An AGV trolley and method for installing laminated wood in cryogenic liquid tanks

Abstract

This invention discloses an AGV (Automated Guided Vehicle) for installing laminated wood in cryogenic liquid tanks. The AGV includes a chassis with wheels, a base plate on the chassis, control and power supply components on one side of the base plate, and a lifting component on the other side. The lifting component includes a base plate, a lifting plate on top of the base plate, a first sliding part and a second sliding part on one side of the base plate, a first connecting part and a second connecting part on the other side of the base plate, a third sliding part and a fourth sliding part on one side of the lifting plate, and a third connecting part and a fourth connecting part on the other side of the lifting plate. A first arm plate, a second arm plate, a third arm plate, and a fourth arm plate are positioned between the base plate and the lifting plate. A pin chain structure is provided between the base plate and the lifting plate. This invention also discloses a method for installing laminated wood in cryogenic liquid tanks. This invention features flexible movement via steerable wheels, a high-load and stable lifting component, a small longitudinal height, convenient movement in low-ceilinged spaces, and high work efficiency.

Description

Technical Field

[0001] This invention relates to the field of AGV (Automated Guided Vehicle) technology, and in particular to an AGV and method for installing laminated wood in a cryogenic liquid tank. Background Technology

[0002] LNG tanks are the core equipment for ship fuel storage. Currently, the mainstream tank designs include Type A, Type B, and Type C tanks. The supporting laminated timber (pressure-bearing timber) at the bottom of these tanks is a core component that directly determines the stability of the overall tank installation and the safety of its subsequent operation. Its installation accuracy and construction quality are always of paramount importance in the entire process of tank safety and are also a long-standing recognized construction challenge in the industry. The installation of laminated timber has extremely stringent requirements for dimensional deviation, levelness, and fit. In the traditional construction mode, it is necessary to rely on technicians to conduct high-frequency on-site data measurement and retesting, allocate a large number of manpower to carry out multiple rounds of pre-installation, and then control the accuracy through repeated manual fine-tuning. This process is not only time-consuming and labor-intensive, but also has high labor costs and is more susceptible to the influence of human operation factors. Standardized control of installation accuracy has always been difficult to achieve.

[0003] When converting existing traditional ships or building new ships to use LNG fuel, the fuel tank (or liquid cargo tank) needs to be modified accordingly. Due to the turbulent marine environment and the low temperature characteristics of the LNG fuel inside the fuel tank, the requirements for safety, reliability, and isolation of the hull structure for low-temperature conduction are high when converting or building a new fuel tank. Installing laminated wood with epoxy coating on its upper surface to the corresponding installation position in the fuel tank is an important process during construction. Traditional installation methods also have the disadvantage of low efficiency, which is closely related to factors such as the working environment being in a low, narrow, and confined space (where personnel cannot stand upright and can only crouch). Summary of the Invention

[0004] The purpose of this invention is to provide an AGV (Automated Guided Vehicle) for installing laminated wood for cryogenic liquid tanks, which can efficiently install laminated wood with an epoxy-coated upper surface to the corresponding installation position in the fuel tank (cryogenic liquid tank) in a low-ceiling space.

[0005] Another objective of this invention is to provide a method for transporting and installing laminated wood in a liquid tank using an AGV (Automated Guided Vehicle) in a low, confined space.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an AGV trolley mounted on laminated wood in a cryogenic liquid tank, comprising a chassis, several steerable wheels on the chassis, a base plate on the chassis, and a control component and a power supply component for the trolley's power supply on one side of the base plate, wherein the control component and the control unit are connected, characterized in that...

[0007] A lifting component is provided on the other side of the base plate. The lifting component includes a base plate, and a lifting plate is provided on top of the base plate. A first sliding part and a second sliding part are respectively provided on one side of the base plate, and a first connecting part and a second connecting part are respectively provided on the other side of the base plate. A third sliding part and a fourth sliding part are respectively provided on one side of the lifting plate, and a third connecting part and a fourth connecting part are respectively provided on the other side of the lifting plate. A first arm plate, a second arm plate, a third arm plate, and a fourth arm plate are provided between the base plate and the lifting plate. The first arm plate and the second arm plate are arranged in an alternating manner, and the third arm plate and the fourth arm plate are arranged in an alternating manner. The bottom of the first arm plate is hinged to the first sliding part, the top of the first arm plate is hinged to the third connecting part, the bottom of the second arm plate is hinged to the first connecting part, the top of the second arm plate is hinged to the third sliding part, the bottom of the third arm plate is hinged to the second sliding part, the top of the third arm plate is hinged to the fourth connecting part, the bottom of the fourth arm plate is hinged to the second connecting part, and the top of the fourth arm plate is hinged to the fourth sliding part. A pin chain structure driven by a lifting motor is provided between the base plate and the lifting plate. The lifting motor is connected to a control component.

[0008] The AGV trolley with laminated wood installation for cryogenic liquid tanks according to claim 1 is characterized in that: an upper limit part and a lower limit part are respectively provided on the base plate near the second sliding part, the upper limit part has an L-shaped upper limit seat, an upper U-shaped limit body is provided at the L-shaped upper limit seat, and an upper limit vertical bar is provided at the opening of the upper U-shaped limit body; the lower limit part has an L-shaped lower limit seat, a lower U-shaped limit body is provided at the L-shaped lower limit seat, and a lower limit vertical bar is provided at the opening of the lower U-shaped limit body.

[0009] The second sliding part includes a second slide rail, a second slider is provided on the second slide rail, an L-shaped mounting plate is provided on the side of the second slider, and a limiting cross plate is provided on the L-shaped mounting plate;

[0010] The limit horizontal plate and the upper limit vertical bar and the lower limit vertical bar work together to limit movement.

[0011] Further: Support portions for supporting the lifting plate after reset are respectively provided on the left and right sides of the substrate.

[0012] Further: A reinforcing plate is provided on the lower middle part of the lifting plate, and the top of the pin chain structure is connected to the reinforcing plate. Two through holes are provided on the lifting plate, and a cover plate can be detachably installed at the through holes.

[0013] Further: A retractable barrier made of flexible material is installed between the base plate and the lifting plate.

[0014] Further: The control components and power supply components are provided with an outer casing, the top height of which is greater than the top height of the lifting plate after it is reset.

[0015] Further: The support includes a support column with mounting holes. A spring is installed at the bottom of the mounting hole, and a central column is installed on the spring. Several transverse holes are provided circumferentially on the support column, extending to the central column. A strip with a compression spring at the end is arranged at the transverse hole. A top cover is provided on the top of the support column, extending to the bottom of the strip and limiting its position. A bottom cover is provided on the support column, and the bottom cover and the top cover are threaded together. A threaded hole is provided on the central column, with a through hole at the bottom of the threaded hole. A threaded rod is provided at the threaded hole, and a planar structure is provided on the two opposite sides of the lower part of the threaded rod. When the threaded rod is in the lower limit position, the distance from the top of the planar structure to the top of the top cover is equal to the thickness of the wrench. There is a gap between the bottom of the threaded rod and the bottom of the threaded hole.

[0016] A cryogenic liquid tank laminated wood-mounted AGV trolley includes a chassis (11), several steerable wheels (12) are provided on the chassis (11), a base plate is provided on the chassis (11), and a control component and a power supply component for the trolley are provided on one side of the base plate. The control component and the control unit are connected.

[0017] A lifting component is provided on the other side of the base plate. The lifting component includes a base plate (21). A lifting plate (22) is provided above the base plate (21). A first sliding part (231) and a second sliding part (232) are respectively provided on one side of the base plate (21). A first connecting part (241) and a second connecting part (242) are respectively provided on the other side of the base plate (21). A third sliding part (233) and a fourth sliding part (234) are respectively provided on one side of the lifting plate (22). A third connecting part (243) and a fourth connecting part (244) are respectively provided on the other side of the lifting plate (22). A first arm plate (251), a second arm plate (252), a third arm plate (253), and a fourth arm plate (254) are provided between the base plate (21) and the lifting plate (22). The first arm plate (251) and the second arm plate (252) are arranged in a cross pattern. The third arm plate (253) and the fourth arm plate (254) are arranged in a cross pattern. The first arm plate (251) and the fourth arm plate (254) are arranged in a cross manner, wherein the bottom of the first arm plate (251) is hinged to the first sliding part (231), the top of the first arm plate (251) is hinged to the third connecting part (243), the bottom of the second arm plate (252) is hinged to the first connecting part (241), the top of the second arm plate (252) is hinged to the third sliding part (233), the bottom of the third arm plate (253) is hinged to the second sliding part (232), the top of the third arm plate (253) is hinged to the fourth connecting part (244), the bottom of the fourth arm plate (254) is hinged to the second connecting part (242), the top of the fourth arm plate (254) is hinged to the fourth sliding part (234), and a pin chain structure (27) driven by a lifting motor (26) is provided between the base plate (21) and the lifting plate (22), and the lifting motor (26) is connected to the control component;

[0018] The chassis has a three-dimensional frame enclosure structure (110), and the base plate (111) is installed on the top layer of the three-dimensional frame enclosure structure (110). The three-dimensional frame enclosure structure (110) has a box-shaped body (112) in the middle. The top beam of the three-dimensional frame enclosure structure located below the lifting component is equipped with two first end wheels (12a, 12b) composed of steering wheels through the mounting seat (this end belongs to the heavy-duty end after the laminated wood is in place). The top beam of the three-dimensional frame enclosure structure located below the control component and the power supply component for the trolley power supply is relatively distributed. There is a mounting bracket (113), and a suspension shaft (114) parallel to the length direction of the chassis is provided between the mounting brackets (113). The suspension shaft (114) is equipped with a rectangular plate frame structure (115) located in the gap of the three-dimensional frame enclosure structure. Two second end wheels (12c, 12d) composed of steering wheels are respectively provided at both ends of the rectangular plate frame structure (this end belongs to the light load end after the laminated wood is in place). The bottom plate of the chassis is provided with a square opening structure (116) at the steering wheel mounting position of the rectangular plate frame structure (115).

[0019] As can be seen from the above, the use of a three-dimensional frame to enclose the inner steering wheel compartment semi-concealed within the walking wheels and seesaw mechanism changes the traditional external stacking layout of the wheel set, effectively reducing the overall height of the AGV and adapting it to low-ceilinged working spaces. The frame wheel compartment also provides space for wheel deflection and seesaw swing, ensuring that the road surface adaptive function is not affected. The three-dimensional frame acts as a protective structure, preventing foreign objects from intruding and external collisions, improving the reliability of the walking mechanism. At the same time, relying on the high rigidity of the frame itself, it balances height reduction and structural strength.

[0020] This invention also provides a method for transporting and installing pressurized timber in a low, confined space using an AGV (Automated Guided Vehicle), which includes the following steps:

[0021] (1) Space adaptation and positioning steps: Based on the net height and channel width parameters of the narrow and low space, control the AGV to lock the first working posture, use the straight-line function to complete the channel depth movement, and cooperate with the AGV to avoid potential obstacles on the side wall of the space, so as to realize the AGV to be positioned without interference in the narrow and restricted space.

[0022] (2) Pre-adjustment steps for laminated wood posture: After the AGV trolley carries the laminated wood, it matches the lowest working height of the space through the lifting function and combines the in-situ rotation function to calibrate the angle of the bonding surface of the laminated wood and eliminate the initial position deviation of the laminated wood.

[0023] (3) Precise alignment and correction steps: For the preset position of laminated wood, multiple linkage actions such as lifting height fine adjustment, in-situ micro-rotation angle correction, and horizontal displacement are used to correct the bonding position, flatness, and alignment of the laminated wood, so that the laminated wood completely matches the bonding reference surface.

[0024] (4) Laminated wood pasting operation steps: After the alignment is completed, the AGV trolley maintains a stable posture and pushes the laminated wood to the bottom reference surface of the liquid tank at a uniform speed through the lifting function, so as to complete the laminated wood transfer and precise pasting operation in the narrow and low space.

[0025] For special working conditions where people cannot stand upright in low and narrow spaces, the AGV utilizes a step-by-step linkage, compound correction, and pasting alignment process that combines four motion functions: straight movement, lateral movement, rotation, and lifting. Straight movement and lateral movement enable obstacle avoidance in confined spaces, while rotation and lifting enable posture calibration for laminated wood pasting. Multi-dimensional compound linkage enables precise pasting in narrow spaces.

[0026] This AGV (Automated Guided Vehicle) is specifically designed for installing pressure-bearing timber supported by liquid tanks. It ensures the accuracy and consistency of installation while also improving efficiency. By using the AGV platform to support the pressure-bearing timber and move it to the preset position, the AGV can perform precise movements (forward, backward, and left / right) in confined spaces as needed, effectively lifting the pressure-bearing timber to the preset installation height.

[0027] Compared with the prior art, the present invention has the following beneficial effects: The present invention moves flexibly through steerable walking wheels, and uses the first arm plate, second arm plate, third arm plate, fourth arm plate, lifting plate and pin chain structure as the lifting body, which has a large load capacity and stable operation, small longitudinal height, convenient movement in low and narrow spaces, and high work efficiency. Attached Figure Description

[0028] Figure 1 This is a front view of an AGV (Automated Guided Vehicle) trolley mounted on laminated wood in a cryogenic liquid tank, in a lifted state.

[0029] Figure 2 A first-angle perspective view of an AGV (Automated Guided Vehicle) trolley mounted on laminated wood for a cryogenic liquid tank.

[0030] Figure 3 This is a second-angle perspective view of an AGV (Automated Guided Vehicle) trolley mounted on laminated wood for cryogenic liquid tanks.

[0031] Figure 4 This is a three-dimensional view of an AGV (Automated Guided Vehicle) trolley mounted on laminated wood in a cryogenic liquid tank, viewed from the third direction.

[0032] Figure 5 This is a four-dimensional view of an AGV (Automated Guided Vehicle) trolley mounted on laminated wood for cryogenic liquid tanks, with some structural details omitted.

[0033] Figure 6 This is a five-dimensional view of an AGV (Automated Guided Vehicle) trolley mounted on laminated wood for cryogenic liquid tanks. Some structural details are omitted in the image.

[0034] Figure 7 This is a structural diagram of the second sliding part.

[0035] Figure 8 This is a perspective view of an AGV (Automated Guided Vehicle) trolley mounted on laminated wood for cryogenic liquid tanks, taken from the sixth direction. Some structural details are omitted in the image.

[0036] Figure 9 This is a perspective view of an AGV (Automated Guided Vehicle) trolley mounted on laminated wood for cryogenic liquid tanks, taken from the seventh direction. Some structural details are omitted in the image.

[0037] Figure 10 This is an example of laminated wood to be installed; some structures are omitted in the diagram.

[0038] Figure 11 This is an example of a support structure.

[0039] Figure 12 for Figure 11 Example of a cross-section at point A in the middle.

[0040] Figure 13 Example of a top view of a threaded rod.

[0041] Figure 14 This is a tool example.

[0042] Figure 15 This is a schematic diagram of the bottom structure of an AGV (Automated Guided Vehicle) trolley mounted on laminated wood in a cryogenic liquid tank.

[0043] Figure 16 This is a schematic diagram of the square opening structure of an AGV (Automated Guided Vehicle) trolley mounted on laminated wood in a cryogenic liquid tank.

[0044] Figure 17 This is a schematic diagram of the enclosed three-dimensional frame structure below the bottom plate of an AGV trolley with a cryogenic liquid tank laminated wood installation.

[0045] Figure 18 This is a diagram showing the working state of an AGV (Automated Guided Vehicle) in a low, confined space. Detailed Implementation

[0046] Example 1: Unless otherwise specified, the orientations in the example, such as front, back, left, and right, are based on the main view of the AGV trolley installed with laminated wood in a cryogenic liquid tank.

[0047] See Figures 1 to 9In a preferred embodiment, an AGV (Automated Guided Vehicle) trolley mounted on laminated wood for cryogenic liquid tanks includes a chassis 11. The chassis 11 has several (four in this embodiment) steerable wheels 12 (refer to existing technologies). A base plate is mounted on the chassis 11, and a control unit and a power supply unit for the trolley are located on one side of the base plate. The control unit is connected to a control unit. The control unit can be in the form of a mobile app or a remote control, as referred to in existing technologies.

[0048] A lifting component is provided on the other side of the base plate. The lifting component includes a base plate 21, and a lifting plate 22 (lifting platform) is provided above the base plate 21. A first sliding part 231 (composed of a first slide rail and a first slider, with the first slider mounted on the first slide rail) and a second sliding part 232 (composed of a second slide rail and a second slider, with the second slider mounted on the second slide rail) are respectively provided on one side of the base plate 21. A first connecting part 241 and a second connecting part 242 are respectively provided on the other side of the base plate 21. A third sliding part 233 (composed of a third slide rail and a third slider, with the third slider mounted on the third slide rail) and a fourth sliding part 234 (composed of a fourth slide rail and a fourth slider, with the fourth slider mounted on the fourth slide rail) are respectively provided on one side of the lifting plate 22. A third connecting part 243 and a fourth connecting part 244 are respectively provided on the other side of the lifting plate 22. A first arm plate 251, a second arm plate 252, a third arm plate 253, and a fourth arm plate 254 are provided between the base plate 21 and the lifting plate 22. The first arm plate 251 and the second arm plate 252 are arranged in a cross pattern. (The intersection is connected by a pin), the third arm plate 253 and the fourth arm plate 254 are arranged in an intersecting manner (the intersection is connected by a pin), wherein the bottom of the first arm plate 251 is hinged to the first sliding part 231 (the first slider of the first sliding part), the top of the first arm plate 251 is hinged to the third connecting part 243, the bottom of the second arm plate 252 is hinged to the first connecting part 241, the top of the second arm plate 252 is hinged to the third sliding part 233 (the third slider of the third sliding part), the bottom of the third arm plate 253 is hinged to the second sliding part 232 (the second slider of the second sliding part), the top of the third arm plate 253 is hinged to the fourth connecting part 244, the bottom of the fourth arm plate 254 is hinged to the second connecting part 242, and the top of the fourth arm plate 254 is hinged to the fourth sliding part 234 (the fourth slider of the fourth sliding part). A pin chain structure 27 driven by a lifting motor 26 is provided between the base plate 21 and the lifting plate 22 (the motor drives the pin chain structure through a reducer, which can be referred to in the prior art). The lifting motor 26 is connected to the control component.

[0049] In this embodiment, an upper limit portion 281 and a lower limit portion 282 are respectively provided on the substrate 21 near the second sliding portion 232. The upper limit portion 281 has an L-shaped upper limit seat 281a, an upper U-shaped limiting body 281b is provided at the L-shaped upper limit seat 281a, and an upper limit vertical bar 281c is provided at the opening of the upper U-shaped limiting body 281b. The lower limit portion 282 has an L-shaped lower limit seat 282a, a lower U-shaped limiting body 282b is provided at the L-shaped lower limit seat 282a, and a lower limit vertical bar 282c is provided at the opening of the lower U-shaped limiting body 282b. The second sliding part 232 includes a second slide rail 232a, a second slider 232b is provided on the second slide rail 232a, an L-shaped mounting plate 232c is provided on the side of the second slider 232b, and a limiting horizontal plate 232d is provided on the L-shaped mounting plate 232c. The limiting horizontal plate, the upper limit vertical bar (the upper limit of the lifting plate is limited by this component), and the lower limit vertical bar (the lower limit of the lifting plate is limited by this component) cooperate to limit the lifting plate so that the lifting plate does not exceed the upper limit when lifting and does not exceed the lower limit when lowering and resetting, which can protect the pin chain structure.

[0050] In this embodiment, support portions 29 for supporting the repositioned lifting plate are respectively provided on the left and right sides of the substrate 21, and in this embodiment, there are four such support portions. The support portions provide support for the repositioned lifting plate to form a protective structure.

[0051] In this embodiment, a reinforcing plate 221 is provided at the lower center of the lifting plate 22. The top of the pin chain structure 27 is connected to the reinforcing plate 221. Two through holes are provided on the lifting plate 22, which penetrate the reinforcing plate. A cover plate 222 is detachably installed at the through holes. Specifically, a countersunk hole is provided at the through hole. The cover plate and the countersunk hole are detachably connected by bolts. Opening the cover plate allows for visual inspection of the internal components, facilitating maintenance.

[0052] In this embodiment, a retractable barrier 31 made of flexible material is provided between the base plate 21 and the lifting plate 22. The retractable barrier can be made of materials such as rubber, and can be deployed as the lifting plate unfolds and reset as the lifting plate resets. The retractable barrier can prevent foreign objects from entering and provides protection for internal components (the pin chain structure, the arm plate assembly [first arm plate + second arm plate + third arm plate + fourth arm plate], and the sliding part assembly [first sliding part + second sliding part + third sliding part + fourth sliding part] work together; a failure in any of these structures can easily lead to failure or even damage to the remaining structures during operation), reducing the failure rate and improving work efficiency.

[0053] In this embodiment, a housing 32 is provided around the control components and the power supply components. The top height of the housing 32 is greater than the top height of the lifting plate 22 after it has been reset. The housing protects the control components and the power supply components, and because the top height of the housing is greater than the height of the lifting plate after it has been reset, it can provide auxiliary protection for the lifting part.

[0054] Two lifting rings are provided on the left side of chassis 11 and two lifting rings are provided on the right side of chassis 11 to facilitate lifting the trolley to the construction platform.

[0055] How to use the AGV trolley installed with laminated wood for cryogenic liquid tanks: Place both ends of the laminated wood 100 on the corresponding support frame 101. Figure 10 As an example of laminated wood, the figure shows laminated wood 100 (pressure-bearing wood), support frame 101, and bottom of the cabin 102. The laminated wood is located below the cabin (cryogenic liquid tank), and the cabin is suspended in the air by ground supports. Support frame 101 is installed on the construction platform, which is higher than the ground.

[0056] The control unit controls the wheels to move the trolley to the underside of the laminated wood. Then, the control unit controls the lifting motor to operate, and the pin chain structure drives the lifting platform to lift the laminated wood (causing it to rise and leave the support frame). The control unit then controls the wheels to move the trolley to the desired installation position on the cabin. Once in position, the control unit controls the lifting motor to operate, and the pin chain structure drives the lifting platform to continue rising until the laminated wood and the cabin are in contact. At this point, workers use jacks to hold the laminated wood at both ends. After the jacks bear pressure, the control unit controls the lifting motor to operate, the pin chain structure resets, and the control unit controls the wheels to operate, causing the trolley to leave the finished laminated wood installation position, completing the laminated wood installation.

[0057] It should be noted that the description of existing technologies has been omitted in the text.

[0058] Example 2: For the differences between this example and Example 1, please refer to [link / reference]. Figures 11-13The support section 29 (four in total, two on the left and two on the right) includes a support column 291. Mounting holes are provided on the support column 291, and springs 292 are installed at the bottom of the mounting holes. A central column 293 is installed on the springs 292, and the springs and central columns are connected. Several transverse holes are provided circumferentially on the support column 291 (the number can be designed as needed, such as 2, 3, 4, or more). The transverse holes extend to the central column 293. A strip-shaped piece 294 with a compression spring at one end is arranged at each transverse hole. After installation, the compression spring is located at the bottom of the transverse hole. A top cover 295a is provided on the top of the support column 291, and the bottom of the top cover 295a extends to the strip-shaped piece 294. The strip 294 is limited (the bottom of the upper cover has a recess, and the end of the strip is placed in the recess). The support column 291 is provided with a lower cover 295b, which is threadedly connected to the upper cover 295a. The central column 293 is provided with a threaded hole, and a through hole 293a is provided at the bottom of the threaded hole. A threaded rod 296 is provided at the threaded hole. Two planar structures 296a are provided on the two opposite sides of the lower part of the threaded rod 296 (there are two planar structures, which are arranged opposite each other). When the threaded rod is in the lower limit position (when the top height of the threaded rod is the lowest), the distance from the top of the planar structure (the top T of the planar structure) to the top of the upper cover is equal to the thickness of the wrench (tool 14). There is a gap between the bottom of the threaded rod and the bottom of the threaded hole.

[0059] After the lifting platform completes the lifting and installation work, it resets, and the top of the support unit provides support and protection for the platform. During the lifting and installation of laminated timber, in extreme situations (such as partial failure of the pin chain structure, which fails to provide effective support for the platform), the lifting platform and the laminated timber on it fall. When they fall to the support unit, the weight of the lifting platform and the laminated timber causes the strip to break (breakage failure at the lower limit part, usually at the lower limit vertical bar; correspondingly, the tracks of the first, second, third, and fourth sliding parts are long enough not to affect the descent of the lifting platform). The central column moves downward, and the spring provides cushioning protection for the lifting platform and laminated timber, reducing or preventing the escalation of danger and providing some protection for high-value components (such as the motor reducer). The cover formed by the upper and lower covers, through the strip's separation from the central column end, limits the central column as it resets under the action of the spring, reducing the risk of it falling out.

[0060] By using a wrench to rotate the threaded rod at the flat structure, the height of the top of the threaded rod can be adjusted to suit the required installation height. When the threaded rod is adjusted to the lower limit position, since the distance from the top of the flat structure to the top of the top cover is consistent with the wrench thickness L, the worker knows that it has been adjusted to the lower limit position and will not continue to force it, thus avoiding damage to the strip component caused by forced tightening. At the same time, there is a distance (space) between the top of the flat structure and the top of the top cover. In conjunction with the flat structure, gaps, and through holes, the installation position of the support column spring is connected to the outside, preventing the central column from being unable to move down and affecting the use of the support unit.

[0061] After the strip is installed, the compression spring is compressed, causing the strip to pop out. The design of the cover formed by the upper and lower covers can limit the movement of the strip. If the strip breaks (breaks between the side wall of the support column and the central column), after the central column is removed from the support column, the strip with the transverse hole located in the central column can be popped out under the action of the compression spring, facilitating disassembly. Notably, a shallow groove (not shown in the figure, the groove is generally arc-shaped) is provided on the lower side of the strip located between the central column and the side wall of the support column for ease of use and to facilitate breakage in extreme cases. The overall design of the strip makes it easy to install and use.

[0062] Example 3: An AGV trolley mounted on laminated wood for cryogenic liquid tanks includes a chassis 11 with several steerable wheels 12. A base plate is mounted on the chassis 11. A control component and a power supply component for the trolley are mounted on one side of the base plate, connected to the control unit. A lifting component is mounted on the other side of the base plate, including a base plate 21 and a lifting plate 22 above it. A first sliding part 231 and a second sliding part 232 are respectively mounted on one side of the base plate 21, and a first connecting part 241 and a second connecting part 242 are respectively mounted on the other side of the base plate 21. A third sliding part 233 and a fourth sliding part 234 are respectively mounted on one side of the lifting plate 22, and a third connecting part 243 and a fourth connecting part 244 are respectively mounted on the other side of the lifting plate 22. A first arm plate 251, a second arm plate 252, a third arm plate 253, and a fourth arm plate 254 are respectively mounted between the base plate 21 and the lifting plate 22. Four arm plates 254, with the first arm plate 251 and the second arm plate 252 arranged in a cross arrangement, and the third arm plate 253 and the fourth arm plate 254 arranged in a cross arrangement. The bottom of the first arm plate 251 is hinged to the first sliding part 231, and the top of the first arm plate 251 is hinged to the third connecting part 243. The bottom of the second arm plate 252 is hinged to the first connecting part 241, the top of the second arm plate 252 is hinged to the third sliding part 233, the bottom of the third arm plate 253 is hinged to the second sliding part 232, the top of the third arm plate 253 is hinged to the fourth connecting part 244, the bottom of the fourth arm plate 254 is hinged to the second connecting part 242, and the top of the fourth arm plate 254 is hinged to the fourth sliding part 234. A pin chain structure 27 driven by a lifting motor 26 is provided between the base plate 21 and the lifting plate 22. The lifting motor 26 is connected to a control component. The above structure is the same as in Embodiment 1 and will not be described in detail here. The following is a description of... Figure 15-17 The chassis architecture is described in detail.

[0063] It is worth mentioning that, see Figure 15The chassis has a three-dimensional frame enclosure structure 110, which includes a top unit 110-1, a bottom unit 110-2, and an intermediate outer unit 110-3 located between the top and bottom units. The top unit 110-1, bottom unit 110-2, and intermediate outer unit 110-3 together form a concave wheel well, housing the wheels and seesaw swing assembly within the internal space of the three-dimensional frame, rather than placing them on the bottom of the chassis. The frame body acts as the sidewall and limiting structure of the wheel well, eliminating the traditional external mounting base at the bottom of the chassis and structurally compressing the vertical stacking dimensions. This, together with the aforementioned special lifting structure, reduces the height of the AGV to meet the extreme working conditions of narrow and low operating spaces. The beams and columns of the three-dimensional frame enclosure structure 110 directly serve as protective barriers for the wheel assembly, eliminating the need for additional covers or baffles. This further improves structural integration and avoids the increase in height and weight redundancy caused by additional components.

[0064] See Figure 17 As shown, the top-level unit has a generally square-shaped top-level outer frame 110-1a, preferably made of metal. The top-level outer frame is composed of multiple hollow metal tubes with square cross-sections, which can be welded together. The top-level outer frame has top crossbars 110-1b. The base plate 111 is installed on the top layer of the three-dimensional frame enclosure structure 110. The support effect of the top crossbars makes the installation of the base plate more stable. The three-dimensional frame enclosure structure 110 has a box-shaped body 112 in the middle. It can be placed on the bottom crossbar of the bottom unit 110-2. The bottom unit 110-2 is also a metal frame enclosed by metal tubes, with two bottom crossbars 110-2a arranged in the middle of the metal frame to hold the box-shaped body. The box-shaped body is an open box at the top. The middle outer unit 110-3 includes two vertical metal tubes 110-3a distributed in the width direction of the top and bottom units, and four metal tubes 110-3a distributed in the length direction of the top and bottom units. Furthermore, an elastic buffer structure, such as an elastic buffer made of rubber, is distributed circumferentially around the bottom unit to improve the vehicle body's ability to adapt to collisions with the outside world. The AGV is divided into multiple vertical spaces by a three-dimensional frame. The core components such as the electronic control system and battery are arranged on the bottom plate of the top layer of the three-dimensional frame enclosure structure 110. The three-dimensional frame enclosure structure 110 houses the seesaw mechanism and the wheels. The components are arranged vertically in an alternating manner, abandoning the traditional vertical stacking mode of "chassis plate + wheel set", maximizing the use of the vertical space inside the frame, and directly reducing the overall height of the vehicle.

[0065] See also Figure 15 As shown, the top beam of the three-dimensional frame enclosure structure located below the lifting component is equipped with two first end travel wheels consisting of steering wheels via mounting bases. Figure 15 The first end travel wheel 12a and the second end travel wheel 12b shown are the heavy-duty end after the laminated wood is in place, due to the large weight of the laminated wood. The top beam of the three-dimensional frame enclosure structure located below the control components and the power supply components for the trolley has mounting seats 113 distributed opposite each other. Suspension shafts 114 parallel to the length direction of the chassis are arranged between the mounting seats 113. Rectangular plate frame structures 115 located in the gaps of the three-dimensional frame enclosure structure are mounted on the suspension shafts 114. Two second end travel wheels composed of steering wheels are respectively arranged at both ends of the rectangular plate frame structure. Figure 15 The diagram shows the second end traveling wheel 12c and the second end traveling wheel 12d. This end is the light-load end after the laminated wood is in place. The bottom plate of the chassis has a square opening structure 116 at the rudder wheel mounting position of the rectangular frame structure 115. The wheel chamber formed by the three-dimensional frame enclosure structure 110 is designed with irregular hollowing and movement avoidance space according to the swing angle and stroke of the seesaw wheel set. Most of the wheel body is wrapped and hidden by the frame, with only a small area at the bottom in contact with the ground. At the same time, the frame reserves sufficient lateral and vertical movement clearances to not interfere with the up and down swing and angle deflection of the seesaw, ensuring the normal operation of the wheel set's adaptive leveling function.

[0066] Buffer blocks can be installed on the corresponding base plates at both ends of the rectangular plate frame structure 115. Each buffer block includes a block-shaped body that directly contacts the rectangular plate frame structure. A cylindrical buffer cavity is provided inside the block-shaped body, and a buffer medium is distributed in the buffer cavity. A squeezing rod is provided on the base plate to cooperate with the buffer block and align with the impact plate at the top of the buffer cavity. When the seesaw is started, if one end of the rectangular plate frame structure tilts up and the impact plate is impacted by the squeezing rod at that end, the buffer medium in the buffer cavity can be used to buffer the sudden impact between the rectangular plate frame structure and the base plate. The buffer structure of the buffer cavity can be a buffer spring, or it can be a buffer solution. In this case, the impact plate of the buffer cavity needs to have a good sliding effect in the cavity while also having a certain degree of airtightness.

[0067] The AGV provided in this embodiment is adapted to the cryogenic liquid tank laminated wood installation environment in the following aspects:

[0068] First, it significantly reduces the overall height of the vehicle, breaking through space limitations: by utilizing the space of the concave wheel compartment within the three-dimensional frame, it eliminates the traditional multi-layer vertical stacking of chassis plate thickness + external wheel seat + wheel body. Without reducing the strength of the board material or compressing the swing stroke of the seesaw, it effectively reduces the overall height of the AGV, making it suitable for narrow working spaces such as low alleys and meeting the installation scenarios of laminated wood.

[0069] More importantly, the vehicle's center of gravity shifts downwards in tandem with the reduced height. Combined with the high torsional rigidity of the three-dimensional frame itself, this further enhances the overall stability of the AGV during driving, turning, and starting / stopping, reducing the risk of tilting. Unlike the industry's conventional method of "thinning sheet metal to reduce height," this invention achieves height reduction through spatial structure, avoiding the secondary problems of insufficient rigidity and easy deformation caused by sheet metal thinning, and resolving the inherent contradiction between "height reduction" and "structural strength."

[0070] Secondly, the semi-concealed built-in design of the traveling wheels enhances the mechanism's protection and operational reliability: The three-dimensional frame partially conceals the traveling wheels, preventing foreign object intrusion, seesaw hinge points, and transmission clearances. Ground debris, cables, and dust are difficult to enter the wheel assembly's moving parts, significantly reducing seesaw jamming, axle wear, and abnormal operating noises. This is particularly suitable for the dusty and cluttered environment of laminated wood installations. Regarding collision and scratch protection, the wheels no longer protrude from the vehicle's outline. During transport, when they come into contact with surrounding equipment or tooling, the stronger three-dimensional frame absorbs the impact, protecting the traveling wheels, rubber wheel surfaces, and the precision seesaw suspension structure, extending the service life of the traveling mechanism and reducing maintenance costs. In terms of overall machine neatness, the semi-concealed design creates a unified appearance, while the frame enclosure prevents dust generated by wheel operation from spreading, improving the working environment.

[0071] Third, it is deeply adapted to the seesaw wheel assembly, retaining and optimizing the original functions: the three-dimensional wheel compartment is precisely spatially designed according to the deflection angle of the walking wheels and the swing trajectory of the seesaw, fully preserving the multi-angle adaptive capability of the wheel assembly. It can still achieve full wheel contact and automatic leveling on uneven roads, and the smoothness of walking and positioning accuracy are not affected by the height reduction or internal design. The frame serves as the rigid mounting reference for the wheel assembly. Compared with the traditional external mounting structure, the positional accuracy of the wheel assembly and seesaw fulcrum is higher, and it is not easy for the reference to shift during long-term use, ensuring the consistency of wheel deflection and seesaw swing.

[0072] Fourth, structural integration brings additional advantages: eliminating independent wheel covers, external supports, and other auxiliary parts reduces the number of parts, simplifies assembly processes, and facilitates mass production; at the same time, the overall weight is further optimized, helping to reduce energy consumption. The wheel compartment formed by the three-dimensional frame enclosure structure is a modular cavity structure, and the walking wheels and seesaw components can be quickly disassembled and assembled from inside the frame compartment, making maintenance and wheel replacement more convenient compared to a fully exposed structure.

[0073] The AGV's dimensions are 1500mm x 1000mm x 700mm (length x width x height). The height of the retracted lifting platform (to the wheel wells) is 600mm. (This is in contrast to the equipment compartment.) Figure 16 The equipment compartment contains batteries and transformers. The height difference between the top surface and the bottom surface is 100mm.

[0074] This embodiment omits descriptions of existing technologies, such as drive steering wheels (including drive motor + reducer + brake + steering mechanism + polyurethane wheel + slewing bearing), etc.

[0075] Example 4

[0076] This invention also provides a method for transporting and installing pressurized timber in a low, confined space using an AGV (Automated Guided Vehicle), which includes the following steps:

[0077] (1) Space adaptation and positioning steps: Based on the net height and channel width parameters of the narrow and low space, control the AGV to lock the first working posture, use the straight-line function to complete the channel depth movement, and cooperate with the AGV to avoid potential obstacles on the side wall of the space, so as to realize the AGV to be positioned without interference in the narrow and restricted space.

[0078] (2) Pre-adjustment steps for laminated wood posture: After the AGV trolley carries the laminated wood, it matches the lowest working height of the space through the lifting function and combines the in-situ rotation function to calibrate the angle of the bonding surface of the laminated wood and eliminate the initial position deviation of the laminated wood.

[0079] (3) Precise alignment and correction steps: For the preset position of laminated wood, multiple linkage actions such as lifting height fine adjustment, in-situ micro-rotation angle correction, and horizontal displacement are used to correct the bonding position, flatness, and alignment of the laminated wood, so that the laminated wood completely matches the bonding reference surface.

[0080] (4) Laminated wood pasting operation steps: After the alignment is completed, the AGV trolley maintains a stable posture and pushes the laminated wood to the bottom reference surface of the liquid tank at a uniform speed through the lifting function, so as to complete the laminated wood transfer and precise pasting operation in the narrow and low space.

[0081] Figure 15 This diagram illustrates the working state of an AGV (Automated Guided Vehicle) in a low, confined space. In this diagram, the AGV S is lifting laminated wood 100 into the fuel tank support K of the vertical support. The laminated wood is precisely lifted into the cavity formed by the baffle K1 of the fuel tank support K and then smoothly proceeds with subsequent work. This can reduce the workload of personnel while improving the efficiency and quality of laminated wood installation.

[0082] For special working conditions where people cannot stand upright in low and narrow spaces, the AGV utilizes a step-by-step linkage, compound correction, and pasting alignment process that combines four motion functions: straight movement, lateral movement, rotation, and lifting. Straight movement and lateral movement enable obstacle avoidance in confined spaces, while rotation and lifting enable posture calibration for laminated wood pasting. Multi-dimensional compound linkage enables precise pasting in narrow spaces.

[0083] This AGV (Automated Guided Vehicle) is specifically designed for installing pressure-bearing timber supported by liquid tanks. It ensures the accuracy and consistency of installation while also improving efficiency. By using the AGV platform to support the pressure-bearing timber and move it to the preset position, the AGV can perform precise movements (forward, backward, and left / right) in confined spaces as needed, effectively lifting the pressure-bearing timber to the preset installation height.

[0084] The above description is merely a preferred embodiment of the present invention, and the scope of protection of the present invention is not limited to the above embodiments. All technical solutions that fall within the principles of the present invention are within the scope of protection of the present invention. For those skilled in the art, any improvements made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. An AGV (Automated Guided Vehicle) trolley mounted on laminated wood for cryogenic liquid tanks, comprising a chassis (11), a plurality of steerable wheels (12) provided on the chassis (11), a base plate provided on the chassis (12), and a control component and a power supply component for powering the trolley provided on one side of the base plate, wherein the control component and the control unit are connected, characterized in that, A lifting component is provided on the other side of the base plate. The lifting component includes a base plate (21). A lifting plate (22) is provided above the base plate (21). A first sliding part (231) and a second sliding part (232) are respectively provided on one side of the base plate (21). A first connecting part (241) and a second connecting part (242) are respectively provided on the other side of the base plate (21). A third sliding part (233) and a fourth sliding part (234) are respectively provided on one side of the lifting plate (22). A third connecting part (243) and a fourth connecting part (244) are respectively provided on the other side of the lifting plate (22). A first arm plate (251), a second arm plate (252), a third arm plate (253), and a fourth arm plate (254) are provided between the base plate (21) and the lifting plate (22). The first arm plate (251) and the second arm plate (252) are arranged in a cross pattern. The third arm plate (253) and the fourth arm plate (254) are arranged in a cross pattern. The first arm plate (251) and the fourth arm plate (254) are arranged in a cross manner, wherein the bottom of the first arm plate (251) is hinged to the first sliding part (231), the top of the first arm plate (251) is hinged to the third connecting part (243), the bottom of the second arm plate (252) is hinged to the first connecting part (241), the top of the second arm plate (252) is hinged to the third sliding part (233), the bottom of the third arm plate (253) is hinged to the second sliding part (232), the top of the third arm plate (253) is hinged to the fourth connecting part (244), the bottom of the fourth arm plate (254) is hinged to the second connecting part (242), and the top of the fourth arm plate (254) is hinged to the fourth sliding part (234). A pin chain structure (27) driven by a lifting motor (26) is provided between the base plate (21) and the lifting plate (22), and the lifting motor (26) is connected to the control component.

2. The AGV trolley with laminated wood installation for cryogenic liquid tanks according to claim 1, characterized in that: An upper limit portion (281) and a lower limit portion (282) are respectively provided on the substrate (21) near the second sliding portion (232). The upper limit portion (281) has an L-shaped upper limit seat (281a), an upper U-shaped limit body (281b) is provided at the L-shaped upper limit seat (281a), and an upper limit vertical bar (281c) is provided at the opening of the upper U-shaped limit body (281b). The lower limit portion (282) has an L-shaped lower limit seat (282a), a lower U-shaped limit body (282b) is provided at the L-shaped lower limit seat (282a), and a lower limit vertical bar (282c) is provided at the opening of the lower U-shaped limit body (282b). The second sliding part (232) includes a second slide rail (232a), a second slider (232b) is provided on the second slide rail (232a), an L-shaped mounting plate (232c) is provided on the side of the second slider (232b), and a limiting cross plate (232d) is provided on the L-shaped mounting plate (232c). The limit horizontal plate and the upper limit vertical bar and the lower limit vertical bar work together to limit movement.

3. The AGV trolley with laminated wood installation for cryogenic liquid tanks according to claim 1, characterized in that: Support portions (29) for supporting the lifting plate after reset are provided on the left and right sides of the substrate (21).

4. The AGV trolley with laminated wood installation for cryogenic liquid tanks according to claim 1, characterized in that: A reinforcing plate (221) is provided in the middle of the lower side of the lifting plate (22). The top of the pin chain structure (27) is connected to the reinforcing plate (221). Two through holes are provided on the lifting plate (22). A cover plate (222) can be detachably installed at the through holes.

5. The AGV trolley with laminated wood installation for cryogenic liquid tanks according to claim 1, characterized in that: A retractable enclosure (31) made of flexible material is provided between the base plate (21) and the lifting plate (22).

6. The AGV trolley with laminated wood installation for cryogenic liquid tanks according to claim 1, characterized in that: The control unit and power supply unit are provided with a housing (32), and the top height of the housing (32) is greater than the top height of the lifting plate (22) after it is reset.

7. The AGV trolley with laminated wood installation for cryogenic liquid tanks according to claim 1, characterized in that: The support part (29) includes a support column (291), a mounting hole is provided on the support column (291), a spring (292) is provided at the bottom of the mounting hole, a central column (293) is provided on the spring (292), a plurality of transverse holes are provided circumferentially on the support column (291), the transverse holes extend to the central column (293), a strip (294) with a compression spring at the end is arranged at the transverse holes, a top cover (295a) is provided on the top of the support column (291), the bottom of the top cover (295a) extends to the strip (294) and supports the strip (294). 294) Limiting, a lower cover (295b) is provided on the support column (291), the lower cover (295b) and the upper cover (295a) are threaded together, a threaded hole is provided on the middle column (293), a through hole (293a) is provided at the bottom of the threaded hole, a threaded rod (296) is provided at the threaded hole, and a planar structure (296a) is provided on the two opposite sides of the lower part of the threaded rod (296). When the threaded rod is in the lower limit position, the distance from the top of the planar structure to the top of the upper cover is equal to the thickness of the wrench, and there is a gap between the bottom of the threaded rod and the bottom of the threaded hole.

8. An AGV trolley mounted on laminated wood for cryogenic liquid tanks, comprising a chassis (11), a plurality of steerable wheels (12) provided on the chassis (11), a base plate provided on the chassis (11), and a control component and a power supply component for powering the trolley provided on one side of the base plate, wherein the control component and the control unit are connected, characterized in that, A lifting component is provided on the other side of the base plate. The lifting component includes a base plate (21). A lifting plate (22) is provided above the base plate (21). A first sliding part (231) and a second sliding part (232) are respectively provided on one side of the base plate (21). A first connecting part (241) and a second connecting part (242) are respectively provided on the other side of the base plate (21). A third sliding part (233) and a fourth sliding part (234) are respectively provided on one side of the lifting plate (22). A third connecting part (243) and a fourth connecting part (244) are respectively provided on the other side of the lifting plate (22). A first arm plate (251), a second arm plate (252), a third arm plate (253), and a fourth arm plate (254) are provided between the base plate (21) and the lifting plate (22). The first arm plate (251) and the second arm plate (252) are arranged in a cross pattern. The third arm plate (253) and the fourth arm plate (254) are arranged in a cross pattern. The first arm plate (251) and the fourth arm plate (254) are arranged in a cross manner, wherein the bottom of the first arm plate (251) is hinged to the first sliding part (231), the top of the first arm plate (251) is hinged to the third connecting part (243), the bottom of the second arm plate (252) is hinged to the first connecting part (241), the top of the second arm plate (252) is hinged to the third sliding part (233), the bottom of the third arm plate (253) is hinged to the second sliding part (232), the top of the third arm plate (253) is hinged to the fourth connecting part (244), the bottom of the fourth arm plate (254) is hinged to the second connecting part (242), the top of the fourth arm plate (254) is hinged to the fourth sliding part (234), and a pin chain structure (27) driven by a lifting motor (26) is provided between the base plate (21) and the lifting plate (22), and the lifting motor (26) is connected to the control component; The chassis has a three-dimensional frame enclosure structure (110), and the bottom plate (111) is installed on the top layer of the three-dimensional frame enclosure structure (110). The three-dimensional frame enclosure structure (110) has a box-shaped body (112) in the middle. The top beam of the three-dimensional frame enclosure structure located below the lifting component is provided with two first end wheels (12a, 12b) composed of steering wheels through the mounting seat. The top beam of the three-dimensional frame enclosure structure located below the control component and the power supply component for the trolley power supply has mounting seats (113) distributed opposite to each other. A suspension shaft (114) parallel to the length direction of the chassis is provided between the mounting seats (113). The suspension shaft (114) is installed with a rectangular plate frame structure (115) located in the gap of the three-dimensional frame enclosure structure. Two second end wheels (12c, 12d) composed of steering wheels are respectively provided at both ends of the rectangular plate frame structure. The bottom plate of the chassis is provided with a square opening structure (116) at the steering wheel mounting position of the rectangular plate frame structure (115).

9. A method for transporting and installing pressure-bearing timber for cryogenic liquid tanks in narrow, low, and confined spaces using an AGV trolley installed with laminated timber as described in any one of claims 1-8, characterized in that, It includes the following steps: (1) Space adaptation and positioning steps: Based on the net height and channel width parameters of the narrow and low space, control the AGV to lock the first working posture, use the straight-line function to complete the channel depth movement, and cooperate with the AGV to avoid potential obstacles on the side wall of the space, so as to realize the AGV to be positioned without interference in the narrow and restricted space. (2) Pre-adjustment steps for laminated wood posture: After the AGV trolley carries the laminated wood, it matches the lowest working height of the space through the lifting function and combines the in-situ rotation function to calibrate the angle of the bonding surface of the laminated wood and eliminate the initial position deviation of the laminated wood. (3) Precise alignment and correction steps: For the preset position of laminated wood, multiple linkage actions such as lifting height fine adjustment, in-situ micro-rotation angle correction, and horizontal displacement are used to correct the bonding position, flatness, and alignment of the laminated wood, so that the laminated wood completely matches the bonding reference surface. (4) Laminated wood pasting operation steps: After the alignment is completed, the AGV trolley maintains a stable posture and pushes the laminated wood to the bottom reference surface of the liquid tank at a uniform speed through the lifting function, so as to complete the laminated wood transfer and precise pasting operation in the narrow and low space.

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