CN219670072U - Gravity-center-stable omni-directional traveling AGV for heavy-load coil stock - Google Patents

Abstract

The utility model relates to the field of automatic logistics, in particular to a whole vehicle mechanical design of an AGV. The utility model is realized by the following technical scheme: the utility model provides a stable heavy load coil stock qxcomm technology AGV that traveles of focus, contains the automobile body, the automobile body contain chassis frame and with the body frame that the chassis frame is connected, be equipped with running gear on the chassis frame, still contain light carrier, heavy load frame and be used for the drive light carrier with the lifting device that heavy load frame goes up and down in vertical direction, the fork of light carrier with the fork of heavy load frame all extends in the horizontal direction, and go out fork opposite direction. The utility model aims to provide the heavy-load coil stock omni-directional traveling AGV with stable gravity center, which can adapt to and meet the carrying tasks with different weights, and has good universality and high efficiency; and the gravity center is stable, the volume is small, and the device is suitable for the space requirement of narrow roadway operation.

Description

Gravity-center-stable omni-directional traveling AGV for heavy-load coil stock

Technical Field

The utility model relates to the field of automatic logistics, in particular to a whole vehicle mechanical design of an AGV.

Background

An AGV (Automated Guided Vehicle), an automatic guided vehicle, is a vehicle equipped with an automatic guiding device such as electromagnetic or optical, and is capable of traveling along a predetermined guiding path. With the progress of information technology and the maturity of automation level, AGVs are also becoming more common and widely used in various fields of transportation, stacking and logistics.

For example, chinese patent document CN202110912839 discloses an AGV, an unmanned forklift. This kind of AGV dolly contains the automobile body, installs battery and control box on the automobile body, is equipped with running gear on the chassis at the bottom of the car, and the AGV dolly removes at appointed region under corresponding control command, installs the lift fork device on the AGV dolly for carry goods. The AGV can travel in all directions by virtue of the traveling device, and is also called an omni-directional AGV.

The omni-directional AGV includes a specific type of heavy-duty omni-directional AGV that is heavier loaded and more robust with respect to the forks than a conventional omni-directional AGV. For example, chinese patent document CN202110601227 discloses a heavy-duty fork lift truck type AGV, which uses a large lift cylinder to drive a large-sized heavy pallet fork, thereby realizing applicability to heavy cargoes. In order to promote the safety of a heavy-duty AGV, the stability of the center of gravity during vehicle operation must be considered. Thus, the main body is provided with a support arm which is firm and large in size and extends towards the fork-out direction of the heavy fork, and a bearing wheel is additionally arranged on the support arm, so that the gravity center stability is increased.

However, this solution has certain drawbacks. Firstly, the operation environment and the variety of the heavy-load omni-directional AGV are complex, and not only heavy load goods but also common goods exist. The heavy-load AGV can only carry one heavy load with a single trip, and has low efficiency. Secondly, because the extended supporting arm is required to realize the gravity center stabilization, the size of the whole vehicle is objectively enlarged, and the operation in a narrow roadway is not facilitated. Thirdly, because parts such as a supporting arm, a corresponding bearing wheel and the like are required to be paved, the production cost of the whole heavy-load AGV is also high.

Disclosure of Invention

The utility model aims to provide the heavy-load coil stock omni-directional traveling AGV with stable gravity center, which can adapt to and meet the carrying tasks with different weights, and has good universality and high efficiency; and the gravity center is stable, the volume is small, and the device is suitable for the space requirement of narrow roadway operation.

The technical aim of the utility model is realized by the following technical scheme: the utility model provides a stable heavy load coil stock qxcomm technology traveles AGV of focus, includes the automobile body, the automobile body include chassis frame and with the body frame that the chassis frame is connected, be equipped with running gear on the chassis frame, still include light carrier, heavy load frame and be used for driving light carrier with the lifting device that heavy load frame goes up and down in vertical direction, the fork of light carrier with the fork of heavy load frame all extends in the horizontal direction, and go out fork opposite direction; the light carrier and the heavy carrier are both installed on the main frame, the main frame is horizontally arranged in a front-back offset mode of the AGV, and the light carrier is installed on the chassis frame at one side of the fork-out direction of the light carrier.

Preferably, the lifting device is mounted on the main frame, and the lifting device comprises a heavy lifting device for driving the heavy-load frame to lift and a light lifting device for driving the light-load frame to lift.

Preferably, the number of the light lifting devices is two, and the heavy lifting device is positioned between the two light lifting devices in the width direction of the AGV.

Preferably, the light carrier is connected with a first guide wheel, the heavy carrier is connected with a second guide wheel, the main carrier comprises a guide column extending in the vertical direction, and the first guide wheel and the second guide wheel respectively abut against the front surface and the back surface of the guide column.

Preferably, the projection of the light carrier on the horizontal plane does not exceed the projection of the chassis frame on the horizontal plane in the front-rear direction of the AGV.

Preferably, the heavy load rack includes a main carrier, a carrier connected to the main carrier for loading the load, and a side shifter connected to the main carrier for driving the main carrier to move in the width direction of the AGV.

Preferably, the main bearing frame comprises a transverse connecting frame and a lateral extending frame, the bearing frame is arranged on the lateral extending frame, the transverse connecting frame is of a frame structure, and the projection of the side shifter on the horizontal plane is overlapped in the projection of the transverse connecting frame on the horizontal plane.

Preferably, the cross frame includes an upper beam and a lower beam extending in a horizontal direction, and the side shifter is located between the upper beam and the lower beam in a height direction.

As the preferable mode of the utility model, the bearing rack is provided with a V-shaped shaft falling groove for placing the coil stock shaft.

In summary, the utility model has the following beneficial effects:

1. the extending directions of the two forks of the heavy-load frame and the light-load frame are opposite, so that the AGV can load two cargoes through steering at one time, the work efficiency of the AGV is high, and the loading requirements of different weights can be met.

2. The main frame is arranged in a biasing way in the front-rear direction of the AGV, and heavy-load coil materials with large weight and large volume are positioned above the chassis frame instead of outside, so that on one hand, the gravity center of the whole vehicle is more stable and does not incline; on the other hand, interference collision with a goods shelf in the roadway is not easy to happen, and the operation of the AGV in the narrow roadway is facilitated.

3. The lifting device is provided with two sets, so that the heavy goods and the light goods can be operated independently and efficiently.

4. The number and the space layout scheme of the lifting devices reduce the overall size of the whole lifting device, and are beneficial to controlling the size of the whole AGV in the front-rear direction, so that the turning radius of the vehicle is further reduced.

5. Under the action of the side shifter, the main carrier moves in the horizontal width direction of the AGV, so that the fork-out position of the heavy-load frame is adjusted.

6. In the horizontal fore-and-aft direction of the AGV, the side shifters do not take up additional space, and the fore-and-aft body length of the AGV does not get any increase. The size of the AGV is further controlled, and the turning radius of the AGV is not enlarged.

Drawings

FIG. 1 is a schematic diagram of example 1;

FIG. 2 is a side view of FIG. 1;

FIG. 3 is a schematic view of the hidden cargo of FIG. 1;

fig. 4 is a schematic view of the heavy-duty rack of fig. 3.

In the figure: 1. the device comprises a walking device, 2, a light carrier, 3, a heavy carrier, 31, a main carrier, 311, a transverse connecting frame, 312, a side extending frame, 32, a carrier, 321, a shaft falling groove, 36, a side shifter, 4, a lifting device, 41, a heavy lifting device, 42, a light lifting device, 9, a vehicle body, 91, a main frame, 911, a guide column, 92, a chassis frame, 100 and a coil stock.

Detailed Description

The present utility model will be described in further detail with reference to the accompanying drawings.

The present embodiment is only for explanation of the present utility model and is not to be construed as limiting the present utility model, and modifications to the present embodiment, which may not creatively contribute to the present utility model as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present utility model.

In embodiment 1, as shown in fig. 1, a heavy-duty roll material omnidirectionally traveling AGV with a stable center of gravity is provided, and the main body part is a vehicle body 9, often made of metal, and comprises a main frame 91 and a chassis frame 92, on which a traveling device 1, such as a driving wheel, a universal wheel, a bearing wheel and other wheels, is mounted, so that the AGV can travel normally in a working environment.

The main frame 91 extends in the vertical direction. Unlike the prior art, the fork in the present case is two, and the extending direction of fork is opposite, tandem. As shown in fig. 1, the two forks are a heavy-duty rack 3 and a light-duty rack 2 respectively, the heavy-duty rack is used for carrying heavy-duty coiled materials, and the heavy-duty rack is suitable for heavy-duty cargoes, such as about 3 tons of cargoes; the latter is used for loading and carrying the empty coil stock, and the weight of the load is small, generally about 100-200 kg. And the extending directions of the two forks are opposite, so that the AGV can load two cargoes through steering once, one heavy-load coil stock and one empty coil stock are used, the work efficiency of the AGV is high, and the design of the light carrier 2 and the heavy carrier 3 can meet the loading requirements of different weights.

As shown in fig. 1 and 2, the main frame 91 is provided with an offset in the front-rear direction of the AGV, not the lateral direction of the width of the AGV. And is biased to one side of the extension direction of the forks of the light carrier 2.

As shown in fig. 2, fig. 2 is a side view of the AGV, and the left-right direction in the drawing is the front-rear direction of the AGV vehicle. In the figure, the fork extending direction of the light carrier 2 is leftward, and the fork extending direction of the heavy carrier 3 is rightward. The main frame 91 is set to the left. Specifically, L1 is a center line of the chassis frame 92 in the front-rear direction, L2 is a center line of the main frame 91, and L2 is offset, that is, L2 and L1 do not overlap, but L2 is located on the left side of L1.

The offset arrangement is such that the heavy load frame 3 has a larger space above the chassis frame 92 in which heavy load rolls can be arranged. The heavy-weight and large-volume heavy-load coil stock is positioned above the chassis frame 92 rather than outside, so that on one hand, the gravity center of the whole vehicle is more stable and does not incline; on the other hand, interference collision with a goods shelf in the roadway is not easy to happen, and the operation of the AGV in the narrow roadway is facilitated.

Further, the projection of the light carrier 2 on the horizontal plane does not exceed the projection of the chassis frame 92 on the horizontal plane in the front-rear direction of the AGV. That is, in fig. 2, the leftmost side of the light carrier 2 does not exceed the leftmost side of the chassis frame 92, which also makes the cargoes on the light carrier 2 not easy to interfere with and collide with the racks in the roadway, and is more beneficial to the operation of the AGV in the narrow roadway.

As shown in fig. 3, for independence and efficiency of heavy and light cargo operations, the lifting device 4 is provided with two sets. The heavy lifting device 41 and the light lifting device 42 can be respectively structured to drive the heavy-load frame 3 and the light-load frame 2 to independently lift by using the driving structures such as chains, chain wheels, oil cylinders and the like of mature lifting products in the prior art. In the spatial arrangement, one heavy lift device 41 is provided in the middle of the width direction of the AGV, and two light lift devices 42 are provided on both sides of the width direction of the AGV. The number and the space arrangement are arranged, so that the middle re-lifting device 41 can select an oil cylinder with larger size and strong driving force, thereby obtaining larger stability. The two light lifting devices 42 can ensure the lifting balance of the light carrier 2, and small cylinders with small size can be selected, so that the space arrangement is more flexible, the overall size of the whole lifting device 4 is reduced, the size of the whole AGV in the front-rear direction is favorably controlled, and the turning radius of the vehicle is further reduced.

The main frame 91 is provided with a guide column 911 extending in the height direction, which is H-shaped, the heavy-load frame and the light-load frame are respectively connected with guide wheels, and the two sets of guide wheels are in conflict with the guide column 911, so that the lifting stability of the two forks is enhanced. And the two sets of guide wheels respectively collide with the front surface and the back surface of the guide column 911, so that the utilization rate of the H-shaped rigid component is improved, the space arrangement is further optimized, and the overall size of the vehicle is controlled.

As shown in fig. 4, the heavy-duty frame 3 has a function of moving laterally in the vehicle width direction. Specifically, it includes a main carrier 31 and a carrier 32. The main support 31 includes a frame-shaped cross frame 311 and a side frame 312 connected thereto. Side shifter 36 is connected to a re-lift device 41 and to a cross frame 311. The side shifter 36 may be a power unit such as an oil cylinder or an air cylinder, and the push-out trajectory thereof is the horizontal width direction of the AGV, and the main carrier 31 moves in the horizontal width direction of the AGV by the side shifter 36, thereby adjusting the fork-out position of the heavy carrier 3. Unlike the prior art, the spatial layout of side shifter 36 is newly designed such that the projection of side shifter 36 on the horizontal plane overlaps the projection of cross frame 311 on the horizontal plane. As shown in fig. 4, the cross frame 311 includes an upper cross beam and a lower cross beam, with the side shifter 36 positioned between the upper and lower cross beams, and the side shifter 36 does not occupy additional space in the fore-and-aft direction of the AGV. This allows the AGV to have no additional space in the horizontal fore-and-aft direction of the AGV even if the side shifter 36 is present, and the length of the front-and-rear body of the AGV does not increase at all. The size of the AGV is further controlled, and the turning radius of the AGV is not enlarged.

The side extension frame 312 is connected with the cross frame 311, and the carrier 32 is arranged above the side extension frame. The bearing shelf 32 is provided with the V-shaped falling shaft groove 321, so that the connecting center shaft of the coil stock 100 can be more conveniently placed in the V-shaped falling shaft groove, and the coil stock is not easy to slide and shift, and has better safety.

Claims (9)

1. The utility model provides a stable heavy load coil stock qxcomm technology AGV that traveles of focus, contains automobile body (9), automobile body (9) contain chassis frame (92) and with body frame (91) that chassis frame (92) are connected, be equipped with running gear (1), its characterized in that on chassis frame (92): the lifting device comprises a light carrier (2), a heavy carrier (3) and a lifting device (4) for driving the light carrier (2) and the heavy carrier (3) to lift in the vertical direction, wherein a fork of the light carrier (2) and a fork of the heavy carrier (3) extend in the horizontal direction, and the fork discharging directions are opposite; the light carrier (2) and the heavy carrier (3) are both installed on the main frame (91), the main frame (91) is arranged in a biased manner in the horizontal front-rear direction of the AGV, and the light carrier (2) is installed on the chassis frame (92) at one side of the fork-out direction.

2. The gravity stable heavy duty roll material all-directional travel AGV of claim 1 wherein: the lifting device (4) is arranged on the main frame (91), and the lifting device (4) comprises a heavy lifting device (41) for driving the heavy-duty frame (3) to lift and a light lifting device (42) for driving the light-duty frame (2) to lift.

3. The gravity stable heavy duty roll material all-directional travel AGV of claim 2 wherein: the number of the light lifting devices (42) is two, and the heavy lifting device (41) is positioned between the two light lifting devices (42) in the width direction of the AGV.

4. The gravity stable heavy duty roll all-direction travel AGV of claim 3 wherein: the light carrier (2) is connected with a first guide wheel, the heavy carrier (3) is connected with a second guide wheel, the main carrier (91) comprises a guide column (911) extending in the vertical direction, and the first guide wheel and the second guide wheel respectively abut against the front surface and the back surface of the guide column (911).

5. The gravity stable heavy duty roll material all-directional travel AGV of claim 1 wherein: the projection of the light carrier (2) on the horizontal plane does not exceed the projection of the chassis frame (92) on the horizontal plane in the front-rear direction of the AGV.

6. The gravity stable heavy duty roll all-direction travel AGV according to any one of claims 1-5 wherein: the heavy-duty rack (3) comprises a main bearing rack (31), a bearing rack (32) which is connected with the main bearing rack (31) and used for loading cargoes, and a side shifter (36) which is connected with the main bearing rack (31) and used for driving the main bearing rack (31) to move in the width direction of the AGV.

7. The gravity stable heavy duty roll all-direction travel AGV of claim 6 wherein: the main bearing frame (31) comprises a transverse connecting frame (311) and a lateral extending frame (312), the bearing frame (32) is installed on the lateral extending frame (312), the transverse connecting frame (311) is of a frame structure, and the projection of the side shifter (36) on the horizontal plane is overlapped in the projection of the transverse connecting frame (311) on the horizontal plane.

8. The gravity stable heavy duty roll material all-directional travel AGV of claim 7 wherein: the cross frame (311) includes an upper beam and a lower beam extending in a horizontal direction, and the side shifter (36) is located between the upper beam and the lower beam in a height direction.

9. The gravity stable heavy duty roll all-direction travel AGV of claim 6 wherein: the bearing shelf (32) is provided with a V-shaped shaft falling groove (321) for placing a coil stock shaft.