An automated guided vehicle
Patent Information
- Application Number
- CN202521947136.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-10
- Publication Date
- 2026-08-28
- Estimated Expiration
- 2035-09-10
AI Technical Summary
目前AGV常用的举升装置多为旋转式中央举升装置或液压举升装置，当要求举升货物重量≥1T时，所选用的举升装置体积通常就会很大，对于小型AGV来说布置举升装置就成了大问题，通常为了能布置举升装置，不得不将AGV整体尺寸做大，牺牲AGV运作的灵活性
[0023]由上述技术方案可以看出，在进行智能物料运输时，可以使用本方案提供的自动导引运输车，使用分别布置在动力框架两侧的两个举升机与举升平板连接，巧妙地避开了动力元件，同时无需改造AGV的尺寸。由于采用本方案提供的自动导引运输车，在不改变AGV整体尺寸的前提下，还保证了举升性能，因此能够兼顾AGV的体积和举升性能。
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Figure CN224690296U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of intelligent material transport technology, and in particular to an automated guided vehicle. Background Technology
[0002] With the rapid development of the intelligent material handling industry, the demand for Automated Guided Vehicles (AGVs) is growing strongly, especially for AGVs equipped with lifting devices. Currently, the commonly used lifting devices for AGVs are rotary central lifting devices or hydraulic lifting devices. When the weight of the goods to be lifted is ≥1T, the selected lifting device is usually very large. For small AGVs, the placement of the lifting device becomes a major problem. Usually, in order to place the lifting device, the overall size of the AGV has to be increased, sacrificing the flexibility of AGV operation.
[0003] Therefore, how to balance the size and lifting performance of AGVs is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content
[0004] This application proposes an automated guided vehicle that balances the size and lifting performance of an AGV.
[0005] To achieve the above objectives, this application discloses the following technical solutions:
[0006] An automated guided vehicle includes a chassis assembly, a power unit, and a lifting device. The chassis assembly includes a chassis and a power frame, with the power frame located in the middle of the chassis. The power unit is located within the power frame.
[0007] The lifting device includes a lifting platform, a lifting motor, a transfer case, two couplings, and two lifts; the lifting motor is mounted inside the power frame.
[0008] The power output end of the lifting motor is connected to the transfer case drive;
[0009] The first power output end of the transfer case is connected to a lift via a coupling; the second power output end of the transfer case is connected to another lift via a coupling.
[0010] Both lifts are connected to the lift plate and to the powered frame. One lift is located inside the powered frame, and the other is located outside the frame.
[0011] In some embodiments, the lift includes a transmission assembly and a lead screw, one end of which is fixedly connected to the lifting plate and the other end of which is drivenly connected to the transmission assembly.
[0012] The transmission assembly is connected to the coupling for transmission.
[0013] In some embodiments, the lifting platform also includes guide rails disposed around the perimeter of the lifting platform;
[0014] Guide blocks are installed on the power frame at positions corresponding to the guide rails. The guide blocks can move relative to the guide rails in the lifting direction to restrict the movement of the lifting plate in the lifting direction.
[0015] In some embodiments, at least two guide rails are provided and are evenly distributed on both sides of the line connecting the two lifts.
[0016] In some embodiments, the power element includes a power battery and a main controller, which are arranged in layers along the height of the power frame, with the lift located within the power frame avoiding the power element.
[0017] In some embodiments, the main controller includes a first controller and a second controller, wherein the first controller is electrically connected to the power battery and the second controller is electrically connected to the power battery.
[0018] In some embodiments, the main controller further includes a third controller, which is a chassis domain controller, electrically connected to the first controller, and electrically connected to the second controller.
[0019] In some embodiments, the second controller is located below the lifting motor in the height direction of the power frame;
[0020] In the width direction of the power frame, the lift located within the power frame is situated between the first controller and the third controller.
[0021] In some embodiments, the two lifts are located on either side of the center of the power frame.
[0022] In some embodiments, the power frame is detachably fixed to the chassis.
[0023] As can be seen from the above technical solution, when carrying out intelligent material transportation, the automated guided vehicle (AGV) provided in this solution can be used. Two lifters, respectively arranged on both sides of the power frame, are connected to the lifting platform, cleverly avoiding the power components and eliminating the need to modify the AGV's dimensions. Because the AGV provided in this solution ensures lifting performance without changing the overall size of the AGV, it balances both the AGV's size and lifting capacity. Attached Figure Description
[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort, and this application can be applied to other similar scenarios based on the provided drawings, all of which fall within the scope of protection of this utility model. Unless obvious from the linguistic context or otherwise specified, the same reference numerals in the drawings represent the same structure or operation.
[0025] Figure 1 A side view of an automated guided vehicle provided in an embodiment of this application;
[0026] Figure 2 A top view of an automated guided vehicle provided in an embodiment of this application;
[0027] Figure 3 A perspective view of the lifting device provided in the embodiments of this application;
[0028] Among them, 10 are automated guided vehicles;
[0029] 100 - Chassis assembly; 200 - Power components; 300 - Lifting device;
[0030] 110 - Chassis; 120 - Power Frame; 121 - Guide Block;
[0031] 210 - Power battery; 220 - Main controller; 221 - First controller; 222 - Second controller; 223 - Third controller;
[0032] 310-Lifting plate; 311-Guide rail; 320-Lifting motor; 330-Transfer drive; 340-Coupling; 350-Lifting machine; 351-Transmission assembly; 352-Lead screw. Detailed Implementation
[0033] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. The described embodiments are only a part of the embodiments of the present application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without inventive effort are within the scope of protection of the present application.
[0034] To address the issue of the inability to simultaneously balance size and lifting capacity in existing automated guided vehicles (AGVs), this application describes the structure of the AAV 10 in detail with reference to the accompanying drawings:
[0035] See Figures 1 to 3 To achieve the above objectives, this application discloses the following technical solutions:
[0036] This application provides an automated guided vehicle 10, including a chassis assembly 100, a power element 200, and a lifting device 300. The chassis assembly 100 includes a chassis 110 and a power frame 120, with the power frame 120 located in the middle of the chassis 110; the power element 200 is located within the power frame 120.
[0037] The lifting device 300 includes a lifting plate 310, a lifting motor 320, a transfer case 330, two couplings 340, and two lifts 350; the lifting motor 320 is installed inside the power frame 120;
[0038] The power output end of the lifting motor 320 is connected to the transfer case 330 via a transmission.
[0039] The first power output end of the transfer case 330 is connected to a lift 350 via a coupling 340; the second power output end of the transfer case 330 is connected to another lift 350 via a coupling 340.
[0040] Both lifts 350 are connected to the lifting platform 310 and both lifts 350 are connected to the power frame 120. One lift 350 is located inside the power frame 120 and the other lift 350 is located outside the power frame 120.
[0041] As can be seen from the above technical solution, when carrying out intelligent material transportation, the automated guided vehicle 10 provided in this solution can be used. Two lifters 350, respectively arranged on both sides of the power frame 120, are connected to the lifting platform 310, cleverly avoiding the power component 200, and without requiring modification to the size of the automated guided vehicle 10. Because the automated guided vehicle 10 provided in this solution is used, lifting performance is guaranteed without changing the overall size of the automated guided vehicle 10, thus balancing the size and lifting performance of the automated guided vehicle 10.
[0042] The function of the lifting motor 320 is to provide power to the lift 350 directly or indirectly. Typically, the lifting motor 320 of the automated guided vehicle 10 is electrically connected to the power battery 210, and the power source for both is the power battery 210. When the lifting motor 320 corresponds to one lift 350, a direct connection can be used, meaning the power output end of the lifting motor 320 is directly connected to the lift 350. When the lifting motor 320 corresponds to two lifts 350, an indirect connection can be used, meaning the power output end of the lifting motor 320 is indirectly connected to the lift 350 through a transfer case 330. This application adopts an indirect connection method, which will be described in detail below.
[0043] Indirect connection means that the power of the lifting motor 320 is evenly distributed to the two lifts via the transfer case 330. In this application, in order to reduce interference between the lift 350 and the power element 200, and to ensure the balance of materials during the operation of the lift 350, a scheme of one lifting motor 320 corresponding to two lifts 350 is usually adopted. The power input end of the transfer case 330 is drivenly connected to the power output end of the lifting motor 320. The first power output end of the transfer case 330 is drivenly connected to one lift 350 via a coupling 340, and the second power output end of the transfer case 330 is drivenly connected to the other lift 350 via a coupling 340.
[0044] It is particularly important to note that the lines connecting the two lifts 350 and the transfer case 330 are in a straight line, thereby ensuring the symmetry of the installation of the lifts 350 and further ensuring the stability of the material lifting process.
[0045] To prevent the transmission shaft of coupling 340 from breaking due to excessive transmission distance between transfer case 330 and lift 350, some cases employ an additional coupling 340. This results in a segmented transmission system where two couplings 340 are connected to a lift 350 via an intermediate shaft. One advantage of this approach is that it avoids transmission shaft breakage caused by resonance. Another advantage is that the intermediate shaft and the two couplings 340 form a detachable module, facilitating future maintenance, repair, and installation.
[0046] The above describes the connection between the transfer case 330 and the lift 350. Next, we will introduce the specific structure of the lift 350.
[0047] See Figure 3 The function of the lifting machine 350 is to convert the axial power provided by the lifting motor 320 into lifting power to achieve the lifting and lowering of materials. The lifting machine 350 typically employs an electric screw-type lifting machine or an electro-hydraulic lifting machine. Taking the electric screw-type lifting machine of this application as an example, the lifting machine 350 includes a transmission assembly 351 and a screw 352. One end of the screw 352 is a fisheye joint, connected to an ear plate fixed below the lifting plate 310, forming a spherical sub-assembly. By setting the spherical sub-assembly, the torsion of the screw 352 during movement can be effectively prevented, thus ensuring that the lifting plate 310 moves only in the lifting direction without unnecessary rotation. A nut is fixed below the lifting plate 310, and the screw 352 passes through the nut. The rotation of the screw 352 drives the nut to move in the lifting direction, thereby causing the lifting plate 310 to move in the lifting direction.
[0048] While the connection method of the lead screw 352 is important, the connection method of the transmission assembly 351 is also crucial to this solution. One end of the transmission assembly 351 is connected to the coupling 340, and the other end is connected to the lead screw 352, thereby transmitting the power of the lifting motor 320 to the lead screw 352. A bearing is fixedly installed inside the transmission assembly 351. After the lead screw 352 passes through the bearing, the transmission assembly 351 converts the power of the coupling 340 into the rotation of the lead screw 352, which in turn drives the nut to move, causing the lifting plate 310 to move.
[0049] The above describes the specific structure of the lift 350. Next, we will introduce the structure of the lift plate 310.
[0050] The lifting plate 310 is a component used to support materials. It is generally composed of a single plate and / or a uniformly arranged frame structure. A single plate results in more even stress distribution and a more stable structure, while a uniformly arranged frame structure is lighter and saves materials. In practical applications, the style of the lifting plate 310 can be configured according to actual usage requirements.
[0051] like Figure 3 As shown, this application adopts a form in which a whole plate is fixed on a uniformly arranged skeleton structure, which ensures the aesthetic appearance, prevents materials from falling out of the gaps, and saves materials while meeting the load-bearing capacity.
[0052] In addition, guide rails 311 are evenly arranged around the lifting platform 310. These guide rails 311 can restrict the lifting platform 310 to move only in the lifting direction when the lifting platform 310 is in the lifting motion, and prevent the lifting platform 310 from tilting or overturning. Generally, there are at least two guide rails 311, which are evenly arranged on both sides of the line connecting the two lifting machines 350.
[0053] Similarly Figure 3 For example, if the line connecting the two lifts 350 is parallel to the center line of the lifting plate 310 along its length and is located directly below the lifting plate 310, then the supporting force of the two lifts 350 on the lifting plate 310 is uniform. When the force on the lifting plate 310 in the width direction is uneven, the lifting plate 310 will tilt and overturn in the width direction. Therefore, it is necessary to set a guide rail 311 in the width direction, that is, to set a guide rail 311 on each of the two long sides of the lifting plate 310. Preferably, these two guide rails 311 should be located at the center point of the two long sides respectively.
[0054] Additionally, it should be noted that a corresponding number of guide blocks 121 need to be installed on the power frame 120 in conjunction with the guide rail 311 to restrict the movement of the guide rail 311 along the guide blocks 121. For example... Figure 2 and Figure 3As shown, the guide block 121 can be configured with a concave structure, and the guide rail 311 can be configured with a convex structure, thereby enabling the guide rail 311 to move only in the lifting direction, while its movement in the horizontal direction is restricted. Similarly, the guide blocks 121 are located outside the power frame 120 and are evenly distributed.
[0055] The structure of the lifting plate 310 has been introduced above. Next, the specific structure of the power element 200 will be introduced.
[0056] The function of the power unit 200 is to provide power to the automated guided vehicle 10 and the lifting device 300, and to control the movement of the automated guided vehicle 10 and the lifting device 300. The power unit 200 includes a power battery 210 and a main controller 220. In order to make the arrangement of the power unit 200 within the power frame 120 simpler and the wiring smoother, the power battery 210 and the main controller 220 need to be arranged in layers in the height direction, so as to better utilize the space within the power frame 120 and reserve ample space for the addition of the lift 350.
[0057] Typically, the lift 350 needs to avoid the power element 200 in both the height and width directions, for reference. Figure 2 The main controller 220 includes a first controller 221, a second controller 222, and a third controller 223. In the height direction of the power frame 120, the second controller 222 is located below the lifting motor 320. In the width direction of the power frame 120, the first controller 221 and the third controller 223 are arranged separately, with the lifting machine 350 positioned between them. Of course, the relative positions of the first controller 221, the second controller 222, and the third controller 223 are not always the same. Figure 2 The combinations shown, and the permutations of their relative positions, are all within the scope of protection of this application.
[0058] It should be noted that the first controller 221, the second controller 222 and the third controller 223 are all electrically connected to the power battery 210. The third controller 223 is electrically connected to the first controller 221 to control the steering of the automated guided vehicle 10. The third controller 223 is electrically connected to the second controller 222 to control the movement of the automated guided vehicle 10.
[0059] The above describes the specific structure of the power element 200. Next, we will describe the structure of the power frame 120.
[0060] The frame assembly 100 includes a power frame 120 and a chassis 110. The chassis 110 is a general term for the vehicle frame and is a rigid structural platform used to support the power element 200, the power frame 120, and the lifting device 300. The power frame 120 is a container for the power elements, protecting them from impacts and ensuring the stable installation of the power element 200. Normally, the power frame 120 is fixed to the center of the chassis 110. In some embodiments, to facilitate the inspection and replacement of the power element 200, the power frame 120 can be configured as a detachable structure. For example, the power frame 120 can be fixed to the chassis 110 by bolts. When the power element 200 needs to be inspected or replaced, the bolts can be removed first, thereby disassembling the power element 200 as a whole, making maintenance and replacement more convenient.
[0061] It should also be noted that since the power frame 120 is located at the center of the chassis 110, when arranging the lifts 350, it is necessary to ensure that the two lifts 350 are located on both sides of the center of the power frame 120. This ensures that when the lifts 350 and the lifting platform 310 are pushing materials, the overall center of gravity of the automated guided vehicle 10 and the materials will remain in the center and will not shift, thus ensuring the stable operation of the automated guided vehicle 10.
[0062] In the above context, 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. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
[0063] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. "And / or" in this article is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone.
[0064] It should be noted that, for ease of description, only the parts relevant to the application are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this application can be combined with each other.
[0065] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed, and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. The scope of this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described application concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.
Claims
1. An automated guided vehicle, characterized in that, The device includes a frame assembly (100), a power element (200), and a lifting device (300). The frame assembly (100) includes a chassis (110) and a power frame (120), with the power frame (120) located in the middle of the chassis (110). The power element (200) is located within the power frame (120). The lifting device (300) includes a lifting plate (310), a lifting motor (320), a transfer case (330), two couplings (340), and two lifts (350); the lifting motor (320) is installed within the power frame (120); The power output end of the lifting motor (320) is connected to the transfer case (330) in a transmission manner; The first power output end of the transfer case (330) is connected to one of the lifts (350) via the coupling (340); the second power output end of the transfer case (330) is connected to another lift (350) via the coupling (340). Both of the lifts (350) are connected to the lifting plate (310) and both of the lifts (350) are connected to the power frame (120), with one of the lifts (350) located inside the power frame (120) and the other lift (350) located outside the power frame (120).
2. The automated guided vehicle as described in claim 1, characterized in that, The lift (350) includes a transmission assembly (351) and a lead screw (352). One end of the lead screw (352) is connected to the lifting plate (310), and the rod body of the lead screw (352) is connected to the transmission assembly (351) in a transmission connection. The transmission assembly (351) is connected to the coupling (340) in a transmission connection.
3. The automated guided vehicle as described in claim 1, characterized in that, The lifting plate (310) also includes guide rails (311) arranged around the lifting plate (310); A guide block (121) is provided on the power frame (120) at a position corresponding to the guide rail (311). The guide block (121) can move relative to the guide rail (311) in the lifting direction to restrict the lifting plate (310) from moving in the lifting direction.
4. The automated guided vehicle as described in claim 3, characterized in that, At least two guide rails (311) are provided and are evenly arranged on both sides of the line connecting the two lifts (350).
5. The automated guided vehicle as described in claim 1, characterized in that, The power element (200) includes a power battery (210) and a main controller (220). In the height direction of the power frame (120), the power battery (210) and the main controller (220) are arranged in layers. The lift (350) located in the power frame (120) avoids the power element (200).
6. The automated guided vehicle as described in claim 5, characterized in that, The main controller (220) includes a first controller (221) and a second controller (222). The first controller (221) is electrically connected to the power battery (210), and the second controller (222) is electrically connected to the power battery (210).
7. The automated guided vehicle as described in claim 6, characterized in that, The main controller (220) further includes a third controller (223), which is electrically connected to the first controller (221) and to the second controller (222).
8. The automated guided vehicle as described in claim 7, characterized in that, In the height direction of the power frame (120), the second controller (222) is located below the lifting motor (320); In the width direction of the power frame (120), the lift (350) located within the power frame (120) is situated between the first controller (221) and the third controller (223).
9. The automated guided vehicle as described in claim 1, characterized in that, The two lifts (350) are located on either side of the center of the power frame (120).
10. The automated guided vehicle as described in claim 1, characterized in that, The power frame (120) is detachably fixed to the chassis (110).