AGV (Automatic Guided Vehicle) for narrow roadway storage packaging box

Abstract

The invention discloses an AGV (Automatic Guided Vehicle) for narrow roadway storage packaging boxes, which belongs to the technical field of AGV conveying vehicles and comprises a front vehicle body, a rear vehicle body, a connecting unit, a steering wheel, a supporting arc plate, a supporting wheel, a visual scanner, an optimized abdicating groove, a fluted disc, a steering driving mechanism and a hydraulic buffer structure. The visual scanner collects roadway environment information in real time and provides a basis for path planning of the control system. The connecting unit realizes flexible rotation of the front and rear vehicle bodies and is matched with the steering driving mechanism to accurately control steering wheels to steer; the supporting arc plate and the universal wheel move reversely during turning to provide stable supporting, and the supporting accuracy is further improved through the receding groove and the fluted disc; and the hydraulic buffer structure relieves vibration. According to the AGV, the steering flexibility and the driving precision can be improved, and rollover and cargo damage are avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of AGV transport vehicles, in particular to an AGV transport vehicle for narrow-lane warehouse packaging boxes. BACKGROUND

[0002] With the development of the warehousing logistics industry towards intensification and automation, the narrow-lane warehouse mode has become an important form of current warehouse layout because it can greatly improve the space utilization. However, when the traditional AGV transport vehicle runs in the narrow-lane environment, it faces many technical bottlenecks. On the one hand, the traditional AGV is mostly of a whole body structure, and the steering flexibility is insufficient. When turning in a narrow space, it is easy to be limited by the width of the lane, and it is not only difficult to accurately control the turning trajectory, but also may collide with the shelves and the lane side wall. On the other hand, during the turning of the AGV, the center of gravity of the vehicle body is easy to deviate, and the existing support structure is difficult to quickly provide stable support, which has the risk of rollover and affects the safety of operation. At the same time, the steering drive mechanism of the traditional AGV mostly uses a single power source to drive, and the steering precision is low, which is difficult to meet the high precision requirement of the driving path in the narrow-lane. Moreover, the connection between the vehicle bodies is mostly rigid connection, which is easy to produce large vibration during starting and stopping and turning, which not only damages the vehicle body parts, but also may cause the displacement and damage of the transported goods.

[0003] Therefore, the present application provides an AGV transport vehicle which can solve the above problems. SUMMARY

[0004] In view of the above technical deficiencies, the purpose of the present application is to provide an AGV transport vehicle for narrow-lane warehouse packaging boxes, which solves the problems of steering, support, vibration and perception of the traditional AGV in the narrow-lane through flexible connection, accurate steering drive, stable support and hydraulic buffer structure of the front and rear vehicle bodies, and combines with visual scanning environment perception to realize efficient and safe operation.

[0005] To solve the above technical problems, the present application adopts the following technical scheme: the present application provides an AGV transport vehicle for narrow-lane warehouse packaging boxes, which comprises: a front vehicle body and a rear vehicle body, the front vehicle body and the rear vehicle body are connected through a connecting unit; a steering wheel, the front vehicle body and the rear vehicle body are both installed with a steering wheel at the bottom, and the steering wheels are installed at the four corners of the transport vehicle; wherein, the inside of the rear vehicle body is installed with a support arc plate, both ends of the support arc plate are installed with support wheels, the number of the support wheels is two, and the two support wheels are symmetrically arranged on both sides of the rear vehicle body. When the vehicle turns, the front vehicle body and the rear vehicle body rotate, and the support wheels move to the other side of the front vehicle body, thereby supporting the transport vehicle.

[0006] Preferably, the rear vehicle body is internally provided with a clearance slot, the clearance slot penetrates the bottom surface of the rear vehicle body from the bottom of the rear vehicle body, and the support arc plate can move in the clearance slot.

[0007] Preferably, the front vehicle body is fixed with a gear disc, the gear disc extends into the clearance slot, the outer side of the gear disc is provided with teeth, the teeth are engaged with the teeth on the inner side of the support arc plate, and when the conveying vehicle rotates, the gear disc can drive the support arc plate to move towards the opposite direction.

[0008] Preferably, the connecting unit comprises two connecting plates fixed on the front vehicle body and the rear vehicle body respectively, and the two connecting plates are connected through a rotating shaft.

[0009] Preferably, the support wheels at both ends of the support arc plate are universal wheels.

[0010] Preferably, the rear vehicle body is fixed with a buffer arc plate on both sides, the inner side of the front vehicle body is provided with an arc-shaped hole matched with the buffer arc plate, and the end of the buffer arc plate extends into the arc-shaped hole.

[0011] Preferably, the inner side of the front vehicle body is provided with an oil storage cavity, a piston plate is slidably connected in the inner side of the oil storage cavity through a spring, an piston body is fixed to the end of the buffer arc plate, and the inner sides of the oil storage cavity and the arc-shaped hole are filled with hydraulic oil.

[0012] Preferably, the inner sides of the front vehicle body and the rear vehicle body are both installed with a steering driving mechanism for driving the steering wheels to rotate, and the steering wheels are installed with a motor for driving the steering wheels to rotate.

[0013] Preferably, the steering driving mechanism comprises a driven gear connected with the two steering wheels respectively and a driving gear rotatably installed in the inner side of the front vehicle body or the rear vehicle body, and the driving gear and the driven gear are connected through a toothed belt.

[0014] Preferably, the end of the front vehicle body is installed with a visual scanner.

[0015] The present application has the following advantages: The flexible relative rotation of the front vehicle body and the rear vehicle body is realized through the connecting unit, the steering flexibility of the AGV is greatly improved by cooperating with the four-corner-distributed steering wheels and the precise steering driving mechanism, the AGV can easily turn in the narrow lane, the collision with the shelves and the side walls is avoided, and the space limitation of the narrow lane is adapted. The support wheels move in the opposite direction of the front vehicle body when turning, the self-adaptive characteristics of the universal wheels are combined, stable additional support is provided for the vehicle body, the risk of rollover caused by the deviation of the center of gravity is effectively avoided, the impact force and vibration are efficiently absorbed through the combination of the hydraulic buffer structure and the mechanical buffer, the wear of the vehicle body parts is reduced, the displacement and damage of the transported goods are prevented, and the safety of the AGV and the goods is ensured. The visual scanner collects and analyzes the tunnel environment information in real time, providing accurate environmental data support for the control system and ensuring the accuracy of path planning; the steering drive mechanism achieves synchronous and precise rotation control of the steering wheels through gear and toothed belt transmission, avoiding steering deviation, improving the accuracy of AGV driving path, and thus improving warehousing and transportation efficiency. Attached Figure Description Figure 1 This is a schematic diagram of the structure of the present invention.

[0016] Figure 2 This is the turning diagram for this AGV transport vehicle.

[0017] Figure 3 This is a bottom view of the AGV transport vehicle.

[0018] Figure 4 This is an internal sectional view of the front of the vehicle body.

[0019] Figure 5 This is an internal sectional view of the rear of the vehicle.

[0020] Figure 6 This is a connection diagram of the gear plate and the supporting arc plate.

[0021] Figure 7 for Figure 3 Enlarged view of point A in the image.

[0022] In the diagram: 1. Front body, 2. Rear body, 3. Steering wheel, 4. Vision scanner, 5. Buffer plate, 6. Connecting unit, 7. Clearance groove, 8. Support wheel, 9. Support plate, 10. Spring, 11. Piston plate, 12. Gear, 13. Gear, 14. Driving gear, 15. Driven gear, 16. Gear belt. Detailed Implementation

[0023] The present invention is illustrated below with specific embodiments, but these are not intended to limit the invention.

[0024] Example 1 like Figures 1-7 As shown, this solution provides an AGV transport vehicle for storage in narrow aisles, including a front body 1, a rear body 2, a connecting unit 6, a steering wheel 3, a support arc plate 9, a support wheel 8, and a vision scanner 4. The front body 1 and the rear body 2 are connected by a connecting unit 6, which allows them to rotate relative to each other. The connecting unit 6 consists of two connecting plates and a rotating shaft. The two connecting plates are fixed to the front body 1 and the rear body 2 respectively, and the rotating shaft passes through and connects the two connecting plates, allowing the front body 1 and the rear body 2 to rotate flexibly around the rotating shaft. Steering wheels 3 are installed at the bottom of the front body 1 and the rear body 2 and are distributed at the four corners of the conveyor, providing basic support for the movement of the entire vehicle. A support arc plate 9 is installed inside the rear body 2. A support wheel 8 is installed at each end of the support arc plate 9, and the two support wheels 8 are symmetrically arranged on both sides of the rear body 2. The support wheels 8 adopt a universal wheel structure, which can rotate 360° in any direction around its own central axis. It can automatically adjust the rotation direction according to the ground contact condition and the movement trend of the vehicle body, and always maintain good contact with the ground. The vision scanner 4 is installed at the end of the front vehicle body 1, and has a built-in image acquisition module and data processing unit. It can acquire images of the environment in the narrow aisle in front of the AGV in real time. After the images are analyzed by the data processing unit, the system can identify obstacles, aisle width, shelf positions, and other information in the aisle ahead, and transmit this information to the AGV control system in real time. After receiving the information, the control system will adjust the AGV's travel path, speed, and steering actions in a timely manner. When the AGV needs to turn in a narrow alley, the front body 1 initiates steering according to the path plan. Under the steering force, the two connecting plates of the connecting unit 6 rotate relative to each other around the pivot, causing the front body 1 and the rear body 2 to rotate relative to each other around the pivot. At this time, under the force generated by the rotation of the vehicle body, the support arc plate 9 inside the rear body 2 drives the support wheels 8 at both ends to move synchronously in the opposite direction of the rotation of the front body 1 until the support wheels 8 make stable contact with the ground, providing additional support for the vehicle body during the turning process and ensuring the safe passage of the AGV. Example 2 like Figures 1-7 As shown, this solution further optimizes the structure based on technical solution one, adding a clearance groove 7 and a gear disc 12, and refining the steering drive mechanism. The specific structure is as follows: A clearance groove 7 is provided inside the rear body 2, extending from the bottom of the rear body 2 to its bottom surface. A supporting arc plate 9 is installed inside the clearance groove 7 and can slide freely along the extension direction of the clearance groove 7. A gear plate 12 is fixed on the front body 1, extending into the clearance groove 7. The outer side of the gear plate 12 has teeth that mesh with the teeth on the inner side of the supporting arc plate 9. When the conveyor rotates, the gear plate 12 can drive the supporting arc plate 9 to move in the opposite direction to the rotation direction. Steering drive mechanisms are installed inside both the front body 1 and the rear body 2. A motor is installed on the steering wheel 3, providing power for the rotation of the steering wheel 3. The steering drive mechanism includes a driven gear 15 13, a driving gear 14 13, and a toothed belt 16. The driven gear 15 13 is connected to the two steering wheels 3 respectively. The driving gear 14 13 is rotatably installed inside the front body 1 or the rear body 2. The toothed belt 16 connects the driving gear 14 13 and the driven gear 15 13, forming a complete transmission structure. When the AGV needs to adjust its travel direction, the control system issues a steering command, activating the steering drive mechanism and cooperating with the motor. The motor drives the steering wheel 3 to rotate, while the driving gear 14 (13) rotates under the power source, transmitting power to the driven gear 15 (13) via the toothed belt 16. The driven gear 15 (13) rotates, thus driving the steering wheel 3 to rotate synchronously. By adjusting the rotation direction and speed of the driving gear 14 (13), the steering direction and speed of the steering wheel 3 can be controlled, ensuring that the steering wheel 3 completes the steering action according to the preset path. During the turn, the front body 1 rotates, causing the gear 12 to rotate synchronously. Through the meshing of the teeth, the gear 12 drives the support arc plate 9 to move along the relief groove 7 in the opposite direction to the rotation of the front body 1, thereby driving the support wheel 8 to complete the reverse movement. The relief groove 7 provides a dedicated movement channel for the support arc plate 9, avoiding obstruction from other structures of the rear body 2 when the support arc plate 9 moves, ensuring that the support wheel 8 is in place in time to play its supporting role, and improving the turning stability of the AGV. Example 3 like Figures 1-7 As shown, this solution adds a buffer structure based on technical solutions one and two, specifically including a buffer arc plate 5, an arc-shaped hole, an oil storage chamber, a piston plate 11, a piston body, and hydraulic oil. The detailed structure is as follows: The rear vehicle body 2 has fixed buffer arc plates 5 on both sides, and the front vehicle body 1 has an arc-shaped hole inside. The arc-shaped hole is adapted to the buffer arc plate 5, and the end of the buffer arc plate 5 extends into the arc-shaped hole. When the AGV moves (especially when turning or starting and stopping), the front vehicle body 1 and the rear vehicle body 2 will rotate or vibrate relative to each other. The buffer arc plate 5 will slide or squeeze slightly along the arc-shaped trajectory in the arc-shaped hole. The contact between the two will block and buffer the relative movement of the vehicle body. The front body 1 has an oil reservoir chamber that communicates with an arc-shaped hole and is filled with hydraulic oil. A piston plate 11 is slidably connected to the oil reservoir chamber via a spring 10. A piston body is fixed to the end of a buffer arc plate 5, and the piston body is located within the arc-shaped hole and in contact with the hydraulic oil. When the buffer arc plate 5 moves within the arc-shaped hole, the piston body compresses the hydraulic oil within the hole. The pressurized hydraulic oil flows into the oil reservoir chamber, pushing the piston plate 11 to compress the spring 10. When the external force disappears, the spring 10 returns to its original position, pushing the piston plate 11 back to press the hydraulic oil back into the arc-shaped hole, causing the piston body and buffer arc plate 5 to return to their initial positions, forming a hydraulic buffer cycle. This hydraulic buffer structure combines the damping effect of hydraulic oil with the restoring effect of spring 10, effectively absorbing the large impact forces and vibrations generated by the relative movement between the front vehicle body 1 and the rear vehicle body 2. Compared with simple mechanical buffering, the buffering performance is more stable and durable. During AGV operation, it can reduce the impact of vehicle body vibration on transported goods, protect the connecting unit 6 and other vehicle body components, extend the service life of various AGV components, and ensure stable operation of the AGV under complex working conditions. At the same time, in conjunction with the steering and support structures in technical solutions one and two, it further enhances the adaptability of the AGV in narrow alleyways.

[0025] Working principle: This AGV transport vehicle, designed for storage in narrow aisles, achieves stable and efficient operation within these aisles through the coordinated action of components such as the front body 1, rear body 2, connecting unit 6, steering wheel 3, support arc plate 9, support wheel 8, vision scanner 4, and subsequently optimized clearance groove 7, gear 12, steering drive mechanism, and buffer structure. The specific working principle is as follows: A vision scanner 4 is installed at the end of the front vehicle body 1. Its built-in image acquisition module collects environmental images of the narrow aisle in front of the AGV in real time. The data processing unit analyzes the acquired images, identifies obstacles, aisle width, shelf positions, and other information in the aisle ahead, and transmits this information to the AGV control system in real time. Based on the received environmental information, the control system plans the AGV's travel path and sends action commands to each actuator to control the AGV to travel along the preset path. The front body 1 and the rear body 2 are connected by a connecting unit 6 consisting of two connecting plates and a rotating shaft, forming a relatively rotatable whole. When the AGV needs to turn, the control system issues a steering command. The front body 1 initiates steering first according to the path planning. Under the action of the steering force, the two connecting plates of the connecting unit 6 rotate relative to each other around the rotating shaft, causing the front body 1 and the rear body 2 to rotate relative to each other around the rotating shaft. At this time, the support arc plate 9 inside the rear body 2, under the action of the force generated by the rotation of the vehicle body, drives the support wheels 8, which are symmetrically arranged at both ends, to move synchronously in the opposite direction of the rotation of the front body 1. Since the support wheels 8 adopt a universal wheel structure, they can rotate 360° around their own central axis and can automatically adjust the direction of rotation according to the ground contact conditions and the movement trend of the vehicle body, always maintaining good contact with the ground until a stable support is formed, avoiding the vehicle's center of gravity shift and causing a rollover. The clearance groove 7 inside the rear body 2 provides a dedicated moving channel for the support arc plate 9, which can slide freely along the extension direction of the clearance groove 7. The gear plate 9 is fixed on the front body 1 and extends into the clearance groove 7, meshing with the inner teeth of the support arc plate 9. When turning, the front body 1 rotates, causing the gear plate 12 to rotate synchronously. Through the tooth meshing transmission, the gear plate 12 drives the support arc plate 9 to move along the clearance groove 7 in the opposite direction to the rotation direction of the front body 1, further ensuring the accuracy and timeliness of the movement of the support wheel 8. At the same time, the steering drive mechanism inside the front body 1 and the rear body 2 works in conjunction with the motor: the motor provides rotational power to the steering wheel 3, and the active gear 14 wheel 13 rotates under the drive of the power source. The power is transmitted to the driven gear 15 wheel 13 connected to the steering wheel 3 through the gear belt 16, causing the steering wheel 3 to rotate synchronously. By adjusting the rotation direction and speed of the active gear 14 wheel 13, the steering direction and speed of the steering wheel 3 can be precisely controlled to ensure that the AGV turns along the preset path. Finally, it should be noted that the above embodiments are only used to illustrate and not limit the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the present invention without departing from the spirit and scope of the present invention. Any modifications or partial substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An AGV (Automated Guided Vehicle) for transporting packaging boxes in narrow aisles, characterized in that, include: A front vehicle body (1) and a rear vehicle body (2), which are connected by a connecting unit (6); Steering wheels (3) are installed at the bottom of both the front body (1) and the rear body (2), and the steering wheels (3) are installed at the four corners of the transport vehicle; The rear vehicle body (2) is equipped with a support arc plate (9), and support wheels (8) are installed at both ends of the support arc plate (9). There are two support wheels (8), which are symmetrically arranged on both sides of the rear vehicle body (2). When the vehicle turns, the front vehicle body (1) and the rear vehicle body (2) rotate, and the support wheels (8) move toward the other side of the rotation of the front vehicle body (1) to support the transport vehicle.

2. The AGV conveyor for storing packaging boxes in narrow alleyways according to claim 1, characterized in that, The rear vehicle body (2) has a clearance groove (7) inside. The clearance groove (7) extends from the bottom of the rear vehicle body (2) through the bottom surface of the rear vehicle body (2). The support arc plate (9) can move in the clearance groove (7).

3. The AGV conveyor for storing packaging boxes in narrow aisles according to claim 2, characterized in that, A toothed disc (12) is fixed on the front vehicle body (1). The toothed disc (12) extends into the relief groove (7). The outer side of the toothed disc (12) is provided with teeth. The teeth mesh with the teeth on the inner side of the support arc plate (9). When the transport vehicle rotates, the toothed disc (12) can drive the support arc plate (9) to move in the opposite direction.

4. The AGV conveyor for storing packaging boxes in narrow alleyways according to claim 1, characterized in that, The connecting unit (6) includes two connecting plates that are respectively fixed on the front vehicle body (1) and the rear vehicle body (2), and the two connecting plates are connected by a rotating shaft.

5. The AGV conveyor for storing packaging boxes in narrow alleyways according to claim 1, characterized in that, The support wheels (8) at both ends of the support arc plate (9) are all-purpose wheels.

6. The AGV conveyor for storing packaging boxes in narrow alleyways according to claim 1, characterized in that, Both sides of the rear vehicle body (2) are fixed with buffer arc plates (5), and the interior of the front vehicle body (1) is provided with arc-shaped holes adapted to the buffer arc plates (5), with the end of the buffer arc plates (5) extending into the arc-shaped holes.

7. The AGV conveyor for storing packaging boxes in narrow alleyways according to claim 6, characterized in that, The front body (1) is provided with an oil storage chamber. A piston plate (11) is slidably connected to the inside of the oil storage chamber by a spring (10). A piston body is fixed to the end of the buffer arc plate (5). Hydraulic oil is injected into the oil storage chamber and the arc-shaped hole.

8. The AGV conveyor for storing packaging boxes in narrow aisles according to claim 1, characterized in that, Both the front body (1) and the rear body (2) are equipped with steering drive mechanisms for driving the steering wheel (3) to rotate. The steering wheel (3) is equipped with a motor that drives the steering wheel (3) to rotate.

9. The AGV conveyor for storing packaging boxes in narrow alleyways according to claim 8, characterized in that, The steering drive mechanism includes driven teeth (15) connected to two steering wheels (3) respectively and driving teeth (14) rotatably installed inside the front body (1) or the rear body (2). The driving teeth (14) and driven teeth (15) are connected by a toothed belt (16).

10. The AGV conveyor for storing packaging boxes in narrow alleyways according to claim 1, characterized in that, A vision scanner (4) is installed at the end of the front vehicle body (1).

Images