Lifting type heavy-load AGV capable of running stably

Abstract

The utility model belongs to the technical field of AGVs (Automatic Guided Vehicles), and relates to a lifting type heavy-load AGV capable of running stably, which comprises an AGV body, lifting plates which are arranged at four corners of the AGV body and are driven by a lifting mechanism to lift, four groups of steering wheels arranged at the bottom of the AGV body, and a navigation mechanism arranged on the AGV body, the AGV is characterized in that the two sets of steering wheels on each side of the AGV body are mounted on the AGV body through a first-stage balance mechanism, the first-stage balance mechanism comprises mounting groove frames, a rotary mounting frame and a first-stage balance rotating shaft, and the mounting groove frames with downward notches are fixedly mounted on the two sides of the bottom of the AGV body; a rotary mounting frame is rotationally mounted in the mounting groove frame through a first-stage balance rotating shaft, and steering wheels are symmetrically mounted at the front end and the rear end of the rotary mounting frame. The heavy-load AGV is scientific and reasonable in structural design, has the advantages of being simple in structure, stable in running, stable in loading, high in bearing capacity and easy to achieve, and is a heavy-load AGV with high innovativeness.

Description

Technical Field

[0001] The utility model belongs to the technical field of AGVs and relates to a heavy-load AGV, in particular to a lifting heavy-load AGV with stable travel. Background Art

[0002] AGVs (automated guided vehicles) are widely used in many fields such as material handling, warehousing and logistics, and production lines. They usually use laser, vision, electromagnetic and other navigation methods to drive autonomously in complex environments and complete various transportation tasks. They lift and lower goods through a liftable top plate to meet different logistics and operational needs.

[0003] During the operation of the AGV, especially when transporting large loads of cargo, if the ground is uneven, some steering wheels will leave the ground, which will not only affect driving, but also increase the load-bearing burden of other steering wheels, affecting the working life of the AGV.

[0004] In addition, the lifting platform on the existing AGV adopts a single-rod lifting method at four points, which has poor stability for large-load cargo.

[0005] In view of this, a lifting heavy-load AGV with smooth travel is proposed to solve the problems mentioned in the above background technology. Summary of the Invention

[0006] The purpose of the utility model is to provide a heavy-load AGV with scientific and reasonable structural design, simple structure, smooth driving, stable loading, strong load-bearing capacity, and easy implementation.

[0007] The utility model solves the technical problem by the following technical solutions:

[0008] A heavy-load lifting AGV with smooth travel comprises an AGV body, a lifting platform driven up and down by a lifting mechanism at the four corners of the AGV body, four sets of steering wheels provided at the bottom of the AGV body, and a navigation mechanism provided on the AGV body. The characteristics are: two sets of steering wheels on each side of the AGV body are mounted on the AGV body via a primary balancing mechanism, the primary balancing mechanism comprising a mounting slot frame, a rotating mounting frame, and a primary balancing shaft. Mounting slot frames with downward notches are fixedly mounted on both sides of the bottom of the AGV body, a rotating mounting frame is rotatably mounted in the mounting slot frame via a primary balancing shaft, and steering wheels are symmetrically mounted at the front and rear ends of the rotating mounting frame.

[0009] The lifting mechanism includes a mounting plate, a servo motor, a first driving screw, a second driving screw, a first lifting screw and a second lifting screw. A mounting plate is installed at the bottom of the AGV body, and a driving gear driven by a servo motor is installed at the lower part of the mounting plate. The driving gear is engaged with the driven gear located on its upper part for transmission. One end of the first driving screw is fixed with the driven gear, and the other end of the first driving screw is connected to the second driving screw through a coupling. The first driving screw and the second driving screw are respectively driven by a worm gear with the first lifting screw and the second lifting screw installed on the mounting plate to achieve synchronous lifting. The first lifting screw and the second lifting screw are connected to the bottom of the lifting plate through a flange.

[0010] Moreover, it also includes a secondary balancing mechanism. The steering wheel is a differential steering wheel. A mounting platform is installed at the lower part of the steering wheel slewing support. Mounting ears are symmetrically installed at the front and rear ends of the bottom of the mounting platform. A wheel body mounting frame is installed between the two mounting ears. Drive wheels driven by a motor are symmetrically installed on the left and right sides of the wheel body mounting frame. The wheel body mounting frame is rotatably installed between the two mounting ears through a secondary balancing shaft.

[0011] Moreover, motors are arranged opposite to each other between the two driving wheels, the driving end of each motor is connected to the wheel body of the driving wheel through a flange, and the output shaft of the motor is drivingly connected to the driving wheel.

[0012] Moreover, the lifting mechanism further comprises a guide column, a linear bearing guide sleeve is installed on the mounting plate, and a guide column which follows the lifting plate to rise and fall is installed in the linear bearing guide sleeve.

[0013] Moreover, the navigation mechanism includes a magnetic sensor and a QR code sensor. Magnetic sensors are installed at four positions on the bottom of the AGV body, front, back, left, and right, and a QR code sensor is installed in the middle position of the bottom of the AGV body.

[0014] Moreover, it also includes an optical communication component, which is installed on the front and rear ends of both sides of the AGV body.

[0015] The advantages and beneficial effects of the utility model are:

[0016] 1. This smooth-running, heavy-load lifting AGV uses a primary and secondary balancing mechanism to automatically adjust the height of its wheels to adapt to the terrain when traveling on uneven ground, ensuring that all four sets of steering wheels are in contact with the ground and ensuring smooth operation. The twin-screw lifting structure increases the load capacity, and in combination with the guide column, it improves the stability of the AGV when lifting cargo.

[0017] 2. This stable, heavy-load lifting AGV achieves precise positioning through the use of magnetic sensors and QR code sensors.

[0018] 3. This smooth-running, heavy-load lifting AGV achieves confidential communication through the installation of optical communication components.

[0019] 4. The structural design of this utility model is scientific and reasonable. It has the advantages of simple structure, smooth driving, stable loading, strong load-bearing capacity and easy implementation. It is a heavy-duty AGV with high innovation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural diagram of the utility model;

[0021] Figure 2 This is a schematic diagram illustrating the internal structure of the AGV body of the present invention;

[0022] Figure 3 This is a schematic diagram of the structure of the assembly of the first-level balancing mechanism and the steering wheel of the utility model;

[0023] Figure 4 for Figure 3 The structural diagram (partial) of the mounting trough frame is omitted;

[0024] Figure 5 This is a schematic structural diagram of the steering wheel of the present invention;

[0025] Figure 6 This is a structural diagram of the lifting mechanism of the utility model;

[0026] Figure 7 for Figure 6 Structural diagram from another angle;

[0027] Figure 8 It is a schematic diagram of the bottom structure of the utility model.

[0028] Reference numerals

[0029] 1-Optical communication component, 2-Lifting plate, 3-Steering wheel, 4-AGV body, 5-Lifting mechanism drive, 6-First-level balancing mechanism, 7-Rotation mounting frame, 8-Mounting slot frame, 9-First-level balancing shaft, 10-Mounting ear, 11-Mounting platform, 12-Wheel mounting frame, 13-Drive wheel, 14-Motor, 15-Driven gear, 16-Drive gear, 17-Coupling, 18-Guide column, 19-Servo motor, 20-Mounting plate, 21-Linear bearing guide sleeve, 22-Magnetic sensor, 23-QR code sensor. DETAILED DESCRIPTION

[0030] The present invention will be further described in detail below through specific embodiments. The following embodiments are merely illustrative and non-restrictive, and should not be used to limit the scope of protection of the present invention.

[0031] A heavy-load lifting AGV with smooth travel comprises an AGV body 4, a lifting platform 2 at the four corners of the AGV body driven by a lifting mechanism 5, four sets of steering wheels 3 provided at the bottom of the AGV body, and a navigation mechanism provided on the AGV body. The innovations of the AGV are:

[0032] 1. This heavy-load AGV can adjust the steering wheel in four directions, front, back, left, and right, so that the steering wheel can be fully in contact with the ground during driving, improving its reliability and stability during heavy-load operation:

[0033] Adjustment in the front and rear direction:

[0034] The two sets of steering wheels on each side of the AGV body are installed on the AGV body through a primary balancing mechanism 6. The primary balancing mechanism includes a mounting slot frame 8, a rotating mounting frame 7 and a primary balancing shaft 9. The mounting slot frames with the slots facing downward are fixed on both sides of the bottom of the AGV body. The rotating mounting frames are rotatably mounted in the mounting slot frames via the primary balancing shaft. The steering wheels are symmetrically mounted at the front and rear ends of the rotating mounting frames.

[0035] Adjustment in left and right direction:

[0036] It also includes a secondary balancing mechanism. The steering wheel is a differential steering wheel. A mounting platform 11 is installed at the lower part of the steering wheel slewing support. Mounting ears 10 are symmetrically installed at the front and rear ends of the bottom of the mounting platform. A wheel body mounting frame 12 is installed between the two mounting ears. Drive wheels 13 driven by a motor are symmetrically installed on the left and right sides of the wheel body mounting frame. The wheel body mounting frame is rotatably installed between the two mounting ears through a secondary balancing shaft.

[0037] An oppositely arranged motor 14 is provided between the two driving wheels. The driving end of each motor is connected to the wheel body of the driving wheel through a flange, and the output shaft of the motor is drivingly connected to the driving wheel.

[0038] The motor of the utility model directly drives the driving wheel. Compared with the prior art method of driving the driving wheel through gears or chains, it can effectively reduce the rotation diameter and reduce the requirements for the AGV workspace.

[0039] 2. The utility model adopts a double-rod lifting support form to make the lifting of the goods by the lifting plate more stable. Some AGVs are restricted by transportation conditions and their bodies cannot be designed too high. In order to meet the needs of lifting, the lifting screw must not only meet the required lifting height but also ensure the stability of its lifting. Therefore, the utility model adopts a double-rod lifting form. The lifting mechanism includes a mounting plate 20, a servo motor 19, a first driving screw, a second driving screw, a first lifting screw and a second lifting screw. A mounting plate is installed at the bottom of the AGV body, and a driving gear 16 driven by a servo motor is installed at the lower part of the mounting plate. The driving gear is meshed with the driven gear 15 located on its upper part. One end of the first driving screw is fixed with the driven gear, and the other end of the first driving screw is connected to the second driving screw through a coupling 17. The first driving screw and the second driving screw are respectively driven by a worm gear with the first lifting screw and the second lifting screw installed on the mounting plate to achieve synchronous lifting. The first lifting screw and the second lifting screw are connected to the bottom of the lifting plate through a flange. The lifting mechanism further comprises a guide column 18. A linear bearing guide sleeve 21 is installed on the mounting plate, and the guide column 18 is installed inside the linear bearing guide sleeve to follow the lifting plate.

[0040] Four groups of servo motors 19 can realize synchronous lifting through control.

[0041] In addition to the above-mentioned form of driving the lifting and lowering by the servo motor worm gear, in actual operation, hydraulic drive can also be used to lift two lifting rods. In this way, each lifting plate is driven to lift and lower by two lifting rods, which greatly improves its load-bearing capacity.

[0042] 3. In order to increase the accuracy of alignment, the navigation mechanism includes a magnetic sensor 22 and a QR code sensor 23. Magnetic sensors are installed at four positions on the bottom of the AGV body, front, back, left, and right, and a QR code sensor is installed in the middle of the bottom of the AGV body.

[0043] In order to meet the needs of cargo loading, some AGV bodies are designed to be longer. It is difficult to achieve accurate positioning by relying solely on the QR code sensor in the middle of the bottom. By setting four magnetic sensors on the bottom edge of the AGV body to detect the pre-installed magnetic strips on the ground, the four sides of the AGV body can be positioned as much as possible, thus achieving accurate positioning of the entire AGV vehicle.

[0044] 4. In order to achieve confidential communication, an optical communication component 1 is also included, and optical communication components are installed on the front and rear ends of both sides of the AGV body.

[0045] Although the embodiments and drawings of the present invention are disclosed for illustrative purposes, those skilled in the art will understand that various replacements, changes and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A heavy-duty, liftable AGV with smooth travel, comprising an AGV body, lift plates at the four corners of the AGV body driven up and down by a lift mechanism, four sets of steering wheels at the bottom of the AGV body, and a navigation mechanism mounted on the AGV body, characterized by: The two sets of steering wheels on each side of the AGV body are installed on the AGV body through a primary balancing mechanism. The primary balancing mechanism includes a mounting slot frame, a rotating mounting frame and a primary balancing shaft. Mounting slot frames with the slots facing downward are fixed on both sides of the bottom of the AGV body. A rotating mounting frame is rotatably installed in the mounting slot frame through the primary balancing shaft. Steering wheels are symmetrically installed at the front and rear ends of the rotating mounting frame.

2. The heavy-load lifting AGV with stable travel according to claim 1, characterized in that: The lifting mechanism includes a mounting plate, a servo motor, a first driving screw, a second driving screw, a first lifting screw and a second lifting screw. A mounting plate is installed at the bottom of the AGV body, and a driving gear driven by a servo motor is installed at the lower part of the mounting plate. The driving gear is engaged with the driven gear located on its upper part for transmission. One end of the first driving screw is fixed with the driven gear, and the other end of the first driving screw is connected to the second driving screw through a coupling. The first driving screw and the second driving screw are respectively driven by worm gears with the first lifting screw and the second lifting screw installed on the mounting plate to achieve synchronous lifting. The first lifting screw and the second lifting screw are connected to the bottom of the lifting plate through a flange.

3. The heavy-load lifting AGV with stable travel according to claim 1, characterized in that: It also includes a secondary balancing mechanism. The steering wheel is a differential steering wheel. A mounting platform is installed at the lower part of the steering wheel slewing support. Mounting ears are symmetrically installed at the front and rear ends of the bottom of the mounting platform. A wheel body mounting frame is installed between the two mounting ears. Drive wheels driven by a motor are symmetrically installed on the left and right sides of the wheel body mounting frame. The wheel body mounting frame is rotatably installed between the two mounting ears through a secondary balancing shaft.

4. The heavy-load lifting AGV with stable travel according to claim 3, characterized in that: Motors are arranged opposite to each other between the two driving wheels. The driving end of each motor is connected to the wheel body of the driving wheel through a flange, and the output shaft of the motor is drivingly connected to the driving wheel.

5. The heavy-load lifting AGV with stable travel according to claim 2, characterized in that: The lifting mechanism further comprises a guide column. A linear bearing guide sleeve is installed on the mounting plate, and a guide column which follows the lifting plate to rise and fall is installed in the linear bearing guide sleeve.

6. The heavy-load lifting AGV with stable travel according to claim 1, characterized in that: The navigation mechanism includes a magnetic sensor and a QR code sensor. Magnetic sensors are installed at four positions on the bottom of the AGV body, front, back, left, and right. A QR code sensor is installed in the middle of the bottom of the AGV body.

7. The heavy-load lifting AGV with stable travel according to claim 1, characterized in that: It also includes an optical communication component, which is installed on the front and rear ends of both sides of the AGV body.

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