Energy storage container synchronous lifting device and heavy load AGV

Abstract

The utility model provides an energy storage container synchronous lifting device and a heavy-load AGV. The synchronous lifting device for the energy storage container comprises a frame body, a heavy load platform and at least three lifting mechanisms, the lifting mechanisms are arranged on the frame body, the heavy load platform is arranged on the lifting mechanisms, each lifting mechanism comprises a stay wire encoder and a hydraulic oil cylinder, the fixed end of each hydraulic oil cylinder is arranged on the frame body, and the telescopic end of each hydraulic oil cylinder is connected to the heavy load platform. The stay wire encoder is adjacent to the hydraulic oil cylinder and is arranged on the frame body; the heavy load platform comprises an upper assembly and a lifting connecting part, a pull rope of the pull wire encoder is connected with the lifting connecting part, and the pull wire encoder and the hydraulic oil cylinder are both electrically connected with the control system. According to the synchronous lifting device for the energy storage container, the stay wire encoder is additionally arranged, so that the height of the heavy-load platform during lifting is measured, an accurate displacement measurement result is provided for the heavy-load platform, and real-time adjustment of the telescopic height of the hydraulic oil cylinder is guaranteed, and therefore synchronous lifting or descending of the heavy-load platform is guaranteed.

Description

Technical Field

[0001] The present disclosure relates to the technical field of heavy-duty AGVs, and particularly to a synchronous lifting device for energy storage containers and a heavy-duty AGV. Background Art

[0002] At present, with the continuous development of industrial automation, heavy-duty AGVs (Automated Guided Vehicles) are widely used in fields such as manufacturing and logistics warehousing for transporting heavy materials. Heavy-duty AGVs usually need to have high-precision lifting and synchronization functions to ensure the stable transportation and precise positioning of heavy materials. When dealing with large-size and heavy materials, heavy-duty AGVs often require multiple lifting devices to work together. If the lifting devices cannot operate synchronously, it is easy for the heavy materials to tilt or slip, resulting in material damage.

[0003] Therefore, Chinese Patent No. CN 108001920 A discloses a heavy-duty intelligent hydraulic synchronous lifting electric shuttle car, in which a control system receives commands from a control panel to control a hydraulic system assembly and a driving mechanism, that is, to control 4 oil cylinders to synchronously drive a pallet to run.

[0004] However, the above heavy-duty intelligent hydraulic synchronous lifting electric shuttle car has the following problems:

[0005] Although the control system can control the driving oil cylinders to lift and lower synchronously, it cannot measure the lifting or lowering height of each oil cylinder in real time, resulting in inconsistent heights when loading materials of different weights, thus causing the electric shuttle car to run unstably. Summary of the Utility Model

[0006] An object of the present disclosure is to overcome the deficiencies in the prior art and provide a synchronous lifting device for energy storage containers and a heavy-duty AGV that can adjust the lifting or lowering height of transporting heavy materials in real time.

[0007] The object of the present disclosure is achieved by the following technical solutions:

[0008] A synchronous lifting device for energy storage containers includes a frame body, a heavy-duty platform, and at least three lifting mechanisms. The lifting mechanisms are arranged on the frame body, the heavy-duty platform is arranged on the lifting mechanisms, and each lifting mechanism includes a wire rope encoder and a hydraulic cylinder. The fixed end of the hydraulic cylinder is arranged on the frame body, the telescopic end of the hydraulic cylinder is connected to the heavy-duty platform, and the wire rope encoder is arranged on the frame body adjacent to the hydraulic cylinder;

[0009] The overload platform includes an upper installation and a lifting connection part. The upper installation is used to carry energy storage containers and materials. The pulling rope of the wire rope encoder is connected to the lifting connection part. The acquisition end of the wire rope encoder is used to measure the lifting height of the overload platform. The output end of the wire rope encoder is used to be connected to the lifting feedback input end of the control system. The hydraulic cylinder is also used to be connected to the lifting feedback output end of the control system to correct the lifting height of the hydraulic cylinder for the overload platform.

[0010] In one embodiment, the frame body includes a frame body and a support frame. The support frame is connected to the frame body through columns. The support frame is formed with a guide hole. The telescopic rod of the hydraulic cylinder passes through the guide hole and is detachably connected to the overload platform.

[0011] In one embodiment, the energy storage container synchronous lifting device further includes a fastener. The telescopic rod is provided with a mounting hole. The overload platform is provided with a fixing hole corresponding to the mounting hole. The fastener is connected to the mounting hole through the fixing hole.

[0012] In one embodiment, the energy storage container synchronous lifting device further includes a guide sleeve. The guide sleeve is sleeved on the telescopic rod, and one end of the guide sleeve is connected to the overload platform. The other end of the guide sleeve is slidably abutted against the guide hole, so that when the overload platform lifts, the guide sleeve slides through the guide hole.

[0013] In one embodiment, the guide sleeve includes a sliding part and a fixing part. The sliding part is connected to the fixing part. The fixing part is welded to the overload platform. The sliding part slides in the guide hole.

[0014] In one embodiment, the energy storage container synchronous lifting device further includes a wear-resistant plate. The wear-resistant plate is arranged on the inner wall of the guide hole, so that the outer peripheral wall of the guide sleeve is slidably abutted against the wear-resistant plate.

[0015] In one embodiment, the number of the wire rope encoders is multiple. The number of the hydraulic cylinders is the same as that of the wire rope encoders. The hydraulic cylinders are symmetrically arranged at both ends of the frame body, and multiple hydraulic cylinders are all connected to the overload platform.

[0016] In one embodiment, the lifting height of the hydraulic cylinder is 0 - 400 mm.

[0017] In one embodiment, the frame body and the support frame are of an integrally formed structure.

[0018] A heavy-duty AGV includes the energy storage container synchronous lifting device according to any one of the above embodiments.

[0019] Compared with the prior art, the present disclosure has at least the following advantages:

[0020] For the synchronous lifting device of the energy storage container of the present disclosure, when the energy storage container is loaded with materials, the lifting or lowering of the energy storage container is ensured by the telescopic movement of each hydraulic cylinder. Since different hydraulic cylinders have different lifting height deviations when bearing materials of different weights, through the setting of the wire rope encoder, the displacement of the hydraulic cylinder during the lifting and lowering of the heavy-duty platform can be measured, and the wire rope encoder provides an accurate measurement result of the lifting height of the heavy-duty platform. Through the control system, the real-time adjustment of the telescopic height of each hydraulic cylinder is ensured, so as to ensure the synchronous lifting or lowering of the heavy-duty platform, reduce the situation of the heavy-duty platform tilting caused by the asynchrony of each hydraulic cylinder, thereby improving the safety and reliability of the lifting process of the heavy-duty platform, and further ensuring the safety and reliability of the heavy-duty AGV transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present disclosure, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0022] Figure 1 Structural schematic diagram of the synchronous lifting device of the energy storage container according to an embodiment of the present disclosure;

[0023] Figure 2 For Figure 1 Partial enlarged view of the synchronous lifting device of the energy storage container shown at A;

[0024] Figure 3 For Figure 1 Partial enlarged view of the synchronous lifting device of the energy storage container shown at B.

[0025] Reference numerals: 10, synchronous lifting device of the energy storage container; 100, frame; 110, frame body; 120, support frame; 121, guide hole; 130, support column; 200, heavy-duty platform; 200a, fixing hole; 210, upper installation; 220, lifting connection part; 300, lifting mechanism; 310, wire rope encoder; 311, wire rope; 320, hydraulic cylinder; 321, telescopic rod; 400, fastener; 500, guide sleeve; 600, wear-resistant plate. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] To facilitate the understanding of the present disclosure, the present disclosure will be described more comprehensively below with reference to the relevant accompanying drawings. Preferred embodiments of the present disclosure are shown in the drawings. However, the present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of the present disclosure more thorough and comprehensive.

[0027] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there can also be a middle element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be a middle element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only embodiments.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present disclosure belongs. The terms used in the specification of the present disclosure herein are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0029] To better understand the technical solutions and beneficial effects of the present disclosure, the following further describes the present disclosure in detail with specific embodiments:

[0030] As Figures 1 to 3 shown, the synchronous lifting device 10 of a storage container in an embodiment includes a frame body 100, a heavy-duty platform 200, and at least three lifting mechanisms 300. The lifting mechanisms 300 are arranged on the frame body 100, the heavy-duty platform 200 is arranged on the lifting mechanisms 300. Each lifting mechanism 300 includes a wire rope encoder 310 and a hydraulic cylinder 320. The fixed end of the hydraulic cylinder 320 is arranged on the frame body 100, the telescopic end of the hydraulic cylinder 320 is connected to the heavy-duty platform 200, and the wire rope encoder 310 is arranged on the frame body 100 adjacent to the hydraulic cylinder 320; the heavy-duty platform 200 includes an upper installation 210 and a lifting connection part 220. The upper installation 210 is used to carry the storage container and materials. The wire rope 311 of the wire rope encoder 310 is connected to the lifting connection part 220. The acquisition end of the wire rope encoder 310 is used to measure the lifting height of the heavy-duty platform 200, and the output end of the wire rope encoder 310 is used to be connected to the lifting feedback input end of the control system. The hydraulic cylinder 320 is also used to be connected to the lifting feedback output end of the control system to correct the lifting height of the hydraulic cylinder 320 for the heavy-duty platform 200.

[0031] It can be understood that when loading materials into the energy storage container, the lifting or lowering of the energy storage container is ensured by the telescoping of each hydraulic cylinder 320. Since different lifting height deviations of the hydraulic cylinders 320 occur when carrying materials of different weights, through the setting of the wire rope encoder 310, the present disclosure can ensure the measurement of the displacement of the hydraulic cylinder 320 during the lifting and lowering of the heavy load platform 200. The wire rope encoder 310 provides accurate lifting height measurement results of the heavy load platform 200. Through the control system, the telescoping height of each hydraulic cylinder 320 is adjusted in real time to ensure the synchronous lifting or lowering of the heavy load platform 200, reducing the situation of the heavy load platform 200 tilting due to the non-synchronization of each hydraulic cylinder 320, thereby improving the safety and reliability of the lifting process of the heavy load platform 200.

[0032] It can also be understood that when the energy storage container needs to be transported to a designated position after loading materials, during the operation of the heavy load AGV on the designated route, the energy storage container synchronous lifting device 10, under the displacement measurement of the wire rope encoder 310, adjusts the telescoping amount of each hydraulic cylinder 320 in real time, always maintaining the consistency of the heights of each position when the heavy load platform 200 bears the energy storage container, thereby realizing the synchronous lifting and stable operation of the energy storage container, and further ensuring the safety and reliability of the transportation by the heavy load AGV.

[0033] Furthermore, the control system includes a data acquisition module, a controller unit, a central processing unit, and a drive control module. During the working process, the control system is initialized. The initial displacement data of each wire rope encoder 310 is collected through the data acquisition module. When the heavy load platform 200 is lifted, the data acquisition module real-time collects the displacement data of each wire rope encoder 310 and transmits it to the controller unit. Through the central processing unit running the synchronous control algorithm, the displacement differences of each lifting point are calculated based on the collected displacement data, and control signals are generated. The drive control module transmits the control signals to the hydraulic system to adjust the lifting heights of each hydraulic cylinder 320, ensuring that the heavy load platform 200 remains horizontal and lifts and lowers synchronously. At the same time, the displacement data of each hydraulic cylinder 320 during the lifting process will be continuously monitored and adjusted in real time to ensure the synchronism and stability during the whole process.

[0034] Such as Figure 1As shown, in one embodiment, the frame 100 includes a frame body 110 and a support frame 120. The support frame 120 is connected to the frame body 110 through a support column 130. The support frame 120 is formed with a guide hole 121. The telescopic rod 321 of the hydraulic cylinder 320 passes through the guide hole 121 and is detachably connected to the heavy-duty platform 200. In this embodiment, since the support frame 120 is connected to the frame body 110 through the support column 130, the firmness of the support between the support frame 120 and the frame body 110 provides stable fixation and support for the entire device, thereby enhancing the stability of the heavy-duty platform 200 during the lifting process. The guide hole 121 on the support frame 120 ensures that the telescopic rod 321 of the hydraulic cylinder 320 can be connected to the heavy-duty platform 200 through the guide hole 121 during the telescopic process; and since the telescopic rod 321 of the hydraulic cylinder 320 is detachably connected to the heavy-duty platform 200, it is convenient to replace or repair them separately in case of failure or maintenance, reducing the maintenance cost.

[0035] As Figure 1 and Figure 3 shown, in one embodiment, the energy storage container synchronous lifting device 10 further includes a fastener 400. The telescopic rod 321 is provided with a mounting hole (not shown in the figure), and the heavy-duty platform 200 is provided with a fixing hole 200a corresponding to the mounting hole. The fastener 400 is connected to the mounting hole through the fixing hole 200a. In this embodiment, by connecting the mounting hole of the telescopic rod 321 and the fixing hole 200a of the heavy-duty platform 200 with the fastener 400, a firm connection between the hydraulic cylinder 320 and the heavy-duty platform 200 is achieved, ensuring the stability and reliability of the connection between the heavy-duty platform 200 and the telescopic rod 321 during the synchronous lifting process. At the same time, the connection method of the fastener 400 is adopted to ensure the adjustability of the position of the heavy-duty platform 200 and the maintenance efficiency.

[0036] In one embodiment, the energy storage container synchronous lifting device 10 further includes a guide sleeve 500. The guide sleeve 500 is sleeved on the telescopic rod 321, and one end of the guide sleeve 500 is connected to the heavy-duty platform 200, and the other end of the guide sleeve 500 is slidably abutted against the guide hole 121, so that when the heavy-duty platform 200 is lifted or lowered, the guide sleeve 500 slides through the guide hole 121. In this embodiment, since the guide sleeve 500 is connected to the heavy-duty platform 200, and the guide sleeve 500 is sleeved on the telescopic rod 321 and slides up and down through the guide hole 121 of the support frame 120, it can provide a sliding guiding function for the lifting and lowering of the heavy-duty platform 200, ensuring the smoothness of the heavy-duty platform 200 during the lifting and lowering process, reducing the deviation of the position of the heavy-duty platform 200 when carrying heavy objects, and thus ensuring that the heavy-duty platform 200 can be stably lifted or lowered synchronously when carrying heavy materials.

[0037] In one embodiment, the guiding sleeve 500 includes a sliding portion and a fixing portion. The sliding portion is connected to the fixing portion, and the fixing portion is welded to the heavy-duty platform 200. The sliding portion slides in the guiding hole 121. In this embodiment, since the fixing portion is welded to the heavy-duty platform 200, the firm connection of the guiding sleeve 500 to the heavy-duty platform 200 is ensured, guaranteeing that the guiding sleeve 500 can move up and down following the heavy-duty platform 200. And the sliding portion slides and abuts against the guiding hole 121, ensuring the accuracy of the position of the heavy-duty platform 200 during synchronous lifting or lowering.

[0038] As Figure 1 shown, in one embodiment, the energy storage container synchronous lifting device 10 further includes a wear-resistant plate 600. The wear-resistant plate 600 is arranged on the inner wall of the guiding hole 121, so that the outer peripheral wall of the guiding sleeve 500 slides and abuts against the wear-resistant plate 600. It can be understood that the added wear-resistant plate 600 avoids the direct abrasion between the guiding sleeve 500 and the guiding hole 121, improving the service life of the guiding sleeve 500 and the support frame 120. The wear-resistant plate 600 is installed on the support frame 120 to ensure the smooth sliding of the heavy-duty platform 200 and the support frame 120, and is used to disperse the inertia of the load during the lifting and lowering process of the heavy-duty platform 200. In this embodiment, the wear-resistant plate 600 is a nylon wear-resistant plate.

[0039] In one embodiment, the number of wire rope encoders 310 is multiple, and the number of hydraulic cylinders 320 is the same as that of the wire rope encoders 310. The hydraulic cylinders 320 are symmetrically arranged at both ends of the frame body 100, and multiple hydraulic cylinders 320 are all connected to the heavy-duty platform 200. It can be understood that since multiple hydraulic cylinders 320 are symmetrically arranged at both ends of the frame body 100 and are respectively connected to the heavy-duty platform 200, it is ensured that the heavy-duty platform 200 remains balanced and stable during the lifting or lowering process, reducing the situations of tilting and shaking. Since multiple wire rope encoders 310 have the same number as the hydraulic cylinders 320 and cooperate with each other, the telescopic amount of each hydraulic cylinder 320 can be accurately monitored and controlled, realizing the synchronous lifting action of the heavy-duty platform 200, thereby improving the accuracy of lifting. At the same time, the combined supporting effect of multiple hydraulic cylinders 320 improves the overall load-bearing capacity of the device. In this embodiment, the number of hydraulic cylinders 320 is eight.

[0040] In one embodiment, the lifting height of the hydraulic cylinder 320 is 0 - 400 mm to adapt to the lifting height required for lifting the energy storage container and loading materials, providing the effective elongation height of the hydraulic cylinder 320 and ensuring the lifting height range of the heavy-duty platform 200.

[0041] In one of the embodiments, the frame body 110 and the support frame 120 are integrally formed structures, which ensures the firm connection between the frame body 110 and the support frame 120, improves the support strength of the support frame 120, and thus extends the service life of the frame body 100.

[0042] The present disclosure also provides a heavy-duty AGV, including the energy storage container synchronous lifting device 10 described in any one of the above embodiments.

[0043] Compared with the prior art, the present disclosure has at least the following advantages:

[0044] For the energy storage container synchronous lifting device 10 of the present disclosure, when the energy storage container is loaded with materials, the lifting or lowering of the energy storage container is ensured by the telescoping of each hydraulic cylinder 320. Since different lifting height deviations of different hydraulic cylinders 320 occur when the hydraulic cylinders 320 bear different weights of materials, the present disclosure can ensure the measurement of the displacement of the hydraulic cylinders 320 during the lifting and lowering of the heavy-duty platform 200 through the setting of the wire rope encoder 310. The wire rope encoder 310 provides accurate lifting height measurement results for the heavy-duty platform 200. The real-time adjustment of the telescoping height of each hydraulic cylinder 320 is ensured through the control system, so as to ensure that the heavy-duty platform 200 is lifted or lowered synchronously, reduce the situation of the heavy-duty platform 200 tilting caused by the non-synchronization of each hydraulic cylinder 320, thereby improving the safety and reliability of the lifting process of the heavy-duty platform 200, and further ensuring the safety and reliability of the transportation of the heavy-duty AGV.

[0045] The above-described embodiments merely represent several implementation manners of the present disclosure. The description is relatively specific and detailed, but it should not be construed as a limitation to the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present disclosure, several modifications and improvements can still be made, and these all belong to the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure patent shall be subject to the appended claims.

Claims

1. A synchronous lifting device for an energy storage container, comprising a frame body, a heavy-duty platform and at least three lifting mechanisms. The lifting mechanisms are arranged on the frame body, and the heavy-duty platform is arranged on the lifting mechanisms. It is characterized in that each of the lifting mechanisms includes a wire rope encoder and a hydraulic cylinder. The fixed end of the hydraulic cylinder is arranged on the frame body, the telescopic end of the hydraulic cylinder is connected to the heavy-duty platform, and the wire rope encoder is arranged on the frame body adjacent to the hydraulic cylinder; the heavy-duty platform includes an upper installation and a lifting connection part. The upper installation is used to carry the energy storage container and materials. The wire rope of the wire rope encoder is connected to the lifting connection part. The acquisition end of the wire rope encoder is used to measure the lifting height of the heavy-duty platform, and the output end of the wire rope encoder is used to be connected to the lifting feedback input end of the control system. The hydraulic cylinder is also used to be connected to the lifting feedback output end of the control system to correct the lifting height of the hydraulic cylinder for the heavy-duty platform.

2. The synchronous lifting device for energy storage containers according to claim 1, characterized in that, The frame body includes a frame body and a support frame. The support frame is connected to the frame body through columns. The support frame is formed with a guide hole, and the telescopic rod of the hydraulic cylinder passes through the guide hole and is detachably connected to the heavy-duty platform.

3. The synchronous lifting device for energy storage containers according to claim 2, wherein The synchronous lifting device for the energy storage container further includes a fastener. The telescopic rod is provided with an installation hole, and the heavy-duty platform is provided with a fixing hole corresponding to the installation hole. The fastener is connected to the installation hole through the fixing hole.

4. The synchronous lifting device for energy storage containers according to claim 2, characterized in that, The synchronous lifting device for the energy storage container further includes a guide sleeve. The guide sleeve is sleeved on the telescopic rod, and one end of the guide sleeve is connected to the heavy-duty platform. The other end of the guide sleeve is slidably abutted against the guide hole, so that when the heavy-duty platform is lifted or lowered, the guide sleeve slides through the guide hole.

5. The synchronous lifting device for energy storage containers according to claim 4, wherein The guide sleeve includes a sliding part and a fixing part. The sliding part is connected to the fixing part, and the fixing part is welded to the heavy-duty platform. The sliding part slides in the guide hole.

6. The synchronous lifting device for energy storage containers according to claim 4, wherein The synchronous lifting device for the energy storage container further includes a wear-resistant plate. The wear-resistant plate is arranged on the inner wall of the guide hole, so that the outer peripheral wall of the guide sleeve slides against the wear-resistant plate.

7. The synchronous lifting device for energy storage containers according to claim 1, characterized in that, The number of the wire rope encoders is multiple, and the number of the hydraulic cylinders is the same as that of the wire rope encoders. The hydraulic cylinders are symmetrically arranged at both ends of the frame body, and multiple hydraulic cylinders are all connected to the heavy-duty platform.

8. The synchronous lifting device for energy storage containers according to claim 1, characterized in that, The lifting height of the hydraulic cylinder is 0-400 mm.

9. The synchronous lifting device for energy storage containers according to claim 2, characterized in that, The frame body and the support frame are of an integrally formed structure.

10. An overloaded AGV, characterized in that, Including the synchronous lifting device for the energy storage container according to any one of claims 1 to 9.

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