CN111924751A

CN111924751A - AGV system with lifting platform

Info

Publication number: CN111924751A
Application number: CN202010783353.9A
Authority: CN
Inventors: 洪鹰; 刘思麟; 肖聚亮; 王国栋
Original assignee: Tianjin University
Current assignee: Tianjin University
Priority date: 2020-08-06
Filing date: 2020-08-06
Publication date: 2020-11-13

Abstract

The invention discloses an AGV system with lifting platforms, which comprises a frame, wherein the front side and the rear side of the frame are respectively provided with one lifting platform, and the lifting platform on at least one side is a movable lifting platform. The invention has simple and compact structure, realizes the adjustment of the wheel base by respectively arranging the lifting platform at the front end and the rear end of the frame, wherein the lifting platform at one side is a movable lifting platform, has the adjustment range of 2500-3500mm, and can be suitable for the process requirements of assembling front and rear axles of different vehicle types and the like which need the simultaneous assembling of two sides.

Description

AGV system with lifting platform

Technical Field

The invention relates to an AGV system, in particular to an AGV system with a lifting platform.

Background

An AGV (automatic guided vehicle) device is a transport vehicle equipped with an electromagnetic or optical automatic navigation device, which can travel along a predetermined navigation route and has safety protection and various transfer functions. The intelligent AGV system is a high-tech intelligent AGV system integrating machinery, electronics, control, the Internet of things and communication. Along with the continuous and vigorous advocation of industrial automation in China, the AGV has the advantages of high automation degree, small size, flexibility, efficiency, high ornamental value and the like, and plays an important role more and more in the logistics field and the assembly line field.

The assembly process of the front axle and the rear axle of the automobile is related to the assembly process of the front axle and the rear axle of the automobile in the assembly line of automobile production, the assembly process needs to be carried out on the front side and the rear side of the automobile, and the conventional AGV system can only assemble automobile parts from one side respectively and cannot be suitable for the process needing the simultaneous assembly of the two sides.

Disclosure of Invention

The invention provides an AGV system with double lifting platforms for solving the technical problems in the prior art.

The technical scheme adopted by the invention for solving the technical problems in the prior art is as follows: the AGV system with the lifting platforms comprises a frame, wherein the front side and the rear side of the frame are respectively provided with one lifting platform, and the lifting platform on at least one side is a movable lifting platform.

Furthermore, a sliding table and a sliding table driving device which move back and forth are arranged on the upper plane of the frame; the movable lifting platform is arranged on the sliding table.

Further, the sliding table driving device comprises a speed reducer, a gear and a rack; the speed reducer is fixedly connected with the sliding table, the gear is fixedly connected to an output shaft of the speed reducer, the gear is meshed with the rack, and the rack is fixed on the upper plane of the frame.

Furthermore, organ type protective covers are arranged around the lifting platform.

Furthermore, the frame is provided with an anti-collision column for preventing the mobile lifting platform from offside collision.

Furthermore, two steering wheels and four damping universal wheels are arranged at the bottom of the frame; the two steering wheels are symmetrically fixed at the front end and the rear end of the frame respectively and are positioned on the central line of the frame; the four damping universal wheels are respectively arranged at four corners of the frame.

Further, the lowest point of the steering wheel is 1mm shorter than the lowest point of the damping universal wheel.

Furthermore, the periphery of the frame is provided with an anti-collision strip and a brush strip.

Furthermore, four corners of the bottom of the frame are provided with bulges for jacking a jack; four lifting bolts are arranged on the frame corresponding to the positions of the bulges.

Furthermore, a group of scanner components, a group of landmark sensor components and a group of magnetic navigation sensor components are respectively arranged at the front end and the rear end of the bottom of the frame; the scanner component is used for scanning and identifying a travel track mark arranged on the ground; the landmark sensor assembly is used for sensing and identifying landmarks; the magnetic navigation sensor assembly is used for sensing and identifying the magnetic strip arranged on the ground.

The invention has the advantages and positive effects that: the AGV system with the lifting platforms is simple and compact in structure, the lifting platforms are arranged on the front side and the rear side of the frame respectively, the lifting platform on one side is a movable lifting platform, the axle distance is adjusted, the adjusting range is 2500-3500mm, and the AGV system can meet the process requirements of simultaneous assembly of the two sides, such as assembly of front and rear axles of different vehicle types.

Drawings

FIG. 1 is a perspective view of an AGV system with a lift platform according to the present invention.

FIG. 2 is a front view of an AGV system with an elevated platform of the present invention.

FIG. 3 is an overhead view of an AGV system with a lift platform of the present invention.

FIG. 4 is a left side view of an AGV system with an elevated platform of the present invention.

Fig. 5 is a sectional view taken along the line a of fig. 3.

Fig. 6 is a sectional view taken along line B of fig. 3.

Fig. 7 is a cross-sectional view taken along line D of fig. 3.

In the figure: 1. the device comprises a frame, 2, a steering wheel, 3, a fixed lifting platform, 4, an organ type protective cover of the fixed lifting platform, 5, a movable lifting platform, 6, an organ type protective cover of the movable lifting platform, 7, an organ type protective cover connecting frame, 8, a front moving plate, 9, a drag chain, 10, a guide rail, 11, a sliding block, 12, a rear moving plate, 13, a horizontal organ type protective cover, 14, a brush strip, 15, an anti-collision strip, 16, an eye bolt, 17, an anti-collision column, 18, a storage battery, 19, a battery fixing seat, 20, a scanner assembly, 21, a landmark and magnetic navigation sensor assembly, 22, a charging assembly, 23, a speed reducer support, 24, a gear, 25, a speed reducer, 26, a motor, 27, a speed reducer shaft end retainer ring, 28, a rack, 29, a speed reducer shaft sleeve, 30, a universal wheel mounting plate, 31 and a damping.

Detailed Description

For further understanding of the contents, features and effects of the present invention, the following embodiments are enumerated in conjunction with the accompanying drawings, and the following detailed description is given:

referring to fig. 1 to 7, an AGV system with a lifting platform includes a frame 1, wherein the lifting platform is respectively disposed on the front side and the rear side of the frame 1, and the lifting platform on at least one side is a movable lifting platform 5.

The AGV system generally includes a vehicle frame, a storage battery, a charging system, a driving device, a steering device, a parking device, a motion controller, a communication system, an obstacle avoidance system, and a navigation system.

The battery is used for supplying power for the AGV system, and charging system is used for charging for the battery, and drive arrangement is used for driving frame 1 and marchs, turns to the device and is used for controlling the frame and turns to, and parking equipment is used for making the frame parking, and communication device is used for communicating with platform and terminal outside the system, keeps away the barrier system and is arranged in detecting the barrier that the AGV system marcd in the environment, can discern the barrier to the AGV system makes correct reaction and prevents to collide with. The navigation system is used for navigating the advancing direction of the vehicle frame. The motion controller receives signals from the obstacle avoidance system, the navigation system and the communication system and outputs signals to control the work of the driving device, the steering device and the parking device.

The invention is additionally provided with two lifting platforms on the basis of the prior art, and the lifting platform on at least one side is a movable lifting platform 5. Therefore, the adjustment of the wheelbase of the tool can be realized, the adjustment range can be 2500-3500mm, and the method can be suitable for the process requirements of assembling front and rear axles of different vehicle types and the like.

The upper plane of the frame 1 can be provided with a sliding table and a sliding table driving device which can move back and forth; portable lift platform 5 sets up on the slip table, and the slip table can include slider 11 and guide rail 10, establishes frame 1 front and back for the X axle, controls for the Y axle, and guide rail 10 can be laid along the X axle, and portable lift platform 5 can be followed the X axle direction and removed. The sliding table can also be a cross sliding table, and the movable lifting platform 5 can move along the X-axis direction and the Y-axis direction.

Further, the sliding table driving device may include a speed reducer, a gear 24 and a rack 28; the speed reducer is fixedly connected with the sliding table, the gear 24 is fixedly connected on an output shaft of the speed reducer, the gear 24 is meshed with the rack 28, and the rack 28 is fixed on the upper plane of the frame 1. The rack 28 is arranged in parallel with the guide rail 10, the reducer drives the gear to rotate, the gear is meshed with the rack to drive the sliding table to move linearly along the rack, the guide rail 10 and the sliding block 11 form a linear moving pair, and the guide rail 10 and the sliding block 11 play a role in guiding and supporting to enable the movable lifting platform 5 to move along the linear guide rail 10.

The speed reducer includes a speed reducer 25 and a motor 26. The speed reducer, the gear 24, the rack 28, the slide block 11, the guide rail 10, the sliding table and the like can all adopt products or structures in the prior art.

Furthermore, organ type protective covers can be arranged around the lifting platform. The organ type protective cover can prevent dust, parts and the like from falling in the vehicle frame 1. The organ type protective cover can adopt a product or a structure in the prior art.

Furthermore, the frame 1 can be provided with an anti-collision column 17 for preventing the mobile lifting platform 5 from offside collision. The movable lifting platform 5 is prevented from offside impacting the vehicle frame 1 and other parts. The crash post 17 may take the form of a prior art product or structure.

Furthermore, the bottom of the frame 1 can be provided with two steering wheels 2 and four damping universal wheels 31; the steering wheel 2 may be a steering wheel with a steering function, and the steering wheel with the steering function may function as both a driving device and a steering device. The steering wheel 2 and the damping universal wheel 31 can adopt products or structures in the prior art.

The two steering wheels 2 are respectively and symmetrically fixed at the front end and the rear end of the frame 1 and are positioned on the central line of the frame 1; four shock absorption universal wheels 31 are respectively arranged at four corners of the frame 1. The lowest point of the steering wheel 2 can be 1mm lower than the lowest point of the shock absorbing castor 31. This prevents the steering wheel 2 from idling in the air.

Under the condition that 2 or more than 2 steering wheels 2 are installed, the vehicle can move straight along any direction, namely, translate, so that the AGV system provided with two or more than two steering wheels 2 can pass through a very narrow space, and is particularly suitable for environments and occasions with narrow passages or special requirements on operation radius and direction. Both the two steering wheels 2 and the four shock-absorbing universal wheels 31 can be products or structures in the prior art.

Further, the frame 1 may be provided with bumper strips 15 and brush strips 14 around. The anti-collision strip 15 prevents the vehicle frame 1 from colliding with other devices, and the brush strip 14 is used for preventing dust and the like from entering the lower part of the vehicle frame 1 and also can be used for removing foreign matters on the landmark magnetic strip. The bumper strip 15 and the brush strip 14 may be made of any known product or construction.

Furthermore, four corners of the bottom of the frame 1 are provided with bulges for jacking a jack; four lifting bolts 16 are arranged on the frame 1 at positions corresponding to the bulges. The jack-up protrusion is arranged for jacking up the frame 1 by using the jack when the device at the bottom of the frame 1 is repaired, and the four eyebolts 16 are convenient for installing and repairing the device at the bottom of the frame 1 and moving the frame 1.

Further, a set of scanner assembly 20, a set of landmark sensor assembly and a set of magnetic navigation sensor assembly are respectively arranged at the front end and the rear end of the bottom of the frame 1. The scanner assembly 20, landmark sensor assembly and magnetic navigation sensor assembly belong to a navigation system for navigating the travel of the AGV system. The scanner assembly 20 may be used to scan a travel track identifier set on the floor, identify the travel track identifier, and send the travel track identifier to the motion controller, so that the AGV system travels along the track identifier. The landmark sensor assembly is used for sensing and identifying landmarks, and the magnetic navigation sensor assembly is used for sensing and identifying magnetic stripes arranged on the ground. The scanner assembly 20, landmark sensor assembly, and magnetic navigation sensor assembly may all be products or structures known in the art.

Other devices of the AGV system may adopt the prior art products or structures, such as a storage battery, a charging system, a parking device, a motion controller, a communication system, an obstacle avoidance system, etc.

The structure and operation of the present invention will be described in further detail with reference to a preferred embodiment of the present invention:

the AGV structure with the double lifting platforms, disclosed by the invention, has a vehicle body with the length of 5m, the width of 2m and the height of 0.38m, and comprises a vehicle frame 1, a fixed lifting platform 3 which is arranged at the front end of the vehicle frame 1 and is fixedly installed, and a movable lifting platform 5 which is arranged at the rear end of the vehicle frame 1 and can move back and forth relative to the vehicle frame 1.

The frame 1 adopts a welding structure to ensure the integral strength and rigidity. The proper position of the frame 1 is provided with the weight-removing holes with different shapes, sizes and numbers so as to reduce the weight of the whole vehicle.

The fixed lifting platform 3 is fixed on the frame 1 through bolt connection. The fixed lifting platform 3 is provided with an organ type protective cover 4 of the fixed lifting platform, the lower end of the organ type protective cover is fixed on the frame 1 through bolt connection, and the upper end of the organ type protective cover is fixed on a top plate of the fixed lifting platform 3 through bolt connection. The organ type protective cover 4 of the fixed lifting platform has the function of preventing dust and sundries from falling into the fixed lifting platform 3.

Under the driving of the speed reducer, the movable lifting platform 5 realizes the front-back directional linear movement relative to the frame 1 through a linear moving pair mechanism which is composed of a guide rail 10 and a slide block 11 and plays a role in guiding and supporting and a linear transmission pair mechanism which is composed of a gear 24 and a rack 28.

The power of the gear 24 is provided by a speed reducer, the speed reducer comprises a speed reducer 25 and a motor 26, a speed reducer support 23 is arranged on a bottom plate of the movable lifting platform 5, the motor 26 and the speed reducer 25 are fixed on the speed reducer support 23 through bolt connection, the gear 24 is structurally fixed on a shaft of the speed reducer 25 through a speed reducer shaft end retainer ring 27 and a speed reducer shaft sleeve 29, and a rack 28 is fixed on the frame 1 through bolt connection.

The both ends of 5 travelling ranges of portable lift platform are provided with two sets of bumping post 17, and on bumping post 17 passed through fixed frame 1 of interference fit, play the effect to 5 mechanical anticollision of portable lift platform.

The movable lifting platform 5 is provided with an organ type protective cover 6 and an organ type protective cover connecting frame 7 of the movable lifting platform. The lower end of the organ type protective cover 6 of the movable lifting platform is fixed on the organ type protective cover connecting frame 7 through bolt connection, and the upper end of the organ type protective cover is fixed on the top plate of the movable lifting platform 5 through bolt connection. The organ type protective cover 6 of the movable lifting platform has the function of preventing dust and sundries from falling into the movable lifting platform 5.

One side of the movable lifting platform 5 close to the rear end of the frame 1 is provided with a horizontal organ type protective cover 13 and a rear movable plate 12. One end of the horizontal organ type protective cover 13 is fixed on the frame 1 through bolt connection, and the other end is fixed on the rear moving plate 12 through bolt connection. The rear movable plate 12 is fixed on the organ type protective cover connecting frame 7 and the movable lifting platform 5 through bolt connection. The horizontal organ type protective cover 13 is used for preventing dust and sundries from falling into the track space in the backward moving range of the movable lifting platform 5.

One side of the movable lifting platform 5 far away from the rear end of the frame 1 is provided with a front moving plate 8. One end of the front moving plate 8 is connected and fixed on the organ type protective cover connecting frame 7 and the movable lifting platform 5 through bolts. The function of the forward moving plate 8 is to prevent dust and sundries from falling into the track space within the forward moving range of the movable lifting platform 5.

One side of the movable lifting platform 5, which is far away from the rear end of the frame 1, is provided with a drag chain 9, so that the cable of the movable lifting platform 5 can be dragged and protected.

Two steering wheels 2 and four damping universal wheels 31 are arranged at the bottom of the frame 1. The two steering wheels 2 are respectively and symmetrically fixed at the front end and the rear end of the frame 1 and are positioned on the left and right central lines of the frame 1 through bolt connection. The four damping universal wheels 31 are respectively arranged at the positions which are symmetrical relative to the front-back central line and the left-right central line of the frame 1 and enable the whole vehicle to have better force application.

The lowest point of the wheel of the steering wheel 2 is 1mm shorter than the lowest point of the wheel of the damping universal wheel 31. Because the workshop ground is comparatively level usually, so this kind of setting can effectively guarantee that rudder wheel 2 lands on the ground earlier, avoids appearing the condition that rudder wheel 2 idled.

The shock-absorbing caster 31 is provided with a caster mount plate 30. The damping universal wheel 31 is fixed on the universal wheel mounting plate 30 through bolt connection, and the universal wheel mounting plate 30 is fixed on the frame 1 through bolt connection, so that the damping universal wheel 31 can be maintained and replaced conveniently.

A battery 18 is provided between the fixed elevating platform 3 and the movable elevating platform 5 in the front-rear direction of the frame 1. The storage battery 18 is provided with two battery fixing seats 19, and the battery fixing seats 19 are fixed on the frame 1 through bolt connection and are used for fixing the placing position of the storage battery 18 in the frame 1.

The frame 1 is also provided with a group of charging assemblies 22, two groups of scanner assemblies 20 and two groups of landmark and magnetic navigation sensor assemblies 21.

The periphery of the frame 1 is provided with an anti-collision strip 15 and a brush strip 14. The bumper strip 15 is used as a safety mechanism of the whole vehicle, and the brush strip 14 can avoid impurities from entering the bottom of the vehicle frame 1.

The frame 1 is also provided with four jack jacking positions which are symmetrical relative to the front and rear central lines and the left and right central lines of the frame 1 and are well stressed. Four eye bolts 16 are also provided at the same location.

The above-mentioned embodiments are only for illustrating the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to carry out the same, and the present invention shall not be limited to the embodiments, i.e. the equivalent changes or modifications made within the spirit of the present invention shall fall within the scope of the present invention.

Claims

1. The AGV system with the lifting platform comprises a frame and is characterized in that the lifting platform is arranged on the frame and on the front side and the rear side respectively, and the lifting platform on at least one side is a movable lifting platform.

2. The AGV system with a lift platform of claim 1, wherein the upper surface of the frame is provided with a slide and a slide driving device for moving back and forth; the movable lifting platform is arranged on the sliding table.

3. The AGV system with lift platform of claim 2, wherein the ramp drive includes a speed reducer, a gear and a rack; the speed reducer is fixedly connected with the sliding table, the gear is fixedly connected to an output shaft of the speed reducer, the gear is meshed with the rack, and the rack is fixed on the upper plane of the frame.

4. The AGV system with an elevating platform according to claim 1, wherein the elevating platform is provided with a concertina shield around its periphery.

5. An AGV system with an elevating platform according to claim 1, characterised in that the frame is provided with crash posts to prevent an offside impact of the mobile elevating platform.

6. The AGV system with lift platform of claim 1, wherein the bottom of the frame is provided with two steering wheels and four shock absorbing universal wheels; the two steering wheels are symmetrically fixed at the front end and the rear end of the frame respectively and are positioned on the central line of the frame; the four damping universal wheels are respectively arranged at four corners of the frame.

7. An AGV system with lift platform according to claim 6 wherein the lowest point of the steering wheels is 1mm lower than the lowest point of the shock absorbing universal wheels.

8. The AGV system with lift platform of claim 1, wherein the frame is provided with bumper and brush strips around the frame.

9. The AGV system with an elevating platform according to claim 1, wherein the four corners of the bottom of the frame are provided with protrusions for jacking by a jack; four lifting bolts are arranged on the frame corresponding to the positions of the bulges.

10. The AGV system with a lift platform of claim 1, wherein a set of scanner modules, a set of landmark sensor modules, and a set of magnetic navigation sensor modules are disposed at each of the front and rear ends of the bottom of the frame; the scanner component is used for scanning and identifying a travel track mark arranged on the ground; the landmark sensor assembly is used for sensing and identifying landmarks; the magnetic navigation sensor assembly is used for sensing and identifying the magnetic strip arranged on the ground.