Heavy-load transfer automatic guided vehicle with power distribution type four jacking platforms

Abstract

The utility model discloses a power distribution type heavy load transfer automatic guided vehicle with four jacking platforms, and belongs to the technical field of automatic guided vehicles. The defects that in the prior art, time and labor are consumed due to the fact that traditional long-frame type steel structures are transferred through manual forklifts or trailers are overcome. The main structure of the vehicle comprises a whole vehicle carrier, a power lifting device and a navigation positioning system are arranged on the whole vehicle carrier, an environment safety operation detection system is arranged on the side face of the whole vehicle carrier, and an operation power system is arranged at the bottom of the whole vehicle carrier. The two ends of the primary one-to-two speed reducer are connected with the secondary one-to-two speed reducers through couplings respectively, the two ends of the secondary one-to-two speed reducers are connected with the lifting columns through transmission shafts respectively, and the upper ends of the four lifting columns are connected with the lifting bearing support. The frame type steel structure tool lifting device is mainly used for lifting the frame type steel structure tool with the height of 300mm and transferring materials carried by the frame type steel structure tool.

Description

Technical Field

[0001] The utility model belongs to the technical field of automatic guided vehicles, and in particular relates to a heavy-load transport automatic guided vehicle with a power distribution type four-lifting platform. Background Art

[0002] Existing AGVs mostly use ground magnetic strips for navigation. It is necessary to lay out a planned route for AGV operation on the ground. At the same time, the magnetic strips need to be protected. In addition, when designing the entire AGV vehicle, it is necessary to consider the offset design of the magnetic track navigation sensor to avoid crushing and damaging the magnetic strips when the drive wheels rotate in place or turn. In addition, the transportation of existing long-frame steel structures is mostly carried out by manual forklifts or trailers, which is time-consuming and labor-intensive.

[0003] For example, the Chinese utility model patent with authorization announcement number CN 218231694 U discloses a tobacco frame transfer and lifting device based on AGV technology, which puts tobacco leaves into the tobacco frame. When the tobacco leaves need to be transferred, the AGV automatic guided vehicle automatically moves along a predetermined route. After the AGV automatic guided vehicle moves to the base, it is positioned by an infrared sensor. When the infrared sensor is aligned with the reflector and the infrared sensor receives the reflected light, the AGV automatic guided vehicle moves into position, and then the motor drives the lifting seat to move upward through the transmission mechanism, so that the lifting seat drives the card block into the inside of the card slot and lifts the tobacco frame off the ground. Then the AGV automatic guided vehicle continues to move and moves the tobacco frame to the specified position, thereby realizing automatic transfer of the tobacco frame. However, its shortcomings are: when the four guide rods are driven by the lifting seat to lift and lower, it is easy to cause inconsistent lifting speeds, and the motor and the lead screw cannot withstand heavy loads. Utility Model Content

[0004] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and provide a heavy-load transport automatic guided vehicle with a power distribution type four-lifting platform.

[0005] In order to achieve the above purpose, the utility model is implemented by adopting the following technical solutions:

[0006] A heavy-load transfer automatic guided vehicle with a power distribution type four-lifting platform includes a whole vehicle carrier, a power lifting device and a navigation and positioning system are arranged on the whole vehicle carrier, an environmental safety operation detection system is arranged on the side, and an operation power system is arranged on the bottom, the power lifting device includes a servo motor and a main-stage one-to-two reducer transmission-connected to the servo motor, both ends of the main-stage one-to-two reducer are respectively connected to a secondary one-to-two reducer through a coupling, both ends of the secondary one-to-two reducer are respectively connected to a lifting column through a transmission shaft, and the upper ends of the four lifting columns are connected to lifting bearing brackets.

[0007] Preferably, the whole vehicle carrier includes a frame welding assembly and a cover component assembly arranged on the top of the frame welding assembly.

[0008] Preferably, the navigation and positioning system comprises a mounting support mounted on the vehicle frame welding assembly and a navigation and positioning instrument mounted on the mounting support.

[0009] Preferably, the mounting support includes a support plate for mounting a navigation locator, the four corners of the support plate are connected to the bracket via a damping spring and a bolt and nut assembly, and the bracket is mounted on a vehicle frame welding assembly.

[0010] Preferably, the environmental safety operation detection system includes safety touch edges arranged around the frame welding assembly and obstacle avoidance scanning sensors arranged at the four corners of the frame welding assembly; wherein the obstacle avoidance scanning sensors are protected by a safety shield.

[0011] Preferably, the operating power system includes driving wheels arranged at the front and rear ends of the bottom of the frame welding assembly and auxiliary universal wheels arranged symmetrically.

[0012] Preferably, the servo motor and the main-stage one-to-two reducer are integrated, and the servo motor and the main-stage one-to-two reducer are mounted on the frame welding assembly by bolt four, the secondary one-to-two reducer is mounted on the frame welding assembly by bolt three, the lower end of the lifting column is mounted on the frame welding assembly by bolt two, and the upper end of the lifting column is connected to the lifting bearing bracket by bolt one.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] 1. After the power of the servo motor is decelerated and torque-increased by the main one-to-two reducer, it is transmitted to the secondary one-to-two reducers on the left and right sides through the coupling. The power is redistributed to the front and rear output ends through the secondary one-to-two reducers. The power is finally transmitted to the lifting column through the transmission shaft, thereby pushing the lifting columns at the four corners and the lifting bearing bracket above them to achieve a 300mm stroke rise and fall. By adopting a one-to-four power distribution lifting platform, it can realize the transfer of frame-type steel structure tooling with a load of 5T and a lifting height of 300mm and the materials carried by it;

[0015] 2. The installation height of the navigation locator is between the lowest position of the lifting support and the cover component. Its function is to install the navigation locator and provide a suitable installation height to ensure that the infrared ray of the navigation locator can scan the reflective column and determine its own position through the built-in map. At the same time, the vehicle can maintain a safe distance from the two sides of the channel by scanning the reflective columns on the left and right sides of the channel.

[0016] 3. According to the needs of the guided vehicle operation detection, the four corners are arranged to increase the protection range of the front and rear ends of the guided vehicle. The safety touch edges arranged around the frame welding assembly and the obstacle avoidance scanning sensors arranged at the four corners provide obstacle avoidance protection for the entire machine in the maximum range;

[0017] To sum up, the utility model adopts a one-to-four power distribution lifting platform, which can realize the transfer of frame-type steel structure tooling with a load of 5T and a lifting height of 300mm and the materials carried by it, that is, to realize the material transfer operation needs from the production workshop to spraying and then to warehousing; at the same time, by configuring the automatic navigation scanning and recognition sensor solution, it abandons the traditional magnetic track navigation, landmark and card reader recognition and positioning solution, overcomes the shortcomings of the existing recognition and positioning solution, and greatly improves the efficiency of transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the utility model;

[0019] Figure 2 It is a schematic diagram of the structure of the utility model when viewed from above;

[0020] Figure 3 It is the front view of the utility model;

[0021] Figure 4 It is a top view of the utility model;

[0022] Figure 5 It is a bottom view of the utility model;

[0023] Figure 6 This is a schematic diagram of the structure of the utility model when maintaining safe driving between the reflective columns on the left and right sides of the passage;

[0024] Figure 7 It is a structural schematic diagram of the power lifting device in the utility model;

[0025] Figure 8 It is a schematic diagram of the structure of the power lifting device in the utility model when the lifting bearing bracket is removed;

[0026] Fig. 9 It is a structural schematic diagram of the mounting support in the utility model;

[0027] Fig.10 It is a schematic diagram of the structure when the mounting support and the power lifting device in the utility model are installed;

[0028] Fig.11 It is a structural schematic diagram of the servo motor during installation in the utility model.

[0029] In the figure: 1. Power lifting device; 2. Vehicle carrier; 3. Navigation and positioning system; 4. Environmental safety operation detection system; 5. Operation power system; 11. Lifting support; 12. Lifting column; 13. Transmission shaft; 14. Secondary one-to-two reducer; 15. Servo motor; 16. Main one-to-two reducer; 17. Coupling; 18. Bolt one; 19. Bolt two; 110. Bolt three; 111. Bolt four; 21. Frame welding assembly; 22. Cover assembly; 31. Reflective column; 32. Navigation and positioning instrument; 33. Mounting support; 34. Bolt five; 41. Safety touch edge; 42. Obstacle avoidance scanning sensor; 43. Safety shield; 51. Driving wheel; 52. Auxiliary universal wheel; 331. Bolt and nut assembly; 332. Shock-absorbing spring; 333. Support plate; 334. Bracket. DETAILED DESCRIPTION

[0030] The present invention will be further described below through specific embodiments in conjunction with the accompanying drawings.

[0031] Embodiment 1:

[0032] like Figure 1-2 As shown in 7-8, a heavy-load transfer automatic guided vehicle with a power distribution four-lifting platform includes a whole vehicle carrier 2, on which a power lifting device 1 and a navigation and positioning system 3 are arranged, an environmental safety operation detection system 4 is arranged on the side, and an operation power system 5 is arranged at the bottom. The power lifting device 1 includes a servo motor 15 and a main-stage one-to-two reducer 16 connected to the servo motor 15 in transmission, the two ends of the main-stage one-to-two reducer 16 are respectively connected to a secondary one-to-two reducer 14 through a coupling 17, the two ends of the secondary one-to-two reducer 14 are respectively connected to a lifting column 12 through a transmission shaft 13, and the upper ends of the four lifting columns 12 are connected to a lifting bearing bracket 11.

[0033] In this embodiment, the power from the servo motor 15 is decelerated and torque-increased by the primary one-to-two reducer 16, and then transmitted to the secondary one-to-two reducers 14 on the left and right sides through the coupling 17. The power is redistributed to the front and rear output ends through the secondary one-to-two reducers 14. The power is finally transmitted to the lifting column 12 through the transmission shaft 13, thereby pushing the lifting columns 12 at the four corners and the lifting support bracket 11 above them to achieve a 300mm stroke of rising and falling.

[0034] Embodiment 2:

[0035] like Figure 3-4As shown, a heavy-load transfer automatic guided vehicle with a power distribution type four-lifting platform is different from Example 1 in that the vehicle carrier 2 includes a frame welding assembly 21 and a cover assembly 22 arranged on the top of the frame welding assembly 21. Among them, the vehicle carrier 2 is the carrier of the vehicle, which mainly plays the role of installing and protecting other systems of the carrier guide vehicle.

[0036] like Figure 6 As shown, the navigation and positioning system 3 includes a vehicle running path positioning reflective column 31, a mounting bracket 33 mounted on the frame welding assembly 21, and a navigation positioning device 32 mounted on the mounting bracket 33. The mounting bracket 33 is mounted on the mounting hole of the frame welding assembly 21 through a bolt 34. Fig. 9 As shown, the mounting support 33 includes a support plate 333 for mounting the navigation locator 32 , and the four corners of the support plate 333 are connected to a bracket 334 via a damping spring 332 and a bolt and nut assembly 331 , and the bracket 334 is mounted on the frame welding assembly 21 .

[0037] In this embodiment, the installation height of the navigation locator 32 is located between the lowest position of the lifting support bracket 11 and the cover assembly 22. Its function is to be used for the installation of the navigation locator 32, and at the same time provide a suitable installation height to ensure that the infrared rays of the navigation locator 32 can scan the reflective column 31, determine its own position through the built-in map, and at the same time maintain a safe operating distance between the vehicle and the two sides of the channel by scanning the reflective columns 31 on the left and right sides of the channel.

[0038] Furthermore, in addition to the identification and positioning of the navigation locator 32 to provide a safe distance, the automatic guided vehicle is also equipped with an environmental safety operation detection system 4. Figure 3-4 As shown, the environmental safety operation detection system 4 includes safety touch edges 41 arranged around the frame welding assembly 21 and obstacle avoidance scanning sensors 42 arranged at the four corners of the frame welding assembly 21; wherein, the obstacle avoidance scanning sensor 42 is protected by a safety shield 43, and is arranged at the four corners according to the needs of the guide vehicle operation detection, thereby increasing the protection range of the front and rear ends of the guide vehicle, and providing obstacle avoidance protection for the entire machine to the maximum extent through the safety touch edges 41 arranged around the frame welding assembly 21 and the obstacle avoidance scanning sensors 42 arranged at the four corners.

[0039] like Figure 5 As shown, the running power system 5 includes driving wheels 51 and symmetrically arranged auxiliary universal wheels 52 arranged at the front and rear ends of the bottom of the frame welding assembly 21. Further, the running power system 5 of the utility model adopts a six-wheel gear train arrangement, including two driving wheels 51 with vibration reduction devices and four auxiliary universal wheels 52, so as to adapt the whole vehicle to have good adhesion performance with the ground and ensure the power of the whole vehicle operation.

[0040] like Figure 10-11 As shown, the servo motor 15 and the main-stage one-to-two reducer 16 are integrated, and the servo motor 15 and the main-stage one-to-two reducer 16 are installed on the frame welding assembly 21 through bolt four 111, the secondary one-to-two reducer 14 is installed on the frame welding assembly 21 through bolt three 110, the lower end of the lifting column 12 is installed on the frame welding assembly 21 through bolt two 19, and the upper end of the lifting column 12 is connected to the lifting load-bearing bracket 11 through bolt one 18, and the lifting column 12 drives the lifting load-bearing bracket 11 to rise and fall.

Claims

1. A heavy-load transport automatic guided vehicle with four power-distribution lifting platforms, characterized in that: The invention comprises a vehicle carrier (2), wherein a power lifting device (1) and a navigation positioning system (3) are arranged on the vehicle carrier (2), an environmental safety operation detection system (4) is arranged on the side, and an operation power system (5) is arranged at the bottom. The power lifting device (1) comprises a servo motor (15) and a main-stage one-to-two reducer (16) connected to the servo motor (15) in a transmission manner. The two ends of the main-stage one-to-two reducer (16) are respectively connected to a secondary one-to-two reducer (14) through a coupling (17), and the two ends of the secondary one-to-two reducer (14) are respectively connected to a lifting column (12) through a transmission shaft (13), and the upper ends of the four lifting columns (12) are connected to a lifting support bracket (11).

2. The heavy-load transfer automatic guided vehicle with four-lifting platforms and power distribution according to claim 1 is characterized in that: The whole vehicle carrier (2) comprises a vehicle frame welding assembly (21) and a cover component assembly (22) arranged on the top of the vehicle frame welding assembly (21).

3. The heavy-load transfer automatic guided vehicle with four-lifting platforms and power distribution according to claim 2 is characterized in that: The navigation and positioning system (3) comprises a mounting support (33) mounted on the vehicle frame welding assembly (21) and a navigation and positioning instrument (32) mounted on the mounting support (33).

4. The heavy-load transfer automatic guided vehicle with four-lifting platforms and power distribution according to claim 3 is characterized by: The mounting support (33) comprises a support plate (333) for mounting a navigation locator (32); the four corners of the support plate (333) are connected to a bracket (334) via a damping spring (332) and a bolt and nut assembly (331); and the bracket (334) is mounted on a vehicle frame welding assembly (21).

5. The heavy-load transfer automatic guided vehicle with four jacking platforms of power distribution type according to any one of claims 2 to 4, characterized in that: The environmental safety operation detection system (4) comprises safety touch edges (41) arranged around the vehicle frame welding assembly (21) and obstacle avoidance scanning sensors (42) arranged at the four corners of the vehicle frame welding assembly (21).

6. The heavy-load transfer automatic guided vehicle with four jacking platforms and power distribution according to any one of claims 2 to 4, characterized in that: The operating power system (5) comprises driving wheels (51) arranged at the front and rear ends of the bottom of the vehicle frame welding assembly (21) and auxiliary universal wheels (52) arranged symmetrically.

7. The heavy-load transfer automatic guided vehicle with four jacking platforms and power distribution according to any one of claims 1 to 4, characterized in that: The servo motor (15) and the primary one-to-two reducer (16) are mounted on the frame welding assembly (21) by means of bolts four (111), the secondary one-to-two reducer (14) is mounted on the frame welding assembly (21) by means of bolts three (110), the lower end of the lifting column (12) is mounted on the frame welding assembly (21) by means of bolts two (19), and the upper end of the lifting column (12) is connected to the lifting support bracket (11) by means of bolts one (18).

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