Lifting type AGV transport vehicle

Abstract

This utility model discloses a lifting AGV transport vehicle, including a chassis with steering wheels mounted around the bottom of the chassis; a four-gantry synchronous lifting system mounted on both sides of the chassis, comprising four sets of vertically synchronously moving sliding frames; a roller conveyor fixedly mounted on the four sets of sliding frames; a cover fixed on both sides of the chassis; a control box fixedly mounted on one side of the cover; and a laser radar fixedly mounted on the center of the four sides of the chassis, communicating with the control box. In this utility model, a large-stroke vertical adjustment is achieved through a hydraulic system, enabling precise docking with roller conveyors of different heights without the need for additional transfer stations or external lifting equipment. This achieves automatic cross-layer transport, improving the flexibility of the logistics system. Furthermore, the four-gantry synchronous lifting system is equipped with a synchronous chain and sprocket transmission mechanism, converting the linear motion of the hydraulic cylinder into the synchronous lifting of the sliding frames, effectively avoiding platform tilting caused by hydraulic fluctuations or mechanical deviations.

Description

Technical Field

[0001] This utility model relates to the field of logistics and transportation technology, and in particular to a lifting AGV transport vehicle. Background Technology

[0002] In modern intelligent manufacturing and automated logistics systems, the efficient and continuous transport of materials between different workstations and production lines at different heights has become a key link in improving production cycle time and system flexibility. Especially in heavy industries such as automobile manufacturing, new energy batteries, and home appliance assembly, palletized materials are often characterized by large weight, large volume, and high transport frequency, which places higher demands on the load-bearing capacity, docking accuracy, and multi-layer transport adaptability of automated handling equipment.

[0003] Firstly, traditional AGVs mostly use fixed roller conveyors or lifting structures, and the height of the conveying surface is not adjustable. They can only connect to equipment of a single height and cannot meet the cross-layer conveying needs of multi-layer production lines or automated warehouses. Existing double-layer conveying solutions often rely on external lifting platforms, transfer stations, or multiple AGVs relaying each other, which have problems such as system complexity, large footprint, high cost, many handover links, and high failure rate, affecting efficiency and reliability. Furthermore, some AGVs with lifting functions achieve height adjustment through scissor lifts or electric push rod structures. Due to limitations in structural strength and drive methods, they generally have defects such as short lifting stroke, weak load-bearing capacity, and poor platform stability, making it difficult to handle stable conveying under heavy load conditions. Utility Model Content

[0004] The purpose of this utility model is to solve the technical problems mentioned in the background art and to propose a lifting AGV transport vehicle. Through the four-mast hydraulic lifting structure and synchronous transmission design, it solves the technical bottleneck of traditional AGVs being unable to achieve double-layer transportation with large loads. It has outstanding advantages such as strong load-bearing capacity, high docking accuracy, stable operation, safety and reliability, and high degree of intelligence.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A lifting AGV transport vehicle includes a chassis and also includes:

[0007] Steering wheels are mounted around the bottom of the chassis;

[0008] The four-gantry synchronous lifting system is installed on both sides of the chassis. The four-gantry synchronous lifting system includes four sets of sliding frames that move synchronously in the vertical direction.

[0009] The roller conveyor is fixedly installed on four sets of sliding frames.

[0010] The casing is fixed to both sides of the chassis;

[0011] The control box is fixedly mounted on one side of the casing.

[0012] The lidar is fixedly installed on the center of the four sides of the chassis, and the lidar is communicatively connected to the control box.

[0013] As a further description of the above technical solution:

[0014] The four-gantry synchronous lifting system also includes:

[0015] Fixed channel steel, fixedly connected to the chassis;

[0016] The movable channel steel slides into the fixed channel steel.

[0017] A hydraulic cylinder is fixedly installed on a fixed channel steel, and the free end of the hydraulic cylinder is fixedly connected to the top of the movable channel steel.

[0018] The sprocket is rotatably mounted on the top of the movable channel steel.

[0019] A synchronous chain, which passes around a sprocket, with one end of the synchronous chain fixed to a fixed channel steel and the other end of the synchronous chain fixedly connected to a sliding frame.

[0020] As a further description of the above technical solution:

[0021] The four-gantry synchronous lifting system also includes:

[0022] The track roller is rotatably mounted on the fixed channel steel;

[0023] A cable chain, which passes around a cable chain wheel, with one end of the cable chain fixed to a housing and the other end of the cable chain fixedly connected to a roller conveyor.

[0024] As a further description of the above technical solution:

[0025] Also includes:

[0026] The navigation system is fixedly installed on a fixed channel steel and is communicatively connected to the control box.

[0027] As a further description of the above technical solution:

[0028] Also includes:

[0029] Pressure-sensitive rubber strips are fixed to the bottom sides of both side covers, and the pressure-sensitive rubber strips are communicatively connected to the control box.

[0030] As a further description of the above technical solution:

[0031] Also includes:

[0032] The hydraulic system is fixedly installed inside a cover on one side and connected to the inlet and outlet ports of the hydraulic cylinder. The hydraulic system is electrically connected to the control box.

[0033] The battery is fixedly installed inside the casing on the other side.

[0034] In summary, due to the adoption of the above technical solution, the beneficial effects of this utility model are:

[0035] 1. This utility model adopts a four-mast synchronous lifting system with four sets of hydraulically driven gantry frames. Combined with the chassis and channel steel structure, the overall frame has high strength and strong load-bearing capacity. The roller conveyor is installed on a liftable platform and achieves large-stroke vertical adjustment through the hydraulic system. It can accurately connect roller conveyor lines of different heights (such as ground level and elevated level), without the need to add intermediate transfer stations or external lifting equipment. It realizes automatic cross-level conveying, improves the flexibility of the logistics system, and each set of four-mast synchronous lifting system is equipped with a synchronous chain and sprocket transmission mechanism, which converts the linear motion of the hydraulic cylinder into the synchronous lifting of the sliding frame. This effectively avoids platform tilting caused by hydraulic fluctuations or mechanical deviations, ensuring that the roller conveyor surface remains horizontal during the lifting process and ensuring conveying safety.

[0036] 2. In this utility model, the lifting mechanism is integrated into the AGV body, eliminating the need for additional lifting platforms or multiple AGVs to work in relay, thus simplifying the logistics process, reducing equipment investment and floor space, and lowering system construction and maintenance costs.

[0037] 3. This utility model integrates 360° laser radar area protection and bottom pressure-sensitive rubber strip edge protection, forming a dual safety mechanism of non-contact and contact; it automatically stops when encountering an obstacle and can automatically resume operation after the obstacle is removed, taking into account both safety and operating efficiency. Attached Figure Description

[0038] Figure 1 This diagram shows a first three-dimensional structural schematic of a lifting AGV transport vehicle according to an embodiment of the present invention;

[0039] Figure 2 This diagram shows a second three-dimensional structural schematic of a lifting AGV transport vehicle according to an embodiment of the present invention;

[0040] Figure 3 A schematic diagram of the connection structure between the multi-stage lifting mechanism and the roller conveyor provided according to an embodiment of the present invention is shown;

[0041] Figure 4 A three-dimensional structural schematic diagram of a multi-stage lifting mechanism according to an embodiment of the present utility model is shown;

[0042] Figure 5 A top view schematic diagram of a lifting AGV transport vehicle according to an embodiment of the present invention is shown.

[0043] Legend:

[0044] 1. Chassis; 2. LiDAR; 3. Roller conveyor; 4. Four-gantry synchronous lifting system; 41. Fixed channel steel; 42. Movable channel steel; 43. Sliding frame; 44. Hydraulic cylinder; 45. Synchronous chain; 46. Sprocket; 47. Cable wheel; 48. Cable chain; 5. Cover; 6. Control box; 7. Pressure-sensitive rubber strip; 8. Steering wheel; 9. Navigation system; 10. Hydraulic system; 11. Battery; 12. Audible and visual alarm indicator. Detailed Implementation

[0045] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0046] Please see Figure 1-5 This utility model provides a technical solution: a lifting AGV transport vehicle, including a chassis 1, the load-bearing foundation of the entire vehicle, on which all components are installed, resulting in a stable structure and strong load-bearing capacity; steering wheels 8 are installed around the bottom of the chassis 1, integrating drive and steering functions to achieve omnidirectional movement of the AGV (such as forward, backward, lateral movement, and rotation in place), improving flexibility and positioning accuracy; roller conveyor 3 is fixed on four sets of sliding frames 43, used for carrying and conveying palletized materials, achieving seamless docking with external roller conveyor systems; a cover 5 is fixed on both sides of the chassis 1, serving as protection, shielding, and an integrated installation platform, internally integrating key components such as a battery 11, a hydraulic system 10, and a control box 6, wherein the control box 6 houses the main control system and The human-machine interface is used for parameter setting, status monitoring, manual operation, and fault diagnosis. The battery 11 is powered by a lithium battery and installed inside the housing, providing efficient, long-lasting, and low-maintenance energy support. The hydraulic system 10 provides power to the hydraulic cylinders 44 of the four-gantry synchronous lifting system 4, realizing synchronous lifting control. The lidar 2 is fixedly deployed on the four sides of the chassis 1, providing 360° all-round environmental scanning, real-time detection of surrounding obstacles, and realizing dynamic obstacle avoidance and area safety protection. The navigation system 9 is fixedly installed on one side of the fixed channel steel 41 of one of the four-gantry synchronous lifting systems 4, and can provide laser navigation, inertial navigation, or QR code navigation, etc., to realize high-precision autonomous navigation and path planning of AGV in the factory area.

[0047] Furthermore, the LiDAR 2 enables 360° scanning to build an environmental map. When an obstacle is detected entering a safe distance, an emergency stop is immediately triggered. After the obstacle is removed, the system can automatically resume operation, improving operational efficiency.

[0048] The four-gantry synchronous lifting system 4 achieves double-layer docking, high load capacity, and high-precision lifting. It comprises four lifting mechanisms symmetrically distributed on both sides of the chassis 1. Specifically, as follows... Figure 3 and Figure 4 As shown, the four-gantry synchronous lifting system 4 includes: a fixed channel steel 41 fixed on the chassis 1, serving as the stationary frame of the four-gantry synchronous lifting system 4; a movable channel steel 42 slidingly engaged with the fixed channel steel 41 via rollers, allowing it to move vertically up and down to form a movable frame; the two movable channel steels 42 are rigidly connected by a connecting frame to ensure synchronous left and right movement and prevent uneven loading and tilting; a hydraulic cylinder 44 is installed on the fixed channel steel 41, with its piston rod fixedly connected to the top of the movable channel steel 42 to provide lifting power; a sprocket 46 is installed on the top of the movable channel steel 42 and engages with a synchronous chain 45; one end of the synchronous chain 45 is fixed to the fixed channel steel 41, and the other end is connected to a sliding frame 43. When the movable channel steel 42 rises, the synchronous chain 45 pulls the sliding frame 43 to rise synchronously, ensuring synchronous lifting on both sides; the sliding frame 43 carries the roller conveyor 3 and rises and falls with the movement of the synchronous chain 45, realizing the height adjustment of the overall conveying surface. When the hydraulic cylinder 44 pushes the movable channel steel 42 to rise, the sprocket 46 moves upward with the movable channel steel 42, the synchronous chain 45 passes around the fixed end of the sprocket 46 and remains stationary, and the moving end of the connecting sliding frame 43 is pulled upward, so as to realize the equidistant synchronous lifting and lowering of the sliding frame 43 and the movable channel steel 42, and ensure the horizontal stability of the roller conveyor 3.

[0049] Furthermore, the hydraulic system 10 controls the synchronous lifting system 4 of the four masts to achieve a large-stroke vertical lifting of the entire roller conveyor platform. It can connect to roller conveyor platforms of different heights (such as ground level and elevated level) to achieve double-layer material conveying. It is suitable for multi-layer production lines, automated warehouses and other scenarios, and meets the handling needs of heavy pallets or materials.

[0050] Specifically, such as Figure 1 and Figure 3 As shown, the drag chain wheel 47 is rotatably mounted on the fixed channel steel 41, serving as the steering support point for the drag chain 48. The drag chain 48 passes around the drag chain wheel 47, with one end fixed to the cover 5 and the other end fixedly connected to the roller conveyor 3. The drag chain 48 provides orderly guidance and protection for power cables, signal lines, air pipes, etc., preventing cables from becoming tangled, pulled, or worn during lifting, thereby achieving dynamic follow-up wiring and ensuring the reliability of the electrical system during lifting.

[0051] Specifically, such as Figure 1 and Figure 2 As shown, the pressure-sensitive rubber strip 7 is fixed to the bottom side of the two side covers 5 as a physical contact safety edge. When the AGV slightly touches an obstacle during travel or lifting, the pressure-sensitive rubber strip 7 is deformed by pressure, triggering a signal and stopping the machine immediately. It forms a double redundancy protection with the lidar 2 to improve safety.

[0052] Specifically, such as Figure 1 and Figure 2 As shown, the housing 5 is also equipped with audible and visual alarm indicator lights 12, providing intuitive status feedback and enhancing the safety of human-machine collaboration. For example, the red fault light flashes when an alarm or malfunction occurs, indicating an abnormality; the green turn signal illuminates when running or turning, alerting surrounding personnel.

[0053] It should be noted that, as those skilled in the art, the control and connection relationships in this device are conventional technical means, and therefore will not be elaborated upon here. Some optional control methods are provided below: Communication between the control box 6 and the navigation system 9 can be achieved via a CAN bus terminal or RS232 serial port. The control box 6 sends the target point, the navigation system 9 plans the path, and provides real-time feedback on the current position. After comparing the deviation, the control box 6 adjusts the speed and direction of the steering wheel 8 to achieve precise tracking. The hydraulic system 10 consists of a hydraulic pump station, solenoid directional valve, proportional speed control valve, pressure sensor, etc. The control box 6 achieves lifting control through hardwiring and analog control. The control box 6 determines the required height, outputs lifting and speed signals, energizes the solenoid valve, and hydraulic oil enters the lower chamber of the hydraulic cylinder 44, driving the piston to rise. The displacement sensor provides feedback on the actual height, and the control box 6 adjusts the speed output to achieve smooth lifting. Furthermore, the four sets of hydraulic cylinders 44 can be controlled by independent proportional valves to achieve synchronous correction. The steering wheel 8 is typically an integrated servo motor. The drive units for the reducer and steering mechanism are equipped with independent controllers. The control box 6 generates motion vectors according to navigation commands and sends them to each steering wheel 8 via a bus. The steering wheel driver controls the motor speed and steering angle, and the encoder feedback forms a closed loop to achieve omnidirectional movement. The control box 6 and the lidar 2 can communicate via an RJ45 Ethernet port. The lidar 2 continuously scans and transmits point cloud data to the control box 6. The control box 6 determines whether there is an obstacle entering the safe area (e.g., within 1.5m). If there is, it triggers a safety stop, cuts off the steering wheel power, and automatically resumes after a delay. A safety relay circuit is connected between the pressure-sensitive rubber strip 7 and the control box 6. When any pressure-sensitive rubber strip 7 is triggered, the circuit is broken, the safety relay is de-energized, and an emergency stop signal is output to the control box 6. The control box 6 immediately cuts off all power output, activates an audible and visual alarm, and automatically resets after the pressure is released.

[0054] Working principle: When in use, firstly, the control system receives the handling task through the wireless network, the navigation system 9 starts, and combines map data to plan the path. The steering wheel 8 works in coordination to drive the AGV to travel along the predetermined path. The laser radar 2 scans the surrounding environment in real time and dynamically avoids obstacles. The green light of the audible and visual alarm indicator 12 is always on to indicate normal operation. Before reaching the material picking station, it slows down and moves slowly for precise positioning.

[0055] Secondly, based on the target roller conveyor height, the hydraulic system 10 is activated, and four sets of hydraulic cylinders 44 extend synchronously, pushing the movable channel steel 42 upward. The synchronous chain 45 drives the sliding frame 43 upward through the sprocket 46, and the roller conveyor 3 rises to be flush with the external roller conveyor. During the lifting process, the drag chain 48 unfolds accordingly to protect the cable. After positioning is completed, the roller conveyor 3 starts, receives the material pallet, and completes the material picking. Then, the four-gantry synchronous lifting system 4 retracts, the roller conveyor 3 descends to the travel height, the AGV starts, and travels along the path to the target workstation. During the journey, the laser radar 2 continuously monitors, and automatically slows down or stops when encountering obstacles. If the pressure-sensitive rubber strip 7 touches an obstacle, it immediately stops and alarms. After the obstacle is cleared, it automatically resumes operation. When the target roller conveyor is reached, the hydraulic system 10 is activated again, the roller conveyor 3 rises to the target height, aligns with the other roller conveyor, the roller conveyor 3 starts, and smoothly transports the material to the target workstation. After the material is unloaded, the four-gantry synchronous lifting system 4 retracts, and the AGV automatically returns to the standby area or charging station.

[0056] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A lifting type AGV transport vehicle comprising a chassis (1), characterized in that, Also includes: Steering wheel (8) is installed around the bottom of chassis (1); The four-gantry synchronous lifting system (4) is installed on both sides of the chassis (1). The four-gantry synchronous lifting system (4) includes four sets of sliding frames (43) that move synchronously in the vertical direction. The roller conveyor (3) is fixedly installed on four sets of sliding frames (43); The cover (5) is fixed on both sides of the chassis (1); The control box (6) is fixedly installed on one side of the cover (5); The lidar (2) is fixedly installed on the four sides of the chassis (1) in the middle, and the lidar (2) is connected to the control box (6) for communication.

2. The lifting type AGV transport vehicle according to claim 1, characterized in that, The four-gantry synchronous lifting system (4) also includes: The fixed channel steel (41) is fixedly connected to the chassis (1); The movable channel steel (42) slides with the fixed channel steel (41); A hydraulic cylinder (44) is fixedly installed on a fixed channel steel (41), and the free end of the hydraulic cylinder (44) is fixedly connected to the top of the movable channel steel (42); A sprocket (46) is rotatably mounted on top of a movable channel steel (42); Synchronous chain (45) passes around sprocket (46), and one end of synchronous chain (45) is fixed on fixed channel steel (41), and the other end of synchronous chain (45) is fixedly connected to sliding frame (43).

3. The lifting AGV transport vehicle according to claim 2, characterized in that, The four-gantry synchronous lifting system (4) also includes: The drag chain wheel (47) is rotatably mounted on the fixed channel steel (41); A drag chain (48) passes around a drag chain wheel (47), and one end of the drag chain (48) is fixed to the cover (5), while the other end of the drag chain (48) is fixedly connected to the roller conveyor (3).

4. The lifting type AGV transport vehicle according to claim 3, characterized in that, Also includes: The navigation system (9) is fixedly installed on the fixed channel steel (41) and is communicatively connected to the control box (6).

5. A lifting AGV transport vehicle according to claim 4, characterized in that, Also includes: Pressure-sensitive rubber strip (7) is fixed on the bottom side of the two side covers (5), and the pressure-sensitive rubber strip (7) is communicatively connected to the control box (6).

6. The lift type AGV transport vehicle according to claim 5, wherein Also includes: The hydraulic system (10) is fixedly installed inside a cover (5) on one side and connected to the oil inlet and outlet of the hydraulic cylinder (44). The hydraulic system (10) is electrically connected to the control box (6). The storage battery (11) is fixedly installed inside the casing (5) on the other side.

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