Heavy-load lifting and carrying AGV (Automatic Guided Vehicle) for automobile stamping line

Abstract

The utility model discloses an automobile press line heavy load lifting and carrying AGV which comprises a vehicle body, a lifting mechanism and a swing bridge mechanism, the lifting mechanism is arranged on the vehicle body and used for carrying out lifting operation on heavy load materials, the swing bridge mechanism is arranged on one side of the vehicle body, the two ends of the swing bridge mechanism are each provided with a steering engine, and the steering engines are arranged on the two sides of the swing bridge mechanism. Two steering engines are further arranged on the other side of the vehicle body; according to the heavy-load lifting and carrying AGV for the automobile press line, reliable operation of the AGV in a complex industrial environment is guaranteed, a scissor type lifting device is adopted in the lifting mechanism, power is provided through a liquid driving system, the heavy-load material lifting process is more stable, lifting action synchronism can be achieved, and through combination of a swing bridge mechanism and the scissor type lifting device, the AGV can be lifted more stably, and the AGV can be lifted more stably. The adaptability of equipment under complex ground conditions is improved, accurate control is achieved through a multi-steering-engine driving mode, and the operation flexibility and the high-load operation capacity are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial automation, in particular to an AGV for heavy-load lifting and transporting of an automobile stamping line. Background Art

[0002] In modern logistics and industrial production, automated guided vehicles (AGVs) are widely used for handling and transporting tasks. AGVs achieve efficient and precise material handling through core structures such as a chassis drive layout and a lifting mechanism. In existing technologies, AGVs typically employ the following design: a layout with two servo springs and shock-absorbing structures and four load-bearing wheels. This design balances drive performance with a certain degree of cushioning and shock absorption to address uneven floors in industrial environments; a motor-driven lifting reducer is used to lift heavy objects. Electric drive is widely used in various scenarios due to its high energy efficiency and strong control precision.

[0003] While the aforementioned technologies meet the basic functional requirements of AGVs in industrial settings to a certain extent, they also exhibit some significant deficiencies in actual operation. The existing layout of two servo springs and four load-bearing wheels can easily cause the servos to slip when encountering floor defects or insufficient friction, compromising drive stability and reliability. This can disrupt AGV operations, reducing equipment availability and productivity. The motor-driven lifting mechanism is prone to asynchronous lifting after prolonged use, and can even become stuck under heavy loads or complex operating conditions. This not only impacts material handling efficiency but also poses a threat to the safe operation of the equipment. Utility Model Content

[0004] The purpose of the utility model is to provide a heavy-load lifting and handling AGV for an automobile stamping line, so as to solve the problems existing in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solutions: a heavy-load lifting and handling AGV for automobile stamping lines, comprising:

[0006] body of the vehicle;

[0007] A lifting mechanism, which is arranged on the vehicle body and is used to lift heavy-loaded materials;

[0008] The swing bridge mechanism is arranged on one side of the vehicle body. A steering gear is respectively arranged at both ends of the swing bridge mechanism, and two steering gears are further arranged on the other side of the vehicle body.

[0009] Preferably, the lifting mechanism includes a base, which is fixed on the top of the vehicle body. A scissor-type lifting device is provided on the top of the base. The scissor-type lifting device includes two lifting rods rotating with respect to each other. A lifting platform is fixed on the top of the scissor-type lifting device.

[0010] Preferably, a plurality of lifting rings are fixedly connected to the top of the lifting platform.

[0011] Preferably, the swing bridge mechanism is arranged on one side of the bottom of the vehicle body, and a steering gear is respectively arranged at both ends of the swing bridge mechanism on the vehicle body.

[0012] Preferably, two steering gears are further provided on the other side of the vehicle body opposite to the swing bridge mechanism.

[0013] Preferably, a navigation radar and an obstacle avoidance radar are provided at the edge of the vehicle body.

[0014] Preferably, the scissor lift device of the lifting mechanism is powered by a liquid drive system.

[0015] Preferably, the swing bridge mechanism includes a swing bridge body, and the swing bridge body is connected to the vehicle body through a hinge structure.

[0016] Preferably, the navigation radar adopts a laser radar.

[0017] Preferably, the obstacle avoidance radar adopts ultrasonic radar.

[0018] It can be seen from the above technical solution that the utility model has the following beneficial effects:

[0019] The heavy-load lifting and handling AGV of the automobile stamping line adopts a swing bridge mechanism and a drive layout of multiple servos. The swing bridge body is connected to the vehicle body through an articulated structure, which significantly enhances the stability of the AGV's contact with the ground and its passing performance, effectively avoiding the servo slippage caused by ground defects or insufficient friction, thereby ensuring the reliable operation of the AGV in complex industrial environments. The lifting mechanism adopts a scissor-type lifting device and is powered by a liquid drive system, making the lifting process of heavy-loaded materials more stable and able to achieve synchronization of the lifting action, avoiding lifting deflection or mechanism jamming due to asynchrony, greatly improving the reliability and safety of the equipment. The V design meets the heavy-load material handling needs of a rated load of 15 tons, while achieving a lifting height of 200mm, adapting to the high-load handling requirements of scenarios such as automobile stamping lines, and expanding the application range of the equipment. By setting laser navigation radar and ultrasonic obstacle avoidance radar on the edge of the vehicle body, high-precision path planning and obstacle detection functions are achieved, which improves the autonomous navigation capability and safety of the AGV in complex working environments. The overall design structure is optimized, and the adaptability of the equipment to complex ground conditions is improved through the combination of the swing bridge mechanism and the scissor-type lifting device. Precise control is achieved through the multi-servo drive method, which improves operational flexibility and high-load working capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of the utility model;

[0021] Figure 2 It is a partial structural diagram of the utility model;

[0022] Figure 3 It is a schematic diagram of the planar structure of the lifting mechanism of the utility model.

[0023] In the figure: 1. Vehicle body; 2. Lifting mechanism; 21. Base; 22. Scissor-type lifting device; 221. Lifting rod; 23. Lifting platform; 3. Swing bridge mechanism; 31. Swing bridge body; 4. Servo; 5. Lifting ring; 6. Navigation radar; 7. Obstacle avoidance radar. DETAILED DESCRIPTION

[0024] 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.

[0025] like Figure 1-Figure 3As shown, a heavy load lifting and carrying AGV for an automobile stamping line includes a vehicle body 1, a lifting mechanism 2 arranged on the vehicle body 1 for lifting heavy loads, and a swing bridge mechanism 3 arranged on one side of the vehicle body 1. Two steering engines are arranged at the two ends of the swing bridge mechanism 3, and two steering engines 4 are also arranged on the other side of the vehicle body 1.

[0026] The heavy load lifting and carrying AGV for an automobile stamping line uses the vehicle body 1 as the main support structure and carries the lifting mechanism 2 to realize the lifting of heavy loads. The lifting mechanism 2 and the swing bridge mechanism 3 work together to adapt to various transportation and transfer requirements during the carrying process. The steering engines at the two ends of the swing bridge mechanism 3 cooperate with the steering engines 4 on the other side of the vehicle body to realize high-precision and multi-directional navigation and operation. Compared with the prior art, the present embodiment can significantly improve the flexibility and carrying capacity of the automobile stamping line material carrying, and optimize the cooperative working performance of the lifting mechanism 2 and the swing bridge mechanism 3 to meet the high-efficiency operation requirements in complex working environments.

[0027] In specific applications, the material of the vehicle body 1 can be high-strength lightweight metal or composite material to reduce the self-weight and enhance the structural strength. The driving mode of the steering engine 4 can be hydraulic drive or servo motor drive to improve the power performance. According to the requirements, a monitoring module can be added to observe the lifting and carrying process in real time.

[0028] In one possible embodiment, the lifting mechanism 2 includes a base 21 fixed on the top of the vehicle body 1, and a scissor lifting device 22 arranged on the top of the base 21. The scissor lifting device 22 includes two lifting rods 221 rotating relative to each other, and a lifting platform 23 fixed on the top of the scissor lifting device 22. The scissor lifting device 22 realizes the vertical lifting action of the lifting platform 23 through the extension and retraction of the lifting rods 221. The base 21 provides stable support to ensure smooth and safe lifting operation. The scissor design makes the lifting device have the characteristics of compact structure and strong carrying capacity, which is suitable for carrying heavy loads. The introduction of the scissor lifting device 22 improves the operation precision and carrying efficiency of the lifting mechanism 2, and reduces the vibration and error in the lifting process through stable structural design, ensuring the safe carrying of heavy loads.

[0029] The lifting rods 221 of the scissor lifting device 22 can be made of other high-strength alloy materials or carbon fiber materials to further improve the structural strength and reduce the self-weight of the device. The lifting platform 23 can be replaced with a telescopic or reversible design according to the size requirements of different materials to adapt to various use scenarios.

[0030] In one possible embodiment, multiple lifting rings 5 ​​are fixedly connected to the top of the lifting platform 23. By being securely attached to the top of the lifting platform 23, the lifting rings 5 ​​provide multi-point support for lifting heavy materials, distributing stress and improving lifting stability. The multi-point design of the lifting rings 5 ​​effectively prevents tilting or sliding caused by uneven force during material lifting, further enhancing handling safety.

[0031] The shape and material of the lifting ring 5 can be adjusted according to the specific material properties, for example, a metal material with an elastic coating can be used to prevent damage to the surface of the material, or a rotatable lifting ring can be provided to meet the requirements of multi-angle lifting.

[0032] In one possible embodiment, the swing bridge mechanism 3 is positioned on one side of the bottom of the vehicle body 1, with a servo 4 positioned at each end of the swing bridge mechanism 3. This positioning of the swing bridge mechanism 3 on the bottom side of the vehicle body 1, in conjunction with the servos 4 at both ends, provides stable ferry support, enabling the AGV to maneuver flexibly within the complex terrain of a press line. By positioning the swing bridge mechanism 3 on one side of the bottom, combined with the precise control of the servos 4, stability and adaptability during handling are significantly enhanced, making it particularly suitable for the complex terrain conditions of a press line.

[0033] The bridge material of the swing bridge mechanism 3 can be made of wear-resistant alloy or composite material to adapt to high-frequency use conditions. The steering gear 4 can be selected to be a high-torque model to improve the stability and accuracy of the swing bridge action.

[0034] In one possible embodiment, two servos 4 are further provided on the other side of the vehicle body 1 opposite to the swing bridge mechanism 3. Two servos 4 are provided on the other side of the vehicle body 1, which cooperate with the servos at both ends of the swing bridge mechanism 3 to realize double-sided drive control of the AGV. This arrangement improves the vehicle's driving stability and steering flexibility, and is particularly suitable for narrow press line stations or complex working environments. By providing servos 4 on both sides of the vehicle body 1, the AGV can control direction and speed more accurately, significantly improving its adaptability in complex scenarios. At the same time, this design improves the overall load balancing capability and helps extend the life of the equipment.

[0035] The installation position of the steering gear 4 can be fine-tuned according to the vehicle body size and actual operation requirements, for example, the spacing between the steering gears can be appropriately increased or decreased to optimize the vehicle's turning radius. In addition, the steering gear drive mode can be changed from electric to hydraulic to increase load capacity.

[0036] In one possible implementation, the vehicle body 1 is provided with a navigation radar 6 and an obstacle avoidance radar 7 at the edge. The navigation radar 6 and the obstacle avoidance radar 7 are responsible for path planning and obstacle detection, respectively. The navigation radar 6 generates accurate map data by scanning the working environment, guiding the AGV to realize automatic navigation; the obstacle avoidance radar 7 monitors the obstacles around the vehicle in real time, ensuring that the AGV can avoid obstacles in time during operation, improving safety. The combination of navigation radar and obstacle avoidance radar greatly improves the intelligence level of AGV, and can realize efficient and safe automatic handling operation in dynamic environment. This design effectively avoids the low efficiency or safety hazards caused by manual intervention.

[0037] The navigation radar 6 can be replaced by a high-precision radar with 3D modeling function for more accurate positioning in complex working environments; the obstacle avoidance radar 7 can increase multi-band detection capability to adapt to the detection needs of obstacles of different materials or sizes. In addition, the accuracy of navigation and obstacle avoidance can be further improved by fusing camera and radar data.

[0038] In one possible implementation, the scissor lifting device 22 of the lifting mechanism 2 is powered by a liquid driving system. The scissor lifting device 22 is pushed by the high-pressure liquid provided by the liquid driving system to realize stable and efficient lifting operation. The liquid driving system includes a hydraulic pump, a hydraulic cylinder and a control valve, which can dynamically adjust the pressure according to the load demand. Compared with the traditional electric driving mode, the liquid driving system has higher power density and stability, which can meet the rapid lifting demand of heavy loads, reduce noise and vibration, and improve the overall use experience.

[0039] The liquid driving system can be replaced by an electric hydraulic hybrid driving system to balance efficiency and energy saving; the type of hydraulic oil can be selected according to the working environment temperature, such as using anti-freezing hydraulic oil in low temperature environment.

[0040] In one possible implementation, the swing bridge mechanism 3 includes a swing bridge beam body 31 connected to the vehicle body 1 through a hinge structure. The swing bridge beam body 31 is connected to the vehicle body 1 through the hinge structure, so that it can swing within a certain angle range to adapt to uneven ground or specific handling needs. The hinge structure provides a flexible movement fulcrum while maintaining the stability of the connection. This hinge structure design can effectively improve the terrain adaptability of the swing bridge mechanism, so that the AGV can run smoothly when passing through uneven or obstacle-dense areas, while reducing the risk of stress concentration at the force receiving part of the swing bridge beam body 31.

[0041] The articulated structure can adopt a ball joint or a multi-axis articulated design to provide more degrees of freedom and greater durability. In addition, the length and width of the swing bridge body 31 can be customized according to specific working conditions to adapt to handling tasks of different sizes.

[0042] In one possible implementation, the navigation radar 6 is a lidar. Lidar emits laser beams and receives reflected signals to measure the distance and shape of the environment, generating high-precision 2D or 3D maps of the environment to guide the AGV in precise positioning and path planning. Lidar offers high measurement accuracy and anti-interference capabilities, meeting navigation requirements in complex environments and significantly improving the efficiency and reliability of AGVs.

[0043] LiDAR can be replaced with visual radar or a multi-sensor fusion data processing system to further enhance environmental perception. In cost-sensitive scenarios, solid-state LiDAR with moderate accuracy can be selected to reduce overall equipment cost.

[0044] In one possible implementation, the obstacle avoidance radar 7 is an ultrasonic radar. Ultrasonic radar measures the distance and direction of obstacles around the vehicle by emitting ultrasonic waves and receiving reflected signals, providing real-time obstacle avoidance data. Its operation is minimally affected by ambient lighting and can operate stably under a variety of conditions. Ultrasonic radar offers low cost and flexible installation, effectively addressing the need for close-range obstacle detection and ensuring the safe operation of AGVs.

[0045] Ultrasonic radar can be replaced with millimeter-wave radar to adapt to more complex obstacle recognition scenarios. In addition, the number of ultrasonic sensors can be increased to achieve higher-resolution obstacle avoidance functions.

[0046] Working Process: After pre-processing, stamping raw materials are placed on a pallet by workers or other mechanical equipment to ensure that the materials are neatly arranged and securely fixed to prevent slipping or tilting during transportation. Once the materials are ready on the pallet, workers send task instructions to the AGV via an operator terminal or wireless call system. The call system includes a task scheduling module that assigns tasks based on the AGV's real-time status (e.g., standby, charging, or executing a task). After receiving the task instruction, the heavy-duty AGV uses its navigation system (e.g., laser navigation radar 6) to plan the optimal path and accurately move under the pallet. The AGV relies on obstacle avoidance radar 7 to monitor obstacles in real time along its path to ensure safe operation. Once the AGV reaches under the pallet, the lifting mechanism 2 begins to operate. The hydraulic drive system drives the scissor lift 22, which raises the lifting platform 23 through the telescopic action of the lifting rod 221, firmly lifting the pallet off the ground. The lifting ring 5 on the lifting platform 23 provides additional support and stability to ensure the stability of the heavy-duty pallet. After the pallet is lifted, the AGV uses the path information provided by the navigation radar 6 to move the pallet to the designated location next to the automotive stamping press. The swing bridge mechanism 3 provides the necessary dynamic balance during the handling process, ensuring smooth material transportation. Upon reaching the predetermined position next to the stamping press, the AGV stops and maintains a stable state. At this point, a manually operated crane lifts the pallet and precisely places it on the stamping platform, completing the raw material feeding operation. After completing the pallet handling task, the AGV returns to its standby position along the optimal path according to the dispatching system's instructions. The standby position is equipped with a charging device, and the AGV automatically docks with the charging station to charge, preparing for the next task. During the charging period, the AGV enters standby mode and continuously monitors the call system for task instructions, ensuring that it can be quickly put into use when the next task arrives.

[0047] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A heavy-load lifting and handling AGV for automobile stamping lines, characterized by: include: Vehicle body (1); A lifting mechanism (2), the lifting mechanism (2) being arranged on the vehicle body (1), and the lifting mechanism (2) being used for lifting heavy-loaded materials; A swing bridge mechanism (3) is provided on one side of a vehicle body (1), a steering gear is provided at each end of the swing bridge mechanism (3), and two steering gears (4) are provided on the other side of the vehicle body (1).

2. The heavy-load lifting and handling AGV for automobile stamping lines according to claim 1 is characterized by: The lifting mechanism (2) includes a base (21), the base (21) is fixed on the top of the vehicle body (1), a scissor-type lifting device (22) is provided on the top of the base (21), the scissor-type lifting device (22) includes two lifting rods (221) that rotate with each other, and a lifting platform (23) is fixed on the top of the scissor-type lifting device (22).

3. The heavy-load lifting and handling AGV for automobile stamping lines according to claim 2 is characterized by: A plurality of lifting rings (5) are fixedly connected to the top of the lifting platform (23).

4. The heavy-load lifting and handling AGV for automobile stamping lines according to claim 1 is characterized by: The swing bridge mechanism (3) is arranged on one side of the bottom of the vehicle body (1), and a steering gear (4) is respectively arranged at both ends of the swing bridge mechanism (3) on the vehicle body (1).

5. The heavy-load lifting and handling AGV for automobile stamping lines according to claim 1 is characterized by: Two steering gears (4) are also provided on the other side of the vehicle body (1) opposite to the swing bridge mechanism (3).

6. The heavy-load lifting and handling AGV for automobile stamping lines according to claim 1 is characterized by: A navigation radar (6) and an obstacle avoidance radar (7) are provided at the edge of the vehicle body (1).

7. The heavy-load lifting and handling AGV for automobile stamping lines according to claim 1 is characterized by: The scissor-type lifting device (22) of the lifting mechanism (2) is powered by a liquid drive system.

8. The heavy-load lifting and handling AGV for automobile stamping lines according to claim 1 is characterized by: The swing bridge mechanism (3) comprises a swing bridge body (31), and the swing bridge body (31) is connected to the vehicle body (1) via a hinge structure.

9. The heavy-load lifting and handling AGV for automobile stamping lines according to claim 6, characterized in that: The navigation radar (6) adopts a laser radar.

10. The heavy-load lifting and handling AGV for automobile stamping lines according to claim 6, characterized in that: The obstacle avoidance radar (7) adopts an ultrasonic radar.

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