Subway logistics latent AGV

Abstract

This utility model provides a submersible AGV for subway logistics, comprising: a frame, wheel assemblies, a damping mechanism, a lifting assembly, and a lifting platform. The frame is provided with an assembly slot. The wheel assembly is installed within the assembly slot, comprising a first drive mechanism, a reducer connected to the first drive mechanism, and a wheel connected to the output shaft of the reducer. Multiple wheel assemblies are spaced apart along the outer periphery of the frame, and each output shaft is connected to the frame via a damping mechanism. The lifting assembly is installed on the top of the frame and connected to the lifting platform. A limiting cavity is also provided on the top side of the frame. A limiting post adapted to the limiting cavity is connected to the side of the lifting platform facing the frame. The end of the limiting post away from the lifting platform extends into the limiting cavity to slide against the wall of the limiting cavity. The difference between the radius of the wheel and the distance from the output shaft to the bottom side of the frame is 80-100mm. This submersible AGV has excellent environmental adaptability and can operate normally even in subway stations with blind paths or uneven ground conditions.

Description

Technical Field

[0001] This utility model belongs to the field of logistics transportation equipment technology, and in particular relates to a subway logistics AGV that is designed to be hidden. Background Technology

[0002] AGVs (Automated Guided Vehicles) are transport vehicles equipped with electromagnetic or optical automatic guidance devices. They can travel along a prescribed guidance path and have safety protection and various transfer functions. In subway logistics transportation scenarios, the demand for hidden AGVs is increasing. During operation, they often face complex terrain features such as raised tactile paving in subway stations, fixed height differences (standard 50mm) at the platform-car interface, and uneven ground left from construction (local undulations can reach 30-50mm). Traditional hidden AGVs generally adopt a low chassis structure and are only suitable for flat, smooth surfaces. In subway transportation scenarios, the protrusions in the tactile paving or uneven ground can easily scratch the chassis components of the AGV, causing sensor malfunctions or structural damage. Although some AGVs use adjustable suspension structures to solve this problem, such devices have problems such as complex control systems and high maintenance costs, making it difficult to meet the high-frequency, high-reliability transportation requirements of subway logistics.

[0003] Therefore, there is an urgent need for a type of AGV that is optimized for terrain adaptability, has a simple structure, and is reliable, in order to solve the logistics and transportation problems in complex subway environments. Utility Model Content

[0004] The technical objective of this invention is to provide a subway logistics AGV that is designed to solve the problems of complex structure and poor terrain adaptability in related technologies.

[0005] To solve the above-mentioned technical problems, this utility model is implemented as follows: a subway logistics AGV includes a frame, wheel assemblies, a damping mechanism, a lifting assembly, and a lifting platform. The frame is provided with an assembly slot. The wheel assembly is installed in the assembly slot, comprising a first drive mechanism, a reducer connected to the first drive mechanism, and a wheel connected to the output shaft of the reducer. Multiple wheel assemblies are spaced apart along the outer periphery of the frame, and each output shaft is connected to the frame via a damping mechanism. The lifting assembly is installed on the top of the frame and connected to the lifting platform. A limiting cavity is also provided on the top side of the frame. A limiting post adapted to the limiting cavity is connected to the side of the lifting platform facing the frame. The end of the limiting post away from the lifting platform extends into the limiting cavity to slide against the wall of the limiting cavity. The difference between the radius of the wheel and the distance from the output shaft to the bottom side of the frame is 80-100mm.

[0006] Furthermore, it also includes a control unit installed in the frame, with distance sensors installed on the bottom, front, and rear sides of the frame, and each distance sensor is electrically connected to the control unit.

[0007] Furthermore, the damping coefficient of the damping mechanism is 5-20 N·s / mm.

[0008] Furthermore, the damping mechanism includes a damper mounted on the output shaft and a spring connected between the damper and the outer periphery of the frame, with the spring having an angle of 70 to 80° with the horizontal direction.

[0009] Furthermore, the lifting assembly includes a second drive mechanism mounted on the top of the frame, a lead screw connected to the second drive mechanism, a support bearing connected between the lead screw and the frame, and a nut assembly sleeved on the lead screw. The lifting platform also has an installation cavity adapted to the nut assembly, and the nut assembly is fixed in the installation cavity.

[0010] Furthermore, the nut assembly includes a nut and balls. An annular flow channel is provided on the inner circumference of the nut. The shape of the annular flow channel is adapted to the thread of the lead screw. The lead screw passes through the nut, and the balls are located in the annular flow channel and slide in contact with the thread.

[0011] Furthermore, flexible anti-collision frames are also installed on the front and rear sides of the frame.

[0012] Furthermore, an electromagnet and a Hall sensor are respectively installed on the side of the lifting platform away from the lifting assembly. The electromagnet and the Hall sensor are electrically connected to the control unit. The electromagnet is used to adsorb and position the material after it is powered on, and the Hall sensor is used to detect the change of magnetic field at the top of the lifting platform.

[0013] Furthermore, it also includes a protective plate; a fixing groove is provided inside the frame, the control unit is located in the fixing groove, and the protective plate is detachably connected to the frame at the outlet of the fixing groove.

[0014] Furthermore, the tire surface of the wheel is provided with staggered serrations, and the depth of the serrations is ≥5mm.

[0015] Compared with existing technologies, the advantages of this subway logistics AGV (Automated Guided Vehicle) are as follows: By designing the assembly method and position of the frame and wheel components, the distance between the bottom of the frame and the ground can be controlled within a certain range, effectively avoiding the risk of scratches from tactile paving edges and ground protrusions, thus improving the AGV's adaptability to the working environment. Furthermore, a lifting assembly and lifting platform are installed above the frame. During operation, the goods to be transported can be fixed on the lifting platform, and the height of the lifting platform and the goods can be adjusted according to actual work needs. This allows the AGV to work flexibly in height-limited working spaces, further enhancing its adaptability to the working environment. Therefore, the AGV of this application has strong environmental adaptability, simple structure, and low manufacturing and maintenance costs. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the subway logistics AGV from a first-person perspective in an embodiment of this utility model;

[0017] Figure 2 This is a partial structural schematic diagram of the subway logistics AGV in this embodiment of the utility model;

[0018] Figure 3 It is along Figure 2 A three-dimensional sectional view along the AA direction;

[0019] Figure 4 This is a schematic diagram of the overall structure of the lifting platform in an embodiment of this utility model;

[0020] Figure 5 This is a schematic diagram of the overall structure of the subway logistics AGV from a second perspective in an embodiment of this utility model.

[0021] In the accompanying drawings, the reference numerals represent: 1. Frame; 11. Limiting cavity; 12. Assembly slot; 13. Fixing slot; 14. Protective plate; 2. Wheel assembly; 21. First drive mechanism; 22. Output shaft; 23. Wheel; 3. Damping mechanism; 31. Damper; 32. Spring; 4. Lifting assembly; 5. Lifting platform; 51. Limiting post; 6. Distance sensor; 7. Elastic anti-collision frame; 8. Electromagnetic buckle; 9. Hall sensor; 10. Control unit. Detailed Implementation

[0022] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the protection scope of this utility model.

[0023] 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", "circumferential", "radial", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this utility model 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 utility model.

[0024] Furthermore, 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] Example:

[0026] like Figure 1-5 As shown, in this embodiment, the subway logistics AGV includes: a frame 1, a wheel assembly 2, a damping mechanism 3, a lifting assembly 4, and a lifting platform 5. The frame 1 is provided with an assembly slot 12. The wheel assembly 2 is installed in the assembly slot 12, including a first drive mechanism 21, a reducer connected to the first drive mechanism 21, and a wheel 23 connected to the output shaft 22 of the reducer. Multiple wheel assemblies 2 are spaced along the outer periphery of the frame 1, and each output shaft 22 is connected to the frame 1 through the damping mechanism 3. The lifting assembly 4 is installed on the top of the frame 1 and connected to the lifting platform 5. A limiting cavity 11 is also provided on the top side of the frame 1. A limiting post 51 adapted to the limiting cavity 11 is connected to the side of the lifting platform 5 facing the frame 1. The end of the limiting post 51 away from the lifting platform 5 extends into the limiting cavity 11 to slide and engage with the wall of the limiting cavity 11. The difference between the radius of the wheel 23 and the distance from the output shaft 22 to the bottom side of the frame 1 is 80-100mm.

[0027] Specifically, by designing the assembly method and position between the chassis 1 and the wheel assembly 2, a high chassis suspension system is formed. This allows the distance between the bottom of the chassis 1 and the ground to be controlled within a certain range (i.e., 80-100mm), effectively avoiding the risk of scraping against tactile paving edges and ground protrusions, and improving the adaptability of the AGV to the working environment. Furthermore, a lifting assembly 4 and a lifting platform 5 are installed above the chassis 1. During operation, the goods to be transported can be placed on the lifting platform 5, and the height of the lifting platform 5 and the goods can be adjusted according to actual work needs. This allows the AGV to work flexibly in height-limited working spaces, further improving its adaptability to the working environment. In this embodiment, limit posts 51 are connected to the four corners of the bottom side of the lifting platform 5, and corresponding limit cavities 11 are provided on the top side of the chassis 1 corresponding to the four limit posts 51. Through the sliding cooperation between the limit posts 51 and the limit cavities 11, the lifting stability of the lifting platform 5 can be effectively improved.

[0028] In some specific embodiments, the wheel assembly 2 is provided with four wheels. The first drive mechanism 21 can be a differential motor, and the reducer can be a planetary gear reducer (reduction ratio of 15:1). The output shaft 22 of the reducer is rigidly connected to the wheel 23 (small off-road tire) through a half shaft. Thus, the speed difference of the four wheels can be independently controlled by the control unit 10 to realize the differential steering and 360° rotation function of the wheel 23. The minimum turning radius of the wheel 23 is ≤800mm, which can be flexibly arranged in the narrow subway platform space. When the AGV passes through the platform interface with a preset height difference of 30-50mm, the four differential motors 9 synchronously adjust the torque output. With the high ground clearance setting of the chassis 1, the minimum distance between the chassis and the ground obstacle is kept ≥15mm, effectively avoiding the risk of scraping and realizing smooth passage through terrain with a height difference of 30-70mm.

[0029] In this embodiment, the lurking AGV includes a control unit 10 installed inside the frame 1. Distance sensors 6 are respectively installed on the bottom, front, and rear sides of the frame 1, and each distance sensor 6 is electrically connected to the control unit 10. The first drive mechanism 21 and the reducer are also electrically connected to the control unit 10.

[0030] Specifically, the distance sensor 6 in this embodiment can be an infrared ranging sensor, a laser ranging sensor, an ultrasonic distance detector, etc., without limitation. Installing distance sensors 6 on the front, rear, and bottom sides of the chassis 1 achieves comprehensive coverage of the area in front of, behind, and below the AGV (ground), eliminating blind spots and quickly obtaining the distance between the lurking AGV and obstacles. This allows for timely braking when approaching obstacles, improving the safety of the lurking AGV. Specifically, the distance sensor 6 on the front side of the chassis 1 can monitor obstacles in the forward direction (such as pedestrians, other AGVs, equipment, walls), enabling forward obstacle avoidance and emergency braking. The distance sensor 6 on the rear side of the chassis 1 can monitor obstacles in the reverse direction, ensuring safe operation of the AGV even when reversing or turning. The distance sensor 6 on the bottom side of the chassis 1 can monitor the ground clearance of the AGV chassis, changes in ground height (such as slopes, potholes, tracks, speed bumps), and detect if any objects are stuck under the chassis (such as scattered goods or tools). In some specific implementations, the detection distance of the distance sensor 6 can be set to 0.2-2m.

[0031] In this embodiment, the damping coefficient of the damping mechanism 3 is 5-20 N·s / mm, which can effectively prevent the goods from swaying. For example, the damping coefficient of the damping mechanism 3 can be 5 N·s / mm, 8 N·s / mm, 10 N·s / mm, 12 N·s / mm, 15 N·s / mm, 18 N·s / mm, etc., and is not limited here.

[0032] In this embodiment, the damping mechanism 3 includes a damper 31 mounted on the output shaft 22 and a spring 32 connected between the damper 31 and the outer periphery of the frame 1. The angle between the spring 32 and the horizontal direction is 70-80°. In this embodiment, the damper 31 can be a hydraulic damper, mounted on the end of the reducer output shaft 22 near the wheel 23, and the damping coefficient can be flexibly adjusted. The spring 32 is obliquely positioned, so that the damping mechanism 3 can simultaneously have vibration reduction capabilities in both the vertical and horizontal directions. Preferably, controlling the angle between the spring 32 and the horizontal direction at 70-80° can further improve the damping effect of the frame 1 and enhance the stability of the lurking AGV operation.

[0033] In this embodiment, the lifting assembly 4 includes a second drive mechanism mounted on the top of the frame 1, a lead screw connected to the second drive mechanism, a support bearing connected between the lead screw and the frame 1, and a nut assembly sleeved on the lead screw. The lifting platform 5 also has a mounting cavity adapted to the nut assembly, and the nut assembly is fixed within the mounting cavity. Specifically, the electric lifting assembly 4 is embedded in the center of the top of the frame 1, using a lead screw drive mechanism, which can control the vertical lifting stroke to 5-8cm and the lifting speed to 5-30mm / s. The shape and dimensions of the top lifting platform 5 are adapted to the bottom structure of a standard subway logistics box (600mm×400mm×300mm), effectively improving the operational stability and flexibility of the AGV.

[0034] Furthermore, in this embodiment, the nut assembly includes a nut and balls. An annular flow channel is formed on the inner circumference of the nut, and the shape of the annular flow channel is adapted to the thread of the lead screw. The lead screw passes through the nut, and the balls are disposed in the annular flow channel and slide in contact with the thread. That is, in this embodiment, the lifting assembly 4 can be designed as a ball screw transmission mechanism. A large number of precision balls are filled between the helical groove (i.e., the annular flow channel) of the lead screw and the nut. During operation, these balls act as intermediate rolling elements, circulating and rolling in the annular flow channel, transforming the direct sliding contact between the lead screw and the nut into a rolling contact between the balls and the raceway, thereby significantly improving the smoothness and efficiency of the lead screw transmission.

[0035] In this embodiment, elastic anti-collision frames 7 are also provided on the front and rear sides of the chassis 1. The elastic anti-collision frames 7 are also known as anti-collision contact edges; mechanical anti-collision contact edges (trigger force threshold ≤ 50N) are provided on the front and rear sides of the chassis 1, with an unloaded braking distance ≤ 200mm and a fully loaded braking distance ≤ 400mm. This design can further improve the anti-collision performance of the AGV; that is, when the chassis 1 touches an obstacle, the elastic anti-collision frames 7 can provide a certain buffering force, thereby reducing the risk of the chassis 1 being damaged and the cargo tipping over.

[0036] In this embodiment, an electromagnet buckle 8 and a Hall sensor 9 are respectively provided on the side of the lifting platform 5 away from the lifting assembly 4. The electromagnet buckle 8 and the Hall sensor 9 are electrically connected to the control unit 10. The electromagnet buckle 8 is used to adsorb and position the material after being energized, and the Hall sensor 9 is used to detect the change of magnetic field at the top of the lifting platform 5.

[0037] Specifically, when current passes through the coil of the electromagnet buckle 8, a magnetic field is generated, causing the electromagnet to produce a magnetic force. This magnetic force can attract objects with ferromagnetic materials. A magnetic attraction component can be installed on the bottom side of the standard logistics box. This magnetic attraction component can be a metal plate, a metal frame, a ferromagnetic block, etc. When the standard logistics box carrying goods is placed above the lifting platform 5, the electromagnet buckle 8 can interact with the corresponding magnetic attraction component on the bottom side of the standard logistics box, using magnetic attraction to position and lock the goods. In this embodiment, the Hall sensor 9 is electrically connected to the control unit 10 and can be used to detect the presence, intensity, and direction of the magnetic field around the electromagnet buckle 8. When the electromagnet buckle 8 attracts the standard box, the Hall sensor 9 can detect the change in the magnetic field generated by the metal component at the bottom of the standard box, or directly detect whether the magnetic field strength after the electromagnet buckle 8 is attracted reaches a preset value. Then, the Hall sensor 9 feeds back the detected signal to the AGV control unit 10. By analyzing these signals, the control unit 10 can determine whether the standard box has been accurately positioned and whether the electromagnet buckle 8 has firmly attracted the standard box. This embodiment uses a combination of "electromagnetic buckle + Hall sensor" to enable the AGV to achieve efficient, reliable and safe rigid fixation of standard boxes, ensuring that goods can be transported securely in complex subway logistics environments.

[0038] In this embodiment, a protective plate 14 is also included; a fixing groove 13 is provided inside the frame 1, and the control unit 10 is disposed in the fixing groove 13. The protective plate 14 is detachably connected to the frame 1 at the outlet of the fixing groove 13. In this embodiment, the frame 1 can be a 6061-T6 aluminum alloy frame, and the protective plate 14 can be assembled and connected to the frame 1 through a limiting buckle for quick disassembly and maintenance. In some specific embodiments, the distance sensors 6 on the front and rear sides of the frame 1 can also be directly fixed to the protective plate 14, which is not limited here.

[0039] In this embodiment, the tire tread of wheel 23 is provided with staggered treads, and the tread depth is ≥5mm. Specifically, the rated load capacity of a single tire of wheel 23 is ≥80kg, the tire tread of wheel 23 is a high-elasticity rubber composite tread (Shore hardness A75-85), and the tire tread is provided with staggered treads, with a tread depth of ≥5mm; for example, the included angle between the staggered treads and the treads can be 45°. This design can enhance the friction between wheel 23 and complex terrains such as tactile paving bricks and wet and slippery ground, and improve the grip of wheel 23.

[0040] This embodiment designs a subway logistics AGV based on preset height difference compensation. An optimized preset height difference compensation mechanism is constructed, equipped with a high chassis structure and two pairs of dedicated tire assemblies (small off-road tires). The chassis height is precisely designed according to the actual working conditions such as the height difference between the subway platform and the carriage, and the unevenness of the ground, effectively avoiding the risk of scraping and significantly improving the AGV's environmental adaptability. The tires of wheels 23 adopt a special tire carcass structure and high-friction coefficient rubber composite material, possessing excellent grip and obstacle-crossing performance, and can accurately adapt to complex scenarios such as subway station blind paths, uneven ground, and height differences. Compared with traditional AGVs, the AGV in this embodiment enhances its adaptability in subway logistics terrain, reduces obstacles in the transportation process, and improves logistics transfer efficiency, laying a technical foundation for its large-scale application in complex subway scenarios, and possessing both engineering practicality and promotional value.

[0041] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A type of AGV (Automated Guided Vehicle) for subway logistics, characterized in that: The system includes a frame, wheel assemblies, a damping mechanism, a lifting assembly, and a lifting platform. The frame has an assembly slot. The wheel assembly houses a first drive mechanism, a reducer connected to the first drive mechanism, and a wheel connected to the output shaft of the reducer, all installed within the assembly slot. Multiple wheel assemblies are spaced apart along the outer periphery of the frame, and each output shaft is connected to the frame via the damping mechanism. The lifting assembly is mounted on the top of the frame and connected to the lifting platform. A limiting cavity is also formed on the top side of the frame. A limiting post adapted to the limiting cavity is connected to the side of the lifting platform facing the frame. The end of the limiting post away from the lifting platform extends into the limiting cavity to slide against the wall of the limiting cavity. The difference between the radius of the wheel and the distance from the output shaft to the bottom side of the frame is 80-100 mm.

2. The metro logistics stealth AGV according to claim 1, characterized in that, It also includes a control unit installed in the frame, and distance sensors are respectively installed on the bottom, front and rear sides of the frame, and each distance sensor is electrically connected to the control unit.

3. The metro logistics stealth AGV of claim 1, wherein, The damping coefficient of the damping mechanism is 5-20 N·s / mm.

4. The metro logistics stealth AGV according to claim 3, characterized in that, The damping mechanism includes a damper mounted on the output shaft and a spring connected between the damper and the outer periphery of the frame, wherein the spring makes an angle of 70 to 80° with the horizontal direction.

5. The metro logistics stealth AGV of claim 1, wherein, The lifting assembly includes a second drive mechanism mounted on the top of the vehicle frame, a lead screw connected to the second drive mechanism, a support bearing connected between the lead screw and the vehicle frame, and a nut assembly sleeved on the lead screw. The lifting platform also has a mounting cavity adapted to the nut assembly, and the nut assembly is fixed in the mounting cavity.

6. The metro logistics stealth AGV of claim 5, wherein, The nut assembly includes a nut and balls. An annular flow channel is provided on the inner circumference of the nut. The shape of the annular flow channel is adapted to the thread of the lead screw. The lead screw passes through the nut. The balls are disposed in the annular flow channel and slide in contact with the thread.

7. The metro logistics stealth AGV of claim 1, wherein, The front and rear sides of the vehicle frame are also equipped with elastic anti-collision frames.

8. The metro logistics stealth AGV of claim 2, wherein, On the side of the lifting platform away from the lifting assembly, there are also electromagnet buckles and Hall sensors. The electromagnet buckles and the Hall sensors are electrically connected to the control unit. The electromagnet buckles are used to adsorb and position materials after being energized, and the Hall sensors are used to detect changes in the magnetic field at the top of the lifting platform.

9. The metro logistics stealth AGV of claim 2, wherein, It also includes a protective plate; a fixing groove is provided in the frame, the control unit is located in the fixing groove, and the protective plate is detachably connected to the frame at the outlet of the fixing groove.

10. The metro logistics stealth AGV of claim 1, wherein, The tire surface of the wheel is provided with staggered tooth patterns, and the depth of the tooth patterns is ≥5mm.

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