Automated Guided Vehicles

Abstract

The automatic guided transport vehicle disclosed in the embodiment of the utility model includes, for example, a vehicle body; a lifting assembly connected to one end of the vehicle body and capable of moving up and down relative to the vehicle body; and a grabbing assembly connected to the lifting assembly to fix and grab a gas cylinder. The embodiment of the utility model can improve the handling efficiency of the gas cylinder.

Description

Technical Field

[0001] The utility model relates to the technical field of steel cylinder transportation, in particular to an automatic guided transport vehicle. Background Art

[0002] Gas cylinders are common containers used by specialty gas manufacturers and in other industrial applications. They are heavy and difficult to handle, especially when filled with specialty gases and held in a vertical position. Existing gas cylinder handling systems primarily rely on manual handling. Manual handling is limited to a single cylinder at a time, so workers spend considerable time moving back and forth. Forklifts are also inefficient, especially when handling long distances. Utility Model Content

[0003] In order to overcome at least some of the defects or deficiencies of the prior art, an embodiment of the present invention provides an automatic guided transport vehicle, which greatly improves the efficiency of transporting gas cylinders.

[0004] On the one hand, an embodiment of the present invention provides an automatic guided transport vehicle, for example, including: a vehicle body; a lifting assembly, connected to one end of the vehicle body and movable up and down relative to the vehicle body; a grabbing assembly, connected to the lifting assembly to fix and grab a gas cylinder; the grabbing assembly includes a vertical plate and multiple sets of fork claws, one side of the vertical plate is connected to the lifting assembly, the multiple sets of fork claws are respectively connected to the side of the vertical plate away from the lifting assembly, and the multiple sets of fork claws are arranged in sequence on the vertical plate in the horizontal direction and are spaced apart from each other; each group of the fork claws includes a supporting claw, a first side claw and a second side claw, the supporting claw is connected to the lower part of the vertical plate, the first side claw and the second side claw are connected to the upper part of the vertical plate and are located above the supporting claw, the first side claw and the second side claw are spaced apart from each other and arranged opposite to each other, and the supporting claw, the first side claw and the second side claw of each group of the fork claws together form a cylinder accommodating space.

[0005] In one embodiment of the present invention, the automatic guided transport vehicle further comprises a side claw adjustment assembly, wherein the side claw adjustment assembly is arranged on the grabbing assembly, and the side claw adjustment assembly connects the vertical plate, the first side claw and the second side claw of the multiple sets of forks.

[0006] In one embodiment of the present invention, the side claw adjustment assembly includes: a power assembly, which is arranged on the vertical plate; an adjustment gear, which is connected to the power assembly and is located on the side of the vertical plate away from the vehicle body; a first rack, which is transmission-connected to the adjustment gear and connected to the first side claws of the multiple groups of forks; a second rack, which is transmission-connected to the adjustment gear and connected to the second side claws of the multiple groups of forks, and the second rack and the first rack are respectively located on opposite sides of the adjustment gear.

[0007] In one embodiment of the present invention, the automatic guided transport vehicle further includes a buffer and shock absorbing component, and the buffer and shock absorbing component is arranged on the grabbing component.

[0008] In one embodiment of the present invention, the buffering and shock absorbing assembly includes: a plurality of claw airbags, respectively arranged on the claws of the multiple groups of fork claws; a plurality of first side claw airbags, respectively arranged on one side of the first side claw of the multiple groups of fork claws adjacent to the second side claw paired therewith; a plurality of second side claw airbags, respectively arranged on one side of the second side claw of the multiple groups of fork claws adjacent to the first side claw paired therewith; and an air guide duct connecting the plurality of claw airbags, the plurality of first side claw airbags and the plurality of second side claw airbags.

[0009] In one embodiment of the present invention, the automatic guided transport vehicle further includes a main control circuit, which is disposed on the vehicle body and electrically connected to the lifting assembly.

[0010] In one embodiment of the present invention, the main control circuit includes a GPS module and a main controller, wherein the GPS module is electrically connected to the main controller, and the main controller is also electrically connected to the lifting assembly.

[0011] In one embodiment of the present invention, the main control circuit further includes a remote control signal receiver, which is electrically connected to the main controller; the automatic guided transport vehicle further includes a remote control, which is wirelessly connected to the remote control signal receiver.

[0012] The above technical solution may have one or more of the following advantages and beneficial effects: The embodiment of the utility model can solve the problem of low handling efficiency in the prior art manual handling by providing a grabbing assembly for fixing and grabbing the gas cylinder, thereby improving the handling efficiency of the gas cylinder. Furthermore, multiple sets of forks are provided on the grabbing assembly to form multiple cylinder accommodating spaces to accommodate multiple gas cylinders, thereby improving the cylinder handling efficiency. The provision of the side claw adjustment assembly makes the clamping of the gas cylinder more convenient. The provision of the buffering and shock absorbing assembly not only achieves buffering and shock absorption of the gas cylinder, but also achieves soft clamping and fixation of the gas cylinder through the side claw airbag, further protecting the gas cylinder from damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0014] Figure 1a This is a schematic diagram of the main structure of an automatic guided transport vehicle provided in an embodiment of the utility model.

[0015] Figure 1b for Figure 1a Schematic diagram of the top view of the automatic guided transport vehicle.

[0016] Figure 1c for Figure 1a Schematic diagram of the right view structure of the automated guided vehicle in .

[0017] Figure 2 for Figure 1a Schematic diagram of the automated guided vehicle with gas cylinders clamped on it.

[0018] Figure 3a A schematic diagram of the main structure of another automatic guided transport vehicle provided in an embodiment of the utility model.

[0019] Figure 3b for Figure 3a Schematic diagram of the right view structure of the automated guided vehicle in .

[0020] Figure 4 for Figure 3a Schematic diagram of the partial cross-sectional structure of the AA section.

[0021] Figure 5 for Figure 3b Schematic diagram of the partial cross-sectional structure of the middle BB section.

[0022] Figure 6 for Figure 3b Schematic diagram of the automated guided vehicle with gas cylinders clamped on it.

[0023] Figure 7a This is a schematic diagram of the main structure of another automatic guided transport vehicle provided in an embodiment of the utility model.

[0024] Figure 7b for Figure 7a Schematic diagram of the top view of the automatic guided transport vehicle.

[0025] Figure 7c for Figure 7a Schematic diagram of the right view structure of the automated guided vehicle in .

[0026] Figure 8 for Figure 7c Schematic diagram of the automated guided vehicle with gas cylinders clamped on it.

[0027] Figure 9 A schematic diagram of the circuit connection relationship of the automatic guided transport vehicle provided in an embodiment of the utility model. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] An embodiment of the present utility model provides an automatic guided transport vehicle 10. The automatic guided transport vehicle 10 is used, for example, to transport gas cylinders. Gas cylinders are used to fill special gases. Typically, special gases refer to gases that have special requirements for purity, variety, and properties and are used in specific fields. Special gases mainly include electronic gases, high-purity gases, and standard gases. Among them, electronic gases refer to gases used in the electronics industry, such as high-purity nitrogen, oxygen, argon, etc., which are mainly used in the manufacture of semiconductors, integrated circuits and other electronic components. High-purity gases refer to gases with extremely high purity, such as high-purity hydrogen, helium, etc., which are widely used in scientific research, medical treatment, energy and other fields. Standard gases refer to gases prepared according to certain standards and specifications, such as standard mixed gases, standard calibration gases, etc., which are widely used in environmental monitoring, quality control and other fields. Specifically, as Figure 1a 、 Figure 1b and Figure 1c As shown, the automated guided vehicle 10 includes, for example, a vehicle body 100, a lifting assembly 200, and a gripping assembly 300. The lifting assembly 200 is connected to one end of the vehicle body 100 and can move up and down relative to the vehicle body 100. The gripping assembly 300 is connected to the lifting assembly 200. The gripping assembly 300 can move up and down relative to the vehicle body 100 along with the lifting assembly 200. The gripping assembly 300 can grasp and carry at least one gas cylinder at a time.

[0030] More specifically, if Figure 1b and Figure 1c As shown, the grabbing assembly 300 includes, for example, a vertical plate 310 and multiple sets of forks 320. One side of the vertical plate 310 is connected to the lifting assembly 200. The multiple sets of forks 320 are respectively connected to one side of the vertical plate 310 away from the lifting assembly 200, and the multiple sets of forks 320 are arranged in sequence on the vertical plate 310 in the horizontal direction and are spaced apart from each other. The number of the multiple sets of forks 320 can be 3 groups, 4 groups or even more groups. The present invention takes 3 groups as an example for illustration, but is not limited thereto. Further, as Figure 1cAs shown, each set of the fork claws 320 includes, for example, a supporting claw 321, a first side claw 322, and a second side claw 323. The supporting claw 321 is connected to the lower portion of the vertical plate 310, and the first side claw 322 and the second side claw 323 are connected to the upper portion of the vertical plate 310 and are located above the supporting claw 321. The first side claw 322 and the second side claw 323 are spaced apart from each other and arranged opposite to each other. The supporting claw 321, the first side claw 322, and the second side claw 323 of each set of the fork claws 320 together enclose a cylinder accommodating space SP. Figure 1b and Figure 2 As shown, the cylinder storage spaces SP can be used to store gas cylinders. It is worth noting that each cylinder storage space SP can accommodate a single gas cylinder or multiple gas cylinders placed side by side, depending on actual site needs. Multiple sets of claws are provided on the gripping assembly 300 to form multiple cylinder storage spaces SP to accommodate multiple gas cylinders, thereby improving cylinder handling efficiency.

[0031] Therefore, the present embodiment of the present invention, by providing a gripping assembly 300, can solve the problem of low handling efficiency of gas cylinders in the prior art manual handling, significantly improving the handling efficiency of gas cylinders. Furthermore, multiple sets of forks are provided on the gripping assembly to form multiple cylinder storage spaces to accommodate multiple gas cylinders, thereby improving cylinder handling efficiency.

[0032] Specifically, the vehicle body 100 is, for example, a main structure of a transport vehicle equipped with an automatic guidance device such as an electromagnetic or optical device, capable of traveling along a prescribed path, and having safety protection and various transfer functions. It adopts a fully automatic control method to replace manual labor, which saves manpower and is easy to use. It has been widely used in the logistics and transportation industry. The specific structure of the vehicle body 100 can refer to the mature technical solutions in the prior art and will not be described in detail here. In addition, the lifting assembly 200 can adopt a mechanism that can convert rotational motion into linear reciprocating motion, such as a ball screw mechanism, a gear rack transmission mechanism, etc. commonly used in the prior art, which can drive the grasping assembly and / or the cylinder to be transported to move up and down.

[0033] In another embodiment of the present invention, Figure 3a and Figure 3b As shown, the automated guided transport vehicle 10 further includes a side claw adjustment assembly 400, which is disposed on the gripping assembly 300 and connects the vertical plate 310, the first side claws 322, and the second side claws 323 of the multiple sets of forks 320. The side claw adjustment assembly 400 is used to adjust the horizontal positions of the first side claws 322 and the second side claws 323 of the multiple sets of forks 320, that is, to adjust the distance between the paired first side claws 322 and the second side claws 323. Specifically, as Figure 4 and Figure 5 As shown, the side claw adjustment assembly 400, for example, includes: a power assembly 410, an adjustment gear 420, a first rack 430, and a second rack 440. The power assembly 410 is disposed on the vertical plate 310, for example, fixedly connected to the vertical plate 310. The power assembly 410 comprises, for example, a drive motor, such as a stepper motor. The adjustment gear 420 is connected to the power assembly 410 and is located on the side of the vertical plate 310 away from the vehicle body 100. The first rack 430 is transmission-connected to the adjustment gear 420 and connected to the first side claws 322 of the multiple sets of fork claws. The second rack 440 is transmission-connected to the adjustment gear 420 and connected to the second side claws 323 of the multiple sets of fork claws. The second rack 440 and the first rack 430 are located on opposite sides of the adjustment gear 420. That is, the adjustment gear 420 is simultaneously connected to the first rack 430 and the second rack 440. In this way, when it is necessary to clamp the gas cylinder, the power assembly 410 first drives the adjustment gear 420 to rotate, and drives the first rack 430 and the second rack 440 to move, while driving the first side claw 322 and the second side claw 323 to move in opposite directions, thereby increasing the distance between the first side claw 322 and the second side claw 323, that is, the width of the cylinder receiving space SP, to facilitate the insertion of the gas cylinder. After the gas cylinder enters the cylinder receiving space SP, the power assembly 410 drives the adjustment gear 420 to rotate in the opposite direction, and drives the first rack 430 and the second rack 440 to move in the opposite direction, while driving the first side claw 322 and the second side claw 323 to move in the opposite direction, thereby reducing the distance between the first side claw 322 and the second side claw 323, thereby clamping the gas cylinder and completing the clamping and fixing of the gas cylinder (see Figure 6 The provision of the side claw adjustment assembly 400 makes it more convenient to clamp the gas cylinder.

[0034] In addition, in another embodiment of the present invention, Figure 7a As shown, the automated guided transport vehicle 10 further includes a buffer and shock absorbing assembly 500. The buffer and shock absorbing assembly 500 is disposed on the gripping assembly 300. The buffer and shock absorbing assembly 500 can reduce damage and wear caused by collision and contact of the gas cylinder with the gripping assembly 300.

[0035] Furthermore, if Figure 7b and Figure 7cAs shown, the buffer shock absorbing assembly 500 includes, for example, a plurality of claw airbags 510, a plurality of first side claw airbags 520, a plurality of second side claw airbags 530, and an air guide duct 540. The plurality of claw airbags 510 are respectively arranged on the claws 321 of the plurality of fork claws 320, for example, bonded to the upper surface of the claws 321. The plurality of claw airbags 510 correspond one-to-one with the claws 321 of the plurality of fork claws 320. The plurality of first side claw airbags 520 are respectively arranged on one side of the first side claws 322 of the plurality of fork claws 320, adjacent to the second side claws 323 corresponding thereto, for example, bonded to the side surface of the first side claws 322. The plurality of first side claw airbags 520 correspond one-to-one with the first side claws 322 of the plurality of fork claws 320. The plurality of second side claw airbags 530 are disposed on the second side claws 323 of the plurality of fork claws 320, adjacent to the corresponding first side claws 322, for example, by being bonded to the side surfaces of the second side claws 323. The plurality of second side claw airbags 530 correspond one-to-one with the second side claws 323 of the plurality of fork claws 320. An air duct 540 connects the plurality of claw support airbags 510, the plurality of first side claw airbags 520, and the plurality of second side claw airbags 530. The air duct 540 is comprised of multiple sections, each connecting the plurality of claw support airbags 510, the plurality of first side claw airbags 520, and the plurality of second side claw airbags 530. In this way, the multiple claw airbags 510, the multiple first side claw airbags 520 and the multiple second side claw airbags 530 are connected to form an airbag as a whole, and the air pressure inside the multiple claw airbags 510, the multiple first side claw airbags 520 and the multiple second side claw airbags 530 is the same.

[0036] The plurality of claw support airbags 510, the plurality of first side claw airbags 520, and the plurality of second side claw airbags 530 are each hollow rubber parts, for example. Each of the plurality of claw support airbags 510, the plurality of first side claw airbags 520, and the plurality of second side claw airbags 530 may store a gas, such as nitrogen. The gas conduit 540 may be made of polyurethane tubing, for example.

[0037] When the gas cylinder is placed on the claw airbag 510, the pressurized gas in the claw airbag 510 will enter the first side claw airbag 520 and the second side claw airbag 530 through the air guide pipe 540, and the internal air pressure of the first side claw airbag 520 and the second side claw airbag 530 will increase, so that the first side claw airbag 520 and the second side claw airbag 530 will expand, so that the first side claw airbag 520 and the second side claw airbag 530 will generate a squeezing force on the gas cylinder, thereby not only achieving buffering and shock absorption of the gas cylinder, but also achieving soft clamping and fixation of the gas cylinder by the side claw airbag (see Figure 8), further protecting the gas cylinder from damage. When the gas cylinder needs to be removed, the gas cylinder is slightly lifted, and the pressure on the claw airbag 510 is reduced, causing it to automatically rebound, thereby reducing the pressure inside the first side claw airbag 520 and the second side claw airbag 530. The gas inside the first side claw airbag 520 and the second side claw airbag 530 flows back into the claw airbag 510 through the air guide duct 540, releasing the clamping force of the first side claw airbag 520 and the second side claw airbag 530, thereby reducing the squeezing force on the gas cylinder and loosening the soft clamping and fixation of the gas cylinder.

[0038] Optionally, the air duct 540 sequentially and cyclically connects the plurality of claw airbags 510, the plurality of first side claw airbags 520, and the plurality of second side claw airbags 530. In this way, a circulating air path can be formed, which can enable the gas in the plurality of claw airbags 510, the plurality of first side claw airbags 520, and the plurality of second side claw airbags 530 to flow more quickly among the airbags, thereby improving the response efficiency of the cushioning and shock absorbing assembly 500.

[0039] Typically, the AGV 10 also includes, for example, a main control circuit 600. The main control circuit 600 is mounted on the vehicle body 100 and electrically connected to the lifting assembly 200. The main control circuit 600, for example, is an onboard controller commonly used in conventional vehicles and is used to control the normal operation of the entire AGV 10. The control commands for the gas cylinder handling process mentioned above are all issued and implemented by the main controller 610.

[0040] Furthermore, if Figure 9 As shown, the main control circuit 600 includes a GPS module 620 and a main controller 610. The GPS module 620 is electrically connected to the main controller 610, and the main controller 610 is also electrically connected to the lifting assembly 200. The main controller 610 is, for example, an electronic component with data processing and control functions, such as an MCU and a DSP. After the grabbing assembly 300 clamps the gas cylinder, it controls the transportation route of the vehicle body 100 through the GPS module 620 according to the instructions of the main controller 610, transfers the gas cylinder, and unloads it to a designated post or storage area. After the cylinder is unloaded, the vehicle body 100 will move to the next work area according to the instructions of the main controller 610 and repeat the gas cylinder transportation work.

[0041] In addition, the main control circuit 600 may further include a remote control signal receiver 630, which is electrically connected to the main controller 610. The automated guided transport vehicle 10 also includes a remote control 700, which is wirelessly connected to the remote control signal receiver 630. The remote control 700 is used for user operation and for issuing user control instructions. The remote control signal receiver 630 is used, for example, to receive user control instructions and transmit the user control instructions to the main controller 610 for identification and processing by the main controller 610. The remote control 700 and the remote control signal receiver 630 may, for example, use wireless modules such as Bluetooth transmission modules and WiFi modules for data transmission, but the present invention is not limited thereto. Of course, the remote control 700 may also be connected to the remote control signal receiver 630 via a cable.

[0042] Typically, the GPS module 620 and the main controller 610 control the movement route of the AGV 10 in real time. The remote control signal receiver 630 and the remote controller 700 are used in specific situations and operating conditions, such as when the GPS module 620 fails or when the movement route is not specified, to ensure the correct movement route of the AGV 10. The main controller 610 controls the entire AGV 10, implementing the entire workflow of the AGV 10 for grabbing, moving, and placing cylinders.

[0043] In addition, in another embodiment of the present invention, the grabbing assembly 300 includes, for example, at least one robotic arm (not shown in the figure). The number of the at least one robotic arm can be one or more. Specifically, one end of the at least one robotic arm is connected to the lifting assembly 200, and the other end is a free end, which can be used to grab and fix the gas cylinder. Typically, the robotic arm is, for example, a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. Because the robotic arm has unique operational flexibility, it has been widely used in industrial loading and unloading, transportation, safety and explosion protection, and other fields. The specific structure of the robotic arm can refer to the mature technical solutions in the prior art and will not be repeated here. Under the control of the control instruction, the robotic arm can grab the gas cylinder, and then the automatic guided transport vehicle will transport the gas cylinder to the destination, and the robotic arm will unload the gas cylinder, thereby completing the transportation of other cylinders.

[0044] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate from the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An automated guided transport vehicle, characterized in that: include: Vehicle body; A lifting assembly connected to one end of the vehicle body and capable of moving up and down relative to the vehicle body; as well as A grabbing assembly is connected to the lifting assembly to fix and grab the gas cylinder; the grabbing assembly includes a vertical plate and multiple groups of fork claws, one side of the vertical plate is connected to the lifting assembly, the multiple groups of fork claws are respectively connected to the side of the vertical plate away from the lifting assembly, and the multiple groups of fork claws are arranged in sequence on the vertical plate in the horizontal direction and are spaced apart from each other; each group of the fork claws includes a supporting claw, a first side claw and a second side claw, the supporting claw is connected to the lower part of the vertical plate, the first side claw and the second side claw are connected to the upper part of the vertical plate and are located above the supporting claw, the first side claw and the second side claw are spaced apart from each other and arranged oppositely, and the supporting claw, the first side claw and the second side claw of each group of the fork claws together enclose a cylinder accommodating space.

2. The automated guided vehicle according to claim 1, wherein: The automatic guided transport vehicle also includes a side claw adjustment assembly, which is arranged on the grabbing assembly and connects the vertical plate, the first side claw and the second side claw of the multiple sets of forks.

3. The automated guided vehicle according to claim 2, wherein: The side claw adjustment assembly comprises: A power assembly is arranged on the vertical plate; An adjusting gear connected to the power assembly and located on a side of the vertical plate away from the vehicle body; a first rack, drivingly connected to the adjusting gear and connected to the first side claws of the plurality of sets of fork claws; The second rack is transmission-connected to the adjusting gear and connected to the second side claws of the plurality of fork claws. The second rack and the first rack are respectively located on two opposite sides of the adjusting gear.

4. The automated guided vehicle according to claim 1, wherein: The automatic guided transport vehicle further comprises a buffer and shock absorbing assembly, and the buffer and shock absorbing assembly is arranged on the grabbing assembly.

5. The automated guided vehicle according to claim 4, wherein: The buffer shock absorbing component comprises: A plurality of claw air bags are respectively arranged on the claws of the plurality of groups of fork claws; A plurality of first side claw air bags are respectively arranged on one side of the first side claws of the plurality of groups of fork claws, adjacent to a second side claw paired therewith; A plurality of second side claw air bags, respectively arranged on one side of the second side claws of the plurality of groups of fork claws, adjacent to the first side claws paired therewith; The air guide duct is connected between the plurality of claw airbags, the plurality of first side claw airbags and the plurality of second side claw airbags.

6. The automated guided vehicle according to claim 1, wherein: The automatic guided transport vehicle further includes a main control circuit, which is disposed on the vehicle body and electrically connected to the lifting assembly.

7. The automated guided vehicle according to claim 6, wherein: The main control circuit includes a GPS module and a main controller, wherein the GPS module is electrically connected to the main controller, and the main controller is also electrically connected to the lifting assembly.

8. The automated guided vehicle according to claim 7, wherein: The main control circuit also includes a remote control signal receiver, which is electrically connected to the main controller; the automatic guided transport vehicle also includes a remote control, which is wirelessly connected to the remote control signal receiver.

Images