Leg-insertion type heavy-load agv

Abstract

The utility model relates to the technical field of transport vehicle, concretely relates to a leg-inserted heavy load AGV, including car body, including frame and the portal that is rotatably connected with frame, the portal both sides are equipped with hydraulic frame and battery frame, wherein are equipped with hydraulic assembly and battery assembly respectively, still include left support leg and right support leg, rotatably connect the bearing wheel respectively, inclination device, including setting in the inclination oil cylinder of portal both sides, the inclination oil cylinder with frame rotatable connection, drive assembly, set between hydraulic frame and battery frame, the utility model discloses through optimizing frame structure, has shortened the wheelbase of car body, makes the compact structure of whole car, and the turning radius is smaller.

Description

Technical Field

[0001] This utility model relates to the field of transport vehicle technology, and in particular to a leg-type heavy-duty AGV. Background Technology

[0002] Laser-guided transport vehicles are intelligent handling equipment used in automated logistics systems. Unmanned operation can save manpower, make the transportation of materials between different workstations more compact, and thus improve the efficiency of conveying.

[0003] For example, Chinese patent CN215284330U, a utility model, discloses a strut-type forklift body mechanism. Through rational design of the body floor assembly, support leg assembly, battery frame assembly, and other structural components, as well as the positions and connections between these structures, it can meet the needs of heavy-duty warehouse operations while ensuring overall strength, and also has a smaller turning radius. The drawback is that placing the battery frame assembly directly behind the mast increases the overall wheelbase. Another example is Chinese patent CN113636496A, an invention application, which discloses a compact AGV frame and AGV forklift. This design allows the mast steel, battery system, and drive system to share the length of the frame, thus significantly reducing the overall frame length and making it very compact, thereby greatly reducing the AGV forklift's turning radius and aisle width. The drawback is that it lacks an overall mast tilting function, posing a risk of cargo slippage during operation. Utility Model Content

[0004] To address the problems in the existing technology, this utility model proposes a compact AGV that rationally sets the positional relationship between components such as batteries and the vehicle frame, resulting in a shorter wheelbase; it also features an overall mast tilting function to prevent cargo from accidentally slipping off during operation.

[0005] To achieve the above-mentioned technical effects, this utility model proposes: A type of extended-leg heavy-duty AGV includes: The vehicle body includes a frame and a mast rotatably connected to the frame. The mast has a hydraulic frame and a battery frame on both sides, wherein a hydraulic component and a battery component are respectively provided. It also includes a left support leg and a right support leg, which are rotatably connected to a load-bearing wheel. The tilting device includes tilting cylinders disposed on both sides of the gantry, and the tilting cylinders are rotatably connected to the vehicle frame; A drive assembly is disposed between the hydraulic frame and the battery frame.

[0006] The leg-type heavy-duty AGV of this invention optimizes the frame structure by placing the battery and hydraulic components on both sides of the vehicle body, and aligning the mast and drive unit opposite each other along the length of the vehicle body, thus shortening the wheelbase and reducing the turning radius. The mast is hinged to the frame and connected to each other via tilting cylinders, which control the tilt angle of the mast to achieve the function of tilting the entire mast backward.

[0007] The chassis also includes: A base plate, with the left and right support legs connected to its two sides respectively; A middle partition, wherein the middle partition is perpendicularly connected to the bottom plate; A left support plate is perpendicularly connected to the middle partition plate, and left connecting plates are connected to both sides respectively. A left bottom plate is perpendicularly connected to the surface facing away from the middle partition plate. The left support plate, the left connecting plates and the left bottom plate enclose the battery frame. The right support plate is perpendicularly connected to the middle partition plate, and right side connecting plates are connected to both sides respectively. The surface facing away from the middle partition plate is perpendicularly connected to the right bottom plate. The right support plate, the right side connecting plates and the right bottom plate together form the hydraulic frame.

[0008] The left support plate and the right support plate are respectively provided with tilting cylinder seats, and the tilting cylinder is rotatably connected to the tilting cylinder seats through a pin; the left support plate and the right support plate are respectively provided with hinge seats, and the gantry is rotatably connected to the hinge seats through a hinge shaft; the tilting cylinder seats and the hinge seats are respectively located on opposite sides of the middle partition plate.

[0009] The tilting device further includes: The fixed plate is fixed on both sides of the gantry and fixedly connected by an intermediate shaft; the tilting cylinder is rotatably connected to the fixed plate. A horizontal angle sensing plate and a backward tilt angle sensing plate are mounted on the fixed plate; A first proximity switch and a second proximity switch are disposed on the vehicle frame. The first proximity switch senses the position of the tilt angle sensor plate, and the second proximity switch senses the position of the horizontal angle sensor plate.

[0010] The left and right support legs are rotatably connected to load-bearing wheels via axles, and a wheel brake is provided between the load-bearing wheels and the axles.

[0011] The drive assembly includes a traction motor and a motor brake, which are located on the side of the intermediate partition facing away from the gantry.

[0012] The hydraulic assembly includes an oil tank and an oil pump motor; a counterweight is provided inside the hydraulic frame to balance the weight between the hydraulic frame and the battery frame.

[0013] It also includes a safety laser and a navigation laser. The safety laser is connected to the vehicle frame via a navigation column, and the safety laser is respectively located on the left support leg and the right support leg.

[0014] The gantry includes a lifting cylinder and a slide plate. The lifting cylinder is arranged along the length of the gantry, and the slide plate is slidably connected to the gantry.

[0015] The beneficial effects of this utility model are: 1. By optimizing the overall structure of the chassis, the vehicle body is made more compact, the wheelbase is shortened, and the turning radius is reduced; 2. It has the function of overall mast tilting; 3. The load-bearing wheels are equipped with wheel brakes, which work with the drive unit to achieve rapid braking. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0017] Figure 2 This is a structural diagram of the vehicle frame and battery pack.

[0018] Figure 3 This is a structural diagram of the chassis and hydraulic frame.

[0019] Figure 4 This is a schematic diagram of the battery assembly.

[0020] Figure 5 This is a schematic diagram of the hydraulic assembly.

[0021] Figure 6 This is a schematic diagram of the drive device.

[0022] Figure 7 This is a schematic diagram of the tilting device.

[0023] Figure 8 for Figure 1 A magnified view of a portion of point A in the middle.

[0024] Figure 9 for Figure 6 A magnified view of a section at point B.

[0025] In the diagram: 100, chassis; 200, tilting device; 300, drive assembly; 400, load-bearing wheel; 500, battery assembly; 600, hydraulic assembly; 700, safety laser; 800, navigation laser; 101. Gantry; 102. Battery Frame; 103. Hydraulic Frame; 104. Left Outrigger; 105. Right Outrigger; 106. Base Plate; 107. Middle Partition Plate; 108. Left Support Plate; 109. Right Support Plate; 110. Left Connecting Plate; 111. Right Connecting Plate; 112. Left Base Plate; 113. Right Base Plate; 114. Tilting Cylinder Seat; 115. Hinge Shaft Seat; 116. Lifting Cylinder; 117. Insert Plate; 118. Hinge Shaft; 201. Tilting cylinder; 202. Fixing plate; 203. Intermediate shaft; 204. Back tilt angle sensing plate; 205. Horizontal angle sensing plate; 206. First proximity switch; 207. Second proximity switch; 208. Pin shaft; 301. Traction motor; 302. Motor brake; 401. Axle; 402. Wheel brake; 601. Oil pump motor; 602. Oil tank; 603. Counterweight; 801. Navigation pillar. Detailed Implementation

[0026] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification.

[0027] This utility model provides a leg-type heavy-duty AGV, and the preferred embodiments of the leg-type heavy-duty AGV are described below.

[0028] In this embodiment, refer to the appendix Figure 1 , 4 Up to 7, a leg-type heavy-duty AGV is provided, including a vehicle body, a tilting device 200, a drive assembly 300, a safety laser 800, and a navigation laser. The vehicle body includes a frame 100, a mast 101 rotatably connected to the frame 100, a hydraulic frame and a battery frame 102 respectively disposed on both sides of the mast 101, and a hydraulic assembly 600 and a battery assembly 500 respectively disposed in the hydraulic frame and battery frame 102. It also includes a left support leg 104 and a right support leg 105 on both sides of the frame 100, each support leg being rotatably connected to a load-bearing wheel 400. The tilting device 200 includes tilting cylinders 201 disposed on both sides of the mast 101, and the tilting cylinders 201 are rotatably connected to the frame 100.

[0029] For details, please refer to the appendix. Figure 2 and 3The frame 100 specifically includes a base plate 106, a middle partition 107 perpendicularly connected to the base plate 106, and left support leg 104 and right support leg 105 connected to both sides of the base plate 106. The base plate 106, left support leg 104, and right support leg 105 are the main load-bearing parts of the frame 100. The middle partition 107 is connected to a left support plate 108 and a right support plate 109 on both sides. The left support plate 108 is connected to two left connecting plates 110 on both sides, and its surface facing away from the middle partition 107 is perpendicularly connected to a left base plate 112. The left support plate 108, left connecting plates 110, and left base plate 112 together form a battery frame 102. The right support plate 109 is connected to right connecting plates 111 on both sides, and its surface facing away from the middle partition 107 is perpendicularly connected to a right base plate 113. The right support plate 109, right connecting plates 111, and right base plate 113 together form a hydraulic frame.

[0030] The left base plate 112 has a pair of opposite sides that are connected to the left support plate 108 and the left support leg 104, respectively, and another pair of opposite sides that are connected to two left connecting plates 110. The two left connecting plates 110 extend from the left support plate 108 to the left support leg 104 and cross the left support leg 104 to the side of the left support leg 104 facing away from the base plate 106. That is, part of the upper surface of the left support leg 104 cooperates with the left base plate 112 to form the bottom surface of the battery frame 102.

[0031] The right base plate 113 has one pair of opposite sides connected to the right support plate 109 and the right outrigger 105, respectively, and another pair of opposite sides connected to two right-side connecting plates 111. The two right-side connecting plates 111 extend from the right support plate 109 to the right outrigger 105, crossing the right outrigger 105 to the side of the right outrigger 105 facing away from the base plate 106. That is, part of the upper surface of the right outrigger 105, in conjunction with the right base plate 113, serves as the bottom surface of the hydraulic frame. This can be understood as follows: while ensuring the actual bottom surface area of ​​the battery frame 102 and the hydraulic frame, the left outrigger 104 and the right outrigger 105 are moved closer to the vehicle's central axis, further reducing the vehicle width and making the vehicle more compact.

[0032] The base plate 106, together with the middle partition plate 107, left support plate 108, and right support plate 109, divides the vehicle into four spaces, which are used to house the mast 101, battery assembly 500, hydraulic assembly 600, and drive assembly 300, respectively. The mast 101 and drive assembly 300 are positioned on either side of the middle partition plate 107, facing each other along the length of the vehicle body. The battery assembly 500 and hydraulic assembly 600 are positioned on the left and right sides of the middle partition plate 107, i.e., the left and right sides of the vehicle body. By optimizing the structure of the frame 100 and the arrangement of each component, and placing the battery assembly 500 and hydraulic assembly 600 on both sides of the overall vehicle body, the wheelbase is shortened, further reducing the turning radius.

[0033] A connection position for connecting the mast 101 is formed between the left support plate 108 and the right support plate 109. The left support plate 108 and the right support plate 109 are each provided with a hinge seat 115. The mast 101 is rotatably connected to the hinge seat 115 via a hinge shaft 118. Under normal conditions, the chassis 100 floor 106 is substantially horizontal to the ground, and the mast 101 is perpendicular to the floor 106. The hinge seat 115 includes a base formed by the extensions of the left support plate 108 and the right support plate 109 along the length of the vehicle body, and a cover plate for the hinge seat 115 is bolted to the base. Together, they form a seat rotatably connected to the hinge shaft 118. The floor 101, in terms of length, matches the extensions of the left support plate 108 and the right support plate 109 to provide support for the base of the hinge seat 115.

[0034] Reinforcing ribs are provided at the connection points between the middle partition 107 and the left support plate 108 and the right support plate 109 to improve the overall strength of the frame 100. Reinforcing ribs are also provided at the connection points between the left connecting plate 110 and the left support leg 104, and between the right connecting plate 111 and the right support leg 105.

[0035] The left support plate 108 and the right support plate 109 are each provided with a tilting cylinder seat 114, and the tilting cylinder 201 is rotatably connected to the tilting cylinder seat 114 via a pin 208. The tilting cylinder seat 114 is welded to the left support plate 108 and the right support plate 109 respectively, and the two tilting cylinder seats 114 need to be at the same height relative to the base plate 106. One end of the tilting cylinder 201 is rotatably connected to the side of the gantry 101, and the other end is rotatably connected to the tilting cylinder seat 114 via a through pin 208. The tilting cylinder 201 is used to control the angle of rotation of the gantry 101 around the hinge seat 115.

[0036] The tilting cylinder seat 114 and the hinge seat 115 are respectively located on the left support plate 105 and the right support plate 106 on both sides of the middle partition 107, so that the force generated by the gantry 101 on the frame 100 during the operation of the AGV is concentrated on the left support plate 105 and the right support plate 106 respectively. The stability of the connection between the gantry 101 and the frame 100 is ensured by the strength of the plates of the left support plate 105 and the right support plate 106 themselves.

[0037] In this embodiment, all components of the vehicle frame 101 are welded together to ensure the overall strength of the vehicle body. The base plate 106, the middle partition plate 107, the left support plate 108, the right support plate 109, the left connecting plate 110, the right connecting plate 111, the left base plate 112, and the right base plate 113 are all provided with through holes or threaded holes for threading wire harnesses or bolting other components. For example, the battery assembly 500 and the hydraulic assembly 600 are bolted to the left base plate 112 and the right base plate 113, respectively.

[0038] In this embodiment, refer to the appendix. Figure 7The gantry 101 includes a lifting cylinder 116 and a slide plate 117. The lifting cylinder 116 is arranged along the length of the gantry 101, and the slide plate 117 is slidably connected to the gantry 101. The lifting cylinder 116 is connected to an oil pump motor 601 through an oil pipe. The oil pump motor 601 drives the lifting cylinder to move the slide plate 117 along the length of the gantry 101, thereby lifting or lowering the goods by the slide plate 117.

[0039] The load-bearing wheels 400 of the left outrigger 105 and right outrigger 106 are connected to their respective ends located on the side of the mast 101. The insert plate 117 of the mast 101 is located on the side of the mast 400 near the load-bearing wheels 400. The main weight of the vehicle body is concentrated in the drive assembly 300, battery assembly 500, and hydraulic assembly 600. Thanks to the compact structure of the frame 100, the insert plate 117 provides sufficient weight at the rear of the vehicle body after carrying cargo to ensure the stability of the vehicle body.

[0040] The mast 101 is mounted on the hinge seat 115 located on the frame 100 via hinge pins on both sides. After the hinge pins are placed on the hinge seat 115, the hinge pin fixing support is fixed to the frame 100 with bolts, thus hinged the mast 101 to the frame 100. One end of each of the two tilting cylinders 201 is fixed to the tilting cylinder seat 114 welded to the frame 100 via pins 208, and the other end is rotatably connected to the fixing plate 202 of the mast 101. In the initial state, the two tilting cylinders 201 are parallel to the base plate 106.

[0041] In this embodiment, refer to the appendix. Figure 4 and 5 The hydraulic component 600 is housed within the hydraulic frame, and the battery component 500 is housed within the battery frame 102. A counterweight 603 is installed within the hydraulic frame to balance the weight between the battery frame 102 and the hydraulic frame. During AGV assembly, it is necessary to ensure that the weights of the supports for the battery component 500 and the hydraulic component 600 are approximately equal; the weight difference is filled by the counterweight 603. Due to the compact AGV frame 100 in this embodiment, the battery component 500 and the hydraulic component 600 are positioned on both sides of the vehicle body. It is necessary to balance the weight of the components on both sides to ensure that the AGV does not tilt or lean during turning or braking.

[0042] The hydraulic assembly 600 includes an oil tank 602 and an oil pump motor 601. The battery assembly 500 provides power to the drive assembly 300. The hydraulic assembly 600 is connected to each cylinder via oil pipes to achieve functions such as tilting the mast 101 and raising or lowering the shelves on the mast 101.

[0043] In this embodiment, refer to the appendix. Figure 1 , 7The tilting device 200 also includes two fixed plates 202 fixedly connected to both sides of the gantry 101, an intermediate shaft 203 connected between the two fixed plates 202, and two tilting cylinders rotatably connected to one of the fixed plates 202 respectively. The fixed plates 202 and the intermediate shaft 203 ensure the connection strength between the tilting cylinders and the gantry 101. A horizontal angle sensing plate 205 and a backward tilting angle sensing plate 204 are provided on the fixed plate 202 near the left support plate 108. A first proximity switch 206 and a second proximity switch 207 are provided on the side of the left support plate 108 near the horizontal angle sensing plate 205 and the backward tilting angle sensing plate 204. The first proximity switch 206 senses the position of the backward tilting angle sensing plate 204, and the second proximity switch 207 senses the position of the horizontal angle sensing plate 205. In the normal state of the gantry 101, i.e., in the vertical position, the second proximity switch 207 is positioned opposite the horizontal angle sensing plate 205. The second proximity switch 207 senses the position of the horizontal angle sensing plate 205 to confirm that the gantry 101 is in a vertical state. The entire gantry 101 rotates around the hinge point between the hinge shaft and the hinge shaft seat 115 as the extension distance of the tilting cylinder 201 changes. When the stroke of the tilting cylinder 201 is at its shortest, the backward tilting angle sensing plate 204 can be sensed by the first proximity switch 206, at which point the entire gantry 101 is in a backward tilting state. After the tilting cylinder 201 extends a certain distance, the horizontal angle sensing plate 205 can be sensed by the angle proximity switch, and the entire gantry 101 is in a state perpendicular to the ground.

[0044] In this embodiment, refer to the appendix. Figure 6 The drive assembly 300 includes a traction motor 301 and a motor brake 302, which are located on the side of the intermediate partition 107 facing away from the gantry 101. The traction motor 301 provides driving force, and the motor brake 302 provides braking force.

[0045] In this embodiment, refer to the appendix. Figure 6 and 9 The left support leg 104 and the right support leg 105 are rotatably connected to the load-bearing wheels 400 via axles 401. A wheel brake 402 is provided between the load-bearing wheels 400 and the axles 401. The wheel brake 402 provides braking force to the two load-bearing wheels 400, and works with the motor brake 302 to achieve rapid braking.

[0046] In this embodiment, refer to the appendix. Figure 4It also includes a laser assembly, which comprises a safety laser 800 and a navigation laser. The safety laser 800 is located at the bearing wheels 400 of the left outrigger 104 and right outrigger 105, i.e., at the front of the AGV's movement. It identifies obstacles and pedestrians through laser scanning. When a person approaches and enters the scanning range of the safety laser 800, the safety laser 800 will send a signal to stop the entire vehicle, preventing a collision. The navigation laser is used for AGV navigation and pathfinding. It is connected to the frame 100 via a navigation column 801, located at the location of the traction motor 301, and can schedule the AGV to travel along a predetermined guide path.

[0047] The leg-type heavy-duty AGV in this embodiment features a leg-type body structure, which provides strong stability. Its compact structure, with the hydraulic assembly 600 and battery assembly 500 positioned on opposite sides of the vehicle, shortens the wheelbase and reduces the turning radius. The motor brake 302 works in conjunction with the wheel brakes 402 to provide better braking performance and rapid braking. The tilting cylinder 201, in conjunction with the horizontal angle sensor 205 and the backward tilt angle sensor 204, provides a certain backward tilting effect to the mast 101 during AGV operation, preventing goods from falling off.

[0048] The above description is a preferred embodiment of the present utility model, used to illustrate the present utility model and its effects. It should be noted that, for those skilled in the art, for the purpose of making foreseeable improvements and modifications without departing from the principles of the present utility model, such improvements and modifications are also within the protection scope of the present utility model.

Claims

1. A leg-type heavy-duty AGV, characterized in that, include: The vehicle body includes a frame and a mast rotatably connected to the frame. The mast has a hydraulic frame and a battery frame on both sides, wherein a hydraulic component and a battery component are respectively provided. It also includes a left support leg and a right support leg, which are rotatably connected to a load-bearing wheel. The tilting device includes tilting cylinders disposed on both sides of the gantry, and the tilting cylinders are rotatably connected to the vehicle frame; A drive assembly is disposed between the hydraulic frame and the battery frame.

2. The leg-type heavy-duty AGV according to claim 1, characterized in that, The chassis also includes: A base plate, with the left and right support legs connected to its two sides respectively; A middle partition, wherein the middle partition is perpendicularly connected to the bottom plate; A left support plate is perpendicularly connected to the middle partition plate, and left connecting plates are connected to both sides respectively. A left bottom plate is perpendicularly connected to the surface facing away from the middle partition plate. The left support plate, the left connecting plates and the left bottom plate enclose the battery frame. The right support plate is perpendicularly connected to the middle partition plate, and right side connecting plates are connected to both sides respectively. The surface facing away from the middle partition plate is perpendicularly connected to the right bottom plate. The right support plate, the right side connecting plates and the right bottom plate together form the hydraulic frame.

3. The leg-type heavy-duty AGV according to claim 2, characterized in that, The left support plate and the right support plate are respectively provided with tilting cylinder seats, and the tilting cylinder is rotatably connected to the tilting cylinder seats through a pin; the left support plate and the right support plate are respectively provided with hinge seats, and the gantry is rotatably connected to the hinge seats through a hinge shaft; the tilting cylinder seats and the hinge seats are respectively located on opposite sides of the middle partition plate.

4. The leg-type heavy-duty AGV according to claim 1, characterized in that, The tilting device further includes: The fixed plate is fixed on both sides of the gantry and fixedly connected by an intermediate shaft; the tilting cylinder is rotatably connected to the fixed plate. A horizontal angle sensing plate and a backward tilt angle sensing plate are mounted on the fixed plate; A first proximity switch and a second proximity switch are disposed on the vehicle frame. The first proximity switch senses the position of the tilt angle sensor plate, and the second proximity switch senses the position of the horizontal angle sensor plate.

5. The leg-type heavy-duty AGV according to claim 1, characterized in that, The left and right support legs are rotatably connected to load-bearing wheels via axles, and a wheel brake is provided between the load-bearing wheels and the axles.

6. A leg-type heavy-duty AGV according to claim 2, characterized in that, The drive assembly includes a traction motor and a motor brake, which are located on the side of the intermediate partition facing away from the gantry.

7. A leg-type heavy-duty AGV according to any one of claims 1 to 6, characterized in that, The hydraulic assembly includes an oil tank and an oil pump motor; a counterweight is provided inside the hydraulic frame to balance the weight between the hydraulic frame and the battery frame.

8. A leg-type heavy-duty AGV according to claim 7, characterized in that, It also includes a safety laser and a navigation laser. The safety laser is connected to the vehicle frame via a navigation column, and the safety laser is respectively installed on the left support leg and the right support leg.

9. A leg-type heavy-duty AGV according to claim 7, characterized in that, The gantry includes a lifting cylinder and a slide plate. The lifting cylinder is arranged along the length of the gantry, and the slide plate is slidably connected to the gantry.

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