Heavy-load transport AGV with jacking platform function

Abstract

This utility model relates to a heavy-duty transport AGV, and more particularly to a heavy-duty transport AGV with a lifting platform function. It includes a chassis frame with a fully load-bearing frame structure for the entire vehicle mounting base. At both ends of the chassis frame along its length are respectively arranged a rear drive module (a first steering drive wheel set and a first steering wheel set) and a front drive module (a balance mechanism drive wheel set). A hydraulic lifting device is arranged in the middle. A lifting platform is mounted on the hydraulic lifting device. A power battery pack is arranged on the left side of the hydraulic lifting device. Four sets of electronic control components are arranged within the long frame of the chassis frame. An exterior protective cover and a safety navigation device to ensure safe operation of the vehicle are provided on the outer perimeter of the chassis frame.

Description

Technical Field

[0001] This utility model relates to heavy-duty transport AGVs, and in particular to a heavy-duty transport AGV with a lifting platform function. Background Technology

[0002] In the current international context, heavy industry is developing rapidly, and the demand for heavy industrial equipment is growing at a fast pace. Heavy industrial equipment manufacturers are gradually adopting heavy-duty AGVs (Automated Guided Vehicles) with high levels of automation and heavy load capacity to solve the problem of handling heavy-duty parts. AGVs are transport vehicles equipped with electromagnetic or optical automatic guidance devices, capable of traveling along a prescribed guide path, and possessing safety protection and various transfer functions. The dynamic balance and safe operation of heavy-duty AGVs during transport are particularly important. Summary of the Invention

[0003] In order to overcome the shortcomings and deficiencies of the existing technology, this utility model provides a heavy-duty transport AGV with a lifting platform function.

[0004] The technical solution adopted by this utility model is:

[0005] A heavy-duty transport AGV with a lifting platform function includes a chassis frame, which is a fully load-bearing frame structure. A front drive module and a rear drive module are respectively installed at both ends of the frame inside the chassis frame in the direction of travel. A hydraulic lifting device and an electrical control component assembly are installed around the inside of the chassis frame. A power battery pack is also installed inside the chassis frame. A lifting platform is installed on the hydraulic lifting device. An exterior protective cover and a safety navigation device are installed around the perimeter of the chassis frame.

[0006] The heavy-duty transport AGV with a lifting platform function is characterized in that: the front drive module includes a balancing mechanism drive wheel assembly, the balancing mechanism drive wheel assembly includes a seesaw connecting plate, the seesaw connecting plate is a cuboid frame structure with a flat top and a cavity bottom; a fixed shaft passes through the middle of the seesaw connecting plate; a second steering drive wheel assembly and a second steering wheel assembly are respectively provided at both ends of the seesaw connecting plate; bearing mounting seats are respectively provided at both ends of the fixed shaft; the fixed shaft, the second steering drive wheel assembly, and the second steering wheel assembly are located at the bottom of the seesaw connecting plate.

[0007] The heavy-duty transport AGV with a lifting platform function is characterized in that: the hole through which the fixed shaft passes in the seesaw connecting plate is an oblong hole; two sets of shaft planes are symmetrically arranged along the fixed shaft, and the width of the two sets of shaft planes matches the oblong hole in the seesaw connecting plate.

[0008] The heavy-duty transport AGV with a lifting platform function is characterized in that: a clamping plate is further provided between the fixed shaft and the seesaw connecting plate; the clamping plate is fixedly provided on the stiffener of the seesaw connecting plate; a clamping plate groove is provided on the fixed shaft; and the clamping plate is disposed in the clamping plate groove.

[0009] The heavy-duty transport AGV with a lifting platform function is characterized in that: the bearing mounting base includes a bearing housing, the inner hole of which is sequentially provided with a first bearing mounting hole, a second bearing mounting hole, and a retaining ring mounting hole; a deep groove ball bearing is installed in the first bearing mounting hole; a one-way thrust ball bearing is installed in the second bearing mounting hole; a retaining ring is installed in the retaining ring mounting hole; an upper fixing plate is provided at the upper end of the outer cylindrical surface of the bearing housing, and a lower retaining ring is provided at the lower end; the upper fixing plate and the lower retaining ring of the bearing housing fit together to enclose the bearing housing; an annular retaining ring is provided close to the outer end face of the upper fixing plate and the lower retaining ring of the bearing housing; a limiting plate is provided at the other end face of the upper fixing plate; the limiting plate is fixedly connected to the bearing housing.

[0010] The heavy-duty transport AGV with a lifting platform function is characterized in that: the fixed plate on the bearing seat is an L-shaped plate frame structure, and its top plate extends out of the bearing seat by a certain length; a portion of the annular retaining ring of the bearing seat at the extended end of the fixed plate on the bearing seat needs to be removed.

[0011] A heavy-duty transport AGV with a lifting platform function is characterized in that: the hydraulic lifting device includes a hydraulic pump station, a lifting assembly, and hydraulic pipelines; the hydraulic pump station includes a hydraulic oil tank, a hydraulic pump, and related accessories; the lifting assembly includes a hydraulic cylinder, and a fixed short shaft is provided on the output shaft of the hydraulic cylinder; a balance fixing plate is provided on the fixed short shaft; the balance fixing plate and the fixed short shaft are hinged by a hinge pin; a hydraulic lock is also provided on the cylinder body of the hydraulic cylinder; the hydraulic pump station and the lifting assembly are connected by hydraulic pipelines.

[0012] The heavy-duty transport AGV with a lifting platform function is characterized in that: the lifting platform includes a platform frame; the platform frame is a frame structure, and a hydraulic cylinder mounting plate is provided on its bottom end face, the number and position of which match the lifting components; a bearing plate is provided on the upper end face of the platform frame; several inspection covers are provided on the bearing plate; several screw holes are also provided on the platform frame and the bearing plate, the positions of the screw holes are symmetrical, and lifting rings can be screwed into the screw holes.

[0013] The heavy-duty transport AGV with a lifting platform function is characterized in that: the chassis frame is surrounded by an exterior protective cover made of sheet metal bending parts; the exterior protective cover is equipped with a safety navigation device; the safety navigation device includes obstacle avoidance laser radar, audible and visual alarm, and navigation laser radar located at the four corners of the vehicle body; mechanical buffers located at the forward and reverse ends of the vehicle body; emergency stop buttons located on both sides of the vehicle body along its length; and a safety contact edge arranged around the bottom of the vehicle body.

[0014] The heavy-duty transport AGV with a lifting platform function is characterized in that: the safety contact edge is a strip structure including a flexible insulating jacket, the flexible insulating jacket is a rubber skeleton structure, and a support frame is set inside to form a spatial cavity for touch buffering. An upper conductive rubber layer and a lower conductive rubber layer are also provided inside, with a hollow partition between the upper and lower conductive rubber layers; conductive wires are respectively arranged inside the upper and lower conductive rubber layers; a concave groove is provided at the bottom of the flexible insulating jacket, and the concave groove is used to set a mounting bracket.

[0015] The beneficial effects of this utility model are:

[0016] This utility model discloses a heavy-duty transport AGV with a lifting platform function. It uses a fully load-bearing frame chassis as the vehicle mounting base. The chassis integrates a rear drive module consisting of a first steering drive wheel set and a front drive module including a seesaw-type balancing mechanism drive wheel set. A hydraulic lifting device provides lifting power. A lifting platform for carrying transported items is installed on the top of the chassis, with protective covers and safety navigation devices to ensure safe operation around the perimeter. The front and rear drive modules employ a dual-drive mechanism and a seesaw-type balancing mechanism to ensure at least three tires are on the ground under all conditions, avoiding the risk of rollover. The hydraulic lifting device uses a hydraulic system to achieve hydraulic cylinder lifting, featuring strong overload capacity, small size, and smooth operation. The safety navigation device is equipped with audible and visual alarms, obstacle avoidance laser radar, navigation laser radar, safety contact edges, and mechanical buffers. It employs an autonomous navigation system for accurate positioning; multiple safety monitoring and protection measures ensure safety during operation. Maintenance windows are provided on the top and sides of the vehicle body for convenient and timely maintenance of various components. Attached Figure Description

[0017] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in conjunction with the accompanying drawings. However, the embodiments in the drawings do not constitute any limitation on this utility model. For those skilled in the art, other drawings can be obtained based on the following drawings without any creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure;

[0019] Figure 2 Assembly diagram of each component;

[0020] Figure 3 This is a schematic diagram of the chassis frame structure;

[0021] Figure 4 This is a layout diagram;

[0022] Figure 5 This is a schematic diagram of the steering drive wheel assembly structure;

[0023] Figure 6 This is a schematic diagram of the steering wheel assembly structure;

[0024] Figure 7 A schematic diagram of the overall structure of the balancing mechanism drive wheel assembly;

[0025] Figure 8 A schematic diagram of the internal structure of the drive wheel assembly for the balancing mechanism;

[0026] Figure 9 This is a schematic diagram of the seesaw connection plate structure;

[0027] Figure 10 A schematic diagram of the rocker connecting plate and rotating shaft assembly structure;

[0028] Figure 11 This is a schematic diagram of the rotating shaft.

[0029] Figure 12 This is a schematic diagram of the bearing mounting base.

[0030] Figure 13 A schematic diagram of the cross-sectional structure of the shaft and bearing mounting bracket assembly;

[0031] Figure 14 This is a schematic diagram of the bearing housing structure;

[0032] Figure 15 This is a schematic diagram of the assembly structure of the hydraulic jacking device;

[0033] Figure 16 This is a schematic diagram of a hydraulic cylinder assembly.

[0034] Figure 17 This is a schematic diagram of the lifting platform structure;

[0035] Figure 18 A schematic diagram of the exterior protective cover and safety navigation device;

[0036] Figure 19 This is a schematic diagram of a safety contact edge structure.

[0037] In the diagram: 1 - Chassis frame,

[0038] 2-First steering drive wheel assembly; 201-First mounting bracket; 202-First caster; 203-First gear; 204-Second gear; 205-First steering motor; 206-Travel drive motor.

[0039] 3-Second steering wheel assembly, 301-Second mounting bracket, 302-Second caster, 303-Third gear, 304-Fourth gear, 305-Second steering motor.

[0040] 4-Balancing mechanism drive wheel set; 401-Walking connecting plate; 4011-First reinforcing plate; 4012-Second reinforcing plate; 4013-Third reinforcing plate; 4014-Octagonal hole; 402-Fixed shaft; 4021-Shaft plane; 4022-Clamping plate groove; 403-Clamping plate; 404-Bearing mounting seat; 4041-Bearing seat; 40411-First bearing mounting hole; 40412-Second bearing mounting hole; 40413-Snap ring mounting hole; 40414-Annular retaining ring; 4042-Upper fixing plate of bearing seat; 4043-Lower retaining ring of bearing seat; 4044-Deep groove ball bearing; 4045-One-way thrust ball bearing; 4046-Limiting plate; 405-Second steering drive wheel set; 406-Second steering wheel set.

[0041] 5-Hydraulic jacking device, 501-Hydraulic pump station, 502-Lifting assembly, 5021-Hydraulic cylinder, 5022-Fixed short shaft, 5023-Hinge pin, 5024-Balance fixing plate, 5025-Hydraulic lock, 5026-Fixing plate, 503-Hydraulic pipeline.

[0042] 6-Lifting platform, 601-Platform frame, 602-Bearing plate, 603-Cylinder mounting plate, 604-Inspection cover, 605-Lifting ring,

[0043] 7-Exterior protective cover,

[0044] 8-Safety navigation device; 801-Obstacle avoidance lidar; 802-Audible and visual alarm; 803-Safety contact edge; 8031-Flexible insulating jacket; 8032-Upper conductive rubber layer; 8033-Lower conductive rubber layer; 8034-Conductive wire; 8035-Mounting bracket; 804-Mechanical buffer; 805-Navigation lidar; 806-Emergency stop button.

[0045] 9-Power battery pack,

[0046] 10-First group of electronic control components,

[0047] 11-Second Electrical Control Components Group

[0048] 12-Third Electrical Control Components Group

[0049] 13-Fourth Electrical Control Components Group

[0050] 14-Operation panel. Detailed Implementation

[0051] 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.

[0052] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only used to complement the content disclosed in the specification for those skilled in the art to understand and read, and are not intended to limit the conditions under which this utility model can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and purposes that this utility model can produce, should still fall within the scope of the technical content disclosed in this utility model.

[0053] like Figure 1 , Figure 2 As shown, a heavy-duty transport AGV with a lifting platform function includes a chassis frame 1, which serves as the mounting base for the entire vehicle and has a fully load-bearing frame structure. The chassis frame 1 integrates a rear drive module consisting of a first steering drive wheel set 2 and a first steering wheel set 3, and a front drive module consisting of a balancing mechanism drive wheel set 4 with a seesaw-like structure. A hydraulic lifting device 5 provides lifting power. A lifting platform 6 for carrying transported items is mounted on top of the chassis frame 1, and protective covers 7 and safety navigation devices 8 are installed on its outer perimeter to ensure safe operation of the vehicle.

[0054] like Figure 3 As shown, chassis frame 1 is a rectangular, fully load-bearing frame made of welded square tubing, serving as the mounting base for the entire vehicle. This fully load-bearing frame can be figuratively called a "birdcage structure," its interior divided into several areas for housing other structural devices of the AGV, thus enabling the AGV's transport function. For example... Figure 4As shown, the chassis frame 1 has a rear drive module (first steering drive wheel set 2 and first steering wheel set 3) and a front drive module (balance mechanism drive wheel set 4) at its internal space along the travel and length directions, respectively, with a hydraulic lifting device 5 in the middle. The first steering drive wheel set 2 controls the linear and steering movements of the AGV body, while the first steering wheel set 3 controls the steering drive of the AGV body. The balance mechanism drive wheel set 4 controls the movement of the AGV body, ensuring its balance during operation. A lifting platform 6 is mounted on the hydraulic lifting device 5. The hydraulic lifting device 5 controls the raising and lowering of the lifting platform 6. A power battery pack 9 is located on the left side of the hydraulic lifting device 5, providing the power source for driving the vehicle body. Four sets of electrical control components are installed within the two side frames along the length of the chassis frame 1: a first set of electrical control components 10, a second set of electrical control components 11, a third set of electrical control components 12, and a fourth set of electrical control components 13. The first set of electrical control components 10 controls the operation of the balance mechanism drive wheel assembly 4; the second set of electrical control components 11 controls the operation of the first steering drive wheel assembly 2 and the second steering wheel assembly 3; the third set of electrical control components 12 controls the operation of the safety navigation device 8; and the fourth set of electrical control components 13 controls the operation of other electrical components. Corresponding mounting plates are provided in the component distribution areas of the chassis frame 1 for fixing and installing each component. The layout of the various device components within the chassis frame 1 should consider weight balance and ease of maintenance.

[0055] like Figure 5 As shown, the first steering drive wheel assembly 2 includes a first mounting bracket 201, which is a U-shaped frame structure. A first gear 203 is provided at the top of the frame, and a first caster 202 is provided inside the U-shaped frame at the bottom of the frame. A fixed shaft is provided radially for the first caster 202, and the radial fixed shaft is connected to the inner hole of the first gear 203. The inner hole of the first caster 202 is connected to the output shaft of the drive motor 206. A second gear 204 meshes with the first gear 203, and the second gear 204 is axially connected to the output shaft of the first steering motor 205. The first steering motor 205 is fixedly mounted on the first mounting bracket 201.

[0056] like Figure 6 As shown, the first steering wheel assembly 3 includes a second mounting bracket 301, which is a U-shaped frame structure. A third gear 303 is provided at the top of the frame, and a second caster 302 is provided inside the U-shaped frame at the bottom of the frame. A fixed shaft is provided radially for the second caster 302, and the radial fixed shaft is connected to the inner hole of the third gear 303. A fourth gear 304 meshes with the third gear 303, and the inner hole of the fourth gear 304 is connected to the output shaft of the second steering motor 305. The second steering motor 305 is fixedly mounted on the second mounting bracket 301.

[0057] like Figure 7 , Figure 8As shown, the balancing mechanism drive wheel set 4 includes a rocker connecting plate 401, a fixed shaft 402, a clamping plate 403, a bearing fixing seat 404, a second steering drive wheel set 405, and a second steering wheel set 406. Figure 9 As shown, the seesaw connecting plate 401 is a metal sheet frame structure, with an overall rectangular shape, a flat top, and a cavity bottom. A first reinforcing plate 4011 and a second reinforcing plate 4012 are arranged along the width of the bottom cavity structure; a third reinforcing plate 4013 is arranged laterally between the first reinforcing plate 4011 and the second reinforcing plate 4012; the first reinforcing plate 4011 and the second reinforcing plate 4012 divide the bottom cavity structure into three installation areas: the left and right areas are used to install the second steering drive wheel set 405 and the second steering wheel set 406, and the middle area has a through-hole 4014 on its reinforcing plate. Figure 10 , Figure 11 As shown, the fixed shaft 402 passes through the oblong hole 4014. The fixed shaft 402 is a cylindrical shaft that is thicker in the middle and thinner at both ends; the larger cylindrical shaft in the middle is used to pass through the oblong hole 4014; two sets of shaft planes 4021 are symmetrically arranged along the axial direction of the larger cylindrical shaft, and the width of the two sets of shaft planes 4021 matches the oblong hole 4014 of the seesaw connecting plate; one of the shaft planes 4021 is also provided with a retaining plate groove 4022, the position of the retaining plate groove 4022 matches the rib of the seesaw connecting plate 401, and a retaining plate 403 is provided in the retaining plate groove 4022. The retaining plate 403 is fixedly connected to the rib of the seesaw connecting plate 401. In this way, the fixed shaft is more stable under the double fixation of the oblong hole 4014 and the retaining plate 403, and axial movement will not occur. The smaller cylindrical shafts at both ends of the fixed shaft 402 are used to set the bearing fixing seats 404. Figure 12 , 13As shown in Figure 14, the bearing mounting base 404 includes a bearing housing 4041, which is a cylindrical structure. From left to right, the axial inner hole has a first bearing mounting hole 40411, a second bearing mounting hole 40412, and a retaining ring mounting hole 40413. A deep groove ball bearing 4044 is installed in the first bearing mounting hole 40411, a one-way thrust ball bearing 4045 is installed in the second bearing mounting hole 40412, and a bearing retaining ring is installed in the retaining ring mounting hole 40413 for positioning the deep groove ball bearing 4044. An upper bearing housing fixing plate 4042 and a lower bearing housing retaining ring 4043 are fitted together on the outer cylindrical surface of the bearing housing 4041. The upper bearing housing fixing plate 4042 is located on top, and the lower bearing housing retaining ring 4043 is located on the bottom, and the two are fixedly connected to each other. An annular retaining ring 40414 is also provided at the outer end face of the bearing housing 4041 to limit the right side of the upper fixing plate 4042 and the lower retaining ring 4043 of the bearing housing, preventing them from falling off the bearing housing 4041. The upper fixing plate 4042 of the bearing housing has an L-shaped plate frame structure, and its top plate extends out of the bearing housing 4041 by a certain length, such as... Figure 9 , 10 As shown, to facilitate the installation of the bearing housing upper fixing plate 4042, a portion of the upper part of the annular retaining ring 40414 of the bearing housing 4041 is cut off. A limiting plate 4046 is provided on the left end face of the bearing housing upper fixing plate 4042. The limiting plate 4046 is fixed to the bearing housing 4041, thereby limiting the left side of the bearing housing upper fixing plate 4042. Figure 8 As shown, the second steering drive wheel set 405 uses gear meshing and a reduction motor to control the steering and movement of the caster, and its structure is the same as that of the first steering drive wheel set 2; the second steering wheel set 406 uses gear meshing and a reduction motor to control the steering of the caster, and its structure is the same as that of the first steering wheel set 3.

[0058] like Figure 7 As shown, the fixed shaft 402 is located in the middle of the seesaw connecting plate 401, the bearing fixing seat 404 is located at both ends of the fixed shaft 402, and the second steering drive wheel set 405 and the second steering wheel set 406 are located on both sides of the seesaw connecting plate 401. When the bearing fixing seat 404 is fixedly installed on the vehicle frame, a seesaw motion mode is formed with the fixed shaft 402 as the support point, and the second steering drive wheel set 405 and the second steering wheel set 406 can float up and down around the support point. In conjunction with the other two sets of drive wheels, the balance of the vehicle can be adjusted at any time during the vehicle's movement to ensure smooth vehicle operation.

[0059] like Figure 15As shown, the hydraulic jacking device 5 includes a hydraulic pump station 501, a jacking assembly 502, and hydraulic pipelines 503; the hydraulic pump station 501 includes a hydraulic oil tank, a hydraulic pump, and related accessories, used for the circulation of hydraulic oil in various circuits of the hydraulic system to ensure the normal and stable operation of the hydraulic system. Figure 16 As shown, the lifting assembly 502 includes a hydraulic cylinder 5021. A fixed short shaft 5022 is mounted on the output shaft of the hydraulic cylinder 5021. A balance plate 5024 is mounted on the fixed short shaft 5022. The balance plate 5024 and the fixed short shaft 5022 are hinged by a hinge pin 5023. The balance plate 5024 can swing around the hinge pin 5023 at a certain angle. The balance plate 5024 is fixedly connected to the lifting platform 6. A fixed plate 5026 is mounted at the bottom of the hydraulic cylinder 5021 and is fixedly connected to the chassis frame 1. A hydraulic lock 5025 is also mounted on the cylinder body of the hydraulic cylinder 5021 to prevent the cylinder from sliding down due to gravity, ensuring that the lifting platform 6 operates irregularly during the lifting process, thus preventing unstable operation of the equipment. The hydraulic pump station 501 is connected to the lifting assembly 502 by a hydraulic pipeline 503. In this embodiment, six sets of lifting assemblies 502 are provided, respectively located on both sides of the chassis frame 1.

[0060] like Figure 17 As shown, the lifting platform 6 includes a platform frame 601, which is a frame structure welded from square tubing. The bottom end face of the platform frame 601 is equipped with hydraulic cylinder mounting plates 603, the number and position of which match the lifting assembly 502. The upper end face of the platform frame 601 is provided with a bearing plate 602, which has several inspection covers 604 for inspecting any abnormalities within the chassis frame 1. The platform frame 601 and the bearing plate 602 also have several screw holes, symmetrically positioned. Lifting rings 605 can be screwed into these screw holes. During installation and maintenance, a crane can be used to lift the bearing plate 602 and the platform frame 601 away from the chassis frame 1, facilitating installation and maintenance.

[0061] like Figure 18As shown, the exterior protective cover 7 is a sheet metal bending part cover, set around the chassis frame 1. It has several corresponding maintenance windows for inspecting various devices inside the chassis frame 1; it also has several mounting holes for mounting the safety navigation device 8, the control panel 14, and their accessories. The safety navigation device 8 includes an obstacle avoidance laser radar 801, an audible and visual alarm 802, a safety contact edge 803, a mechanical buffer 804, a navigation laser radar 805, and an emergency stop button 806. The obstacle avoidance laser radar 801, the audible and visual alarm 802, and the navigation laser radar 805 are located at the four corners of the vehicle body. The obstacle avoidance laser radar 801 is used for short-range obstacle detection to assist in obstacle avoidance; the audible and visual alarm 802 provides vehicle fault alarms and collision warnings; the navigation laser radar 805 is used for real-time positioning and map building, and for medium- to long-range obstacle detection to assist in obstacle avoidance. The mechanical buffer 804 is located at the ends of the vehicle body during forward and reverse movements. It is made of non-metallic material and buffers the impact force during a collision, reducing damage to the front or rear of the vehicle body. Emergency stop buttons 806 are located on both sides along the length of the vehicle body for emergency stopping. Safety contact edges 803 are strip-shaped structures encircling the bottom of the vehicle body. In the event of a collision, the safety contact edges 803 deform under pressure, generating a clamping force. Upon detecting this pressure, a switch signal is output, causing the vehicle to stop urgently and triggering an audible and visual alarm. Figure 19 As shown, the safety contact 803 includes a flexible insulating jacket 8031, which is a rubber skeleton structure with an internal support frame forming a space cavity for contact cushioning. Inside, there are an upper conductive rubber layer 8032 and a lower conductive rubber layer 8033, with a perforated partition between them. They do not contact each other when not under pressure, but will come into contact under certain pressure. Conductive wires 8034 are respectively installed inside the upper and lower conductive rubber layers 8032 and 8033. A concave groove is provided at the bottom of the flexible insulating jacket 8031 ​​for mounting a mounting bracket 8035, which is an aluminum profile bracket used to install the safety contact 803 onto the equipment to which it is applied.

[0062] Before operation, the AGV constructs a high-precision map of the work scene using a navigation lidar 805. During navigation, the lidar senses obstacle information around the direction of travel and calculates the vehicle's direction of movement and speed using a local obstacle avoidance algorithm, then sends the motor to execute the commands. The obstacle avoidance lidar 801 senses obstacle information around the direction of travel and integrates it with the input controller to calculate and output the movement strategy. When a collision occurs, a mechanical buffer 804 reduces the impact force between the vehicle and the obstacle. A safety contact point 803 activates, the vehicle stops urgently, an audible and visual alarm 802 sounds, and technicians intervene to handle the anomaly. If, during the vehicle's movement, monitoring personnel detect an anomaly ahead requiring an emergency stop, but there is not enough time for program control, either emergency stop button 806 on either side of the vehicle can be pressed to stop the vehicle and resolve the anomaly.

Claims

1. A heavy-duty transport AGV with a lifting platform function, comprising a chassis frame (1), wherein the chassis frame (1) is a fully load-bearing frame structure, characterized in that: The chassis frame (1) has a front drive module and a rear drive module installed at both ends of the frame in the direction of travel; the chassis frame (1) has a hydraulic lifting device (5) and an electrical control component assembly installed around its interior; the chassis frame (1) also has a power battery pack installed inside; the hydraulic lifting device (5) has a lifting platform (6) installed on it; the chassis frame (1) has an exterior protective cover (7) and a safety navigation device (8) installed around its perimeter. The front drive module includes a balance mechanism drive wheel assembly (4), which includes a seesaw connecting plate (401). The seesaw connecting plate (401) is a cuboid frame structure with a flat top and a cavity bottom. A fixed shaft (402) is provided in the middle of the seesaw connecting plate (401). A second steering drive wheel assembly (405) and a second steering wheel assembly (406) are respectively provided at both ends of the seesaw connecting plate (401). Bearing fixing seats (404) are respectively provided at both ends of the fixed shaft (402). The fixed shaft (402), the second steering drive wheel assembly (405), and the second steering wheel assembly (406) are located at the bottom of the seesaw connecting plate (401).

2. The heavy-duty transport AGV with a lifting platform function according to claim 1, characterized in that: The hole through which the fixed shaft (402) passes in the seesaw connecting plate (401) is an oblong hole (4014); the fixed shaft (402) is axially symmetrically provided with two sets of axial planes (4021), and the plane width of the two sets of axial planes (4021) matches the oblong hole (4014) of the seesaw connecting plate.

3. The heavy-duty transport AGV with a lifting platform function according to claim 1, characterized in that: A retaining plate (403) is also provided between the fixed shaft (402) and the seesaw connecting plate (401); the retaining plate (403) is fixedly installed on the rib plate of the seesaw connecting plate (401); a retaining plate groove (4022) is provided on the fixed shaft (402); the retaining plate (403) is installed in the retaining plate groove (4022).

4. The heavy-duty transport AGV with a lifting platform function according to claim 1, characterized in that: The bearing mounting base (404) includes a bearing housing (4041), the inner hole of which is sequentially provided with a first bearing mounting hole (40411), a second bearing mounting hole (40412), and a retaining ring mounting hole (40413); a deep groove ball bearing (4044) is installed in the first bearing mounting hole (40411); a one-way thrust ball bearing (4045) is installed in the second bearing mounting hole (40412); a retaining ring is installed in the retaining ring mounting hole (40413); the outer cylinder of the bearing housing (4041) A bearing housing upper fixing plate (4042) is provided at the upper end of the bearing housing, and a bearing housing lower retaining ring (4043) is provided at the lower end; the bearing housing upper fixing plate (4042) and the bearing housing lower retaining ring (4043) fit together to enclose the bearing housing (4041); an annular retaining ring (40414) is provided close to the outer end face of the bearing housing upper fixing plate (4042) and the bearing housing lower retaining ring (4043); a limiting plate (4046) is provided on the other end face of the bearing housing upper fixing plate (4042); the limiting plate (4046) is fixedly connected to the bearing housing (4041).

5. A heavy-duty transport AGV with a lifting platform function according to claim 4, characterized in that: The bearing housing upper fixing plate (4042) is an L-shaped plate frame structure, and its top plate extends out of the bearing housing (4041) for a certain length; a portion of the annular retaining ring (40414) of the bearing housing (4041) at the extended end of the bearing housing upper fixing plate (4042) needs to be cut off.

6. A heavy-duty transport AGV with a lifting platform function according to claim 1, characterized in that: The hydraulic lifting device (5) includes a hydraulic pump station (501), a lifting assembly (502), and a hydraulic pipeline (503); the hydraulic pump station (501) includes a hydraulic oil tank and a hydraulic pump; the lifting assembly (502) includes a hydraulic cylinder (5021), and a fixed short shaft (5022) is provided on the output shaft of the hydraulic cylinder (5021); a balance fixing plate (5024) is provided on the fixed short shaft (5022); the balance fixing plate (5024) and the fixed short shaft (5022) are hinged by a hinge pin (5023); a hydraulic lock (5025) is also provided on the cylinder body of the hydraulic cylinder (5021); the hydraulic pump station (501) and the lifting assembly (502) are connected by a hydraulic pipeline (503).

7. A heavy-duty transport AGV with a lifting platform function according to claim 1, characterized in that: The lifting platform (6) includes a platform frame (601); the platform frame (601) is a frame structure, and a cylinder mounting plate (603) is provided on its bottom end face, the number and position of which match the lifting assembly (502); a bearing plate (602) is provided on the upper end face of the platform frame (601); a number of inspection covers (604) are provided on the bearing plate (602); a number of screw holes are also provided on the platform frame (601) and the bearing plate (602), the positions of the screw holes should be symmetrical to each other, and a lifting ring (605) can be screwed into the screw hole.

8. A heavy-duty transport AGV with a lifting platform function according to claim 1, characterized in that: The chassis frame (1) is provided with an exterior protective cover (7) which is a sheet metal bending part cover; the exterior protective cover (7) is provided with a safety navigation device (8); the safety navigation device (8) includes obstacle avoidance laser radar (801), sound and light alarm (802), and navigation laser radar (805) located at the four corners of the vehicle body; mechanical buffers (804) located at the ends of the vehicle body that are moving forward and backward; emergency stop buttons (806) located on both sides of the vehicle body in the length direction; and safety contact edges (803) arranged around the bottom of the vehicle body.

9. A heavy-duty transport AGV with a lifting platform function according to claim 8, characterized in that: The safety contact edge (803) is a strip structure including a flexible insulating jacket (8031). The flexible insulating jacket (8031) is a rubber skeleton structure with a support frame inside forming a space cavity for touch buffering. It also has an upper conductive rubber layer (8032) and a lower conductive rubber layer (8033) inside, with a hollow partition between the upper conductive rubber layer (8032) and the lower conductive rubber layer (8033). Conductive wires (8034) are respectively provided inside the upper conductive rubber layer (8032) and the lower conductive rubber layer (8033). A concave groove is provided at the bottom of the flexible insulating jacket (8031), and the concave groove is used to set the mounting bracket (8035).

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