Novel double-portal AGV
By designing a new type of double-mast AGV, which adopts a lifting mast and bidirectional telescopic forks, and combines laser navigation and sensors, the problem of existing AGVs being unable to densely store and efficiently retrieve and place goods in narrow passages has been solved, achieving efficient, stable, and low-cost goods handling.
Patent Information
- Application Number
- CN202423177907.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-23
- Publication Date
- 2025-12-02
- Estimated Expiration
- 2034-12-23
AI Technical Summary
In scenarios with limited warehouse space and narrow passageways, existing AGV (Automated Guided Vehicle) technologies struggle to meet the demands of dense storage. Specifically, they are inadequate for handling large goods (length greater than 2 meters). Furthermore, existing technologies cannot efficiently handle the retrieval and placement of large goods, requiring specialized equipment to meet these needs, and even then, efficient retrieval and placement operations are not feasible.
Design a novel double-mast AGV, including a vehicle body, a front assembly, a rear assembly, and a connecting frame. Lifting masts are installed on the front and rear assemblies. The two ends of the load-bearing frame are movably connected to the masts. It is equipped with bidirectional telescopic forks and a fork drive device. There is a traveling motion mechanism at the bottom of the vehicle body. It uses laser navigation and sensors for navigation and safety control.
It enables dense storage in narrow passages, improves cargo retrieval efficiency, is highly adaptable, reduces modification costs, and has high stability on uneven surfaces, making it suitable for handling materials of different lengths.
Smart Images
Figure CN223620105U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of AGV (Automated Guided Vehicle) technology, and in particular to a novel double-gantry AGV. Background Technology
[0002] Today, AGVs (Automated Guided Vehicles) are widely used in various industries as automated material handling equipment in factories and warehouses. As an upgraded alternative to manual handling or hoisting, they offer advantages such as high efficiency, speed, and flexibility. Currently, material handling using pallet-based carriers mainly includes forklift AGVs, stacker cranes, and customized AGVs. In scenarios with limited warehouse space and narrow AGV aisle requirements, some special equipment is needed to meet the usage needs, such as reach truck AGVs, side-mounted forklift AGVs, and stacker cranes.
[0003] Objective disadvantages of existing technologies:
[0004] a) Although reach truck AGVs require narrower aisles than ordinary forklift AGVs, they still need to make right-angle turns to pick up and put down goods, so the aisle requirements are still high and they cannot achieve dense storage.
[0005] b) Side-mounted AGVs have lower requirements for aisle access, but can only pick up and put down goods on one side of the shelf at a time. If the other side needs to be picked up and put down, it needs to drive out of the aisle and turn around, which makes it difficult to meet the high efficiency requirements of automated factories.
[0006] c) Neither reach truck AGVs nor side truck AGVs can meet the requirements for retrieving and storing large-sized goods (goods length greater than 2 meters).
[0007] d) Stacker cranes require the installation of top and bottom rails, which occupy vertical space. They are also quite heavy and have high requirements for ground bearing capacity, resulting in relatively high modification costs. Utility Model Content
[0008] The purpose of this invention is to provide a novel double-gantry AGV to solve the problems mentioned in the background art.
[0009] To achieve the above objectives, this utility model provides the following technical solution:
[0010] A novel dual-mast AGV includes a vehicle body, which comprises a front assembly, a rear assembly, and a connecting frame connecting the front and rear assemblies. A lifting first mast and a second mast are respectively installed at the front and rear assemblies on both sides of the connecting frame. A load-bearing frame is provided on the connecting frame, and both ends of the load-bearing frame are movably connected to the first and second masts. A bidirectional telescopic fork and a fork drive device are installed on the load-bearing frame. A traveling mechanism is provided at the bottom of the vehicle body. Mast drive devices for driving the first and second masts are respectively installed in the front and rear assemblies, as well as controllers for controlling the fork drive devices, mast drive devices, and the traveling mechanism.
[0011] Preferably, both ends of the load-bearing frame are connected to a slide, and a plurality of gantry rollers are rotatably mounted on the slide. The load-bearing frame is movably connected to the first gantry and the second gantry through the gantry rollers at both ends.
[0012] Preferably, a cargo safety frame is installed at both ends of the carriage of the supporting frame. The cargo safety frame is equipped with a height limit sensor and a width limit sensor. The height limit sensor and the width limit sensor are both laser sensors and are electrically connected to the controller.
[0013] Preferably, the fork drive device includes a motor and a sprocket for driving the forks to move, the support frame is provided with a fork slide rail, and the bidirectional telescopic forks fit and cover the outside of the fork slide rail and move horizontally along it.
[0014] Preferably, the gantry drive device includes a first pump station installed in the front assembly and a second pump station installed in the rear assembly. The first and second gantry are respectively provided with hydraulic rods connected to the first and second pump stations. The top of the first and second gantry are both equipped with sprockets, and the sprockets are provided with chains. One end of the chain is fixed to the vehicle body, and the other end is fixed to the carriage. The chain drives the load-bearing frame to move up and down by rotating the sprockets.
[0015] Preferably, both the first mast and the second mast are hinged with adjusting rods at their middle parts. The other end of the adjusting rods is hinged to the top of the front assembly and the rear assembly, respectively. The adjusting rods are provided to reduce mast deformation when loading cargo and improve cargo handling accuracy.
[0016] Preferably, the vehicle movement mechanism includes a drive steering wheel, a load-bearing wheel, a flexible roller, and a guide wheel. The drive steering wheel is located at the bottom of the front assembly and is mounted on a steering wheel frame. A telescopic compression cylinder is hinged to the top of the steering wheel frame, and the other end of the compression cylinder is hinged to the top of the connecting frame. Support legs are provided on both sides of the bottom of the steering wheel frame, and a hinge shaft is rotatably connected between the two support legs. Both ends of the hinge shaft are rotatably connected to the connecting frame. The steering wheel frame is hinged to the bottom of the connecting frame through the hinge shaft. The load-bearing wheels are located at the bottom of the front assembly and the rear assembly, respectively. The flexible rollers are located on both sides of the middle part of the connecting frame, and the guide wheel is disposed on the side of the connecting frame.
[0017] Preferably, the connecting frame is connected to two flexible wheel frames on both sides of the middle part, and the flexible wheel frames are installed with connecting columns on both sides inside. The connecting columns are fitted with springs, and the flexible rollers are rotatably installed in the roller frame. The roller frames are connected to the flexible wheel frames through the connecting columns on both sides and the springs to form a flexible connection. This can provide continuous support while reducing the risk of vehicle body swaying caused by a large number of rigid support points.
[0018] Preferably, driving safety sensors are installed on the bottom of the outer side walls of the front and rear vehicle assemblies, and a navigation sensor is installed on the top of the first mast. Both the driving safety sensors and the navigation sensors are laser sensors and are electrically connected to the controller.
[0019] Preferably, both the front and rear vehicle components are equipped with emergency stop switches and are electrically connected to the controller.
[0020] Compared with the prior art, the beneficial effects of this utility model are:
[0021] 1. It can meet the needs of dense storage: Most components, except for the load-bearing frame, are arranged front and rear, which greatly reduces the width of the vehicle body, so the required passage width of the vehicle body is smaller.
[0022] 2. Improves the operational efficiency of automated factories: The load-bearing frame is equipped with double-sided telescopic forks, which can pick up and put down goods on both sides of the vehicle without turning around, reducing the number of steps and improving the efficiency of picking up and putting down goods.
[0023] 3. Wide adaptability and strong expandability: The vehicle body structure is modularly designed, and the connecting frame and load-bearing frame can be designed and replaced according to actual needs, which can meet the handling needs of materials of different lengths.
[0024] 4. Low modification cost: The navigation method is laser navigation, which does not require the installation of ground rails; the vehicle weight is small, so there is no need to strengthen the floor slab.
[0025] 5. High operational stability: The chassis consists of 4 load-bearing wheels, 2 sets of flexible rollers, and a set of flexible drive steering wheels. The drive steering wheels are articulated flexible structures that can continuously provide suitable wheel loads on uneven roads to ensure the vehicle's motion performance. The 2 sets of flexible rollers can provide continuous support while reducing the risk of vehicle swaying caused by too many rigid support points. This wheel system combination can ensure the vehicle's continuous stable operation and reduce vehicle swaying caused by ground conditions. Attached Figure Description
[0026] Figure 1 This is a schematic diagram of the structure of this utility model;
[0027] Figure 2 This is a schematic diagram of the bottom structure of this utility model;
[0028] Figure 3 This is a schematic diagram of the connecting frame and the load-bearing frame structure of this utility model;
[0029] Figure 4 This is a schematic diagram of the lifting mechanism at the front of the vehicle according to this utility model;
[0030] Figure 5 This is a schematic diagram of the lifting mechanism at the rear of the vehicle according to this utility model;
[0031] Figure 6 This is a schematic diagram of the bidirectional telescopic fork connection structure of this utility model;
[0032] Figure 7 This is a schematic diagram of the drive steering wheel connection structure of this utility model;
[0033] Figure 8 This is a schematic diagram of the side connection structure of the drive steering wheel of this utility model;
[0034] Figure 9 This is a schematic diagram of the flexible wheel connection structure of this utility model.
[0035] Figure Labels
[0036] 1. Head assembly, 2. Rear assembly, 3. Connecting frame, 4. First mast, 5. Second mast, 6. Load-bearing frame, 7. Bi-directional telescopic forks, 8. Carriage carriage, 9. Mast rollers, 10. Fork rails, 11. Cargo safety frame, 12. Adjusting rod, 13. First pump station, 14. Hydraulic rod, 15. Second pump station, 16. Sprockets, 17. Drive steering wheel, 18. Guide wheel, 19. Load-bearing wheel, 20. Flexible roller, 21. Compression cylinder, 22. Hinge shaft, 23. Steering wheel frame, 24. Roller frame, 25. Flexible wheel frame, 26. Driving safety sensor, 27. Navigation sensor. Detailed Implementation
[0037] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.
[0038] like Figure 1 , Figure 3 As shown, a new type of double-mast AGV includes a vehicle body, which includes a front assembly 1, a rear assembly 2, and a connecting frame 3 connecting the front assembly 1 and the rear assembly 2. The vehicle body frame structure is modularly designed. The front assembly 1 and the rear assembly 2 are standard structures, while the middle connecting frame 3 can be replaced and adjusted according to project requirements. The three components are connected by high-strength screws to form the vehicle body frame.
[0039] The front and rear components 1 and 2 on both sides of the connecting frame 3 are respectively equipped with a lifting first mast 4 and a second mast 5. The connecting frame 3 is provided with a load-bearing frame 6. The two ends of the load-bearing frame 6 are movably connected to the first mast 4 and the second mast 5. The two ends of the load-bearing frame 6 are connected to the slide 8 by screws. Several mast rollers 9 are rotatably installed on the slide 8. The load-bearing frame 6 is movably connected to the first mast 4 and the second mast 5 through the mast rollers 9 at both ends.
[0040] Both the front assembly 1 and the rear assembly 2 are equipped with driving safety sensors 26 on the bottom of their outer side walls for obstacle recognition, ensuring the safety of the AGV during automatic movement. A navigation sensor 27 is installed on the top of the first gantry 4, and reflectors are installed on the outer side of the shelf or building columns. The navigation sensor 27 and the reflectors form a navigation system. The guide wheels 18 on the vehicle body, together with the ground guide strips, serve as an auxiliary positioning system. Both the driving safety sensor 26 and the navigation sensor 27 are laser sensors and are electrically connected to the controller. Both the front assembly 1 and the rear assembly 2 are equipped with emergency stop switches and are electrically connected to the controller, so that they can be manually shut down in an emergency.
[0041] The laser emitted from the navigation sensor 27 is reflected by the reflector and received by the navigation sensor 27, which can determine the actual coordinate position of the double-gantry AGV. The AGV can be instructed to move automatically by setting the driving route, so that the driving route can be changed arbitrarily, with less limitation and more suitable for use between shelves.
[0042] Cargo safety frames 11 are installed at both ends of the carriages 8 of the load-bearing frame 6. The cargo safety frames 11 are equipped with height limit sensors and width limit sensors. Both height limit sensors and width limit sensors are laser sensors and are electrically connected to the controller to limit the cargo load to ensure cargo safety.
[0043] like Figure 6As shown, a bidirectional telescopic fork 7 and a fork drive device for driving the fork are installed on the support frame 6 by screws. The fork drive device includes a motor and a sprocket 16 for driving the fork to move. A fork slide rail 10 is provided on the support frame 6. The bidirectional telescopic fork 7 fits and covers the outside of the fork slide rail 10 and moves horizontally along it, which facilitates the bidirectional movement of the fork and can maintain stability during the movement. When the support frame 6 is raised to a specified height, the fork moves horizontally to move the goods to the stacking position. After the goods are placed, the fork returns to its original position, and the support frame 6 descends to its original position.
[0044] like Figure 4-5 As shown, the front assembly 1 and rear assembly 2 are equipped with mast drive devices that drive the first mast 4 and the second mast 5 respectively, and controllers that control the fork drive device, the mast drive device, and the traveling mechanism. The mast drive device includes a first pump station 13 installed in the front assembly 1 and a second pump station 15 installed in the rear assembly 2. The first mast 4 and the second mast 5 are respectively equipped with hydraulic rods 14 connected to the first pump station 13 and the second pump station 15. The top of the first mast 4 and the second mast 5 are both equipped with sprockets 16, and a chain (not shown in the figure) is installed on the sprockets 16. One end of the chain is fixed to the vehicle body, and the other end is fixed to the carriage 8. The chain drives the load-bearing frame 6 to move up and down by rotating the sprockets 16. The pump station delivers hydraulic oil to the hydraulic rods 14 to push the hydraulic rods 14 to extend, driving the first mast 4 and the second mast 5 to rise. The sprockets 16 follow the mast to rise, driving the chain to pull the carriage 8 to rise, thereby causing the load-bearing frame 6 to move vertically on the mast through the mast rollers 9.
[0045] Adjustment rods 12 are hinged to the middle of the first mast 4 and the second mast 5. The other end of the adjustment rods 12 is hinged to the top of the front assembly 1 and the rear assembly 2, respectively. The adjustment rods 12 are set to reduce the deformation of the mast when loading cargo and improve the accuracy of loading and unloading cargo.
[0046] like Figure 2 , Figure 7-8 As shown, a driving motion mechanism is provided at the bottom of the vehicle body. The driving motion mechanism includes a drive steering wheel 17, a load-bearing wheel 19, a flexible roller 20, and a guide wheel 18. The drive steering wheel 17 is located at the bottom of the front assembly 1 and is mounted on a steering wheel frame 23. A telescopic compression cylinder 21 is hinged to the top of the steering wheel frame 23. The other end of the compression cylinder 21 is hinged to the top of the connecting frame 3. Support legs are provided on both sides of the bottom of the steering wheel frame. A hinge shaft is rotatably connected between the two support legs. The two ends of the hinge shaft are rotatably connected to the connecting frame. The steering wheel frame is hinged to the bottom of the connecting frame through the hinge shaft. The bottom of the steering wheel frame 23 is hinged to the connecting frame 3, and the top cooperates with the telescopic compression cylinder 21 to form a flexible structure for the drive steering wheel 17, which can continuously provide suitable wheel load on uneven roads to ensure the vehicle's motion performance.
[0047] The load-bearing wheels 19 are located at the bottom of the front assembly 1 and the rear assembly 2, respectively. The flexible rollers 20 are located on both sides of the middle of the connecting frame 3, and the guide wheels 18 are set on the sides of the connecting frame 3 and the flexible wheel frame 25.
[0048] like Figure 9 As shown, flexible wheel frames 25 are connected to both sides of the middle of the connecting frame 3. Connecting columns are installed on both sides inside the flexible wheel frames 25, and springs are sleeved on the connecting columns. Flexible rollers 20 are rotatably installed in the roller frame 24. The roller frame 24 is flexibly connected to the flexible wheel frames 25 through the connecting columns and springs on both sides. This achieves continuous support while reducing the risk of vehicle body swaying caused by too many rigid support points. This wheel system combination can ensure the continuous stable operation of the vehicle body and reduce vehicle body swaying caused by ground conditions.
[0049] This utility model features a narrower vehicle body to meet the needs of dense storage, with both sides allowing for loading and unloading of goods, resulting in high operating efficiency. It also boasts strong expandability and adaptability. By replacing the load-bearing frame 6 and connecting frame 3, it can accommodate various specifications of goods. It eliminates the need for overhead rails, has a lighter vehicle body, requires no floor reinforcement, and has low modification costs. The chassis's wheel structure ensures stability during operation and loading / unloading, resulting in high operational stability.
[0050] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.
Claims
1. A novel double-gantry AGV, characterized in that: The vehicle includes a vehicle body, which comprises a front assembly, a rear assembly, and a connecting frame connecting the front and rear assemblies. A lifting first mast and a second mast are respectively installed on the front and rear assemblies on both sides of the connecting frame. A load-bearing frame is provided on the connecting frame, and the two ends of the load-bearing frame are movably connected to the first and second masts. A bidirectional telescopic fork and a fork drive device for driving the fork are installed on the load-bearing frame. A traveling mechanism is provided at the bottom of the vehicle body. A mast drive device for driving the first and second masts is provided in the front and rear assemblies, respectively, and a controller for controlling the fork drive device, the mast drive device, and the traveling mechanism is provided.
2. The novel double-gantry AGV according to claim 1, characterized in that: Both ends of the load-bearing frame are connected to a slide, and several gantry rollers are rotatably installed on the slide. The load-bearing frame is movably connected to the first gantry and the second gantry through the gantry rollers at both ends.
3. The novel double-gantry AGV according to claim 2, characterized in that: Cargo safety frames are installed at both ends of the carrying frame's carriages. The cargo safety frames are equipped with height limit sensors and width limit sensors. Both height limit sensors and width limit sensors are laser sensors and are electrically connected to the controller.
4. The novel double-gantry AGV according to claim 1, characterized in that: The fork drive device includes a motor and a sprocket for driving the forks to move. The support frame is provided with a fork slide rail, and the bidirectional telescopic forks fit and cover the outside of the fork slide rail and move horizontally along it.
5. The novel double-gantry AGV according to claim 1, characterized in that: The gantry drive device includes a first pump station installed in the front assembly and a second pump station installed in the rear assembly. The first and second gantry are respectively provided with hydraulic rods connected to the first and second pump stations. The top of the first and second gantry are both equipped with sprockets, and chains are provided on the sprockets. One end of the chain is fixed to the vehicle body and the other end is fixed to the carriage. The chain drives the load-bearing frame to move up and down by rotating the sprockets.
6. The novel double-gantry AGV according to claim 1, characterized in that: The first mast and the second mast are both hinged with adjusting rods in the middle, and the other end of the adjusting rods is hinged to the top of the front assembly and the rear assembly, respectively.
7. The novel double-gantry AGV according to claim 1, characterized in that: The vehicle movement mechanism includes a drive steering wheel, a load-bearing wheel, flexible rollers, and guide wheels. The drive steering wheel is located at the bottom of the front assembly and is mounted on a steering wheel frame. A telescopic compression cylinder is hinged to the top of the steering wheel frame, and the other end of the compression cylinder is hinged to the top of the connecting frame. Support legs are provided on both sides of the bottom of the steering wheel frame, and a hinge shaft is rotatably connected between the two support legs. Both ends of the hinge shaft are rotatably connected to the connecting frame. The steering wheel frame is hinged to the bottom of the connecting frame through the hinge shaft. The load-bearing wheels are located at the bottom of the front assembly and the rear assembly, respectively. The flexible rollers are located on both sides of the middle of the connecting frame, and the guide wheels are arranged on the side of the connecting frame.
8. The novel double-gantry AGV according to claim 7, characterized in that: The connecting frame is connected to two flexible wheel frames on both sides of the middle part. Connecting columns are installed on both sides inside the flexible wheel frames. Springs are sleeved on the connecting columns. The flexible roller is rotatably installed in the roller frame. The connecting columns pass through both sides of the roller frame and form a flexible connection with the flexible wheel frame through the springs.
9. The novel double-gantry AGV according to claim 1, characterized in that: Driving safety sensors are installed on the bottom of the outer side walls of the front and rear vehicle assemblies, and a navigation sensor is installed on the top of the first mast. Both the driving safety sensors and the navigation sensors are laser sensors and are electrically connected to the controller.
10. The novel double-gantry AGV according to claim 1, characterized in that: Both the front and rear vehicle components are equipped with emergency stop switches that are electrically connected to the controller.