Double-station double-lifting type AGV

Abstract

The double-station double-lifting type AGV comprises an AGV body and lifting frames, the lifting frames comprise the first lifting frame and the second lifting frame, a plurality of first positioning grooves are formed in the first lifting frame, a plurality of second positioning grooves are formed in the second lifting frame, a placing area is formed between the first positioning grooves and the second positioning grooves, and the first positioning grooves and the second positioning grooves are communicated with each other. The AGV body is provided with a first positioning groove and a second positioning groove, the two ends of a material are positioned and fixed between the first lifting frame and the second lifting frame through the first positioning groove and the second positioning groove correspondingly, a moving mechanism is arranged at the lower end of the AGV body, and a lifting mechanism is arranged on the AGV body and used for driving the first lifting frame and the second lifting frame to integrally ascend and descend. According to the double-station AGV, due to the double-station design, the AGV can process two materials at the same time, compared with a traditional single-station AGV, the material carrying efficiency is remarkably improved, the materials can be more effectively fixed and carried through the double-lifting-frame structure, and the instability and the potential damage risk in the transportation process are reduced.

Description

Technical Field

[0001] The utility model relates to the field of AGV technical equipment, and particularly relates to a double-station double-lifting AGV. Background Technique

[0002] With the continuous development of automation and intelligent manufacturing technologies, automated guided vehicles (AGVs) are increasingly widely used in the fields of logistics and warehousing. Traditional AGVs are usually designed as single-station single-lifting types, and such designs have limitations in handling large or long-shaped materials, such as inaccurate positioning, low transportation efficiency, etc. To improve the efficiency and stability of material handling, double-station double-lifting AGVs have emerged. Through the double-station design, such AGVs can handle two materials simultaneously, and the double-lifting frame structure can more effectively fix and transport materials, thus meeting the requirements of efficient and precise logistics.

[0003] However, the current double-station double-lifting AGVs on the market still need to be improved in terms of structural design, positioning accuracy, transportation stability, and intelligent control.

[0004] The present invention aims to solve these problems and provides a double-station double-lifting AGV with a stable structure, precise positioning, and intelligent operation. Content of the Utility Model

[0005] The purpose of the utility model is to solve the above technical problems, and thus provides a double-station double-lifting AGV;

[0006] To solve the above technical problems, the utility model provides the following technical solutions:

[0007] The utility model provides a double-station double-lifting AGV,

[0008] including an AGV body and a lifting frame. The lifting frame includes a first lifting frame and a second lifting frame. The first lifting frame and the second lifting frame are respectively arranged on both sides of the upper end of the AGV body. A plurality of first positioning grooves are formed on the first lifting frame, and a plurality of second positioning grooves are formed on the second lifting frame. The first positioning grooves and the second positioning grooves are correspondingly arranged and are located on the same horizontal axis. A placement area is formed between the first positioning grooves and the second positioning grooves. Both ends of the material are respectively positioned and fixed between the first lifting frame and the second lifting frame through the first positioning grooves and the second positioning grooves. A moving mechanism is arranged at the lower end of the AGV body, and a lifting mechanism is arranged on the AGV body. The lifting mechanism is used to drive the overall lifting of the first lifting frame and the second lifting frame.

[0009] Optionally, the moving mechanism includes a first guide wheel, a second guide wheel, and a third guide wheel. The first guide wheel and the second guide wheel are respectively arranged on both sides of the lower end of the AGV body, and the third guide wheel is arranged in the middle of the lower end of the AGV body. The first guide wheel and the second guide wheel are both arranged as universal wheels, and the third guide wheel is arranged as a driving wheel.

[0010] Optionally, the lifting mechanism includes a hydraulic cylinder and a piston rod. The hydraulic cylinder is fixedly installed on the AGV body. One end of the piston rod is connected to the hydraulic cylinder, and the other end is connected to the first lifting frame and the second lifting frame. The lifting of the first lifting frame and the second lifting frame is controlled by the telescopic movement of the hydraulic cylinder.

[0011] Optionally, it further includes a control system, which is electrically connected to the hydraulic cylinder and the moving mechanism for controlling the telescopic movement of the hydraulic cylinder and the movement of the moving mechanism.

[0012] Optionally, the control system includes a positioning module, which is used to determine the current position of the AGV body and plan the moving route of the AGV body according to a preset path.

[0013] Optionally, anti-slip materials are provided on the inner walls of the first positioning groove and the second positioning groove to prevent the materials from sliding during transportation.

[0014] Optionally, it further includes a safety device, which includes a sensor and an alarm. The sensor is arranged on the first lifting frame and the second lifting frame for detecting the stable state of the materials. When the materials are in an unstable state, the sensor will trigger the alarm to send out an alarm.

[0015] Advantages of the present utility model

[0016] The dual-station design of this application enables the AGV to process two materials simultaneously, significantly improving the efficiency of material handling compared with traditional single-station AGVs. The double-lifting frame structure can more effectively fix and transport materials, reducing instability and potential damage risks during transportation.

[0017] In this application, by providing corresponding positioning grooves on the lifting frame, precise positioning of the materials is achieved, ensuring the stability of the materials during handling. The application of anti-slip materials further enhances the stability of the materials in the positioning grooves, preventing sliding during transportation. The lifting mechanism composed of a hydraulic cylinder and a piston rod can flexibly adjust the height of the lifting frame to adapt to materials of different sizes. Brief description of the drawings

[0018] Figure 1 It is a three-dimensional structural view of the present utility model in the state of assembling materials.

[0019] Figure 2 This is the front view of the assembly material state structure of the present utility model.

[0020] Figure 3 This is the side view of the assembly material state structure of the present utility model.

[0021] Explanation of reference numerals: 1 - AGV body, 2 - first lifting frame, 3 - second lifting frame, 4 - first positioning groove, 5 - second positioning groove, 6 - first guide wheel, 7 - second guide wheel, 8 - third guide wheel. Detailed implementation manners

[0022] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

[0023] Embodiment

[0024] As Figures 1 - 3 shown, the present utility model provides a double-station double-lifting type AGV,

[0025] including an AGV body 1 and a lifting frame. The lifting frame includes a first lifting frame 2 and a second lifting frame 3. The first lifting frame 2 and the second lifting frame 3 are respectively arranged on both sides of the upper end of the AGV body 1. A plurality of first positioning grooves 4 are formed on the first lifting frame 2, and a plurality of second positioning grooves 5 are formed on the second lifting frame 3. The first positioning grooves 4 and the second positioning grooves 5 are correspondingly arranged and located on the same horizontal axis. A placement area is formed between the first positioning grooves 4 and the second positioning grooves 5. Both ends of the material are positioned and fixed between the first lifting frame 2 and the second lifting frame 3 through the first positioning grooves 4 and the second positioning grooves 5 respectively. A moving mechanism is arranged at the lower end of the AGV body 1, and a lifting mechanism is arranged on the AGV body 1. The lifting mechanism is used to drive the overall lifting of the first lifting frame 2 and the second lifting frame 3.

[0026] The moving mechanism includes a first guide wheel 6, a second guide wheel 7, and a third guide wheel 8. The first guide wheel 6 and the second guide wheel 7 are respectively arranged on both sides of the lower end of the AGV body 1. The third guide wheel 8 is arranged in the middle of the lower end of the AGV body 1. The first guide wheel 6 and the second guide wheel 7 are both arranged as universal wheels, and the third guide wheel 8 is arranged as a driving wheel.

[0027] The lifting mechanism includes a hydraulic cylinder and a piston rod. The hydraulic cylinder is fixedly installed on the AGV body 1. One end of the piston rod is connected to the hydraulic cylinder, and the other end is connected to the first lifting frame 2 and the second lifting frame 3. The lifting of the first lifting frame 2 and the second lifting frame 3 is controlled by the telescopic movement of the hydraulic cylinder.

[0028] It also includes a control system. The control system is electrically connected to the hydraulic cylinder and the moving mechanism, and is used to control the telescopic movement of the hydraulic cylinder and the movement of the moving mechanism. Specifically:

[0029] The implementation of the control system mainly involves two aspects: hardware and software. The specific details are as follows:

[0030] Hardware aspect:

[0031] Core controller: The control system usually uses a programmable logic controller (PLC) or a dedicated AGV controller as the core. This type of controller has powerful data processing capabilities and rich interfaces, and can meet complex control requirements.

[0032] Electrical connection: The control system is electrically connected to the hydraulic cylinder and the moving mechanism through cables. These connections usually include control signal lines, power lines, and feedback signal lines, ensuring that the controller can accurately send instructions and receive feedback from the actuators.

[0033] Sensors and actuators: Sensors such as position sensors and pressure sensors and actuators such as motor drivers and solenoid valves are installed on the hydraulic cylinder and the moving mechanism. The sensors are used to monitor the telescopic state of the hydraulic cylinder and the position of the moving mechanism in real time, and the actuators are responsible for driving the hydraulic cylinder and the moving mechanism according to the instructions of the controller.

[0034] Software aspect:

[0035] Control algorithm: Sophisticated control algorithms are embedded in the control system. These algorithms calculate the optimal control instructions based on the real-time state of the AGV such as position, speed, load, etc. and the preset target state.

[0036] Instruction issuing and feedback processing: The controller issues specific control instructions to the hydraulic cylinder and the moving mechanism according to the results of the control algorithm, such as the telescopic amount, telescopic speed, moving direction, moving speed, etc. At the same time, the controller continuously receives feedback data from the sensors to monitor and adjust the actual state of the AGV in real time.

[0037] Safety protection mechanism: A safety protection mechanism is also integrated in the control system. For example, it can automatically stop or avoid when encountering obstacles or abnormal situations, ensuring the safety of the AGV during operation.

[0038] Communication Interfaces and Protocols: The control system also has the ability to communicate with external systems. Through standard communication interfaces and protocols such as CAN bus, Ethernet, etc., it realizes data exchange and collaborative work with the host computer system or other intelligent devices.

[0039] In summary, through the close combination of hardware and software, the control system achieves precise control over the telescopic movement of the hydraulic cylinder and the movement of the moving mechanism, thus ensuring the efficient and stable operation of the AGV.

[0040] The control system includes a positioning module. The positioning module is used to determine the current position of the AGV body 1 and plan the movement route of the AGV body 1 according to a preset path. Specifically:

[0041] Suppose in an automated warehouse, the AGV is used to transport goods from the storage area to the loading and unloading area. The floor layout of the warehouse is known, and multiple optimized movement routes have been preset.

[0042] Initialization and Positioning:

[0043] When the AGV starts and begins to work, the positioning module first uses built-in sensors such as laser scanners, ultrasonic sensors, encoders, or GPS to identify the surrounding environment and determine the initial position of the AGV.

[0044] For example, the laser scanner can scan the feature points in the warehouse such as walls, shelves, or other fixed facilities and compare them with the pre-constructed map to accurately calculate the current coordinates of the AGV.

[0045] Path Planning:

[0046] Once the starting position is determined, the positioning module will plan the optimal movement route according to the preset path and task objectives such as the coordinates of the loading and unloading area.

[0047] This planning process may involve considering various factors such as the length of the path, the position of obstacles, traffic conditions, and the dynamic positions of other AGVs.

[0048] Planning algorithms such as Dijkstra or dynamic programming will find the shortest or fastest path from the starting point to the ending point on the map data.

[0049] Navigation and Real-time Adjustment:

[0050] During the movement of the AGV, the positioning module will continuously update the position information of the AGV and compare it with the preset path to ensure that the AGV moves along the correct route.

[0051] If it encounters obstacles or other AGVs, the positioning module will recalculate the path to avoid obstacles or adjust the speed to ensure safety.

[0052] Reaching the target:

[0053] When the AGV approaches the target position, the positioning module makes fine adjustments to ensure that the AGV can accurately dock at the designated loading and unloading area.

[0054] Once the target is reached, the positioning module confirms the position and sends a signal to the control system for the next operation, such as loading and unloading goods or waiting for new instructions.

[0055] In this way, the positioning module plays a crucial role in the autonomous navigation of the AGV, enabling it to efficiently and accurately complete tasks in a complex warehouse environment.

[0056] Anti-slip materials are provided on the inner walls of the first positioning groove 4 and the second positioning groove 5 to prevent the materials from sliding during transportation.

[0057] It also includes a safety device. The safety device includes sensors and alarms. The sensors are arranged on the first lifting frame 2 and the second lifting frame 3 and are used to detect the stable state of the materials. When the materials are in an unstable state, the sensors will trigger the alarms to give an alarm.

[0058] The double-station double-lifting AGV provided by this application mainly consists of an AGV body 1, lifting frames, a moving mechanism, and a lifting mechanism. Through the lifting mechanism composed of a hydraulic cylinder and a piston rod, the overall lifting of the first lifting frame 2 and the second lifting frame 3 can be controlled, thereby realizing the handling of materials. The moving mechanism is responsible for the movement of the AGV body 1. Through the cooperation of the first guide wheel 6, the second guide wheel 7, and the third guide wheel 8, the AGV can move flexibly in different directions.

[0059] In addition, the control system conducts intelligent management of the operations of the entire AGV, including the telescopic control of the hydraulic cylinder and the motion control of the moving mechanism. The positioning module ensures that the AGV can move precisely along the preset path. The application of anti-slip materials and safety devices further enhances the stability and safety of material handling.

[0060] This application includes the following working steps during use:

[0061] Initialization: Start the AGV, and the control system conducts self-checks to ensure that all components such as hydraulic cylinders, guide wheels, sensors, etc. are in normal working conditions.

[0062] Positioning and path planning: The positioning module determines the current position of the AGV and plans the optimal moving route according to the preset warehouse map and handling tasks.

[0063] Moving to the material position: Under the instruction of the control system, the moving mechanism drives the AGV to move along the planned route to the position where the material is located.

[0064] Material handling preparation: After reaching the material position, the lifting mechanism lowers the first lifting frame 2 and the second lifting frame 3 to an appropriate height through the hydraulic cylinder and the piston rod.

[0065] Material positioning and fixation: Place the material between the first lifting frame 2 and the second lifting frame 3, ensure that both ends of the material are positioned through the first positioning groove 4 and the second positioning groove 5 respectively, and the anti-slip material ensures that the material does not slide during transportation.

[0066] Material handling: After the lifting mechanism raises the lifting frame and fixes the material, the moving mechanism starts again, and moves the AGV and the material together to the target position.

[0067] Material unloading: After reaching the target position, the lifting mechanism lowers the lifting frame and places the material at the designated position.

[0068] Safety monitoring: During the entire handling process, the safety device continuously monitors the stable state of the material. If the sensor detects that the material is unstable or abnormal, it will immediately trigger the alarm to sound an alarm and notify the control system to take corresponding safety measures.

[0069] Task completion and return: After completing the material handling task, the AGV returns to the initial position or the next task point according to the instruction of the control system, and waits for the next handling instruction.

[0070] The double-station design of this application enables the AGV to process two materials simultaneously. Compared with the traditional single-station AGV, it significantly improves the efficiency of material handling. The double-lifting frame structure can more effectively fix and handle the material, reducing the instability and potential damage risk during transportation.

[0071] This application realizes the precise positioning of the material by setting corresponding positioning grooves on the lifting frame, ensuring the stability of the material during handling. The application of the anti-slip material further enhances the stability of the material in the positioning groove, preventing sliding during transportation. The lifting mechanism composed of the hydraulic cylinder and the piston rod can flexibly adjust the height of the lifting frame to adapt to materials of different sizes.

[0072] The control system of this application is electrically connected to the hydraulic cylinder and the moving mechanism, realizing the intelligent management of various operations of the AGV, including the telescopic control of the hydraulic cylinder and the motion control of the moving mechanism. The positioning module can accurately determine the position of the AGV and plan the moving route according to the preset path, enabling the AGV to complete tasks independently and efficiently.

[0073] Finally, it should be noted that the above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A double-station double-lifting type AGV, characterized in that it includes an AGV body and a lifting frame. The lifting frame includes a first lifting frame and a second lifting frame. The first lifting frame and the second lifting frame are respectively arranged on both sides of the upper end of the AGV body. A number of first positioning grooves are provided on the first lifting frame, and a number of second positioning grooves are provided on the second lifting frame. The first positioning grooves and the second positioning grooves are correspondingly arranged and located on the same horizontal axis. A placement area is formed between the first positioning groove and the second positioning groove. Both ends of the material are positioned and fixed between the first lifting frame and the second lifting frame through the first positioning groove and the second positioning groove respectively. A moving mechanism is arranged at the lower end of the AGV body, and a lifting mechanism is arranged on the AGV body. The lifting mechanism is used to drive the overall lifting of the first lifting frame and the second lifting frame.

2. The double-station double-lifting type AGV according to claim 1, characterized in that the moving mechanism includes a first guide wheel, a second guide wheel and a third guide wheel. The first guide wheel and the second guide wheel are respectively arranged on both sides of the lower end of the AGV body, and the third guide wheel is arranged in the middle of the lower end of the AGV body. The first guide wheel and the second guide wheel are both arranged as universal wheels, and the third guide wheel is arranged as a driving wheel.

3. The double-station double-lifting type AGV according to claim 1, characterized in that the lifting mechanism includes a hydraulic cylinder and a piston rod. The hydraulic cylinder is fixedly installed on the AGV body. One end of the piston rod is connected to the hydraulic cylinder, and the other end is connected to the first lifting frame and the second lifting frame. The lifting of the first lifting frame and the second lifting frame is controlled by the telescopic movement of the hydraulic cylinder.

4. The double-station double-lifting type AGV according to claim 3, characterized in that it further includes a control system, and the control system is electrically connected to the hydraulic cylinder and the moving mechanism for controlling the telescopic movement of the hydraulic cylinder and the movement of the moving mechanism.

5. The double-station double-lifting type AGV according to claim 4, characterized in that the control system includes a positioning module, and the positioning module is used to determine the current position of the AGV body and plan the moving route of the AGV body according to a preset path.

6. The double-station double-lifting type AGV according to claim 1, characterized in that anti-slip materials are provided on the inner walls of the first positioning groove and the second positioning groove to prevent the material from sliding during transportation.

7. The double-station double-lifting type AGV according to claim 1, characterized in that it further includes a safety device. The safety device includes a sensor and an alarm. The sensor is arranged on the first lifting frame and the second lifting frame and is used to detect the stable state of the material. When the material is in an unstable state, the sensor will trigger the alarm to sound an alarm.

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