CN112455713A - AGV (automatic guided vehicle) for transporting airport luggage containers and transporting method - Google Patents
AGV (automatic guided vehicle) for transporting airport luggage containers and transporting method Download PDFInfo
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- CN112455713A CN112455713A CN202011479236.XA CN202011479236A CN112455713A CN 112455713 A CN112455713 A CN 112455713A CN 202011479236 A CN202011479236 A CN 202011479236A CN 112455713 A CN112455713 A CN 112455713A
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- agv
- container
- comb
- lifting mechanism
- control system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/32—Ground or aircraft-carrier-deck installations for handling freight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses an AGV for transporting airport luggage containers, which comprises an AGV body, a lifting mechanism and a control system which are arranged on the AGV body, and a differential axle type driving device arranged below the AGV body, wherein the lifting mechanism and the differential axle type driving device are connected with the control system. Has the advantages that: 1. the comb-tooth type AGV and the container platform are matched, so that the structure is simple, and the arrangement is flexible. 2. By adopting the comb-tooth frame, the container can be directly placed on the container platform, the left and right movement is reduced, and the safety of the articles in the container is ensured. 3. And a suspension mechanism and a differential axle type driving device are adopted, so that the running process of the comb-tooth type AGV is stable. 4. The symmetrically arranged lead screw nut mechanisms enable stress points of the comb rack to be uniform. 5. The comb rack is movably connected with the lifting mechanism, so that the comb rack is convenient to maintain and replace.
Description
Technical Field
The invention belongs to the field of industrial vehicle transportation, is suitable for logistics transportation vehicles of baggage containers in civil airports, and particularly relates to an AGV for transporting baggage containers in airports and a transporting method.
Background
Currently, with the development of mobile robot technology, AGVs are widely used in various industries, and are one of the main equipments for automation of factory and warehouse material handling. In recent years, huge passenger and cargo volumes bring heavy pressure to airport logistics transportation operation, and the traditional airport logistics operation mode relying on manual driving faces a plurality of challenges; the problem that traditional airport logistics labor is in short supply and labor cost is high can be solved to a certain extent to AGV's automatic handling operation mode, reduces the safe risk of airport luggage logistics operation to can play and improve airport logistics operation efficiency.
The invention patent of China (201910020762.0) discloses a baggage container loading and unloading system and method for cities. A lifting mechanism is used to lift the container to a plane communicated with conveying system, and the conveying system is used to take out the goods from horizontal moving unit for transportation. The system needs to take out the goods by means of the combined action of the transport system and the AGV trolley, is complex in structure and needs external power to assist the AGV trolley to store and take; when the container is taken down from the AGV trolley, the container needs to be dragged by external force, and the articles in the container are moved back to the outside, so that the articles are possibly damaged.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a lifting comb-tooth type AGV which can travel in all directions without depending on external power equipment for storing and taking, and has the advantages of stable traveling, steering and lifting and high parking precision.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
the utility model provides a AGV for airport baggage container transport, includes the AGV automobile body, its characterized in that still including installing lifting mechanism and the control system on the AGV automobile body to and set up differential axle formula drive arrangement in AGV automobile body below, lifting mechanism, differential axle formula drive arrangement are connected with the control system electricity.
Further, the AGV body comprises a vehicle body;
the comb-tooth frame is movably connected with the lifting mechanism;
the lifting mechanism comprises a plurality of guide rods arranged on the bottom surface of the comb rack and a plurality of linear bearings which are arranged on the base and are matched with the guide rods, the guide rods penetrate through the linear bearings to be connected, and the guide rods can move up and down along the linear bearings.
The lifting mechanism comprises a base arranged in the vehicle body and a plurality of lead screw nut mechanisms arranged on the base, the lead screw nut mechanisms are connected through connecting shafts, a driving device is arranged on the guide rod, and the driving device is electrically connected with the control system; the driving device can drive the connecting shaft to rotate, so that the screw and nut mechanism is driven to lift.
Furthermore, the lifting mechanisms are symmetrically arranged and comprise paired screw and nut mechanisms and paired connecting shafts.
Furthermore, a guiding sensor, an AGV stop switch and a goods in-place switch are further arranged on the AGV body; the guide sensor, the AGV stop switch and the goods in-place switch are connected with the control system;
the control system realizes the accurate control of the traveling and the stopping of the AGV body and the lifting of the goods in place through the guide sensor, the AGV stopping switch and the goods in-place switch.
Further, the container platform matched with the comb tooth frame is further included.
Further, the container platform is symmetrical structure, and there is AGV automobile body access way in the centre, and the top is provided with the broach passageway, broach passageway and broach frame shape adaptation, container platform bottom height can supply the AGV automobile body to pass through, broach frame bottom surface when container platform top is less than lifting mechanism and rises.
Further, the vehicle body is connected with the differential axle type driving device through a suspension mechanism arranged below the vehicle body.
The invention also provides a method for transporting the airport luggage container by adopting the AGV for transporting the airport luggage container, which is characterized in that the AGV for transporting the container is controlled by a control system to complete the operation of advancing, lifting and stopping; the method comprises the following steps:
when storing the container
Firstly, a container is placed on a comb rack of an AGV for container handling, the AGV for container handling moves to the front of a container platform appointed by a control system, then a lifting mechanism lifts the comb rack to a height higher than the container platform, and then the AGV for container handling enters the lower part of the container platform and stops at an accurate lifting positioning point; then the lifting mechanism descends, the comb tooth frame penetrates through a container platform, so that the container is placed on the container platform, and after the lifting mechanism descends in place, the placement work is finished;
when a container is fetched and delivered, firstly, an AGV carried by the container moves to the front of a container platform appointed by a control system, then, the AGV carried by the container continuously moves to the lower part of the container platform, and then, the AGV is stopped at a lifting positioning point; and then the lifting mechanism rises, the comb tooth frame penetrates through the container platform to lift the container on the comb tooth frame, when the container is lifted in place, the lifting mechanism stops rising, and an AGV (automated guided vehicle) for carrying the container drives the container away from the container platform and conveys the container to a specified position.
The working principle is as follows:
when the container is taken out from the container platform, the AGV carried by the container moves to a lifting positioning point under the control of the control system and stops at an appointed lifting operation point under the coordination of the AGV stop switch; the lifting mechanism moves upwards to pass through a channel matched with the comb rack to lift the container, the container is lifted to a specified height under the assistance of the goods in-place detection switch, and the container is driven away from the container platform and moves to a specified position.
The container can be placed on the container platform by taking out the container from the container platform and carrying out reverse operation.
Has the advantages that:
1. the comb-tooth type AGV and the container platform are matched, so that the structure is simple, and the arrangement is flexible.
2. By adopting the comb-tooth frame, the container can be directly placed on the container platform, the left and right movement is reduced, and the safety of the articles in the container is ensured.
3. And a suspension mechanism and a differential axle type driving device are adopted, so that the running process of the comb-tooth type AGV is stable.
4. The symmetrically arranged lead screw nut mechanisms enable stress points of the comb rack to be uniform.
5. The comb rack is movably connected with the lifting mechanism, so that the comb rack is convenient to maintain and replace.
Drawings
FIG. 1 is an external structural view of the present invention.
Fig. 2 is a side view of the present invention.
Fig. 3 is a top view of the internal structure of the present invention.
Fig. 4 is a schematic structural diagram of the lifting mechanism.
Fig. 5 is a schematic view of a structure of a container platform.
Reference numerals:
the automatic guided vehicle comprises an AGV body 1, a lifting mechanism 2, a differential axle type driving device 3, a control system 4, a vehicle body 11, a suspension mechanism 12, a guide sensor 13, an AGV stop switch 14, a goods in-place switch 15, a base 111, a screw nut mechanism 112, a connecting shaft 113, a driving device 114, a comb rack 5, a guide rod 51, a linear bearing 52, a container platform 6 and a comb channel 61.
Detailed Description
The following detailed description will be made with reference to specific embodiments and accompanying drawings, but the present invention is not limited to the following embodiments.
Examples
As shown in fig. 1-5, a broach formula AGV for airport baggage container transport, including AGV automobile body 1, install lifting mechanism 2 and control system 4 on AGV automobile body 1, with lifting mechanism 2 swing joint's broach frame 5 and install differential axle formula drive arrangement 1143 in the automobile body below, control system 4 is connected with lifting mechanism 2, differential axle formula drive arrangement 1143, controls lifting mechanism 2 and carries out lifting motion, controls AGV automobile body 1 and moves to each direction.
AGV automobile body 1 includes car body 11, differential axle formula drive arrangement 1143 is connected with car body 11 through hanging mechanism 12 to keep AGV automobile body 1 smooth operation.
Still include four sets of differential axle formula drive arrangement 1143 that are equipped with in AGV automobile body 1's bottom on the AGV automobile body 1, its effect provides AGV driving force that traveles, makes AGV realize advancing, retreat, sideslip, spin removal function such as. Four sets of differential axle type driving devices 1143 are positioned on the same plane, so that the AGV body 1 keeps stable when running.
The lifting mechanism 2 comprises a base 111 installed in the AGV body 1 and a plurality of lead screw nut mechanisms 112 installed on the base 111, the lead screw nut mechanisms 112 are connected through a connecting shaft 113, a driving device 114 is installed on the connecting shaft 113, and the driving device 114 is connected with the control system 4; the driving device 114 can drive the connecting shaft 113 to rotate, so as to drive the lead screw nut mechanism 112 to perform lifting operation.
The lifting mechanisms 2 are symmetrically arranged and comprise a pair of lead screw and nut mechanisms 112 and a pair of connecting shafts 113,
the AGV that the container was carried still includes the broach frame 5 with lifting mechanism 2 swing joint.
The lifting mechanism 2 comprises a plurality of guide rods 51 arranged on the bottom surface of the comb-tooth frame 5 and a plurality of linear bearings 52 arranged on the base 111 and matched with the guide rods 51, the guide rods 51 penetrate through the linear bearings 52 to be connected, and the guide rods 51 can move up and down along the linear bearings 52.
The lifting mechanism 2 drives the comb-tooth frame 5 at the top of the vehicle body to move up and down, so that the lifting and transferring functions of the goods are realized.
The control system 4 realizes the accurate control of the traveling and stopping of the AGV and the lifting of the goods in place through the guide sensor 13, the AGV stopping switch 14 and the goods in-place detecting switch 15.
The comb-tooth type AGV also comprises a container platform 6 matched with the comb-tooth frame 5; container platform 6 is symmetrical structure, and there is 1 access way of AGV automobile body in the middle of, and the below height can supply the broach formula AGV to pass, and the top is provided with broach passageway 61, broach passageway 61 and 5 shape adaptations of broach frame, 6 bottom height of container platform can supply AGV automobile body 1 to pass through, 6 tops of container platform are less than 5 bottom surfaces of broach frame when lifting mechanism 2 rises. When the comb AGV is lifted, the comb 5 can pass through the comb passage 61 of the container platform 6, lift the container from the container platform 6, and transport the container out from one side.
The working mode is as follows:
when a container is placed on the container platform 6, firstly, the container is placed on the comb-tooth frame 5 of the comb-tooth type AGV; through feedback information of the guide sensor 13, when the comb-tooth type AGV advances to a container platform 6 appointed by the system under the control of the control system 4, and the control system 4 controls the lifting mechanism 2 to lift the comb-tooth frame 5 to the highest position and to be higher than the height of the container platform 6, the control system 4 controls the comb-tooth type AGV to advance to the position below the container platform 6 and stop at an accurate lifting positioning point under the assistance of the AGV stopping switch 14; then the lifting mechanism 2 descends to enable the comb tooth frame 5 to pass through the container platform 6, and the container is left above the container platform 6; and finishing the placing work after the lifting mechanism 2 descends to the proper position.
When a container is taken from the container platform 6, the control system 4 controls the comb-tooth type AGV to continuously travel to the lower part of the container platform 6 and stop at an accurate lifting positioning point under the assistance of the AGV stopping switch 14 before the comb-tooth type AGV travels to the container platform 6 appointed by the system under the control of the control system 4 through the feedback information of the guide sensor 13; then the lifting mechanism 2 is lifted, so that the comb-tooth frame 5 passes through the container platform 6, the container is left to be lifted above the comb-tooth frame 5, and when the goods in-place detection switch 15 detects that the container is in place, the lifting mechanism 2 stops lifting; the comb AGV drives off the container platform 6 to transport the container to a designated location.
Claims (8)
1. The utility model provides a AGV for airport baggage container transport, includes AGV automobile body (1), its characterized in that still includes and installs lifting mechanism (2) and control system (4) on AGV automobile body (1) to and set up differential axle formula drive arrangement (3) in AGV automobile body (1) below, lifting mechanism (2), differential axle formula drive arrangement (3) are connected with control system (4) electricity.
2. The AGV of claim 1,
the AGV body (1) comprises a body (11);
the comb-tooth rack (5) is movably connected with the lifting mechanism (2);
the lifting mechanism (2) comprises a plurality of guide rods (51) arranged on the bottom surface of the comb rack (5) and a plurality of linear bearings (52) which are arranged on the base (111) and matched with the guide rods (51), the guide rods (51) penetrate through the linear bearings (52) to be connected, and the guide rods (51) can move up and down along the linear bearings (52).
The lifting mechanism (2) comprises a base (111) arranged in the vehicle body (11) and a plurality of lead screw nut mechanisms (112) arranged on the base (111), the lead screw nut mechanisms (112) are connected through a connecting shaft (113), a driving device (114) is arranged on the guide rod (51), and the driving device (114) is electrically connected with the control system (4); the driving device (4) can drive the connecting shaft (113) to rotate, so that the screw and nut mechanism (112) is driven to lift.
3. The AGV of claim 1,
the lifting mechanisms (2) are symmetrically arranged and comprise paired screw and nut mechanisms (112) and paired connecting shafts (113).
4. The AGV for container handling according to claim 1, characterised in that the AGV body (1) is further provided with a guidance sensor (13), an AGV parking switch (14) and a load-in-place switch (15); the guide sensor (13), the AGV stop switch (14) and the goods in-place switch (15) are connected with the control system (4);
the control system (4) realizes the accurate control of the traveling and the stopping of the AGV body and the lifting of the goods in place through the guide sensor (13), the AGV stopping switch (14) and the goods in-place switch (15).
5. AGV according to any of the claims 1 to 4, characterised in that it further comprises a container platform (6) adapted to the comb rack (5).
6. AGV according to claim 5, characterized in that the container platform (6) is a symmetrical structure with AGV body (1) access way in the middle and comb teeth channel (61) on the top, the comb teeth channel (61) is matched with comb teeth frame (5) in shape, the height of the bottom of the container platform (6) is for AGV body (1) to pass through, the top of the container platform (6) is lower than the bottom of the comb teeth frame (5) when lifting mechanism (2) is lifted.
7. AGV for container handling according to claim 6, characterised in that the car body (11) is connected to the differential axle drive (3) by means of a suspension (12) arranged thereunder.
8. A method of transporting airport baggage containers with Container transported AGVs as in any of the claims 5 to 7, wherein said Container transported AGVs are controlled by a control system to perform travel, lift, and park operations; the method comprises the following steps:
(1) when storing the container
Firstly, a container is placed on a comb rack (5) of an AGV (automatic guided vehicle) for container handling, the AGV for container handling advances to the front of a container platform (6) appointed by a control system (4), then a lifting mechanism (2) lifts the comb rack (5) to a height higher than the container platform (6), and then the AGV for container handling enters the lower part of the container platform (6) and stops at an accurate lifting positioning point; then the lifting mechanism (2) descends, the comb tooth frame (5) penetrates through the container platform (6) to place the container on the container platform (6), and after the lifting mechanism (2) descends to the right position, the placement work is finished;
(2) when taking or delivering containers
Firstly, the AGV carried by the container moves to the front of a container platform (6) appointed by a control system (4), then the AGV carried by the container continuously moves to the lower part of the container platform (6), and then stops at a lifting positioning point; then the lifting mechanism (2) is lifted, the comb tooth frame (5) penetrates through the container platform (6) to lift the container on the comb tooth frame (5), when the lifting mechanism (2) stops lifting when the lifting mechanism is lifted to the proper position, and an AGV for carrying the container drives the container away from the container platform (6) and carries the container to a specified position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011479236.XA CN112455713A (en) | 2020-12-14 | 2020-12-14 | AGV (automatic guided vehicle) for transporting airport luggage containers and transporting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011479236.XA CN112455713A (en) | 2020-12-14 | 2020-12-14 | AGV (automatic guided vehicle) for transporting airport luggage containers and transporting method |
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| Publication Number | Publication Date |
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| CN112455713A true CN112455713A (en) | 2021-03-09 |
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| CN202011479236.XA Pending CN112455713A (en) | 2020-12-14 | 2020-12-14 | AGV (automatic guided vehicle) for transporting airport luggage containers and transporting method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114291149A (en) * | 2021-11-26 | 2022-04-08 | 云南昆船智能装备有限公司 | Emergency treatment tool for carrying AGV (automatic guided vehicle) of airport luggage container |
-
2020
- 2020-12-14 CN CN202011479236.XA patent/CN112455713A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114291149A (en) * | 2021-11-26 | 2022-04-08 | 云南昆船智能装备有限公司 | Emergency treatment tool for carrying AGV (automatic guided vehicle) of airport luggage container |
| CN114291149B (en) * | 2021-11-26 | 2023-12-22 | 云南昆船智能装备有限公司 | Emergency treatment tool for carrying AGV (automatic guided vehicle) by airport luggage container |
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