AGV motor vehicle for wall building

Abstract

The invention discloses an AGV motor vehicle for wall building, which comprises a chassis, the chassis is provided with a lifting first-layer jacking platform, the left side and the right side of the first-layer jacking platform are respectively and fixedly provided with a fork frame I and a fork frame II, and the AGV motor vehicle is characterized in that the heights of the fork frame I and the fork frame II are different; the top of the first-layer jacking platform is provided with a multi-dimensional fine adjustment device used for placing a cover plate and finely adjusting the cover plate in the front-back direction and the left-right direction, an omnidirectional driving device is arranged in the chassis, and a jacking device used for jacking the first-layer jacking platform, the first fork frame, the second fork frame and the multi-dimensional fine adjustment device is arranged in the chassis. The first shielding plate and the second shielding plate are forked through the first fork frame and the second fork frame, then the cover plate is hoisted on the multi-dimensional fine adjustment device by means of an external space traveling crane and then moved to a station, the first shielding plate and the second shielding plate are placed, and lifting adjustment is conducted on the cover plate through the multi-dimensional fine adjustment device and the jacking device.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV powered vehicles, and specifically to an AGV powered vehicle for wall building. Background Art

[0002] In the wall building project of transporting and assembling shielding plates and cover plates, there are many problems with the traditional methods of plate transportation and assembly. The existing solutions usually rely on manual handling and simple forklift transportation. This method is not only inefficient but also has significant safety hazards during operation. Using forklift transportation requires frequent loading, unloading, and adjustment, increasing the construction time and labor costs. Therefore, AGV powered vehicles have begun to be applied in wall building operations.

[0003] Existing AGV (Automated Guided Vehicle) powered vehicles also have some limitations in the application of plate handling. First, traditional AGV powered vehicles lack fine-tuning functions and cannot finely adjust the position of the cover plate during installation, resulting in poor installation efficiency and inconvenience for personnel to install. Second, existing AGV powered vehicles can usually only transport a single shielding plate at a time, with low transportation efficiency, and cannot be spliced and installed with the cover plate during installation. Summary of the Invention

[0004] The technical problem to be solved by the present invention is whether it is possible to provide an AGV powered vehicle that can efficiently and safely transport and assemble shielding plates and cover plates to improve the automation level and construction efficiency of building projects.

[0005] The present invention is achieved through the following technical solutions: An AGV powered vehicle for wall building according to the present invention includes a chassis. A lifting first-level lifting platform is provided on the chassis. Forklift one and forklift two are respectively fixedly provided on the left and right sides of the first-level lifting platform. It is characterized in that the heights of forklift one and forklift two are different. A multi-dimensional fine-tuning device for placing and finely adjusting the cover plate in the front-back and left-right directions is provided on the top of the first-level lifting platform. An omnidirectional driving device is provided inside the chassis. A lifting device for lifting the first-level lifting platform, forklift one, forklift two, and multi-dimensional fine-tuning device is provided inside the chassis.

[0006] A further technical solution further includes a first shielding plate, a second shielding plate, and a cover plate. Forklift one and forklift two respectively fork and lift the first shielding plate and the second shielding plate. The cover plate is hoisted onto the multi-dimensional fine-tuning device. The multi-dimensional fine-tuning device and the lifting device adjust the positions among the cover plate, the first shielding plate, and the second shielding plate and install them to form a wall surface.

[0007] Further technical solution: The first fork rest picks up the first shielding plate, and then the lifting device lifts the first-layer lifting platform, the first fork rest and the second fork rest. The first fork rest lifts the first shielding plate upward, and the second fork rest lifts the second shielding plate upward. Then the lifting device further lifts the first-layer lifting platform, the first fork rest and the second fork rest, so that the second shielding plate is also lifted.

[0008] Further technical solution: The multi-dimensional fine-tuning device includes a second-layer fine-tuning platform that moves on the upper side of the chassis and a third-layer fine-tuning platform that moves on the upper side of the second-layer fine-tuning platform. The chassis and the second-layer fine-tuning platform are slidably connected through a first fine-tuning component, and the second-layer fine-tuning platform and the third-layer fine-tuning platform are slidably connected through a second fine-tuning component.

[0009] Further technical solution: The first fine-tuning component includes a first fine-tuning oil cylinder fixedly arranged on the first-layer lifting platform. The push rod of the first fine-tuning oil cylinder is fixedly and cooperatively connected to the bottom of the second-layer fine-tuning platform. A second-layer dovetail groove is arranged at the bottom of the second-layer fine-tuning platform, and the second-layer dovetail groove is slidably and cooperatively connected to the top of the chassis.

[0010] Further technical solution: The second fine-tuning component includes a second fine-tuning oil cylinder fixedly arranged on one side of the second-layer fine-tuning platform. The push rod of the second fine-tuning oil cylinder is fixedly and cooperatively connected to the bottom of the third-layer fine-tuning platform. A third-layer dovetail groove is arranged at the bottom of the third-layer fine-tuning platform, and the third-layer dovetail groove is slidably and cooperatively connected to the top of the second-layer fine-tuning platform.

[0011] Further technical solution: The omnidirectional driving device includes universal wheels and a steering wheel group arranged at the bottom of the chassis. The universal wheels and the steering wheel group are arranged in pairs at the diagonal positions at the bottom of the chassis.

[0012] Further technical solution: The steering wheel group includes a housing. A roller is rotatably arranged in the housing. A servo motor is arranged on one side of the housing, and the servo motor is power-connected to the roller. A mating gear is fixedly arranged at the bottom of the chassis. An inner ring is rotatably arranged in the mating gear, and the inner ring is fixedly and cooperatively connected to the housing. A servo reduction motor is arranged in the housing, and a meshing gear is power-connected to the top of the servo reduction motor. The meshing gear meshes with the outer surface of the mating gear.

[0013] Further technical solution: The lifting device includes a plurality of lifting oil cylinders fixedly arranged on the top of the chassis. A weighing sensor is fixedly arranged on the lifting rod of the lifting oil cylinder, and the weighing sensor is fixedly and cooperatively connected to the first-layer lifting platform. A hydraulic station is arranged on the top of the chassis, and the hydraulic station is communicated with the lifting oil cylinders.

[0014] According to a further technical solution, a pull-wire encoder is provided on the top of the chassis, and the pull-wire encoder is connected and fixed to the lower side of the first-layer lifting platform.

[0015] The beneficial effects of the present invention are as follows: 1. The AGV power vehicle can move forward, backward and change direction by utilizing an omnidirectional drive device, and is provided with a chassis. The jacking device on the chassis drives the first jacking platform, fork frame 1, fork frame 2 and multi-dimensional fine-tuning device to move up and down, so that the fork frame 1 and fork frame 2 can respectively fork the first shielding plate and the second shielding plate, and then hoist the cover plate on the multi-dimensional fine-tuning device with the help of an external space crane, and then move it to the work station to place the first shielding plate and the second shielding plate, and then adjust the lifting and lowering of the cover plate by the multi-dimensional fine-tuning device and the jacking device, so that personnel can form a wall structure with the first shielding plate, the second shielding plate and the cover plate, thereby solving the problems of large safety hazards, high labor costs and insufficient precision in the transportation and assembly of traditional plates, and providing an efficient solution for improving the automation of construction projects.

[0016] Second, the weighing sensor is provided to provide real-time feedback on whether the weight of the items carried on the first-layer lifting platform exceeds the limit, so as to avoid damage to the lifting cylinder.

[0017] 3. Utilize the front and rear fine-tuning of the second-layer fine-tuning platform in the multi-dimensional fine-tuning device and the left and right fine-tuning of the third-layer fine-tuning platform relative to the second-layer fine-tuning platform, and then cooperate with the jacking cylinder, weighing sensor and pull rope encoder to fine-tune the jacking of the jacking cylinder, so that the cover plate can be fine-tuned during the installation process to facilitate personnel to install the first shielding plate and the second shielding plate.

[0018] Fourth, by the different heights of the fork frame 13 and the fork frame 2 14, it is convenient for the AGV power vehicle to cooperate with the jacking device to fork the first shielding plate and the second shielding plate, so that the AGV power vehicle can carry two shielding plates at one time, which is more efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] For ease of explanation, the present invention is described in detail with reference to the following specific embodiments and accompanying drawings.

[0020] Figure 1 This is a schematic diagram of the overall structure of an AGV power vehicle for wall construction according to the present invention; Figure 2 for Figure 1 Schematic diagram at A in the middle; Figure 3 for Figure 1 Schematic diagram at B in the middle; Figure 4 It is a schematic diagram of the structure of the device from above; Figure 5 for Figure 1 Structural diagram of the jacking platform on the middle floor; Figure 6 for Figure 1 Schematic diagram of the structure of the mid-chassis; Figure 7 for Figure 4 Schematic diagram of the structure of the middle steering wheel group; Figure 8 for Figure 1 Schematic diagram of the internal structure of the device; In the figure, chassis 11, a first-layer lifting platform 12, a fork frame 13, a second-layer dovetail groove 16, a third-layer dovetail groove 17, a second-layer fine-tuning platform 18, a third-layer fine-tuning platform 21, a fine-tuning cylinder 1 22, a fine-tuning cylinder 2 23, a weighing sensor 25, a support seat 34, a universal wheel 36, a pull rope encoder 38, a stand 39, a hydraulic station 41, a servo motor 42, a servo reduction motor 43, a meshing gear 44, a matching gear 45, an inner ring 46, a roller 47, and a housing 48. DETAILED DESCRIPTION

[0021] like Figures 1 - 8 As shown, the present invention is described in detail. For the convenience of description, the directions mentioned below are defined as follows: the up, down, left, right, front and back directions mentioned below are Figure 1 The up-down, left-right, front-back directions of the projection relationship are consistent. An AGV power vehicle for wall construction of the present invention comprises a chassis 11, a lifting platform 12 is arranged on the chassis 11, a fork frame 13 and a fork frame 14 are fixedly arranged on the left and right sides of the lifting platform 12, the height of the fork frame 13 is higher than the height of the fork frame 14, or the height of the fork frame 14 is higher than the height of the fork frame 13, that is, the heights of the fork frame 13 and the fork frame 14 are different, a multi-dimensional fine-tuning device for placing a cover plate and fine-tuning it front, back and left, and right is arranged on the top of the lifting platform 12, an omnidirectional driving device for moving the AGV power vehicle is arranged in the chassis 11, and a lifting device for lifting the lifting platform 12, the fork frame 13, the fork frame 14 and the multi-dimensional fine-tuning device is arranged in the chassis 11.

[0022] Advantageously, the height of fork frame 13 is higher than that of fork frame 2 14, or the height of fork frame 2 14 is higher than that of fork frame 13. The purpose is that, since the AGV power vehicle is used to install shielding plates and cover plates, the shielding plates need to be lifted and transported during transportation. The AGV power vehicle as a whole forms a forklift, and the fork frame 13 and the fork frame 2 14 are used to fork the first shielding plate and the second shielding plate and lift them respectively, and then the cover plate is hoisted onto the multi-dimensional fine-tuning device by using the crane in the external space, and then the position of the cover plate, the first shielding plate and the second shielding plate is adjusted by the multi-dimensional fine-tuning device and the jacking device, and then the three are installed to form a wall.

[0023] Advantageously, taking the height of the first fork 13 being higher than that of the second fork 14 as an example, the height difference between the first fork 13 and the second fork 14 is 15 mm. The AGV power vehicle runs in the direction with the first fork 13 in the front, forks the first shielding plate with the first fork 13, and then jacks up the first-layer lifting platform 12, the first fork 13 and the second fork 14 by 15 mm through the lifting device. Therefore, the first fork 13 can lift the first shielding plate upward. After that, the AGV power vehicle moves backward. Since the second fork 14 is lifted to the height of the previous first fork 13, the second shielding plate is lifted upward by using the second fork 14. After that, the lifting device jacks up the first-layer lifting platform 12, the first fork 13 and the second fork 14 again, so that the second shielding plate is also lifted. After that, the AGV power vehicle can lift and move the first shielding plate and the second shielding plate.

[0024] Advantageously, the cover plate is hoisted onto the multi-dimensional fine-tuning device by a crane in the external space and is transported simultaneously with the first shielding plate and the second shielding plate. After the AGV power vehicle moves to the working station, the lifting device moves the first-layer lifting platform 12, the first fork 13 and the second fork 14 downward to put down the first shielding plate and the second shielding plate. After that, the operator installs the cover plate, the first shielding plate and the second shielding plate. During the installation process, the cover plate is fine-tuned in the front-back, left-right directions through the multi-dimensional fine-tuning device, and the lifting device fine-tunes the cover plate in the up-down direction to facilitate the operator to install the first shielding plate and the second shielding plate with the cover plate smoothly and conveniently. After the installation is completed, the lifting device returns to its original position, so that the cover plate, the first shielding plate and the second shielding plate are in contact with the installation position and placed, and then the AGV power vehicle can leave freely to transport the next batch of cover plates, first shielding plates and second shielding plates.

[0025] Advantageously, the multi-dimensional fine-tuning device includes a second-layer fine-tuning platform 18 that moves back and forth on the chassis 11 and a third-layer fine-tuning platform 21 that moves left and right on the second-layer fine-tuning platform 18. The chassis 11 and the second-layer fine-tuning platform 18 are slidably connected through a first fine-tuning component, and the second-layer fine-tuning platform 18 and the third-layer fine-tuning platform 21 are slidably connected through a second fine-tuning component.

[0026] Advantageously, a plurality of support seats 34 are fixedly arranged on the top of the third-layer fine-tuning platform 21, and the support seats 34 are used to limit and clamp the cover plate.

[0027] Advantageously, the first fine-tuning component includes a first fine-tuning oil cylinder 22 fixedly arranged on the first-layer lifting platform 12. The push rod of the first fine-tuning oil cylinder 22 is fixedly and cooperatively connected to the bottom of the second-layer fine-tuning platform 18. A second-layer dovetail groove 16 is arranged at the bottom of the second-layer fine-tuning platform 18, and the second-layer dovetail groove 16 is slidably engaged with the top of the chassis 11.

[0028] Beneficially, the second fine-tuning component includes a second fine-tuning oil cylinder 23 fixedly arranged on one side of the two-layer fine-tuning platform 18. The push rod of the second fine-tuning oil cylinder 23 is fixedly connected with the bottom of the three-layer fine-tuning platform 21. A three-layer dovetail groove 17 is arranged at the bottom of the three-layer fine-tuning platform 21, and the three-layer dovetail groove 17 is slidably connected with the top of the two-layer fine-tuning platform 18.

[0029] Beneficially, the omnidirectional driving device includes universal wheels 36 and a steering wheel group arranged at the bottom of the chassis 11. The universal wheels 36 and the steering wheel group are arranged in pairs at the diagonal positions at the bottom of the chassis 11. The steering wheel group can provide power and steering functions, enabling the AGV power vehicle to move and change direction.

[0030] Beneficially, the steering wheel group includes a housing 48. A roller 47 is rotatably arranged in the housing 48. A servo motor 42 is arranged on one side of the housing 48, and the servo motor 42 is power-connected to the roller 47. A mating gear 45 is fixedly arranged at the bottom of the chassis 11. An inner ring 46 is rotatably arranged in the mating gear 45, and the inner ring 46 is fixedly connected with the housing 48. A servo reduction motor 43 is arranged in the housing 48. A meshing gear 44 is power-connected to the top of the servo reduction motor 43, and the meshing gear 44 is meshed with the outer surface of the mating gear 45.

[0031] Beneficially, the jacking device includes a plurality of jacking oil cylinders 15 fixedly arranged on the top of the chassis 11. A weighing sensor 25 is fixedly arranged on the jacking rod of the jacking oil cylinder 15. The weighing sensor 25 is fixedly connected with the first-layer jacking platform 12. A hydraulic station 41 is arranged on the top of the chassis 11, and the hydraulic station 41 is communicated with the jacking oil cylinder 15.

[0032] Beneficially, the weighing sensor 25 collects the load data of the jacking oil cylinder 15 in real time. When overloading or central deviation occurs and the data exceeds the preset threshold, an audible and visual alarm on the AGV vehicle is triggered.

[0033] Beneficially, a wire rope encoder 38 is arranged on the top of the chassis 11. The wire rope encoder 38 is fixedly connected to the lower side of the first-layer jacking platform 12. The wire rope encoder 38 is used to read the lifting distance of the first-layer jacking platform 12 so as to control the lifting height of the first-layer jacking platform 12.

[0034] Beneficially, a plurality of upright seats 39 are fixedly arranged on the top of the chassis 11. The jacking oil cylinder 15 is fixedly arranged in the upright seats 39, and the jacking rod of the chassis 11 extends out of the upright seats 39.

[0035] When the jacking device is working, the weighing sensor 25 is connected between the jacking rod of the jacking oil cylinder 15 and the first-layer jacking platform 12. The weighing sensor 25 is used to warn of overweight information. After the hydraulic station 41 works, it provides power to the jacking oil cylinder 15, so that the jacking rod of the jacking oil cylinder 15, the weighing sensor 25, the first-layer jacking platform 12, the first fork 13, the second fork 14 and the multi-dimensional fine-tuning device jack up or lower. At this time, the wire rope encoder 38 is used to feedback displacement information to facilitate the accurate control of the jacking or lowering height.

[0036] When the multi-dimensional fine-tuning device is working, after the first fine-tuning oil cylinder 22 works, it drives the second-layer fine-tuning platform 18 to slide back and forth relative to the chassis 11. The second-layer fine-tuning platform 18 and the chassis 11 are slidably connected through the second-layer dovetail groove 16. After the second fine-tuning oil cylinder 23 works, it drives the third-layer fine-tuning platform 21 to slide left and right relative to the second-layer fine-tuning platform 18. The third-layer fine-tuning platform 21 and the second-layer fine-tuning platform 18 are slidably connected through the third-layer dovetail groove 17. In this way, the cover plate can be fine-tuned back and forth and left and right, and the jacking rod of the jacking oil cylinder 15 can also fine-tune the cover plate placed on the third-layer fine-tuning platform 21 up and down.

[0037] When the omnidirectional driving device is working, after the servo reduction motor 43 works, it drives the meshing gear 44 to rotate. Since the meshing gear 44 meshes with the mating gear 45 and the mating gear 45 is fixed to the chassis 11, the servo motor 42 and the roller 47 rotate around the mating gear 45 to achieve the steering function. After the servo motor 42 works, it drives the roller 47 to rotate to achieve the moving function.

[0038] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any change or replacement that can be thought of without creative work should be covered within the protection scope of the present invention; therefore, the protection scope of the present invention should be subject to the protection scope defined by the claims.

Claims

1. An AGV powered vehicle for wall building, comprising a chassis (11), on which a lifting first-level lifting platform (12) is arranged, and a first fork (13) and a second fork (14) are respectively and fixedly arranged on both sides of the first-level lifting platform (12), characterized in that, The heights of the first fork support (13) and the second fork support (14) are different. A multi-dimensional fine-tuning device for placing and finely adjusting the cover plate in the front-back and left-right directions is provided at the top of the first-layer lifting platform (12). An omnidirectional driving device is provided inside the chassis (11). An elevating device for elevating the first-layer lifting platform (12), the first fork support (13), the second fork support (14), and the multi-dimensional fine-tuning device is provided inside the chassis (11).

2. The AGV powered vehicle for wall building according to claim 1, characterized in that: It further includes a first shielding plate, a second shielding plate, and a cover plate. The first fork support (13) and the second fork support (14) respectively fork and lift the first shielding plate and the second shielding plate, and the cover plate is hoisted onto the multi-dimensional fine-tuning device. The multi-dimensional fine-tuning device and the elevating device adjust the positions among the cover plate, the first shielding plate, and the second shielding plate and install them to form a wall surface.

3. The AGV powered vehicle for wall building according to claim 2, wherein: The first fork support (13) forks the first shielding plate, and then the elevating device elevates the first-layer lifting platform (12), the first fork support (13), and the second fork support (14). The first fork support (13) lifts the first shielding plate upward, and the second fork support (14) lifts the second shielding plate upward. Then the elevating device elevates the first-layer lifting platform (12), the first fork support (13), and the second fork support (14) again to lift the second shielding plate as well.

4. An AGV powered vehicle for wall building according to any one of claims 1-3, characterized in that: The multi-dimensional fine-tuning device includes a second-layer fine-tuning platform (18) that moves on the upper side of the chassis (11) and a third-layer fine-tuning platform (21) that moves on the upper side of the second-layer fine-tuning platform (18). The chassis (11) and the second-layer fine-tuning platform (18) are slidably connected through a first fine-tuning component, and the second-layer fine-tuning platform (18) and the third-layer fine-tuning platform (21) are slidably connected through a second fine-tuning component.

5. The AGV power vehicle for wall building according to claim 4, characterized in that: The first fine-tuning component includes a first fine-tuning oil cylinder (22) fixedly arranged on the first-layer lifting platform (12). The push rod of the first fine-tuning oil cylinder (22) is fixedly connected and matched with the bottom of the second-layer fine-tuning platform (18). A second-layer dovetail groove (16) is provided at the bottom of the second-layer fine-tuning platform (18), and the second-layer dovetail groove (16) is slidably connected and matched with the top of the chassis (11).

6. The AGV powered vehicle for wall building according to claim 4, characterized in that: The second fine-tuning component includes a second fine-tuning oil cylinder (23) fixedly arranged on one side of the second-layer fine-tuning platform (18). The push rod of the second fine-tuning oil cylinder (23) is fixedly connected and matched with the bottom of the third-layer fine-tuning platform (21). A third-layer dovetail groove (17) is provided at the bottom of the third-layer fine-tuning platform (21), and the third-layer dovetail groove (17) is slidably connected and matched with the top of the second-layer fine-tuning platform (18).

7. The AGV powered vehicle for wall building according to any one of claims 1-3, characterized in that: The omnidirectional driving device includes universal wheels (36) and a steering wheel group arranged at the bottom of the chassis (11). The universal wheels (36) and the steering wheel group are arranged in pairs at the diagonal positions at the bottom of the chassis (11).

8. The AGV powered vehicle for wall building according to claim 7, wherein: The steering wheel group includes a housing (48), a roller (47) is rotatably arranged inside the housing (48), a servo motor (42) is arranged on one side of the housing (48), the servo motor (42) is power-connected to the roller (47), a mating gear (45) is fixedly arranged at the bottom of the chassis (11), an inner ring (46) is rotatably arranged inside the mating gear (45), the inner ring (46) is fixedly and cooperatively connected to the housing (48), a servo reduction motor (43) is arranged in the housing (48), a meshing gear (44) is power-connected to the output shaft of the servo reduction motor (43), and the meshing gear (44) is meshed with the outer surface of the mating gear (45).

9. The AGV powered vehicle for wall building according to any one of claims 1 to 3, characterized in that: The jacking device includes a plurality of jacking cylinders (15) fixedly arranged on the top of the chassis (11), a weighing sensor (25) is fixedly arranged on the jacking rod of the jacking cylinder (15), the weighing sensor (25) is fixedly and cooperatively connected to the first-layer jacking platform (12), a hydraulic station (41) is arranged on the top of the chassis (11), and the hydraulic station (41) is communicated with the jacking cylinder (15).

10. The AGV powered vehicle for wall building according to claim 9, characterized in that: A wire rope encoder (38) is arranged on the top of the chassis (11), and the wire rope encoder (38) is fixedly connected to the lower side of the first-layer jacking platform (12).

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