and the sprocket four, and a tensioning wheel is installed on the tensioning sprocket bracket, wherein the bottom of the tensioning wheel just contacts the chain two.

[0016] As a further solution of the present invention: the program-controlled synchronization device is installed on the servo motors in the two sets of rigid chain drive devices, is connected to the servo motors, and controls the operation of the servo motors.

[0017] As a further solution of the present invention: the scissor support device includes a scissor arm structure;

[0018] One end of the top of the scissor arm structure is movably connected to the upper platform, and the other end of the top is slidably connected to the upper guide rail arranged on the upper platform through an upper slider;

[0019] One end of the bottom of the scissor arm structure is movably connected to the base, and the other end of the bottom is slidably connected to the bottom guide rail arranged on the base through a bottom slider, and one end of the bottom slider is connected to a ball screw locking device arranged on the base.

[0020] As a further solution of the present invention: the ball screw locking device includes a nut seat connected to the bottom slider, the internal thread of the nut seat is connected to the screw, and the two ends of the screw are respectively fixed to the base through bearing seats, and one end of the screw is connected to an electromagnetic brake.

[0021] As a further solution of the present invention: a laser navigation sensor is arranged at the base, and a QR code recognition camera is also arranged at the base for secondary positioning confirmation to improve the accuracy of AGV docking.

[0022] As a further solution of the present invention: AGV body walking modules are provided at the diagonals of the base, wherein the AGV body walking module includes a walking servo motor, a rotary motor and a rotary support, the output shaft of the walking servo motor is directly connected to the walking wheel, the output shaft of the rotary servo motor is directly connected to the rotary pinion, the upper surface of the rotary support is installed on the base, and the rotary servo motor controls the meshing of the rotary pinion and the rotary support to achieve the effect of vehicle body rotation.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The present application realizes the lifting of the upper platform by setting a rigid chain drive device and cooperating with a scissor support device. At the same time, a mechanical hard synchronization device and a program control synchronization device are set to ensure that the output of the drive motor inside the rigid chain drive device remains synchronized. The purpose of synchronization is to ensure that the output length of the rigid chain is synchronized so as to ensure that the platform will not tilt and roll over during the lifting process; and the rigid chain used in the lifting structure of the AGV body has low running noise and more stable lifting performance;

[0025] 2. The present application sets a scissor fork support device between the upper platform and the base, and one end of the bottom of the scissor fork support device is connected by a latch shaft, and the other end is matched with a slider and a guide rail. At the same time, a ball screw locking device is connected to one side of the slider through a connecting plate to improve the stability of the slider operation. More importantly, it ensures the stability of the body base when the AGV moves horizontally when the AGV upper platform is in a high position;

[0026] 3. The present application also installs an electromagnetic brake on one side of the lead screw. The brake sensor is released when it is energized and is attracted to lock the lead screw when it is de-energized. This design can greatly enhance the stability of the bottom slider and thus improve the stability of the bottom of the scissor fork when the AGV moves in the high-position state of the platform;

[0027] 4. The laser navigation sensor of this application is installed diagonally on the AGV base. The laser sensor forms a safety protection device (with a detection range of 0-360 degrees and full coverage) to ensure safe operation. The high-sensitivity QR code recognition camera uses an imported special camera and is installed at the AGV base. The recognition camera can accurately identify the landmark QR code information during the rapid operation of the AGV. The AGV control system performs error compensation, which greatly improves the walking accuracy of the navigation.

[0028] 5. This application integrates the AGV body walking module, rigid chain drive device, scissor support device, mechanical hard synchronization device, program control synchronization device, laser navigation sensor and recognition camera on the base, adopts reasonable space utilization, has high integration, reduces floor space and has stronger stability;

[0029] 6. The present application installs an AGV body walking module at a diagonal position of the base. The AGV body walking module is provided with a walking servo motor and a rotary servo motor, which can be used to control the normal walking and steering of the walking wheels. The dual steering wheels + universal wheels drive the AGV body, which can better improve the stability of the AGV body operation;

[0030] 7. The outer layer of the traveling wheel of the present application is made of super wear-resistant polyurethane material, which has the advantages of high strength, wear resistance, high stability, and certain elasticity, and is suitable for use in AGV systems;

[0031] 8. The power supply system of this application is composed of lithium iron phosphate batteries, etc. When the battery power is lower than the set value, the AGV enters a low-power state, and the vehicle client sends a charging request signal to inform the control center. The control center will arrange the AGV to enter an idle charging station; the charging device connection mechanism can automatically retract to assist the AGV in completing the charging work. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the structure of a multifunctional transport and lifting AGV according to an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of the structure of the AGV vehicle body walking module according to an embodiment of the present invention;

[0034] Figure 3 It is a structural schematic diagram of a rigid chain driving device according to an embodiment of the present invention;

[0035] Figure 4 This is a schematic structural diagram of a scissor support device according to an embodiment of the present invention;

[0036] Figure 5 It is a structural schematic diagram of a ball screw locking device according to an embodiment of the present invention;

[0037] Figure 6 It is a structural schematic diagram of a mechanical hard synchronization device according to an embodiment of the present invention;

[0038] Figure 7 It is a structural schematic diagram of a sensor monitoring synchronization device according to an embodiment of the present invention;

[0039] Description of reference numerals:

[0040] 1. Base;

[0041] 2. AGV body travel module; 21. Rotary pinion; 22. Rotary support; 23. Rotary servo motor; 24. Travel wheel; 25. Travel servo motor;

[0042] 3. Rigid chain drive device; 31. Servo motor; 32. Speed ​​reducer; 33. Output shaft; 34. Rigid chain assembly; 35. Motor connection seat;

[0043] 4. Scissor support device; 41. Scissor arm structure; 42. Upper slider; 43. Upper guide rail; 44. Bottom slider; 45. Bottom guide rail; 47. Ball screw locking device; 471. Nut seat; 472. Screw; 473. Electromagnetic brake; 474. Bearing seat 1; 475. Bearing seat 2; 476. Brake bracket;

[0044] 5. Go up to the platform;

[0045] 6. Mechanical hard synchronization device; 61. Sprocket 1; 62. Chain 1; 63. Sprocket 2; 64. Gear bracket; 65. Gear; 66. Tensioning sprocket bracket; 67. Tensioning wheel; 68. Chain 2;

[0046] 7. Sensor monitoring synchronization device; 71. Gear 1; 72. Gear 2; 73. Rotary encoder;

[0047] 8. Program-controlled synchronization device;

[0048] 9. Lithium battery;

[0049] 10. Laser navigation sensor;

[0050] 11. Identify the camera. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] Reference Figure 1 A multifunctional handling and lifting AGV includes a base 1, an AGV body walking module 2, a rigid chain drive device 3, a scissor support device 4, an upper platform 5, a mechanical hard synchronization device 6, a sensor monitoring synchronization device 7, a program control synchronization device 8, a lithium battery 9, a laser navigation sensor 10 and an identification camera 11; wherein the top front and rear sides of the base 1 are connected to the upper platform 5 located above the base 1 through the scissor support device 4, and the scissor support device 4 mainly ensures the stability of the upper platform 5 during the lifting process under the action of the rigid chain. There is a set of proximity switches at the highest position and the lowest position to identify the re-confirmation of the platform being in the high position and the platform being in the low position. The high position and the low position of the platform can be changed within the effective travel of the rigid chain.

[0053] For ease of understanding and description, Figure 1 The front, back, left, and right directions marked in the figure are used as a reference, and other directions are deduced based on this. It should be understood that this direction setting is only for the convenience of description and understanding, and cannot be understood as a limitation of the present invention.

[0054] Reference Figure 1 The base 1 is a rectangular structure as a whole, and a storage bin is opened inside it, wherein the scissors support device 4 can be retracted inside the storage bin, and at the same time, the rigid chain drive device 3, the mechanical hard synchronization device 6, the sensor monitoring synchronization device 7, and the program control synchronization device 8 are all installed in the storage bin.

[0055] Reference Figure 1 and Figure 2 The AGV body walking module 2 is installed at the diagonal position of the base 1, wherein the AGV body walking module 2 includes a walking wheel 24, the output shaft of the walking servo motor 25 is directly connected to the walking wheel 24, the output shaft of the rotary servo motor 23 is connected to the rotary pinion 21, and the AGV body base is fixed to the upper surface of the rotary support 22 at the diagonal position by bolts. When the body wants to rotate, the rotary servo motor 23 controls the rotation of the rotary pinion 23 to engage with the gear of the rotary support 22, so that the walking wheel 24 rotates to achieve the effect of rotating the body.

[0056] It should be noted that the outer layer of the travel wheel 24 is made of super wear-resistant polyurethane material, which has the advantages of high strength, wear resistance, high stability, and certain elasticity, and is very suitable for use in the AGV system; the wheel alone constitutes a driving mechanical system, and a travel servo motor 25, a coaxial reducer, a brake, a navigation sensor and various detection and control devices are installed in the wheel bracket. It is small in size, complete in functions, reliable in operation, and easy to repair and maintain.

[0057] The cargo transported by AGV is heavy and large in size. Therefore, it needs to be driven by a servo motor with high torque and high speed. When the load is at a high limit state, and the ground is not flat, the upper platform of the AGV is prone to shaking when it moves. Therefore, a more stable and shape-preserving scissor fork structure is needed. This scissor fork structure is further upgraded and modified on the basis of the general scissor fork, and adds structures such as a rigid chain drive device 3 and a mechanical hard synchronization device 6 that cooperates with it, which is more stable in structure and smoother in movement.

[0058] Reference Figure 3 , the rigid chain drive device 3 is symmetrically provided with two groups, and the top output ends of the two groups of rigid chain drive devices 3 are respectively installed on both sides of the upper platform 5 to support the upper platform 5, and the height of the rigid chain assembly 34 in the rigid chain drive device 3 can be adjusted according to the position of the upper platform 5; the rigid chain drive device 3 includes a servo motor 31, a reducer 32, an output shaft 33, a rigid chain assembly 34 and a motor connecting seat 35, wherein one end of the servo motor 31 is connected to the reducer 32, the output shaft 33 of the reducer 32 is connected to the rigid chain assembly 34, the top output end of the rigid chain assembly 34 is connected to the upper platform 5, and the bottom surface of the rigid chain assembly 34 is fixed to the Agv base 1 through four groups of M8*30 hexagon socket bolts; it should be noted that the servo motor 31 and the reducer 32 are both installed on the base 1 through the motor connecting seat 35 in conjunction with the hexagon socket M10*30 bolt group; the rigid chain assembly 34 is composed of a rigid chain, and the load capacity of the machine is very strong. Compared with other hydraulic jacking drive methods, the rigid chain drive lifting effect has low noise, no pollution and higher stability.

[0059] Reference Figure 1 and Figure 4 The scissors support device 4 is symmetrically arranged in two groups, and the two groups of scissors support devices 4 are respectively installed on the front and rear sides of the base 1. The top of the scissors support device 4 is connected to the upper platform, and cooperates with the rigid chain drive device 3 to support and lift the upper platform 5; the scissors support device 4 includes a scissors arm frame structure 41, an upper end slider 42, an upper end guide rail 43, a bottom slider 44, a bottom guide rail 45 and a ball screw locking device 47. The top end of the scissors arm frame structure 41 is movably connected to the upper platform 5 through a latch shaft, and the other end of the top is slidably connected to the upper end guide rail 43 arranged on the upper platform 5 through the upper end slider 42; the bottom end of the scissors arm frame structure 41 is movably connected to the base 1 through a latch shaft, and the other end of the bottom is slidably connected to the bottom guide rail 45 arranged on the base 1 through the bottom slider 44, and one end of the bottom slider 44 is connected to the ball screw locking device 47 arranged on the base 1. It should be noted that the ends of the scissors arm frame structure 41 that can slide up and down are located on the same side.

[0060] Therefore, when the scissor support device 4 and the rigid chain drive device 3 drive the upper platform 5 to rise, at this time, the other end of the top of the scissor arm frame structure 41 slides on the upper guide rail 43 through the upper end slider 42, and the other end of the bottom of the scissor arm frame structure 41 slides on the bottom guide rail 45 through the bottom slider 44, and the ball screw locking device 47 can be used to drive the bottom slider 44 to slide on the bottom guide rail 45, thereby driving the scissor arm frame structure 41 to work, and then driving the upper platform 5 to rise and fall;

[0061] Further, see Figure 5 The ball screw locking device 47 includes a nut seat 471 connected to the bottom slider 44, the internal thread of the nut seat 471 is connected to the screw 472, and the two ends of the screw 472 are detachably fixed to the base 1 through a bearing seat 1 474 and a bearing seat 2 475, one end of the screw 472 is connected to an electromagnetic brake 473, and the electromagnetic brake 473 is connected to a brake bracket 476; wherein the brake bracket 476, the bearing seat 1 474 and the bearing seat 2 475 are all detachably connected to the base 1 through hexagon socket M8*25 bolts or pins.

[0062] When the upper platform 5 moves up and down, the relative angle of the scissor fork changes, causing the bottom slider 44 to move on the bottom guide rail 45. The movement of the bottom slider 44 causes the nut seat 471 to rotate on the lead screw 472. When the upper platform 5 stops in place, the electromagnetic brake 473 on the ball screw device is attracted to lock the lead screw 472 to rotate, thereby limiting the sliding of the locked bottom slider 44 on the bottom guide rail 45, ensuring the stability of the Agv movement during the lifting process of the upper platform 5 and when the upper platform 5 is in a high position; when the upper platform 5 descends, the electromagnetic brake 473 is electrically unlocked and the nut seat 471 rotates on the lead screw 472.

[0063] Reference Figure 1 , vertical bars are arranged on the left and right sides of the upper platform 5, and cross bars are arranged on the front and rear sides. Two cross bars are arranged in parallel between the two vertical bars, and a plurality of comb teeth are arranged between the two cross bars to carry subsequent cars.

[0064] Reference Figure 6 , the mechanical hard synchronization device 6 is arranged between the two sets of rigid chain drive devices 3;

[0065] Furthermore, the mechanical hard synchronization device 6 includes two meshing gears 65 installed on the base 1, wherein the output end of one gear is connected to sprocket two 63, sprocket two 63 is connected to sprocket one 61 through chain one 62, and sprocket one 61 is installed at the output end of one of the rigid chain drive devices 3; the output end of the other gear is connected to sprocket three, sprocket three is connected to sprocket four through chain two 68, and sprocket four is installed at the output end of the other rigid chain drive device 3.

[0066] Furthermore, a tensioning sprocket bracket 66 is provided on the base 1 and between the sprocket three and the sprocket four. A tensioning wheel 67 is installed on the tensioning sprocket bracket 66, wherein the bottom of the tensioning wheel 67 just contacts the chain 2 68 and provides tensioning for the chain 2 68. The bottom of the tensioning wheel bracket 66 is installed on the base 1 through four groups of hexagon socket bolts M8*30. The tension of the chain 2 68 is adjusted by adjusting the installation position of the tensioning wheel 67. A sprocket 61 is installed at the output shaft position of the reducer 32 to drive the meshing of the two gears 65 in the middle position, thereby mechanically ensuring the mechanical hard synchronization of the output shafts of the two reducers.

[0067] It should be noted that due to the large platform load and limited base space, it is not possible to design a single high-torque motor drive, so a dual-motor drive is adopted. Due to the particularity of the structure, the output of the two servo motors 31 must be synchronized.

[0068] Reference Figure 7The sensor monitoring synchronization device 7 is composed of gear 1 71, gear 2 72, rotary encoder 73, etc. Gear 1 71 is meshingly connected with gear 2 72; gear 1 71 is fixed to one side end face of the output shaft 33 by two sets of countersunk bolts M8*25, and the rotary encoder 73 is connected to the gear 72 through the shaft. The two sets of sensor monitoring synchronization device 7 monitor the rotation angle of the output shaft 33 from the electrical control to ensure the consistency of the output signal of the rotary encoder 73, thereby ensuring the synchronization of the lifting servo motor 31, thereby ensuring the stability of the upper platform 5 during the lifting process.

[0069] Reference Figure 1 The program control synchronization device 8 is installed on the servo motors 31 in the two rigid chain drive devices 3, and is connected to the servo motors 31 to control the operation of the servo motors 31. The sensor monitors the synchronization device 7 and the program control device 8 by ensuring that the controller outputs the same pulse to the two servo motors 31.

[0070] Reference Figure 1 The lithium battery 9 is installed on one side of the base 1, and laser navigation sensors 10 are provided at the diagonal positions at both ends of the base 1, and an identification camera 11 is also provided at the middle position of the base 1; the laser navigation sensor 10 is installed at the diagonal position of the AGV base 1 in a diagonal installation manner, and the two laser navigation sensors 10 form a safety protection device (with a full coverage of the detection range of 0-360 degrees) to ensure safe operation; the high-sensitivity QR code recognition camera 11 adopts an imported special camera and is installed at the center of the AGV base. The recognition camera 11 can accurately identify the landmark QR code information during the rapid operation of the AGV, and the AGV control system performs error compensation, which greatly improves the walking accuracy of the navigation.

[0071] The power supply system 9 is composed of lithium iron phosphate batteries, etc. When the battery power is lower than the set value, the AGV enters a low-power state, and the vehicle body client sends a charging request signal to inform the control center, and the control center will arrange the AGV to enter an idle charging station; the charging device connection mechanism can automatically retract to assist the AGV in completing the charging work.

[0072] The specific operating principles of this application are as follows:

[0073] When in use, the rigid chain assembly 34 is first driven downward by the servo motor 31, and at the same time, the screw rod 472 inside the ball screw locking device 47 controls the scissor support device 4 to work simultaneously, and together drive the lower platform 5 to move downward until it contacts the bottom plate 1 and is located at the top position of the bottom plate 1;

[0074] At this time, the walking wheels 24 in the AGV body walking module 2 can move to the bottom of the vehicle body under the drive of the walking servo motor 25, and then drive the lower platform 5 to move up through the rigid chain assembly 34 and the scissor support device 4, and contact the chassis of the vehicle body, and then continue to move up until the vehicle body is completely off the ground. At this time, the walking wheels 24 are controlled to move, and the vehicle body can be moved by the AGV. When it moves to the required parking space, the lower platform 5 can be driven to descend, so that the AGV can be evacuated alone, thereby realizing the transportation of the vehicle body.

[0075] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multifunctional transport and lifting AGV, comprising a base (1) and an upper platform (5) installed above the base (1), characterized in that: The top of the base (1) is connected to the upper platform (5) via a scissor support device (4), and the base (1) is also connected to the upper platform (5) via two sets of rigid chain drive devices (3). The base (1) is also provided with a mechanical hard synchronization device (6) for ensuring the synchronous operation of the two sets of rigid chain drive devices (3), a sensor monitoring synchronization device (7) and a program control synchronization device (8).

2. A multifunctional transport and lifting AGV according to claim 1, characterized in that: The rigid chain driving device (3) comprises a servo motor (31), wherein the servo motor (31) is connected to a reducer (32), an output shaft (33) of the reducer (32) is connected to a rigid chain assembly (34), and the top of the rigid chain assembly (34) is connected to an upper platform (5).

3. The multifunctional transport and lifting AGV according to claim 2, characterized in that: The sensor monitoring synchronization device (7) comprises a gear 1 (71) connected to the output shaft (33), the gear 1 (71) is meshedly connected to a gear 2 (72), and the central axis of the gear 2 (72) is connected to a rotary encoder (73).

4. The multifunctional transport and lifting AGV according to claim 1, characterized in that: The mechanical hard synchronization device (6) is arranged between the two sets of rigid chain drive devices (3); The mechanical hard synchronization device (6) comprises two meshing gears (65) mounted on a base (1), wherein an output end of one of the gears is connected to a sprocket wheel 2 (63), and the sprocket wheel 2 (63) is connected to a sprocket wheel 1 (61) via a chain wheel 1 (62), and the sprocket wheel 1 (61) is mounted on an output end of one of the rigid chain drive devices (3); Another gear output end is connected to sprocket three, and sprocket three is connected to sprocket four through chain two (68), and sprocket four is installed on the output end of another rigid chain drive device (3).

5. The multifunctional transport and lifting AGV according to claim 4, characterized in that: A tensioning sprocket bracket (66) is arranged on the base (1) and between sprocket three and sprocket four, and a tensioning wheel (67) is mounted on the tensioning sprocket bracket (66), wherein the bottom of the tensioning wheel (67) just contacts the chain two (68).

6. The multifunctional transport and lifting AGV according to claim 1, characterized in that: The program-controlled synchronization device (8) is installed on the servo motors (31) in the two sets of rigid chain drive devices (3), is connected to the servo motors (31), and controls the operation of the servo motors (31).

7. The multifunctional transport and lifting AGV according to claim 1, characterized in that: The scissor support device (4) comprises a scissor arm structure (41); One end of the top of the scissor arm structure (41) is movably connected to the upper platform (5), and the other end of the top is slidably connected to an upper guide rail (43) provided on the upper platform (5) via an upper slider (42); One end of the bottom of the scissor arm structure (41) is movably connected to the base (1), and the other end of the bottom is slidably connected to a bottom guide rail (45) provided on the base (1) via a bottom slider (44), and one end of the bottom slider (44) is connected to a ball screw locking device (47) provided on the base (1).

8. The multifunctional transport and lifting AGV according to claim 7, characterized in that: The ball screw locking device (47) comprises a nut seat (471) connected to the bottom slider (44); the internal thread of the nut seat (471) is connected to the screw (472); and both ends of the screw (472) are fixed to the base (1) via bearing seats; one end of the screw (472) is connected to an electromagnetic brake (473).

9. The multifunctional transport and lifting AGV according to claim 1, characterized in that: A laser navigation sensor (10) is provided at a diagonally opposite corner of the base (1), and an identification camera (11) is also provided at the position of the base (1).

10. The multifunctional transport and lifting AGV according to claim 1, characterized in that: An AGV vehicle body walking module (2) is provided at a corner position of the base (1), wherein the AGV vehicle body walking module (2) comprises a walking servo motor (25), a rotary servo motor (23) and a rotary support (22), the output shaft of the walking servo motor (25) is directly connected to a walking wheel (24), the output shaft of the rotary servo motor (23) is directly connected to a rotary pinion (21), the upper surface of the rotary support (22) is mounted on the base (1), and the rotary pinion (21) is meshedly connected to the rotary support (22).

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