Automatic guide transport vehicle

Abstract

The utility model provides an automatic guide transport vehicle which comprises a transport vehicle body, a lifting plate is arranged above the transport vehicle body, and the lifting plate is controlled by a lifting telescopic driving piece to ascend and descend. The first supporting piece and the second supporting piece are symmetrically arranged on the two sides of the top of the transport vehicle body; the free ends of the first supporting piece and the second supporting piece can move in a telescopic mode in the direction close to and away from the transport vehicle body, the first supporting piece is controlled by a first telescopic driving piece to move in a telescopic mode, and the second supporting piece is controlled by a second telescopic driving piece to move in a telescopic mode. By means of the structure, the transportation vehicle body can walk on the ground and walk on the goods shelf at the same time, racks do not need to be additionally arranged on the goods shelf, the distance between the adjacent goods shelves does not need to be strictly limited, the transfer link of goods between different transportation devices can be reduced, and the goods falling risk is reduced.

Description

An automated guided vehicle Technical Field

[0001] This utility model relates to the field of transport vehicle technology, specifically to an automated guided vehicle. Background Technology

[0002] Automated Guided Vehicles (AGVs) are unmanned, automated transportation devices that can autonomously drive and automatically transport goods between their origin and destination. Typically, a complete AGV system has a core controller, such as a computer, and this single controller can often manage multiple AGV devices, guiding them to complete the transportation task.

[0003] In existing technologies, to enable automated guided vehicles (AGVs) to move on shelves, Chinese patent document CN110775502B discloses an AGV-type automated warehousing device and its application, and Chinese patent document CN 210973719U discloses an automated climbing and walking trolley. While both technologies achieve the lifting and lowering movement of the transport vehicle on the shelves, they both rely on the engagement of gears and racks and have the following common shortcomings:

[0004] Firstly, racks and pinions need to be installed on the shelves, and the spacing between adjacent shelves must be strictly limited, which restricts the flexibility of the shelf layout and increases the construction cost and complexity of the warehousing system.

[0005] Secondly, the transport vehicle cannot simultaneously travel on the ground and on shelves, which limits its practical applications. Summary of the Invention

[0006] In view of the shortcomings of the existing technology, the purpose of this utility model is to propose an automated guided vehicle to solve the problems mentioned in the background section above.

[0007] This utility model is achieved through the following technical solution:

[0008] An automated guided vehicle (AGV) includes a vehicle body with a lifting platform above it, the lifting platform being controlled to move up and down via a lifting and telescopic drive. It also includes a first support member and a second support member, symmetrically arranged on opposite sides of the top of the vehicle body. The free ends of the first and second support members are retractable in directions approaching and away from the vehicle body. The first support member is controlled to retract via a first telescopic drive, and the second support member is controlled to retract via a second telescopic drive. Furthermore, it includes a third support member and a fourth support member, both disposed on the lifting platform. The free end of the third support member retracts in the same direction as the first support member, and the free end of the fourth support member retracts in the same direction as the second support member. The third and fourth support members are controlled to retract via a third telescopic drive, and the fourth support member is controlled to retract via a fourth telescopic drive.

[0009] Furthermore, each of the first to fourth support members includes at least two sliders symmetrically arranged along the central axis, a sliding rod passing through the slider, a connecting plate connecting the sliding rod, and the connection is respectively connected to the telescopic ends of the corresponding first to fourth telescopic drive members. The free end of the sliding rod is detachably connected to a support head.

[0010] Furthermore, the support head includes a planar support surface, in which a pressure sensor is provided; it also includes a controller, which is electrically connected to the pressure sensor, the lifting and telescopic drive, and the first to fourth telescopic drive components.

[0011] Furthermore, the support head is provided with a fixing post or hook for connecting the shelf, and the shelf is provided with a plurality of slots arranged in a linear array along its height direction, and the fixing post or hook is embedded in the slot.

[0012] Furthermore, the upper end of the lifting plate is provided with a conveying mechanism, and the conveying direction of the conveying mechanism is the same as the extension and retraction direction of the first support member.

[0013] Furthermore, it also includes multiple guide columns and guide tubes arranged around the lifting and telescopic drive component, with one end of the guide column inserted into the guide tube, the guide tube being fixedly connected to the transport vehicle body, and the guide column being fixedly connected to the lifting plate.

[0014] The beneficial effects of this utility model are as follows: An automated guided vehicle includes a vehicle body, with a lifting plate above the vehicle body, the lifting plate being controlled to move up and down by a lifting and telescopic drive; it also includes a first support member and a second support member, the first and second support members being symmetrically arranged on both sides of the top of the vehicle body; the free ends of the first and second support members can extend and retract in directions close to and away from the vehicle body, the first support member being controlled to extend and retract by a first telescopic drive, and the second support member being controlled to extend and retract by a second telescopic drive; it also includes a third support member and a fourth support member. The third and fourth support members are disposed on the lifting plate. The free end of the third support member extends in the same direction as the first support member, and the free end of the fourth support member extends in the same direction as the second support member. The third support member is controlled to extend and retract by a third extension drive member, and the fourth support member is controlled to extend and retract by a fourth extension drive member. With the above structure, the transport vehicle can travel on both the ground and on shelves simultaneously, without the need to install racks on the shelves, and without strictly limiting the distance between adjacent shelves. It can also reduce the transfer links of goods between different transport equipment and reduce the risk of goods falling. Attached Figure Description

[0015] Figure 1 is a perspective view of this utility model.

[0016] Figure 2 is a structural diagram of any one of the first to fourth support members of this utility model.

[0017] Figure 3 is a three-dimensional view when the support head is a hook.

[0018] The above figures include the following reference numerals:

[0019] 1. Transport vehicle body; 2. Lifting platform; 21. Lifting and telescopic drive component; 3. First support component; 31. First telescopic drive component; 4. Second support component; 41. Second telescopic drive component; 5. Third support component; 51. Third telescopic drive component; 6. Fourth support component; 61. Fourth telescopic drive component; 71. Slider; 72. Slide rod; 73. Connecting plate; 74. Support head; 741. Support surface; 742. Hook; 8. Conveying mechanism; 91. Guide column; 92. Guide tube. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. It should be noted that the description of these embodiments is intended to aid in understanding this utility model, but does not constitute a limitation thereof. Furthermore, the technical features involved in the various embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0021] Referring to Figures 1 to 3, an automated guided vehicle includes a vehicle body 1, wherein the vehicle body 1 is equipped with a wheel system, a navigation system, a power system, a communication system, etc., which are existing structures and will not be described in detail here. Through the above structures, the vehicle body 1 can drive autonomously and operate automatically between the departure point and the destination.

[0022] This utility model improves upon the following, enabling the transport vehicle body 1 to climb along the height of the shelf, with the specific structure as follows:

[0023] The transport vehicle body 1 is equipped with a lifting plate 2 above it, which is controlled to move up and down by a lifting and telescopic drive 21. It also includes a first support member 3 and a second support member 4, which are symmetrically arranged on both sides of the top of the transport vehicle body 1. The free ends of the first support member 3 and the second support member 4 can extend and retract in directions close to and away from the transport vehicle body 1. The first support member 3 is controlled to extend and retract by a first telescopic drive 31, and the second support member 4 is controlled to extend and retract by a second telescopic drive 41. Furthermore, it includes a third support member 5 and a fourth support member 6, which are disposed on the lifting plate 2. The extension and retraction direction of the free end of the third support member 5 is the same as that of the first support member 3, and the extension and retraction direction of the free end of the fourth support member 6 is the same as that of the second support member 4. The third support member 5 is controlled to extend and retract by a third telescopic drive 51, and the fourth support member 6 is controlled to extend and retract by a fourth telescopic drive 61.

[0024] When it is necessary to control the transport vehicle 1 to climb along the shelf height direction, the following steps are performed: Step 1: The lifting telescopic drive component 21 extends to control the lifting platform 2 to rise; Step 2: The third support component 5 is controlled by the third telescopic drive component 51 to support the shelf, and the fourth support component 6 is controlled by the fourth telescopic drive component 61 to support another shelf; Step 3: The lifting telescopic drive component 21 retracts to control the transport vehicle 1 to rise; Step 4: The first support component 3 is controlled by the first telescopic drive component 31 to support the shelf, and the second support component 4 is controlled by the second telescopic drive component 41 to support another shelf; Step 5: The third support component 5 is controlled by the third telescopic drive component 51 to retract and detach from the shelf, and the fourth support component 6 is controlled by the fourth telescopic drive component 61 to retract and detach from another shelf. By repeatedly executing steps 1 to 5, the transport vehicle 1 can climb along the shelf height direction.

[0025] When it is necessary to control the descent of the transport vehicle 1 along the shelf height, the following steps are performed: Step 1: Extend the lifting and telescopic drive component 21 to control the descent of the transport vehicle 1; Step 2: Control the first support component 3 to support the shelf via the first telescopic drive component 31, and control the second support component 4 to support another shelf via the second telescopic drive component 41; Step 3: Retract the lifting and telescopic drive component 2 to control the descent of the lifting platform 2; Step 4: Control the third support component 5 to support the shelf via the third telescopic drive component 51, and control the fourth support component 6 to support another shelf via the fourth telescopic drive component 61; Step 5: Control the third support component 5 to retract and detach from the shelf via the third telescopic drive component 51, and control the fourth support component 6 to retract and detach from another shelf via the fourth telescopic drive component 61. By cyclically executing steps 1 to 5, the descent of the transport vehicle 1 along the shelf height is achieved.

[0026] Referring to Figures 2 and 3, the first support member 3, the second support member 4, the third support member 5, and the fourth support member 6 have the same structure, specifically including the following structure: at least two sliders 71 arranged symmetrically along the central axis, a sliding rod 72 passing through the slider 71, a connecting plate 73 connecting the sliding rod 72, and the connection is respectively connected to the telescopic ends of the corresponding first telescopic drive member 31 to the fourth telescopic drive member 61, and a support head 74 is detachably connected to the free end of the sliding rod 72.

[0027] Specifically, each side is equipped with two sliders 71 spaced apart. The force of each slider's extension drive is transmitted to the slide bar 72 via a connecting plate 73, causing it to move. A support head 74 is used to support the shelf. The support head 74 and the slide bar 72 are detachably connected via screws and nuts. This design can adapt to the shelf upright structures and shapes of different users. In actual warehousing scenarios, the shelf uprights of different warehouses may differ; some may be square, round, etc. Through the detachable connection, the combination of the first support head 74 and the first slide bar 72 can be easily adjusted according to the specific shape and structure of the upright, allowing the transport vehicle 1 to match various shelf uprights, thereby improving the equipment's versatility and expanding its application range.

[0028] The support head 74 includes a planar support surface 741, in which a pressure sensor is provided; it also includes a controller, which is electrically connected to the pressure sensor, the lifting and telescopic drive 21, and the first telescopic drive 31 to the fourth telescopic drive 61.

[0029] The controller reads the pressure sensor values ​​in support surface 741, and then uses the friction formula: In the formula, This indicates the reading of the pressure sensor. This indicates the coefficient of friction between the support surface 741 and the shelf. When the weight of the automated guided vehicle (AGV) exceeds one-quarter of its total weight, it can prevent the AGV from accidentally detaching from the shelf.

[0030] In use, the controller controls the first telescopic drive component 31 and the second telescopic drive component 41, or the third telescopic drive component 51 and the fourth telescopic drive component 61. When the pressure sensor meets the set value, the controller controls the lifting telescopic drive component 21 to perform lifting and lowering actions. This enables the automated guided vehicle of this invention to autonomously complete climbing actions in warehouse storage spaces with different spacing, without manual intervention, greatly improving the automation level of the warehousing and logistics system and enhancing overall efficiency.

[0031] The pressure is monitored in real time by a pressure sensor, and the lifting action is only initiated when the set value is reached. This ensures that the transport vehicle remains stable during the climbing process and avoids safety issues such as slippage caused by insufficient pressure or overload, thus protecting the safety of the goods and the automated guided vehicle.

[0032] Referring to Figure 3, in existing shelving, the shelving has several slots arranged in a linear array along its height direction, which are used to install pallets or shelves. In this invention, by utilizing the above slots, the support head 74 is provided with a fixing post or hook 742 that is embedded in the slot, which improves the stability of the automated guided vehicle when performing climbing or descending actions by inserting the fixing post or hook 742 into the slot.

[0033] The upper end of the lifting plate 2 is equipped with a conveying mechanism 8, and the conveying direction of the conveying mechanism 8 is the same as the extension and retraction direction of the first support member 3. The conveying mechanism 8 automatically transports goods placed on the automated guided vehicle to the shelf without manual intervention, saving time and effort for manual loading and unloading of goods and improving the efficiency of goods handling.

[0034] The conveying mechanism 8 includes existing conveying devices such as belt conveyors 8, chain conveyors 8, or roller conveyors 8, which are existing structures and are not limited here. As another embodiment, a robotic arm can be used to replace the conveying mechanism 8 to realize the handling of goods.

[0035] It also includes multiple guide columns 91 and guide tubes 92 arranged around the lifting and telescopic drive component 21. One end of the guide column 91 is inserted into the guide tube 92. The guide tube 92 is fixedly connected to the transport vehicle body 1. The guide column 91 is fixedly connected to the lifting plate 2.

[0036] The guide column 91 and guide tube 92 work together to guide the lifting trajectory of the lifting plate 2 and prevent deviation during the movement.

[0037] The lifting and telescopic drive component 21, the first telescopic drive component 31 to the fourth telescopic drive component 61 can all use existing telescopic mechanisms such as electric telescopic rods, hydraulic cylinders, and gear and rack mechanisms. These are existing structures and are not limited here.

[0038] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to 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 utility model.

[0039] In the description of this utility model, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" and "second" may explicitly or implicitly include one or more of that feature.

[0040] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An automated guided vehicle, comprising a vehicle body (1), characterized in that: The transport vehicle body (1) is provided with a lifting plate (2) above it. The lifting plate (2) is controlled to move up and down by a lifting telescopic drive (21). It also includes a first support member (3) and a second support member (4). The first support member (3) and the second support member (4) are symmetrically arranged on both sides of the top of the transport vehicle body (1). The free ends of the first support member (3) and the second support member (4) can extend and retract in the direction of approaching and moving away from the transport vehicle body (1). The first support member (3) is controlled to extend and retract by a first telescopic drive (31). The second support member (4) is controlled to extend and retract by a first telescopic drive (31). The second telescopic drive (41) controls its telescopic movement; it also includes a third support (5) and a fourth support (6), which are disposed on the lifting plate (2). The free end of the third support (5) has the same telescopic direction as the first support (3), and the free end of the fourth support (6) has the same telescopic direction as the second support (4). The third support (5) is controlled to telescopically move by the third telescopic drive (51), and the fourth support (6) is controlled to telescopically move by the fourth telescopic drive (61).

2. The automated guided vehicle according to claim 1, characterized in that: The first support member (3) to the fourth support member (6) each include at least two sliders (71) arranged symmetrically along the central axis, a slider (72) passing through the slider (71), a connecting plate (73) connecting the slider (72), and the connection is respectively connected to the telescopic ends of the corresponding first telescopic drive member (31) to the fourth telescopic drive member (61). The free end of the slider (72) is detachably connected to a support head (74).

3. An automated guided vehicle according to claim 2, characterized in that: The support head (74) includes a support surface (741) arranged in a planar shape, in which a pressure sensor is provided; it also includes a controller, which is electrically connected to the pressure sensor, the lifting and telescopic drive (21), the first telescopic drive (31) to the fourth telescopic drive (61).

4. An automated guided vehicle according to claim 2, characterized in that: The support head (74) is provided with a fixing post or hook (742) for connecting the shelf, and the shelf is provided with a plurality of slots arranged in a linear array along its height direction, and the fixing post or hook (742) is embedded in the slot.

5. An automated guided vehicle according to claim 1, characterized in that: The upper end of the lifting plate (2) is provided with a conveying mechanism (8), and the conveying direction of the conveying mechanism (8) is the same as the extension and retraction direction of the first support member (3).

6. An automated guided vehicle according to claim 1, characterized in that: It also includes multiple guide columns (91) and guide tubes (92) arranged around the lifting and telescopic drive component (21), one end of the guide column (91) is inserted into the guide tube (92), the guide tube (92) is fixedly connected to the transport vehicle body (1), and the guide column (91) is fixedly connected to the lifting plate (2).

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