Electro-hydraulic hybrid agv three-point support structure chassis configuration and jacking bogie

Abstract

This utility model discloses a three-point support structure chassis configuration and a lifting bogie for an electro-hydraulic hybrid AGV. The chassis configuration includes an AGV frame structure, a drive wheel and two driven wheels mounted on the AGV frame structure. The AGV frame structure has a frame consisting of a left side beam, a front side beam, a right side beam, and a rear side beam connected end to end. A steering wheel support plate is located at the front end of the frame, and a left driven wheel support plate and a right driven wheel support plate are located at the rear end of the frame. The lifting bogie includes a frame body, a front axle, and a rear axle mounted on the frame body. The distance between the two front wheels and the distance between the two rear wheels on the front and rear axles are both greater than the width of the three-point support structure chassis configuration of the electro-hydraulic hybrid AGV. The height of the front and rear axles is greater than the height after the hydraulic lifting device has been reset and lowered. It can reduce the turning diameter, maintain its position in place, move laterally, and can be towed by a single AGV or pushed and lifted by two AGVs in a coordinated manner. The structure is simple and easy to implement.

Description

Technical Field

[0001] This utility model relates to motor vehicles, specifically to the chassis configuration of an electro-hydraulic hybrid AGV with a three-point support structure and a lifting bogie. Background Technology

[0002] With the rapid development of intelligent manufacturing and smart logistics, and driven by the wave of intelligent manufacturing, the demand for automation, flexibility, and intelligence in smart logistics systems, as a core supporting link, has surged. Automated Guided Vehicles (AGVs), with their automated material handling capabilities, have become indispensable basic equipment in modern warehousing, smart factories, and large ports, experiencing explosive market demand. The application demand for AGVs in warehousing, factories, and ports has surged.

[0003] The existing three-wheeled chassis of AGVs are driven by either two drive wheels and one omnidirectional wheel, or one drive wheel and two fixed wheels. Both of these chassis structures can only perform simple straight-line movement and turning. If it is necessary to control the AGV to move laterally and rotate in place, when sliding with two drive wheels and one omnidirectional wheel, the omnidirectional wheel is prone to deflection, causing the AGV to drift and reducing the accuracy of sliding. When one drive wheel and two fixed wheels are in use, the force point of the drive wheel on the AGV is on one side of the AGV, making the AGV prone to deflection and reducing the accuracy of sliding.

[0004] CN216546383U discloses a chassis structure for an AGV (Automated Guided Vehicle) trolley, which uses two steering wheels 23 as drive wheels. The two steering wheels 23 rotate to a suitable direction, driving the three-wheeled chassis 1 to slide. Because two drive wheels are provided, there are two points of force application to the AGV trolley, allowing it to smoothly slide along a set direction and improving the accuracy of the AGV's movement. The direction of the directional wheel 311 is adjusted by a second drive unit, preventing the directional wheel 311 from deflecting during AGV movement, thus improving the accuracy of AGV movement. If it is necessary to control the AGV to move laterally or rotate in place, the two steering wheels 23 combined with one directional wheel 311 allow the AGV to slide normally without easily deviating.

[0005] It requires two steering wheels (drive wheels), which increases costs. When the AGV is operating, the two steering wheels need to perform differential movements frequently, which places stringent requirements on the motor and control precision, thus increasing the development difficulty and promotion cost. Utility Model Content

[0006] The technical problem to be solved by this utility model is to provide a three-point support structure chassis configuration and lifting bogie for an electro-hydraulic hybrid AGV, which can reduce the turning diameter, be installed in place, move laterally, and can be towed by a single AGV and pushed and lifted by two AGVs in coordination. Moreover, this utility model has a simple structure and is easy to implement.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical means: An electro-hydraulic hybrid AGV three-point support structure chassis configuration includes an AGV frame structure, a drive wheel and two driven wheels mounted on the AGV frame structure. The AGV frame structure has a frame consisting of a left side beam, a front side beam, a right side beam and a rear side beam connected end to end in sequence. The front end of the frame is provided with a steering wheel support plate, and the rear end of the frame is provided with a left driven wheel support plate and a right driven wheel support plate.

[0008] The steering wheel support plate is used to connect and set the drive wheel, and the left driven wheel support plate and the right driven wheel support plate are each connected and set with a driven wheel.

[0009] The drive wheels are driven by a parallel electro-hydraulic hybrid power system, which includes a hydraulic pump / motor, an electromagnetic clutch I, a right-angle steering gear, an electromagnetic clutch II, a servo motor, an electromagnetic clutch III, and a drive shaft. The right-angle steering gear is a T-type commutator with two input shafts and a single drive shaft. One of the two input shafts is connected to the hydraulic pump / motor via electromagnetic clutch I to transmit power; the other of the two input shafts is connected to the drive servo motor via electromagnetic clutch II to transmit power. The right-angle steering gear is connected to the drive wheels via electromagnetic clutch III and the drive shaft. The right-angle steering gear simultaneously inputs power from the hydraulic pump / motor and the drive servo motor, integrating the two power sources into one and outputting it to the drive wheels via the drive shaft, thereby causing the drive wheels to rotate simultaneously; or it can input power from only one of the hydraulic pump / motor and the drive servo motor for time-sharing drive.

[0010] The driven wheel is equipped with an external tooth slewing support, a planetary reducer, a steering servo motor, a rubber tire, and a shock-absorbing spring. The steering servo motor drives the gear of the external tooth slewing support to rotate through the planetary reducer. The external tooth slewing support is connected to the driven wheel through a connecting frame and a shock-absorbing spring. The rotation of the external tooth slewing support drives the driven wheel to rotate.

[0011] The AGV frame structure is equipped with a hydraulic lifting device, one on each side.

[0012] Further preferred technical solutions are as follows: The AGV frame structure also includes a driven wheel support inner beam and a steering wheel support inner beam. The driven wheel support inner beam is arranged parallel to the rear side beam, and the two ends of the driven wheel support inner beam are connected to the left side beam and the right side beam, respectively. The steering wheel support inner beam and the front side beam are connected together to form a steering wheel support plate.

[0013] The steering wheel support inner beam is H-shaped, with its top end connected to the front beam and its bottom end connected to the driven wheel support inner beam.

[0014] An industrial battery is located in the middle of the AGV frame structure, and hydraulic lifting devices are located on both sides of the industrial battery. A laser radar is located in the middle of one end of the AGV frame structure. Warning lights and obstacle avoidance radar are also provided on the AGV frame structure. The AGV frame structure is rectangular, and the warning lights (29) are located at the two corners along the diagonal. The obstacle avoidance radar is located at the other two corners.

[0015] The AGV frame structure has symmetrically installed hydraulic lifting devices on both sides of the steering wheel support plate at the front.

[0016] The visual positioning device of the AGV frame structure is an industrial camera; it is connected and installed next to the hydraulic lifting device.

[0017] The lifting bogie driven by the three-point support structure chassis configuration of the electro-hydraulic hybrid AGV includes a frame, a front axle and a rear axle mounted on the frame. The distance between the two front wheels and the distance between the two rear wheels on the front axle and the rear axle are both greater than the width of the three-point support structure chassis configuration of the electro-hydraulic hybrid AGV. The height of the front axle and the rear axle are both greater than the height after the hydraulic lifting device has been reset and lowered.

[0018] This invention can reduce the turning diameter, perform on-site installation, and lateral movement. It can also be towed by a single AGV and pushed and lifted by two AGVs in coordination. Moreover, this invention has a simple structure and is easy to implement. Attached Figure Description

[0019] The accompanying drawings, as part of this utility model, are used to provide a further understanding of the present utility model. The illustrative embodiments and descriptions of the present utility model are used to explain the present utility model, but do not constitute an undue limitation of the present utility model. Obviously, the drawings described below are merely some embodiments; those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0020] In the attached diagram: Figure 1 Here is a schematic diagram of the chassis configuration of the electro-hydraulic hybrid AGV with a three-point support structure. Figure 2 Here is a schematic diagram of the AGV chassis structure. Figure 3 Here is a schematic diagram of the driven wheel 2 of the AGV; Figure 4 Here is a schematic diagram of an electro-hydraulic coupler; Figure 5 This is a schematic diagram of an AGV pushing and lifting a bogie.

[0021] Explanation of reference numerals in the attached diagram: 1-Drive wheel; 2-Driven wheel; 3-Hydraulic lifting device; 4-Left driven wheel support plate; 5-Driven wheel support inner beam; 6-Left side beam; 7-Steering wheel support plate; 8-Front side beam; 9-Steering wheel support inner beam; 10-Right side beam; 11-Right driven wheel support plate; 12-Rear side beam; 13-External gear slewing support; 14-Planetary reducer; 15-Steering servo motor; 16-Rubber tire; 17-Shock absorber spring; 18-Hydraulic pump / motor; 19-Electromagnetic clutch one; 20-Right angle steering gear; 21-Electromagnetic clutch two; 22-Drive servo motor; 23-Electromagnetic clutch three; 24-Drive shaft; 25-Single AGV tractor; 26-Double AGV tractor; 27-Industrial battery; 28-LiDAR; 29-Warning light; 30-Obstacle avoidance radar.

[0022] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the present invention in any way, but rather to illustrate the concept of the present invention to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate this utility model, but are not intended to limit the scope of this utility model.

[0024] In the description of this utility model, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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. Therefore, they should not be construed as limitations on this utility model.

[0025] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can be a mechanical connection or an electrical connection; they can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0026] like Figure 1As shown, an electro-hydraulic hybrid AGV chassis configuration with a three-point support structure is presented. The three-point structure is driven by the drive wheel 1. If turning is required, steering motors are installed on the two driven wheels 2, which can make relatively flexible turns in a relatively narrow space.

[0027] The AGV frame structure has an industrial battery 27 in the middle, and hydraulic lifting devices 3 on both sides of the industrial battery 27; a lidar 28 is located in the middle of one end of the AGV frame structure; the AGV frame structure is also equipped with a warning light 29 and an obstacle avoidance radar 30. The AGV frame structure is rectangular, with the warning light 29 located at two diagonal corners; the obstacle avoidance radar 30 is located at the other two corners.

[0028] The following is a demonstration of the chassis configuration and further explanation.

[0029] like Figure 2 The left driven wheel support plate 4 and the right driven wheel support plate 11 shown are both support plates for the driven wheel 2, and the steering wheel support plate 7 is the support plate for the steering wheel. To ensure the strength and rigidity of the support plates, the left driven wheel support plate 4, the right driven wheel support plate 11, and the steering wheel support plate 7 are all made of Q235 steel plate.

[0030] like Figure 3 The diagram shows the structure of the driven wheel 2, which consists of an external gear rotary support 13, a planetary reducer 14, a steering servo motor 15, a rubber tire 16, and a shock-absorbing spring 17. The steering servo motor 15 drives the gear of the external gear rotary support 13 to rotate through the planetary reducer 14. The external gear rotary support 13 is connected to the driven wheel 2 through a connecting frame and the shock-absorbing spring 17. The rotation of the external gear rotary support 13 drives the driven wheel 2 to rotate.

[0031] The output torque of the steering servo motor 15 is transmitted to the driven wheel 2 after double reduction through the planetary reducer 14 and the meshing of the pinion of the planetary reducer 14 with the gear of the external gear slewing support 13, causing the driven wheel 2 to turn. The external gear slewing support 13 forms a suspension system through the connecting frame and the shock absorber spring 17 to alleviate the vibration and impact caused by uneven road surfaces on the chassis, protecting the vehicle body structure and cargo. The shock absorber spring 17 is a core "elastic element" in the suspension system, and its main function is to absorb and store the vibration and impact energy caused by uneven road surfaces or changes in vehicle load.

[0032] like Figure 4As shown, a three-point support structure chassis configuration for an electro-hydraulic hybrid AGV is provided. In order to form a parallel electro-hydraulic hybrid system by combining the hydraulic system and the electric drive system, the system consists of a hydraulic pump / motor 18, an electromagnetic clutch 19, a right-angle steering gear 20, an electromagnetic clutch 21, a servo motor 22, an electromagnetic clutch 3 23, and a drive shaft 24. A coupler is required to connect the hydraulic system and the electric drive system, and at the same time, enable the two drive systems to drive simultaneously and in a time-sharing manner.

[0033] The electro-hydraulic coupler achieves the connection and disconnection of the electromagnetic clutches by controlling the energization and de-energization of electromagnetic clutch 19, electromagnetic clutch 21, and electromagnetic clutch 33.

[0034] The right-angle steering gear 20 is a T-type commutator with two input shafts and one drive shaft. The two input shafts can simultaneously transmit power from the hydraulic pump / motor 18 and the drive servo motor 22. The two power paths are integrated into one through the internal gear mechanism and output to the steering wheel through the drive shaft 24, thereby improving the total output power of the system.

[0035] An electromagnetic clutch is a mechanical device that uses electromagnetic force to transmit or separate power. When selecting an electromagnetic clutch, installation dimensions, operating frequency, power, and torque requirements should be considered. The rated torque must be greater than the maximum torque required for equipment operation to avoid slippage. The power should be matched to the motor or drive equipment to avoid overload.

[0036] This invention relates to an electro-hydraulic hybrid power steering wheel, which improves upon existing horizontal steering wheels by eliminating the use of a drive motor and instead employing... Figure 4 The electro-hydraulic coupler shown.

[0037] The electro-hydraulic hybrid steering wheel includes a planetary reducer 14, a steering servo motor 15, a steering wheel, and an electro-hydraulic coupler. The steering wheel is the driven wheel 2. The steering servo motor 15 and the drive servo motor 22 control the driven wheel 2 to steer and move straight, respectively. The drive servo motor 22 drives the wheel to rotate, realizing the forward or backward movement of the equipment. The steering servo motor 15 drives the wheel to rotate around the longitudinal axis to adjust the direction of travel of the equipment. It has the advantages of simple mechanical structure, high degree of integration, and strong adaptability.

[0038] The steering wheel is equipped with an electromagnetic brake for braking. The steering wheel is made of polyurethane, which has excellent oil resistance, wear resistance, low-temperature resistance, aging resistance, high hardness, and elasticity.

[0039] Figure 5 The diagram shows an AGV pushing and lifting bogie, where 25 represents a single AGV towing and 26 represents a double AGV towing.

[0040] The working mode is as follows: Single AGV towing 25: Drive wheel 1 pulls, driven wheel 2 steers and follows the path.

[0041] Dual AGV tractor 26: Dual AGVs work together to transport materials, with drive wheels 1 moving synchronously and driven wheels 2 turning synchronously to ensure a consistent path. In-situ rotation (if needed): All wheels (2 drive wheels 1 + 4 driven wheels 2) rotate 90 degrees synchronously, allowing the three-point support chassis configuration of the electro-hydraulic hybrid AGV to move laterally, enabling the rotation of the lifting bogie.

[0042] Precise positioning and docking: The visual positioning system provides high-precision position feedback, and the drive wheel and steering wheel work together to make fine adjustments (forward / backward / small angle steering) to achieve millimeter-level positioning.

[0043] Stable support: The hydraulic jacking device, specifically model HOB40x50, provides stable support, while the wheel system is responsible for precise movement.

[0044] The implementation method of the three-point support structure chassis configuration of the electro-hydraulic hybrid AGV in this embodiment is as follows: (1) The first AGV moves to the front of the lifting bogie and pulls it out from the starting position. Drive wheel 1 provides power, and driven wheel 2 steers to cooperate with the straight or curved towing path. After completion, the bogie is reset and lifted.

[0045] (2) Dispatch the second AGV to autonomously navigate to the rear of the lifting bogie. After adjusting its position using a vision positioning device, the second AGV enters the bottom of the lifting bogie and then travels until the AGV hydraulic lifting device is located directly below the rear wheel pair of the lifting bogie, and then stops.

[0046] (3) The hydraulic lifting devices of the two AGVs are started at the same time to lift the bogie to the required height above the ground.

[0047] (4) Two AGVs work together and navigate autonomously to transport the lifting bogie to its destination. Drive wheel 1 provides power, and driven wheel 2 synchronously steers to control the precise direction of movement (straight line, turning).

[0048] (5) When the destination is the maintenance track positioning area, the placement and withdrawal of the two AGVs: MV-CU120-10GM industrial camera for vision positioning; after adjusting the bogie's attitude, simultaneously lower the hydraulic lifting device and place it in position. Maintenance track: Both AGVs simultaneously withdraw from the bottom in a straight line from both sides. Entering track: The AGV (near the carriage) withdraws in a straight line first and returns to standby. The AGV enters the bottom of the carriage at low speed, and the vision servo completes the precise docking of the center plate. The AGV withdraws from the bottom.

[0049] (6) The two AGVs return to the standby area respectively.

[0050] In summary, this utility model provides a three-point support structure chassis configuration for an electro-hydraulic hybrid AGV, which can reduce the turning diameter, be installed in place, move laterally, and can be towed by a single AGV or pushed and lifted by two AGVs in coordination. Moreover, this utility model has a simple structure and is easy to implement.

[0051] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the present invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0052] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features found in other embodiments but not others, combinations of features from different embodiments are also within the scope of protection of this invention and form different embodiments. For example, in the embodiments described above, those skilled in the art can use them in combination based on known technical solutions and the technical problems to be solved by this application.

Claims

1. An electro-hydraulic hybrid AGV three-point support structure chassis configuration, comprising an AGV frame structure, a drive wheel (1) arranged on the AGV frame structure, and two driven wheels (2), characterized in that: The AGV frame structure is provided with a frame consisting of a left side beam (6), a front side beam (8), a right side beam (10), and a rear side beam (12) connected end to end in sequence. The front end of the frame is provided with a steering wheel support plate (7), and the rear end of the frame is provided with a left driven wheel support plate (4) and a right driven wheel support plate (11). The steering wheel support plate (7) is used to connect and set the drive wheel (1), and the left driven wheel support plate (4) and the right driven wheel support plate (11) are each connected and set with a driven wheel (2); the drive wheel (1) is driven by a parallel electro-hydraulic hybrid power system, which is equipped with a hydraulic pump / motor (18), electromagnetic clutch one (19), right-angle steering gear (20), electromagnetic clutch two (21), servo motor (22), electromagnetic clutch three (23), and drive shaft (24); the right-angle steering gear (20) is a T-type commutator with two input shafts and a single drive shaft. One of the two input shafts is connected to the hydraulic pump / motor (18) through electromagnetic clutch one (19) to transmit power; the other of the two input shafts is connected to the drive servo motor (22) through electromagnetic clutch two (21) to transmit power; the right-angle steering gear (20) is connected to the drive wheel (1) through electromagnetic clutch three (23) and drive shaft (24); The angle steering gear (20) simultaneously inputs power from the hydraulic pump / motor (18) and the drive servo motor (22), integrating the two power sources into one and outputting it to the drive wheel (1) through the drive shaft (24), thereby causing the drive wheel (1) to rotate simultaneously; or it inputs power from one of the hydraulic pump / motor (18) and the drive servo motor (22) separately for time-sharing drive; the driven wheel (2) is equipped with an external tooth slewing support (13), a planetary reducer (14), a steering servo motor (15), a rubber tire (16), and a shock-absorbing spring (17). The steering servo motor (15) drives the gear of the external tooth slewing support (13) to rotate through the planetary reducer (14). The external tooth slewing support (13) is connected to the driven wheel (2) through a connecting frame and a shock-absorbing spring (17); the rotation of the external tooth slewing support (13) drives the driven wheel (2) to rotate; the AGV frame structure is equipped with a hydraulic lifting device (3), with one on each side.

2. The electro-hydraulic hybrid AGV three-pivot support structure chassis configuration of claim 1, wherein: The AGV frame structure is also provided with a driven wheel support inner beam (5) and a steering wheel support inner beam (9). The driven wheel support inner beam (5) is set parallel to the rear side beam (12). The two ends of the driven wheel support inner beam (5) are connected to the left side beam (6) and the right side beam (10) respectively. The steering wheel support inner beam (9) and the front side beam (8) are connected together to set the steering wheel support plate (7).

3. The electro-hydraulic hybrid AGV three-pivot support structure chassis configuration of claim 2, wherein: The steering wheel support inner beam (9) is H-shaped in general. The top of the steering wheel support inner beam (9) is connected to the front beam (8), and the bottom of the steering wheel support inner beam (9) is connected to the driven wheel support inner beam (5).

4. The electro-hydraulic hybrid AGV tri-pod support structure chassis configuration of claim 1, wherein: An industrial battery (27) is provided in the middle of the AGV frame structure, and hydraulic lifting devices (3) are provided on both sides of the industrial battery (27); a laser radar (28) is provided in the middle of one end of the AGV frame structure; a warning light (29) and an obstacle avoidance radar (30) are also provided on the AGV frame structure.

5. The electro-hydraulic hybrid AGV tri-pod support structure chassis configuration of claim 1, wherein: The AGV frame structure has symmetrically connected hydraulic lifting devices (3) on both sides of the steering wheel support plate (7) at the front.

6. The electro-hydraulic hybrid AGV tri-pod support structure chassis configuration of claim 1, wherein: The visual positioning device of the AGV frame structure is an industrial camera; it is connected and installed next to the hydraulic lifting device.

7. A lifting bogie driven by the chassis configuration of the electro-hydraulic hybrid AGV three-pivot support structure according to any one of claims 1-6, comprising a frame body, a front wheel shaft and a rear wheel shaft arranged on the frame body, characterized in that: The distance between the two front wheels and the distance between the two rear wheels on the front axle and the rear axle are both greater than the width of the chassis configuration of the three-point support structure of the electro-hydraulic hybrid AGV; the height of the front axle and the rear axle are both greater than the height after the hydraulic lifting device (3) is reset and lowered.

Images