WO2020199431A1 - Véhicule guidé automatisé - Google Patents

Véhicule guidé automatisé Download PDF

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Publication number
WO2020199431A1
WO2020199431A1 PCT/CN2019/097662 CN2019097662W WO2020199431A1 WO 2020199431 A1 WO2020199431 A1 WO 2020199431A1 CN 2019097662 W CN2019097662 W CN 2019097662W WO 2020199431 A1 WO2020199431 A1 WO 2020199431A1
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WO
WIPO (PCT)
Prior art keywords
jacking
frame
guided vehicle
link
connecting rod
Prior art date
Application number
PCT/CN2019/097662
Other languages
English (en)
Chinese (zh)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海快仓智能科技有限公司 filed Critical 上海快仓智能科技有限公司
Publication of WO2020199431A1 publication Critical patent/WO2020199431A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks

Definitions

  • the utility model relates to the field of intelligent storage, in particular to an automatic guided vehicle with a floating chassis.
  • 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.
  • 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.
  • the weight of the additional load on the chassis may not be transmitted to the driving wheels, and the driving wheels may slip.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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 can be used to 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.
  • FIG. 1 shows a schematic diagram of an automatic guided vehicle 100 according to an embodiment of the present invention
  • FIGS 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
  • 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.
  • 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.
  • connection should be understood in a broad sense.
  • 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.
  • 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.
  • 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.
  • 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.
  • Fig. 1 shows a schematic diagram of an automatic guided vehicle 100 according to an embodiment of the present invention.
  • 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.
  • 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.
  • 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.
  • 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.
  • the automated guided vehicle 100 further includes a rear jacking link 5 and a front jacking link 6.
  • 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.
  • the rear jacking link 5 is hinged on the rear frame 1
  • 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.
  • 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.
  • the parallelogram structure swings, the height of the longitudinal link 11 rises or falls.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the unmanned guided vehicle 100 further includes a lifting driving device.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 2 Figures 2 and 3 more clearly show the structure of the automatic guided vehicle of the present invention.
  • 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
  • Figure 5 shows a schematic diagram of the chassis frame when the automated guided vehicle moves on a poorly flat ground.
  • the jacking reducer 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.
  • 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.
  • 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.
  • the front driven wheel 16, the rear driven wheel 17, and the frame hinge pin 18 constitute a floating chassis structure;
  • 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.
  • 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 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 can be used to 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.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Civil Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un véhicule guidé automatisé (100), comprenant : un châssis, le châssis comprenant un châssis avant (2) et un châssis arrière (1) articulés entre eux ; une roue motrice (3), montée sur le châssis avant (2) ou le châssis arrière (1) ; une roue menée avant (17) et une roue menée arrière (16), montées sur le châssis avant (2) et le châssis arrière (1), respectivement ; une tige de liaison à relevage avant (6) et une tige de liaison à relevage arrière (5), articulées sur le châssis avant (2) et le châssis arrière (1), respectivement ; et une tige de liaison longitudinale (11), articulée sur la barre de liaison à relevage avant (6) et sur la barre de liaison à relevage arrière (5).
PCT/CN2019/097662 2019-03-29 2019-07-25 Véhicule guidé automatisé WO2020199431A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201920420215.7U CN210103369U (zh) 2019-03-29 2019-03-29 自动引导车
CN201920420215.7 2019-03-29

Publications (1)

Publication Number Publication Date
WO2020199431A1 true WO2020199431A1 (fr) 2020-10-08

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Application Number Title Priority Date Filing Date
PCT/CN2019/097662 WO2020199431A1 (fr) 2019-03-29 2019-07-25 Véhicule guidé automatisé

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CN (1) CN210103369U (fr)
WO (1) WO2020199431A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113845065B (zh) * 2021-08-23 2023-04-11 杭叉集团(天津)新能源叉车有限公司 一种提高举升稳定性和举升高度的托盘车用起升结构

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103273988A (zh) * 2013-06-14 2013-09-04 长沙驰众机械科技有限公司 一种适用于agv引导车的全方位行走系统
WO2014092284A1 (fr) * 2012-12-12 2014-06-19 (주)아티스 Véhicule guidé automatisé comprenant un double tablier porte-fourche latéral
CN109399503A (zh) * 2018-12-05 2019-03-01 杭州迦智科技有限公司 一种举升装置及其自动引导车
CN208632030U (zh) * 2018-05-31 2019-03-22 上海快仓智能科技有限公司 顶升装置以及包括该顶升装置的自动引导车

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014092284A1 (fr) * 2012-12-12 2014-06-19 (주)아티스 Véhicule guidé automatisé comprenant un double tablier porte-fourche latéral
CN103273988A (zh) * 2013-06-14 2013-09-04 长沙驰众机械科技有限公司 一种适用于agv引导车的全方位行走系统
CN208632030U (zh) * 2018-05-31 2019-03-22 上海快仓智能科技有限公司 顶升装置以及包括该顶升装置的自动引导车
CN109399503A (zh) * 2018-12-05 2019-03-01 杭州迦智科技有限公司 一种举升装置及其自动引导车

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