Jacking AGV trolley

Abstract

The utility model relates to a jacking AGV trolley which can adapt to the working conditions of narrow space and high load and comprises a frame, a first omnidirectional steering wheel module and a second omnidirectional steering wheel module are arranged at the bottom in the length direction in a spaced mode, and each omnidirectional steering wheel module comprises two omnidirectional steering wheel modules arranged in the width direction of the frame in a spaced mode; lifting the top plate; the hydraulic oil station and power supply assembly is arranged in the frame and is positioned between the first group of omnidirectional steering wheel modules and the second group of omnidirectional steering wheel modules in the length direction; the hydraulic oil cylinder set is controlled by the hydraulic oil station to work simultaneously and comprises a first hydraulic oil cylinder, a second hydraulic oil cylinder, a third hydraulic oil cylinder, a fourth hydraulic oil cylinder, a fifth hydraulic oil cylinder and a sixth hydraulic oil cylinder which are arranged in the frame and distributed at the four end corners of the frame, and the hydraulic oil cylinders are arranged in the width direction of the frame. The fifth hydraulic oil cylinder is located between the two omni-directional steering wheel modules of the first omni-directional steering wheel module set, and the sixth hydraulic oil cylinder is located between the two omni-directional steering wheel modules of the second omni-directional steering wheel module set.

Description

Technical Field

[0001] This application relates to the field of equipment handling and logistics product transfer technology, and in particular to a lifting AGV (Automated Guided Vehicle). Background Technology

[0002] The specific working conditions in some existing workshops are as follows: the equipment load is large, for example, nearly 6 tons. In addition, the ground is wet and slippery due to the presence of water, oil, alkali, etc., making it extremely difficult to handle heavy materials in such an environment.

[0003] The existing technical solution is to use an air cushion vehicle for transportation, which requires manual insertion and removal of the air source and pushing the air cushion vehicle into the bottom of the equipment. Then, the movement and steering of the air cushion vehicle are controlled by a pneumatic lifting device.

[0004] Furthermore, existing air cushion vehicle solutions require extremely high levels of flatness and smoothness in the travel track; otherwise, the air cushion membrane is prone to wear and scratches, resulting in high resistance and a reduced lifespan. Automation is low; air cushion vehicles require manual selection of transport paths based on the workstation's condition and continuous adjustment of the air supply output to maintain cushion stability, leading to high labor intensity. Additionally, during operation and relocation, inertia causes inaccurate positioning, frequently resulting in collisions with equipment and causing damage. The air cushion membrane wears out quickly, leading to high replacement costs and imposing a significant economic burden on companies in the long run. Utility Model Content

[0005] Therefore, it is necessary to propose a lifting AGV trolley that is suitable for working conditions with limited space and heavy load.

[0006] According to one aspect of this application, a lifting AGV trolley includes a frame, with a first set of omnidirectional steering wheel modules and a second set of omnidirectional steering wheel modules spaced apart along the length of the frame at the bottom of the frame. Each set of omnidirectional steering wheel modules includes two omnidirectional steering wheel modules spaced apart along the width of the frame. The omnidirectional steering wheel modules are used to drive the lifting AGV trolley to move and turn. A lifting top plate is disposed on the top of the frame. A hydraulic oil station and power supply assembly are disposed within the frame and located between the first set of omnidirectional steering wheel modules and the second set of omnidirectional steering wheel modules along the length of the frame. The components are used to control the operation of each of the omnidirectional steering wheel modules; the hydraulic cylinder group, controlled by the hydraulic oil station to operate simultaneously, includes a first, second, third, fourth, fifth and sixth hydraulic cylinders disposed in the frame, the output end of each hydraulic cylinder being connected to the bottom of the lifting top plate, wherein the first, second, third and fourth hydraulic cylinders are distributed at the four corners of the frame, and in the width direction of the frame, the fifth hydraulic cylinder is located between the two omnidirectional steering wheel modules of the first group of omnidirectional steering wheel modules, and the sixth hydraulic cylinder is located between the two omnidirectional steering wheel modules of the second group of omnidirectional steering wheel modules.

[0007] In some embodiments, the fifth hydraulic cylinder and the sixth hydraulic cylinder are located close to the hydraulic power station and power supply assembly along the length of the vehicle frame.

[0008] In some embodiments, the omnidirectional steering wheel module includes a turntable, a slip wheel, a travel drive assembly, and a steering drive assembly. The turntable is rotatably mounted on the vehicle frame. The slip wheel and the travel drive assembly are both mounted on the turntable. The output end of the travel drive assembly is connected to the slip wheel. The steering drive assembly is mounted on the vehicle frame, and the output end of the steering drive assembly is connected to the turntable.

[0009] In some embodiments, the anti-slip wheel is made of polyurethane.

[0010] In some embodiments, the frame includes a vehicle body and a base plate fixed to the vehicle body, the vehicle body forming a receiving cavity; the hydraulic station, power supply assembly and hydraulic cylinder assembly are all disposed within the receiving cavity and supported by the base plate.

[0011] In some embodiments, the receiving cavity is provided with multiple stiffening plates, which divide the receiving cavity into multiple sub-receiving cavities. Each of the omnidirectional steering wheel module, the hydraulic oil station, and the power supply assembly is installed in a different sub-receiving cavity. The base plate includes multiple parts that correspond one-to-one with each of the sub-receiving cavities.

[0012] In some embodiments, the circumferential sidewalls of the vehicle frame are provided with a plurality of lidar sensors, wherein the lidar sensors are provided on the sidewalls at at least both ends in the longitudinal direction of the vehicle frame.

[0013] In some embodiments, the power supply assembly includes an energy storage battery; a charging interface is provided on the side wall of one end of the vehicle frame along its length, the charging interface being electrically connected to the energy storage battery to charge the energy storage battery with external electrical energy.

[0014] In some embodiments, the charging interface includes a retractable brush that can be concealed within the frame or extend beyond the frame.

[0015] In some embodiments, the energy storage battery is a lithium battery.

[0016] In this application, the hydraulic station, power supply, and hydraulic cylinder assembly are concealed within the chassis, resulting in a smaller chassis height and enabling vehicle movement, steering, and equipment lifting within existing confined spaces. Six hydraulic cylinders are distributed at the four corners of the chassis and between the two omnidirectional steering wheel modules in each group. The synchronized lifting of the six hydraulic cylinders provides better load-bearing capacity for the lifting top plate while fully utilizing the gaps around and under the chassis, thus miniaturizing the lifting AGV trolley. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of a lifting AGV trolley according to an embodiment of this application.

[0018] Figure 2 for Figure 1 A view of the lifting AGV trolley from below. Figure 1 .

[0019] Figure 3 for Figure 2 Sectional view along the AA direction.

[0020] Figure 4 for Figure 2 Sectional view along the BB direction.

[0021] Figure 5 for Figure 1 A view of the lifting AGV trolley from below. Figure 2 .

[0022] 100. Lifting AGV trolley; 10. Frame; 11. Body; 12. Floor plate; 131. Rib plate; 110. Omnidirectional steering wheel module; 111. Turntable; 112. Anti-slip wheel; 113. Walking drive assembly; 1131. Drive motor; 1132. First-stage reducer; 1133. Second-stage reducer; 114. Steering drive assembly; 1141. Steering motor; 1142. Steering reducer; 120. LiDAR; 20. Lifting top plate; 30. Hydraulic oil station; 40. Power supply assembly; 50. Hydraulic cylinder group; 510. First hydraulic cylinder; 520. Second hydraulic cylinder; 530. Third hydraulic cylinder; 540. Fourth hydraulic cylinder; 550. Fifth hydraulic cylinder; 560. Sixth hydraulic cylinder; 60. Charging interface; 610. Retractable brush. Detailed Implementation

[0023] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments described below.

[0024] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0025] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0026] refer to Figures 1 to 5 One embodiment of this application proposes a lifting AGV trolley, which is suitable for working conditions with limited space and heavy loads. Figure 1This is a three-dimensional structural diagram of a lifting AGV trolley according to an embodiment of this application. Figure 2 for Figure 1 A view of the lifting AGV trolley from below. Figure 1 . Figure 3 for Figure 2 Sectional view along the AA direction. Figure 4 for Figure 2 Sectional view along the BB direction. Figure 5 for Figure 1 A view of the lifting AGV trolley from below. Figure 2 .

[0027] like Figure 1 and Figure 2 , Figure 5 As shown, the lifting AGV trolley 100 includes a frame 10, a lifting top plate 20, a hydraulic oil station 30, a power supply assembly 40, and a hydraulic cylinder assembly 50.

[0028] The bottom of the frame 10 is provided with a first set of omnidirectional steering wheel modules and a second set of omnidirectional steering wheel modules at intervals along the length direction of the frame 10. Each set of omnidirectional steering wheel modules 110 includes two omnidirectional steering wheel modules 110 at intervals along the width direction of the frame 10. The omnidirectional steering wheel modules 110 are used to drive the lifting AGV trolley 100 to move and turn.

[0029] The lifting roof panel 20 is vertically mounted on top of the frame 10. A hydraulic power station 30 and power supply are located within the frame 10, positioned along the length of the frame 10 between the first and second omnidirectional steering wheel modules. The power supply assembly 40 controls the operation of each omnidirectional steering wheel module 110. A hydraulic cylinder group 50, controlled simultaneously by the hydraulic power station 30, includes first, second, third, and fourth hydraulic cylinders 540 located within the frame 10 and distributed at the four corners of the frame 10; and a fifth hydraulic cylinder 550 and a sixth hydraulic cylinder 560. Along the width of the frame 10, the fifth hydraulic cylinder 550 is located between the two omnidirectional steering wheel modules 110 of the first group, and between the two omnidirectional steering wheel modules 110 of the second group. The output end of each hydraulic cylinder is connected to the bottom of the lifting roof panel 20.

[0030] The frame 10 is used to mount other components. The frame 10 is specifically rectangular in shape. Figure 1 , Figure 2 and Figure 5 In the middle, the length direction of the frame 10 is along the left and right direction, and the width direction of the frame 10 is along the up and down direction.

[0031] The omnidirectional steering wheel module 110 is powered by the power supply assembly 40. The two sets of omnidirectional steering wheel modules 110 enable the chassis 10 to move freely in any direction on the ground. In this application, a total of four omnidirectional steering wheel modules 110 are distributed at the four corners of the bottom of the chassis 10, which makes the lifting AGV trolley 100 more stable when moving.

[0032] The lifting platform 20 is used to support the equipment and to raise and lower it vertically. The bottom of the lifting platform 20 is simultaneously connected to the top of the output ends of six hydraulic cylinders. It is easy to understand that the lifting platform 20 should be made of a high-strength material, such as steel plate.

[0033] Six hydraulic cylinders operate synchronously under the control of the hydraulic station 30, thereby driving the lifting top plate 20 to rise and fall relative to the frame 10. Generally, the initial position of the lifting top plate 20 is set to be just against the top of the frame 10. When the lifting top plate 20 rises relative to the frame 10, it lifts the equipment to the target height.

[0034] Specifically, the hydraulic station 30 is connected to six hydraulic cylinders via six synchronous valves. These hydraulic cylinders are connected to the lifting roof 20, and the six hydraulic cylinders operate simultaneously to lift the lifting roof 20 as a whole. In this application, the lifting roof 20 is designed to lift a weight exceeding 6 tons.

[0035] In this application, four sets of omnidirectional steering wheel modules 110 are used, enabling omnidirectional movement and strong load-bearing capacity, meeting the needs of handling and replacing heavy equipment. The hydraulic station 30, power supply assembly 40, and hydraulic cylinder group 50 are concealed within the frame 10, resulting in a smaller frame height and allowing for movement, steering, and equipment lifting of the vehicle body 11 within existing confined spaces. Six hydraulic cylinders, distributed at the four corners of the frame 10 and between the two omnidirectional steering wheel modules 110 in each group, provide synchronous lifting, giving the lifting top plate 20 better load-bearing capacity. In this way, the six hydraulic cylinders not only provide better load-bearing capacity for the lifting top plate 20 but also fully utilize the gaps around and at the bottom of the frame 10, miniaturizing the lifting AGV trolley 100.

[0036] In this application, the overall height of the lifting AGV trolley 100 is set such that when the lifting top plate 20 is in the initial position, the overall height of the lifting AGV trolley 100 does not exceed 400mm, thereby meeting the needs of vehicle body 11 movement, steering and equipment lifting in a narrow space.

[0037] like Figure 5 As shown, in some embodiments, the fifth hydraulic cylinder 550 and the sixth hydraulic cylinder 560 are both close to the hydraulic station 30 and the power supply assembly 40 along the length of the frame 10.

[0038] If the hydraulic station 30 and the power supply assembly 40 are considered as a whole, then the fifth hydraulic cylinder 550 and the sixth hydraulic cylinder 560 are located on the left and right sides of this whole, respectively. Furthermore, relative to the left end of the frame 10, the fifth hydraulic cylinder 550 is closer to the whole; relative to the right end of the frame 10, the sixth hydraulic cylinder 560 is closer to the whole. Thus, along the length of the frame 10, relative to both ends of the frame 10, the fifth hydraulic cylinder 550 and the sixth hydraulic cylinder 560 are closer to the middle region of the frame 10, resulting in better support of the lifting hydraulic cylinder assembly 50 for the middle region of the lifting roof 20, making the lifting roof 20 less prone to deformation.

[0039] like Figures 2 to 4 As shown, in some embodiments, the omnidirectional steering wheel module 110 includes a turntable 111, anti-slip wheels 112, a travel drive assembly 113, and a steering drive assembly 114. The turntable 111 is rotatably mounted on the frame 10. The anti-slip wheels 112 and the travel drive assembly 113 are both mounted on the turntable 111. The output end of the travel drive assembly 113 is connected to the anti-slip wheels 112. The steering drive assembly 114 is mounted on the frame 10, and the output end of the steering drive assembly 114 is connected to the turntable 111.

[0040] In this application, the walking drive assembly 113 drives the anti-slip wheel 112 to rotate, thereby enabling the lifting AGV trolley 100 to move. The steering drive assembly 114 is used to drive the turntable 111 to rotate the anti-slip wheel 112 in the horizontal plane, thereby achieving steering.

[0041] Optionally, the travel drive assembly 113 includes a drive motor 1131, a primary reducer 1132, and a secondary reducer 1133. The axial direction of the motor shaft of the drive motor 1131 is parallel to the axial direction of the anti-slip wheel 112. The motor shaft of the drive motor 1131 is connected to the anti-slip wheel 112 via the primary reducer 1132 and the secondary reducer 1133, thereby driving the anti-slip wheel 112 to rotate. Optionally, the steering drive assembly 114 includes a steering motor 1141 and a steering reducer 1142. The steering motor 1141 drives the turntable 111 to rotate via the steering reducer 1142.

[0042] The omnidirectional steering wheel module 110 is equipped with a walking drive component 113 and a steering drive component 114, which enables an independently controlled drive combination and allows the omnidirectional movement of the lifting AGV. The coordinated action of the four omnidirectional steering wheels effectively ensures the achievement of the load-bearing capacity.

[0043] Optionally, the anti-slip wheel 112 is made of polyurethane. The anti-slip wheel 112 features a wide wheel design, with specific dimensions such as Φ260×130mm, and a single wheel can bear a load of 3 tons. It is made of polyurethane with a hardness of 75-93A. It is suitable for walking and turning in special environments (including stainless steel or epoxy floors containing oil, alkali, or water).

[0044] In some embodiments, such as Figure 2 , Figure 4 and Figure 5 As shown, the frame 10 includes a body 11 and a base plate 12 fixed to the body 11, with the body 11 forming a receiving cavity; the hydraulic oil station 30, the power supply assembly 40, and the hydraulic cylinder assembly 50 are all located within the receiving cavity and supported by the base plate 12. Figure 4 Base plate 12 was displayed. Figure 5 The bottom plate 12 is hidden in the middle.

[0045] In this application, the hydraulic oil station 30, power supply assembly 40, and hydraulic cylinder assembly 50 are all concealed inside the vehicle body 11, thereby reducing the height of the vehicle body 11. Furthermore, in a specific configuration, the top of the anti-slip wheel 112 is concealed inside the vehicle body 11, while the bottom of the anti-slip wheel 112 protrudes from the bottom surface of the base plate 12. The travel drive assembly 113 and the steering drive assembly 114 are disposed on the surface of the base plate 12. This allows the travel drive assembly 113 and the steering drive assembly 114 to be installed using the gap between the bottom of the anti-slip wheel 112 and the lower surface of the base plate 12, thus facilitating the miniaturization of the lifting AGV trolley 100.

[0046] In some embodiments, such as Figure 5 As shown, the cavity is provided with multiple stiffening plates 131, which divide the cavity into multiple sub-cavities. Each omnidirectional steering wheel module 110, hydraulic oil station 30, and power supply assembly 40 is installed in a different sub-cavity. The base plate 12 includes multiple parts that correspond one-to-one with the sub-cavities.

[0047] In this application, each omnidirectional steering wheel module 110, hydraulic oil station 30, power supply assembly 40, etc., is independently installed in a space and separately enclosed by a portion of the base plate 12. In this way, maintenance of each component can be performed individually without having to fully open the base plate 12 each time, thereby reducing the probability of damage to normal components during maintenance.

[0048] In some embodiments, such as Figure 1 As shown, the circumferential sidewalls of the frame 10 are provided with a plurality of lidar 120, wherein lidar 120 is provided on the sidewalls at at least both ends in the length direction of the frame 10.

[0049] Figure 1The diagram only shows the lidar 120 on the side wall of one end of the frame 10 along its length. It is easy to understand that a lidar 120 is also provided on the side wall of the other end along the length. Furthermore, lidar 120s can also be provided on the two opposite side walls along the width. The lidar 120 is communicatively connected to the control system of the lifting AGV trolley 100, providing external environmental information for the control system to control each omnidirectional steering wheel module 110.

[0050] Specifically, the LiDAR 120 is responsible for location point detection and obstacle avoidance. The laser probe device can scan the surrounding environment in real time, providing accurate data for the path planning and obstacle avoidance of the lifting AGV 100. Through the control system, the lifting AGV 100 can automatically adjust its travel path according to the scanning results of the LiDAR 120, avoiding collisions with obstacles and ensuring the safety and reliability of the transportation process.

[0051] The power supply component 40 specifically includes an energy storage battery. Furthermore, as... Figure 1 and Figure 5 As shown, a charging interface 60 is provided on the side wall of one end of the frame 10 along its length. The charging interface 60 is electrically connected to the energy storage battery to charge the energy storage battery with external electrical energy.

[0052] The energy storage battery is specifically a lithium battery, which provides power to the walking drive assembly 113 and the steering drive assembly 114. The charging interface is used to connect to an external power source, such as a charger, to replenish the energy storage battery, thereby improving its range.

[0053] Optional, such as Figure 4 As shown, the charging interface 60 includes a retractable brush 61. The retractable brush 61 can be concealed within the frame 10 or extend beyond the frame 10. Of course, the charging interface 60 may also include a fixed charging terminal.

[0054] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

Claims

1. A lifting AGV trolley, characterized in that, include: The frame has a first set of omnidirectional steering wheel modules and a second set of omnidirectional steering wheel modules spaced apart along the length of the frame at its bottom. Each set of omnidirectional steering wheel modules includes two omnidirectional steering wheel modules spaced apart along the width of the frame. The omnidirectional steering wheel modules are used to drive the lifting AGV trolley to move and turn. A retractable roof panel is located on top of the vehicle frame; The hydraulic oil station and power supply are installed inside the vehicle frame and located between the first group of omnidirectional steering wheel modules and the second group of omnidirectional steering wheel modules in the longitudinal direction of the vehicle frame. The power supply is used to control the operation of each of the omnidirectional steering wheel modules. The hydraulic cylinder assembly, controlled simultaneously by the hydraulic oil station, includes a first, second, third, fourth, fifth, and sixth hydraulic cylinder disposed within the vehicle frame. The output end of each hydraulic cylinder is connected to the bottom of the lifting roof plate. The first, second, third, and fourth hydraulic cylinders are distributed at the four corners of the vehicle frame. In the width direction of the vehicle frame, the fifth hydraulic cylinder is located between the two omnidirectional steering wheel modules of the first group of omnidirectional steering wheel modules, and the sixth hydraulic cylinder is located between the two omnidirectional steering wheel modules of the second group of omnidirectional steering wheel modules.

2. The lifting AGV trolley according to claim 1, characterized in that, Along the length of the vehicle frame, both the fifth and sixth hydraulic cylinders are located close to the hydraulic power station and power supply assembly.

3. The lifting AGV trolley according to claim 1, characterized in that, The omnidirectional steering wheel module includes a turntable, anti-slip wheels, a travel drive assembly, and a steering drive assembly. The turntable is rotatably mounted on the vehicle frame. The anti-slip wheels and the travel drive assembly are both mounted on the turntable. The output end of the travel drive assembly is connected to the anti-slip wheels. The steering drive assembly is mounted on the vehicle frame, and the output end of the steering drive assembly is connected to the turntable.

4. The lifting AGV trolley according to claim 3, characterized in that, The anti-slip wheels are made of polyurethane.

5. The lifting AGV trolley according to claim 1, characterized in that, The vehicle frame includes a vehicle body and a base plate fixed to the vehicle body, and the vehicle body forms a receiving cavity; the hydraulic oil station, power supply assembly and hydraulic cylinder assembly are all located in the receiving cavity and supported by the base plate.

6. The lifting AGV trolley according to claim 5, characterized in that, The cavity is provided with multiple stiffening plates, which divide the cavity into multiple sub-cavities. Each omnidirectional steering wheel module, hydraulic oil station, and power supply assembly is installed in a different sub-cavity. The base plate includes multiple parts that correspond one-to-one with each of the sub-cavities.

7. The lifting AGV trolley according to claim 1, characterized in that, The circumferential sidewalls of the vehicle frame are provided with a plurality of lidar sensors, wherein the lidar sensors are provided on the sidewalls at at least both ends of the vehicle frame in the longitudinal direction.

8. The lifting AGV trolley according to claim 1, characterized in that, The power supply assembly includes an energy storage battery; a charging interface is provided on the side wall of one end of the vehicle frame along its length, and the charging interface is electrically connected to the energy storage battery to charge the energy storage battery with external electrical energy.

9. The lifting AGV trolley according to claim 8, characterized in that, The charging interface includes a retractable brush that can be hidden inside the frame or extend out of the frame.

10. The lifting AGV trolley according to claim 8, characterized in that, The energy storage battery is a lithium battery.

Images