WO2020199431A1

WO2020199431A1 - Automated guided vehicle

Info

Publication number: WO2020199431A1
Application number: PCT/CN2019/097662
Authority: WO
Inventors: 刘嗣星; 周友松; 王鼎; 倪菲
Original assignee: 上海快仓智能科技有限公司
Priority date: 2019-03-29
Filing date: 2019-07-25
Publication date: 2020-10-08
Also published as: CN210103369U

Abstract

An automated guided vehicle (100), comprising: a frame, the frame comprising a front frame (2) and a rear frame (1) hinged together; a driving wheel (3), mounted on the front frame (2) or the rear frame (1); a front driven wheel (17) and a rear driven wheel (16), mounted on the front frame (2) and the rear frame (1), respectively; a front lifting connecting rod (6) and a rear lifting connecting rod (5), hinged to the front frame (2) and the rear frame (1), respectively; and a longitudinal connecting rod (11), hinged to the front lifting connecting link (6) and the rear lifting connecting link (5).

Description

Automated guided vehicle

Technical field

The utility model relates to the field of intelligent storage, in particular to an automatic guided vehicle with a floating chassis.

Background technique

With the rapid development of my country’s e-commerce industry, diversified demands have also emerged in all aspects of logistics. A parcel sorting system composed of sorting robots came into being. This system not only ensures efficient parcel sorting, but also has real-time Responsive and distributed flexibility. In the current logistics and warehousing field, automated guided vehicles (AGV) have been increasingly used to replace or supplement manual labor. The automated guided vehicle can automatically receive the article handling task, under the control of the program, reach the first position, obtain the article, then walk to the second position, unload the article, and continue to perform other tasks.

During the movement of the automatic guided vehicle, the weight of the additional load on the chassis may not be transmitted to the driving wheels, and the driving wheels may slip. In addition, when running on uneven roads or sloped roads, it may happen that some of its wheels leave the ground, causing the overall load of the automatic guided vehicle to be unbalanced.

The content of the background technology part is only the technology known to the utility model person, and does not of course represent the existing technology in the field.

Utility model content

In view of at least one of the defects of the prior art, the present invention proposes an automatic guided vehicle, including: a frame, the frame includes a front frame and a rear frame that are hinged together; driving wheels, mounted on the The front frame or the rear frame; the front driven wheels and the rear driven wheels are installed on the front frame and the rear frame, respectively; the front jacking link and the rear jacking link are hinged to the front car The frame and the rear frame; and the longitudinal link, which are hingedly connected to the front jacking link and the rear jacking link.

According to one aspect of the present invention, the automatic guided vehicle further includes a jacking motor and a crank connecting rod structure installed on the frame, and the crank connecting rod structure can be driven by the jacking motor and is connected to the One of the front lifting link, the rear lifting link and the rear lifting link is hinged.

According to an aspect of the present invention, the automatic guided vehicle further includes a jacking platform connected to the longitudinal link and can be used by the front jacking link and the rear jacking link Drive to raise or lower.

According to one aspect of the present invention, the automated guided vehicle further includes a second front jacking link and a second rear jacking link, the second front jacking link is hinged to the jacking platform and the A front jacking link, and the second rear jacking link is hinged to the jacking platform and the rear jacking link.

According to an aspect of the present invention, the automatic guided vehicle further includes a reducer connected between the jacking motor and the crank connecting rod structure, and is configured to be mounted on the automatic guided vehicle Restricted to rotate during movement.

According to one aspect of the present invention, the automatic guided vehicle includes two driving wheels, which are respectively located on both sides of the longitudinal axis of the automatic guided vehicle.

According to an aspect of the present invention, the automatic guided vehicle further includes a wheel frame, and the driving wheel is connected to the front frame or the rear frame through the wheel frame.

The automatic guided vehicle according to the embodiment of the present invention can travel on uneven roads, avoid slipping to the greatest extent, and can adapt to sloped roads, while restraining the automatic guided vehicle from accelerating and decelerating. The shaking of the car body.

Description of the drawings

The drawings constituting a part of the present utility model are used to provide a further understanding of the present utility model. The exemplary embodiments and descriptions of the present utility model are used to explain the present utility model and do not constitute an improper limitation of the present utility model. In the attached picture:

FIG. 1 shows a schematic diagram of an automatic guided vehicle 100 according to an embodiment of the present invention;

Figures 2 and 3 more clearly show the structure of the automatic guided vehicle of the present invention;

Figure 4 shows a schematic diagram of the chassis state of the automated guided vehicle of the present invention when traveling on a flat road; and

Fig. 5 shows a schematic diagram of the chassis state of the automated guided vehicle of the present invention when traveling on a road with poor flatness.

detailed description

In the following, only certain exemplary embodiments are briefly described. As those skilled in the art can realize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present invention. Therefore, the drawings and description are to be regarded as illustrative in nature and not restrictive.

In the description of the present utility model, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "Back", "Left", "Right", "Straight", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise" and other directions indicated Or the positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and Operation, therefore cannot be understood as a limitation of the present utility model. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more than two, unless otherwise specifically defined.

In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection or an optional connection. Disassembly connection, or integral connection: it can be mechanical connection, it can be electrical connection or it can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal communication of two components or the mutual communication of two components Role relationship. For those of ordinary skill in the art, the specific meaning of the above-mentioned terms in the present utility model can be understood according to specific circumstances.

In the present utility model, unless otherwise clearly defined and defined, the "on" or "under" of the first feature of the second feature may include the first and second features in direct contact, or may include the first and second features. Features are not in direct contact but through other features between them. Moreover, the "above", "above", and "above" the first feature on the second feature includes the first feature directly above and diagonally above the second feature, or simply means that the first feature is higher in level than the second feature. The "below", "below" and "below" of the first feature of the second feature include the first feature directly above and obliquely above the second feature, or it simply means that the level of the first feature is smaller than the second feature.

The following disclosure provides many different embodiments or examples to realize the different structures of the present invention. To simplify the disclosure of the present invention, the components and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention may repeat reference numbers and/or reference letters in different examples. Such repetition is for the purpose of simplification and clarity, and does not indicate the relationship between the various embodiments and/or settings discussed. In addition, the present invention provides examples of various specific processes and materials, but those of ordinary skill in the art may be aware of the application of other processes and/or the use of other materials.

The preferred embodiments of the present utility model will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present utility model, not to limit the present utility model.

Fig. 1 shows a schematic diagram of an automatic guided vehicle 100 according to an embodiment of the present invention. As shown in FIG. 1, the automated guided vehicle 100 includes a frame (1, 2). The frame includes a rear frame 1 and a front frame 2 hinged together, for example, the two are hinged together by a frame hinge pin 18, so that they can swing to a certain degree. Preferably, the frame may also include springs or elastic pads to limit the relative swing amplitude between the rear frame 1 and the front frame 2 not to exceed a certain limit. This is all within the scope of the utility model.

As shown in FIG. 1, the automated guided vehicle 100 includes driving wheels or driving wheels 3. The driving wheel 3 is installed on the rear frame 1 or the front frame 2. FIG. 1 shows that the driving wheel 3 is installed on the front frame 2, but the present invention is not limited to this, and it can also be installed on the rear frame 1. Those skilled in the art can understand that in order to drive the driving wheels 3, the automated guided vehicle 100 further includes an electric motor and a battery pack (not shown). Driven by the battery pack, the electric motor drives the driving wheels 3 so that the automated guided vehicle 100 can perform various forms of movement on the road, including but not limited to forward, backward, turning, and stopping.

The automated guided vehicle 100 further includes a rear driven wheel 16 and a front driven wheel 17 which are mounted on the rear frame 1 and the front frame 2 respectively. The rear driven wheel 16 and the front driven wheel 17 do not need to provide power, for example, they may be commonly used rolling casters.

As shown in FIG. 1, the automated guided vehicle 100 further includes a rear jacking link 5 and a front jacking link 6. Those skilled in the art can understand that, in order to work normally, the automatic guided vehicle 100 must have a jacking mechanism in addition to a vehicle body and a running mechanism, in order to realize the lifting and lowering operations of the load. The rear jacking link 5 and the front jacking link 6 are part of the jacking mechanism of the automated guided vehicle 100, which are directly hinged on the frame, and also constitute a part of the chassis of the automated guided vehicle. For example, as shown in Fig. 1, the rear jacking link 5 is hinged on the rear frame 1, and the front jacking link 6 is hinged on the front frame 2, so that the two can swing relative to the frame. The automatic guided vehicle 100 also includes a longitudinal link 11 hinged to the rear jacking link 5 and the front jacking link 6 respectively. In this way, the rear jacking link 5, the front jacking link 6, the longitudinal link 11, the rear frame 1 and the front frame 2 basically form a parallelogram structure. When the parallelogram structure swings, the height of the longitudinal link 11 rises or falls.

Note that the so-called "longitudinal" here refers to the left-right direction in FIG. 1, that is, roughly the direction of travel of the automated guided vehicle. The horizontal direction is the direction perpendicular to the paper in Figure 1.

According to a preferred embodiment of the present invention, the automatic guided vehicle 100 includes two driving wheels 3, respectively located on both sides of the longitudinal axis of the automatic guided vehicle, as shown in FIG. 2.

As mentioned above, the longitudinal link 11 in Fig. 1 can already move up and down. Therefore, a jacking platform can be provided above the longitudinal link 11 for the purpose of jacking up loads. However, generally speaking, the vertical link 11 has a limited range of up and down movement, which may not meet the working requirements in some occasions. Therefore, in order to enlarge the range of the up and down movement of the jacking platform, another set of roughly parallelogram structures can be arranged above the longitudinal link 11. For example, as shown in FIG. 1, the automated guided vehicle further includes a second rear jacking link 7 and a second front jacking link 8. The second rear jacking link 7 is hinged to the rear jacking link 5. The second front jacking link 8 is hinged to the front jacking link 6, and includes a jacking platform 9, which is hinged to the second rear jacking link 7 and the second front jacking link 8 respectively . Therefore, the second rear jacking link 7 and the second front jacking link 8, the longitudinal link 11 and the jacking platform 9 form a second parallelogram structure, which can enlarge the jacking range of the jacking mechanism. In addition, in order to make the structure of the second parallelogram more stable without shaking side-to-side and adapt to the requirements of lifting, a long swing arm 10 can be provided, one end of which is hinged with the lifting platform 9 and one end is hingedly fixed to the automatic guided vehicle On the body of the car. The jacking platform 9 rotates around the hinge point between the long arm rod 10 and the front frame 2. Since the length of the long arm rod 10 is much longer than the jacking stroke, the arc motion process of the jacking platform 9 can be approximated as a linear motion.

To enable the lifting mechanism to move, the unmanned guided vehicle 100 further includes a lifting driving device. As shown in FIG. 1, the jacking drive device includes a jacking motor 15 (shown in FIG. 2) and a crank connecting rod structure. The crank connecting rod structure can be driven by the jacking motor and is hinged with the front jacking connecting rod 6. As shown in FIG. 1, the crank connecting rod structure includes a crank connecting rod 12 and a crank 13. The crank 13 is driven by a jacking motor 15 to make a rotary motion and drive the crank connecting rod 12 to move. One end of the crank connecting rod 12 is hinged with the crank 13, and the other end is hinged with the front lifting connecting rod 6 and the longitudinal connecting rod 11. Therefore, while the crank connecting rod 12 moves, it drives the first parallelogram structure of the jacking mechanism to swing, forming a jacking motion. Figure 1 shows that the crank connecting rod structure is hinged to the front jacking connecting rod 6. Those skilled in the art can understand that the crank connecting rod structure can also be hinged to the rear jacking connecting rod 5. These are all within the protection scope of the present invention. Inside.

According to a preferred embodiment of the present invention, the automatic guided vehicle 100 further includes a reducer 14 (refer to FIG. 2). The reducer 14 is connected between the motor and the crank connecting rod structure, and is used to reduce the rotation speed of the motor and increase the torque, so as to achieve the jacking speed and torque required by the jacking mechanism. And in order to maintain the stability of the entire system, the reducer 14 is configured to be restricted from rotating during the movement of the automatic guided vehicle, for example, restricted from rotating by the brake of the jacking motor.

Figures 2 and 3 more clearly show the structure of the automatic guided vehicle of the present invention. As shown in FIG. 2, the two driving wheels 3 can be fixed on the left and right sides of the rear frame 1 or the front frame 2 through the wheel frame 4. The rear frame 1 and the front frame 2 are hingedly connected by a frame hinge pin 18. The rear jacking link 5 and the front jacking link 6 are hinged to the rear frame 1 and the front frame 2 respectively. The rear jacking link 5 and the front jacking link 6 are hinged together by the longitudinal link 11. The front jacking connecting rod 6 and the longitudinal connecting rod 11 are connected to the jacking speed reducer 14 through the crank connecting rod 12 and the crank 13.

Figures 4 and 5 show the working process of the automatic guided vehicle of the present invention for comparison. Figure 4 shows a schematic diagram of the chassis frame when the automated guided vehicle moves on a relatively flat ground, and Figure 5 shows a schematic diagram of the chassis frame when the automated guided vehicle moves on a poorly flat ground.

When the vehicle is running, the jacking reducer is restricted from rotating by the brake of the jacking motor, so the front jacking link 6 cannot swing. The front frame 2, the front jacking link 6, and the longitudinal link 11 constitute a four-link mechanism. During the running of the vehicle, when encountering uneven roads, the rear frame can swing by itself relative to the front frame, as shown in Fig. 5, where the rear frame can be raised or lowered relative to the front frame. The rear frame 1 and the ground are supported by a front driven wheel 16 and two driving wheel members 3 to form a three-point support, and the three wheels can contact the ground without being suspended. The front frame 2 is supported by two frame hinge pins 18 and the rear driven wheels 17 to form a three-point support. The frame hinge pins 18 are fixed to the rear frame 1, and the force of the frame hinge pins is mainly transmitted to the drive On the wheel. Obviously, the two driving wheels bear half the weight of the front frame and half the weight of the rear frame. Therefore, the driving wheel bears about half of the total gravity. The grip can ensure that the drive wheel does not slip.

In the utility model, the rear frame 1, the front frame 2, the driving wheels 3, the wheel frame 4, the rear jacking connecting rod 5, the front jacking connecting rod 6, the longitudinal connecting rod 11, the crank connecting rod 12, the crank 13, The front driven wheel 16, the rear driven wheel 17, and the frame hinge pin 18 constitute a floating chassis structure; the rear jacking link 5, the front jacking link 6, the second rear jacking link 7, the second front The jacking connecting rod 8, the jacking platform 9, the long swing arm 10, the longitudinal connecting rod 11, the crank connecting rod 12, the crank 13 jacking, the reducer 14, and the jacking motor 15 constitute a connecting rod jacking mechanism.

It can be seen that the floating chassis structure and the connecting rod jacking mechanism of the present invention share multiple parts, which makes the structure of the entire automatic guided vehicle more compact.

The above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in Within the protection scope of the utility model.

Finally, it should be noted that the above are only the preferred embodiments of the present utility model, and are not used to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, it is for those skilled in the art It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some of the technical features. Any modification, equivalent replacement, improvement, etc., made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

An automatic guided vehicle, characterized in that it comprises:

A frame, the frame includes a front frame and a rear frame hinged together;

The driving wheel is installed on the front frame or the rear frame;

The front driven wheel and the rear driven wheel are respectively mounted on the front frame and the rear frame;

The front jacking link and the rear jacking link are respectively hinged on the front frame and the rear frame; and

A longitudinal link is hingedly connected to the front jacking link and the rear jacking link.
The automated guided vehicle according to claim 1, further comprising a jacking motor and a crank connecting rod structure mounted on the frame, and the crank connecting rod structure can be driven by the jacking motor and is compatible with One of the front jacking link and the rear jacking link is hinged.
The automated guided vehicle according to claim 1 or 2, wherein the automated guided vehicle further comprises a jacking platform connected to the longitudinal link and can be connected by the front jacking The rod and the rear jacking link drive to raise or lower.
The automated guided vehicle according to claim 3, wherein the automated guided vehicle further comprises a second front jacking link and a second rear jacking link, the second front jacking link is hinged to the The jacking platform and the front jacking link, and the second rear jacking link is hinged to the jacking platform and the rear jacking link.
The automatic guided vehicle according to claim 2, wherein the automatic guided vehicle further comprises a jacking reducer, and the jacking reducer is connected between the jacking motor and the crank connecting rod structure, And is configured to be restricted from rotating during the movement of the automatic guided vehicle.
The automatic guided vehicle according to claim 1 or 2, wherein the automatic guided vehicle includes two driving wheels, which are respectively located on both sides of the longitudinal axis of the automatic guided vehicle.
The automated guided vehicle according to claim 1 or 2, characterized in that the automated guided vehicle further comprises a wheel frame, and the driving wheels are connected to the front frame or the rear frame through the wheel frame.