CN210149213U - AGV that two-dimensional code navigation was carried to individual layer - Google Patents

Abstract

The utility model provides a AGV that two-dimensional code navigation was carried to individual layer, including AGV car body and transmission magazine device, the fixed conveyer belt mounting panel that is equipped with in AGV car body top, conveyer belt mounting panel bottom surface is equipped with the strengthening rib, it is equipped with the bottom and is equipped with the open-ended mounting box to send conveyer belt mounting panel top middle part, the mounting box forms the quadrangular prism that has the cavity with the conveyer belt mounting panel, transmission magazine device includes first conveying magazine mechanism and second transmission magazine mechanism, first conveying magazine mechanism and second transmission magazine mechanism set up for the quadrangular prism symmetry, first conveying magazine mechanism and second transmission magazine mechanism include the conveyer belt subassembly and lie in the conveyer belt subassembly on one and above magazine, be equipped with landmark sensor in the middle of the chassis of AGV car body, this AGV route error is little, simple structure is firm, the goods wastage rate is low.

Description

AGV that two-dimensional code navigation was carried to individual layer

Technical Field

The utility model relates to an automatic guide transport vechicle technical field, concretely relates to AGV that two-dimensional code navigation was carried to individual layer.

Background

AGV (automated Guided vehicle), i.e. unmanned vehicle, which does not need the driver's vehicle in industrial application, and uses rechargeable direct battery as its power source, and AGV uses wheeled movement as its characteristic, and has the advantages of quick action, high working efficiency, simple structure, strong controllability, good safety, etc. compared with walking, crawling or other non-wheeled mobile robots, therefore, in the automated logistics system, it can fully embody its automaticity and flexibility, and realize high-efficient, economical, flexible unmanned production, the most common navigation mode of AGV is magnetic navigation, the cost of magnetic navigation AGV is cheap, the investment return is fast, the physical positioning stability is high, but its flexibility is relatively inferior to the random complex process site, and it is not very beautiful to the magnetic stripe line of complex line ground interleaving.

Present AGV is according to different mainly traction type that includes of carrying mode, backpack, several kinds such as formula of hiding, backpack AGV is in the transmission of loading goods, will select different goods shelves according to the size and the kind of goods, goods shelves commonly used have crossbeam formula goods shelves, goods position formula goods shelves, tray are selected formula goods shelves and drawer type goods shelves etc. wherein crossbeam formula goods shelves are the goods shelves most commonly used, its simple structure, safety and reliability, can adjust the combination wantonly, but continuous in-process can produce the clearance between goods shelves and the goods shelves, little goods easily leak subaerially from the clearance, thereby make the goods that are transported damage, still can damage AGV's conveyer belt when serious.

Disclosure of Invention

For solving the problem that exists among the prior art, the utility model provides a AGV that two-dimensional code navigation was carried to individual layer, this AGV route error is little, and simple structure stabilizes, the goods loss rate is low.

In order to achieve the above purpose, the technical scheme of the utility model is that: an AGV for single-layer two-dimensional code conveying navigation comprises an AGV body and a conveying material box device, wherein the AGV body comprises a first vehicle head and a second vehicle head, a conveying belt mounting plate is fixedly arranged above the AGV body, a first group of reinforcing ribs are arranged on the bottom surface of the conveying belt mounting plate along the length direction, and a second group of reinforcing ribs are arranged on the bottom surface of the conveying belt mounting plate along the width direction; the middle part above the conveyor belt mounting plate is provided with a mounting box with an opening at the bottom, the mounting box and the conveyor belt mounting plate form a quadrangular prism with a cavity, the quadrangular prism extends from the front end of the conveyor belt mounting plate to the rear end of the conveyor belt mounting plate, and the front part and the rear part above the quadrangular prism are respectively provided with an LED indicating lamp; the material box conveying device comprises a first material conveying box mechanism and a second material conveying box mechanism, wherein the first material conveying box mechanism and the second material conveying box mechanism are symmetrically arranged relative to the quadrangular prism, the first material conveying box mechanism and the second material conveying box mechanism comprise a conveying belt assembly and one or more than one material box located on the conveying belt assembly, and a landmark sensor is arranged in the middle of a chassis of the AGV car body 100.

The AGV is a single-drive two-way backpack AGV and is provided with a front headstock and a rear headstock, the differential mode is adopted for tracking, the structure is compact, the action is more flexible, the turning radius is smaller, the requirement on the working environment is lower, the AGV can be used in places with narrow space and frequent carrying, and the applicability is strong; the bottom surface of the conveyor belt mounting plate is provided with the reinforcing ribs along the length direction and the width direction, so that the strength and the bending resistance of the conveyor belt mounting plate are improved, more material boxes can be placed on the conveyor belt, and heavier goods can be placed in the material boxes; the LED indicator lamp is a normal working indicator lamp, when the AGV works normally, the LED lamp is on, and when the AGV breaks down, the LED lamp is off, so that an operator can find that the AGV breaks down as soon as possible, the AGV can be maintained in time, and the production efficiency is improved; the two conveying material box mechanisms are symmetrically arranged above the AGV, so that the left side and the right side of the AGV are balanced in weight, the phenomenon that one side of the AGV is seriously heavier is avoided, and the goods slide down, the structure is simple and stable, meanwhile, the two conveying material box mechanisms independently operate, if one conveying material box mechanism fails, the other conveying material box mechanism can still normally operate, and the utilization rate of the AGV is improved; the deviation of angle can appear at the operation in-process to AGV, causes the deviation of route simultaneously, consequently can set up the two-dimensional code subaerial and carry out absolute position's correction, and the coordinate of revising real-time calculation immediately after the landmark sensor reads this two-dimensional code is avoided the route error as far as possible, carries out accurate location, and the purpose of arriving target point and target direction is realized to the parking of arriving at last.

Further, the conveyor belt assembly comprises a butt joint conveyor belt group arranged above the conveyor belt mounting plate and a conveyor belt motor assembly arranged below the conveyor belt mounting plate and close to the first vehicle head; the material box is a box body with an opening at the upper end, an L-shaped notch is arranged at the middle part of each side surface of the box body and on the bottom surface connected with the side surface, the L-shaped notch is communicated to the top end of the side surface,

after the AGV conveys goods to a destination, the conveyor belt motor assembly works to drive the conveyor belt to run, the material box is conveyed to the workbench, the material box is singly arranged on the conveyor belt, stacking is avoided, the goods are not extruded and damaged, and safety and stability are improved; the L-shaped notch is arranged on the box body, so that articles can be conveniently taken and placed, meanwhile, the clearance is avoided, and when large irregular articles are stored, irregular parts of the large irregular articles can extend out of the notch, so that the size of the box body is not required to be increased.

Furthermore, the butt joint conveyor belt group comprises a group of symmetrically arranged conveyor belts, a conveyor belt top plate arranged in the middle of the conveyor belts, belt fixing blocks and guide blocks connected above the belt fixing blocks and extending along the horizontal direction, wherein the belt fixing blocks and the guide blocks connected above the belt fixing blocks are symmetrically arranged outside the conveyor belts, a driving shaft penetrating through the belt fixing blocks is arranged at the front end of the conveyor belt top plate, the driving wheels are respectively sleeved at the positions, close to the belt fixing blocks, of the left side and the right side of the driving shaft, driven wheels are arranged at the positions, corresponding to the driving wheels, of the rear ends of the,

set up more than adopting, reach the destination, conveyer belt subassembly during operation, the conveyer belt motor rotates, drive the rotation of driving shaft and action wheel, thereby drive the rotation of conveyer belt, transport goods to the workstation on, because the guide block that extends in belt fixed block top and along the horizontal direction, thereby make the magazine convey more accurately on conveyer belt subassembly, butt joint conveyer belt group simple structure, be convenient for maintain, the energy consumption is little, with low costs, carry steadily, can not damage the material, the production noise is little, wide application scope.

Further, the conveyor belt motor assembly comprises a motor fixing seat and a conveyor belt motor, the motor fixing seat comprises a fixing seat top plate fixedly arranged on the bottom surface of the conveyor belt mounting plate and a fixing seat side plate connected with the fixing seat top plate and extending downwards along the vertical direction, the conveyor belt motor is fixedly arranged on the fixing seat side plate, a triangular reinforcing plate which is perpendicular to the fixing seat top plate and the fixing seat side plate is arranged below the fixing seat top plate,

the triangle-shaped reinforcing plate is perpendicular to the roof and the curb plate of fixing base simultaneously, has strengthened the intensity and the anti bending capability of fixing base roof and curb plate, avoids causing the bending or the rupture of fixing base because of conveyer belt motor gravity, adopts the triangle-shaped reinforcing plate because triangle-shaped stability is high, has further improved the intensity and the anti bending capability of fixing base.

Furthermore, an operating panel is arranged on the upper portion of the side face of the AGV body and close to the first vehicle head, a power supply device is arranged on a chassis of the AGV body corresponding to the lower portion of the operating panel, an automatic charging brush plate is arranged between the operating panel and the power supply device on the side face of the AGV body and close to the first vehicle head,

the power supply device is arranged close to the first vehicle head, and plays a role of balancing weight while supplying power to the AGV; AGV is equipped with automatic brush board that charges, can realize AGV's quick charge.

Further, the operation panel comprises a radio frequency emitting signal device positioned at the bottom of the operation panel, a first head stop button and a second head stop button which are positioned above the radio frequency emitting signal device and are in the same horizontal direction, a first head start button positioned on the first head stop button, a second head start button positioned on the second head start button, and a power switch positioned on the first head start button and the second head start button,

the radio frequency signal emitter is arranged on the operation panel, and can be used for positioning the AGV and receiving and transmitting signals; the starting, stopping and running directions of the AGV are controlled through the buttons of the operation panel, the buttons are concentrated on the operation panel, and operation is facilitated.

Furthermore, the power supply device comprises a power supply mounting box and a battery box which is detachably mounted in the power supply mounting box, and a top plate of the power supply mounting box is a rectangular plate provided with one or more hollow structures; the battery box comprises a battery box panel, a battery box bottom plate, battery box side plates and a battery box rear plate, the battery box bottom plate is a rectangular plate with one or more hollow structures, a concave handle part is arranged on the panel of the battery box, a concave door bolt is arranged beside the concave handle part, a vertical bolt is arranged on the door bolt and extends to the bottom end of the panel, a handle is arranged on the vertical bolt, a jack corresponding to the vertical bolt is arranged on a chassis of the AGV body corresponding to the vertical bolt,

the top plate of the power supply mounting box and the bottom plate of the battery box are provided with hollow structures, so that heat dissipation is facilitated for the battery, and the service life of the battery is prolonged; after the battery is placed in the battery box, the battery box is directly pushed into the power supply mounting box, the bolt on the bolt of the rectangular front panel is inserted into the jack on the AGV chassis, the battery is fixedly placed on the chassis, the battery is not easy to fall off, safety and reliability are realized, the handle is arranged on the bolt, the bolt has a stress point, the bolt is convenient to move up and down, and therefore the bolt is opened or closed; be equipped with sunken handle on rectangle front panel, make things convenient for getting of battery case to take, handle and keeper establish to sunk structure, prevent outside its outstanding panel, take up space great, scrape and bump other article.

Furthermore, an AGV electric control processing system is arranged on the upper part of the AGV body near the second head, a driving wheel mechanism is arranged in the middle of the AGV body, the driving wheel mechanism penetrates through a chassis of the AGV body to contact with the ground,

the AGV electric control processing system is arranged close to the second head, is in two opposite directions with the power supply device, has a configuration effect and keeps the balance of the front weight and the rear weight of the AGV body; the driving wheel mechanism is arranged in the middle of the AGV body, so that the weight on the AGV body is uniformly distributed on the driving wheel mechanism, and the AGV runs more stably.

Furthermore, the AGV driving wheel mechanism comprises driving components which are perpendicular to two sides of the AGV advancing direction and are oppositely arranged, each driving component comprises a motor driving box and a driving wheel which is connected to the outer side wall of the motor driving box and can rotate relative to the motor driving box, and the driving wheel is connected with the motor driving box through a driving shaft; the driving assembly is provided with a shock-absorbing assembly, the shock-absorbing assembly comprises an upper shock-absorbing seat, a lower shock-absorbing seat, a hinged seat and a shock-absorbing gas spring, the hinged seat is fixedly arranged on the bottom surface of the chassis, one side of the lower shock-absorbing seat is hinged with the hinged seat, the other side of the lower shock-absorbing seat is fixedly connected with the lower end of the shock-absorbing gas spring, the upper end of the shock-absorbing gas spring is fixedly connected with the upper shock-absorbing,

when the device works, the motor driving box comprises the motor and the speed reducer, the motor runs at a high speed, the speed is reduced to the speed required by the AGV during running through the speed reducer, and the speed is transmitted to the driving wheel through the driving shaft, so that the driving wheel is driven to rotate; this AGV uses the air spring as seismic isolation device, and the air spring has nearly linear elasticity curve, and dynamic force changes little, speed is slow relatively, easy control, has very showing advantage than ordinary mechanical spring speed, appears jolting when vibrating in the AGV dolly promptly, and the air spring can be steady moves away to avoid possible earthquakes, makes driving motor drive box and drive wheel atress even, and the effectual driving motor drive box and the drive wheel of having protected do not receive the damage, prolongs its life.

Further, a U-shaped groove is formed inwards in the lower portion of the front end of the first vehicle head, a first obstacle detection sensor is arranged in the middle of the U-shaped groove, a raised first anti-collision rubber sleeve is arranged at the lower end of the front wall of the first vehicle head, and a first induction switch is arranged in the first anti-collision rubber sleeve; two sides of the bottom surface of the chassis of the AGV body corresponding to the first vehicle head are respectively provided with first universal wheels, and a first magnetic seeking sensor is arranged on the bottom surface of the chassis of the AGV body, between the first universal wheels and close to the first anti-collision rubber sleeve; a U-shaped groove is formed in the lower portion of the front end of the second vehicle head inwards, and a second obstacle detection sensor is arranged in the middle of the U-shaped groove; a second protruding anti-collision rubber sleeve is arranged at the lower end of the front wall of the second vehicle head, and a second induction switch is arranged in the second anti-collision rubber sleeve; two sides of the bottom surface of the chassis of the AGV body corresponding to the second headstock are respectively provided with a second universal wheel, a second magnetism searching sensor is arranged on the bottom surface of the chassis of the AGV body between the second universal wheels and near the second anti-collision rubber sleeve,

in the running process of the AGV, the obstacle detection sensor can detect and acquire information of surrounding obstacles and transmit the information to the control system, so that an obstacle avoiding function is achieved; the anti-collision rubber sleeve can effectively resist the collision of a barrier in front of the vehicle to the vehicle head section, meanwhile, when the collision occurs, an inductive switch in the anti-collision rubber sleeve acts and feeds a signal back to the AGV electric control processing system, and the AGV electric control processing system sends an instruction to require the AGV to stop immediately so as to avoid continuous collision and extrusion; the universal wheels are convenient for providing steering assistance for the AGV; the magnetic searching sensor is matched with the landmark sensor for use, so that the AGV is controlled to travel along a specified path, the accuracy is higher, and the destination can be reached more quickly and better.

Drawings

Fig. 1 is the utility model discloses an elevation view of AGV that two-dimensional code navigation was carried to individual layer.

Fig. 2 is the utility model discloses the AGV's of two-dimensional code navigation is carried to the individual layer stereogram.

Fig. 3 is the utility model discloses the view of making an uproar is followed to AGV that two-dimensional code navigated is carried to individual layer.

Fig. 4 is a schematic perspective view of the magazine of the present invention.

Fig. 5 is a perspective view of the conveyor belt assembly of the present invention with one side of the conveyor belt removed.

Fig. 6 is a schematic perspective view of the motor fixing base of the present invention.

Fig. 7 is a bottom view of the conveyor belt assembly of the present invention.

Fig. 8 is a top view of the conveyor belt assembly of the present invention.

Fig. 9 is a perspective view of the power supply device of the present invention.

Fig. 10 is an exploded view of the power supply device of the present invention.

FIG. 11 is a perspective view of the AGV drive wheel mechanism of the present invention.

Fig. 12 is a perspective view of the driving assembly of the present invention.

Fig. 13 is a schematic view of the control panel of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1 to 13, an AGV for single-layer two-dimensional code conveying navigation comprises an AGV body 100 and a material conveying box device 200, the AGV body 100 comprises a first head 1 and a second head 2, in fig. 1, the direction a is the front end of the AGV, the direction opposite to the direction a is the rear end of the AGV, the direction B is the left side of the AGV, the direction opposite to the direction B is the right side of the AGV, the direction C is the top end of the AGV, the direction opposite to the direction C is the bottom end of the AGV, a U-shaped groove is inwards formed in the lower portion of the front end of the first head 1, a first obstacle detection sensor 11a is arranged in the middle of the U-shaped groove, a first bump rubber sleeve 12a protruding from the lower end of the front wall of the first head, and a first inductive switch is arranged in the first bump rubber sleeve; first universal wheels 3 are respectively arranged on two sides of the bottom surface of the chassis of the AGV car body 100 corresponding to the first car head 1, and a first magnetism searching sensor 14a is arranged on the bottom surface of the chassis of the AGV car body 100, between the first universal wheels 3 and near the first anti-collision rubber sleeve 12 a; a U-shaped groove is formed inwards at the lower part of the front end of the second locomotive 2, and a second obstacle detection sensor 21a is arranged in the middle of the U-shaped groove; a second protruding anti-collision rubber sleeve 22a is arranged at the lower end of the front wall of the second vehicle head 2, and a second inductive switch is arranged in the second anti-collision rubber sleeve 22 a; two sides of the bottom surface of the chassis of the AGV body 100 corresponding to the second head 2 are respectively provided with a second universal wheel 4, and a second magnetism searching sensor 24a is arranged on the chassis of the AGV body 100 between the second universal wheels 4 and near the second anti-collision rubber sleeve 22 a; a landmark sensor 12 is provided in the middle of the floor of the AGV body 100,

the utility model discloses an AGV is single drive two-way backpack AGV, is equipped with two locomotive 1 and 2 around, and the differential mode is trailed, and in the AGV car operation process, obstacle detection sensor 11a and 21a can detect the information that acquires the barrier around, and pass this information to control system, thereby play and keep away the barrier function; the anti-collision rubber sleeves 12a and 22a can effectively resist the collision of a barrier in front of the vehicle to the vehicle head, meanwhile, when the collision happens, an inductive switch in the anti-collision rubber sleeves acts and feeds back a signal to the AGV electric control processing system, and the AGV electric control processing system sends an instruction to require the AGV vehicle to stop immediately so as to avoid continuous collision and extrusion; the universal wheels 3 and 4 are convenient for providing steering assistance for the AGV; the magnetic seeking sensors 14a and 24a are matched with the landmark sensor 12 for use, so that the AGV is controlled to travel along a specified path, the accuracy is higher, and the destination can be reached more quickly and better; the deviation of angle can appear in the AGV at the operation in-process, causes the deviation of route simultaneously, consequently can set up the two-dimensional code subaerial and carry out the correction of absolute position, and landmark sensor 12 revises real-time computing's coordinate immediately after reading this two-dimensional code, then tracks the target path according to synthetic error, avoids the route error as far as possible, carries out accurate location, and the final arrival is some parking, realizes the purpose of arriving target point and target direction.

A conveyor belt mounting plate 5 is fixedly arranged above the AGV body, a first group of reinforcing ribs 66 are arranged on the bottom surface of the conveyor belt mounting plate 5 along the length direction, and a second group of reinforcing ribs 7 are arranged on the bottom surface of the conveyor belt mounting plate along the width direction; a mounting box with an opening at the bottom is arranged in the middle part above the conveyor belt mounting plate 5, a quadrangular prism 8 with a cavity is formed by the mounting box and the conveyor belt mounting plate 5, the quadrangular prism 8 extends from the front end of the conveyor belt mounting plate 5 to the rear end of the conveyor belt mounting plate 5, and LED indicating lamps 9 are respectively arranged at the front part and the rear part above the quadrangular prism 8; the material box conveying device 200 comprises a first material conveying box mechanism 10 and a second material conveying box mechanism 11, the first material conveying box mechanism 10 and the second material conveying box mechanism 11 are symmetrically arranged relative to a quadrangular prism, the first material conveying box mechanism 10 and the second material conveying box mechanism 11 both comprise a conveyor belt component 101 and one or more than one material box 102 positioned on the conveyor belt component, the conveyor belt component 101 comprises a butt joint conveyor belt group 1011 arranged above the conveyor belt mounting plate and a conveyor belt motor component 1012 arranged below the conveyor belt mounting plate and close to a first headstock,

after the AGV conveys goods to a destination, the conveyor belt motor assembly 1012 works to drive the conveyor belt to run, the material boxes 102 are conveyed to the workbench, the material boxes 102 are sequentially placed on the conveyor belt and cannot be stacked, the goods are not extruded and damaged, and the safety and the stability are improved; reinforcing ribs are arranged on the bottom surface of the conveyor belt mounting plate 5 along the length direction and the width direction, so that the strength and the bending resistance of the conveyor belt mounting plate 5 are improved, more material boxes can be placed on the conveyor belt, and heavier goods can be placed in the material boxes 102; the LED indicating lamp 9 is a normal working indicating lamp, when the AGV works normally, the LED lamp is on, and when the AGV breaks down, the LED lamp is off, so that an operator can find that the AGV breaks down as soon as possible, the AGV can be maintained in time, and the production efficiency is improved; be equipped with first transmission magazine mechanism 10 and second transmission magazine mechanism 11 that the symmetry set up in AGV top, both sides weight balance about making the AGV avoids appearing the phenomenon of tare, causes the landing of goods, and two transmission magazine mechanisms 10 and 11 independent operation simultaneously, if transmission magazine mechanism breaks down the back, another transmission magazine mechanism still can normal operating, guarantees AGV continuation work, improves AGV's rate of utilization.

The butt joint conveyor belt group 1011 comprises a group of symmetrically arranged conveyor belts 1011a, belt fixing blocks 1011b symmetrically arranged on the outer side of the conveyor belts 1011a, a conveyor belt top plate 1011g arranged in the middle of the conveyor belts, and guide blocks 1011c connected above the belt fixing blocks 1011b and extending along the horizontal direction, in the embodiment, the guide blocks 1011c are nylon guide blocks, namely guide blocks made of nylon materials, so that buffer spaces exist between the guide blocks and the side walls of the material box, friction between the guide blocks and the side walls of the material box is reduced, the service life of the material box is prolonged, a driving shaft 1011d penetrating through the belt fixing blocks 1011b is arranged at the front end of the conveyor belt top plate 1011g, driving wheels 1011e are respectively sleeved at the positions, close to the belt fixing blocks 1011b, of the left side and the right side of the driving shaft 1011d, driven wheels 1011f are arranged at the positions, corresponding to the driving wheels, of the rear ends of the,

set up more than adopting, reach the destination, conveyer belt subassembly 101 during operation, the conveyer belt motor rotates, through the reduction gear after, drives the rotation of driving shaft 1011d and action wheel 1011e to drive conveyer belt 1011 a's rotation, transport the goods to the workstation on, butt joint conveyer belt group simple structure, be convenient for maintain, the energy consumption is little, with low costs, carry steadily, can not damage the material, the production noise is little, application scope is wide.

The conveyor belt motor assembly 1012 comprises a motor fixing seat 1012a and a conveyor belt motor 1012b, the motor fixing seat 1012a comprises a fixing seat top plate 1012aa fixedly mounted on the bottom surface of the conveyor belt mounting plate and a fixing seat side plate 1012ab connected with the fixing seat top plate 1012aa and extending downwards along the vertical direction, the conveyor belt motor 1012b is fixedly mounted on the fixing seat side plate 1012ab, and a triangular reinforcing plate 1012ac which is perpendicular to the fixing seat top plate and the fixing seat side plate simultaneously is arranged below the fixing seat top plate 1012 aa.

The triangular reinforcing plate 1012ac is perpendicular to the top plate 1012aa and the side plate 1012ab of the fixing seat at the same time, so that the strength and the bending resistance of the top plate 1012aa and the side plate 1012ab of the fixing seat are enhanced, the bending or breaking of the fixing seat caused by the gravity of a conveyor motor is avoided, and the strength and the bending resistance of the fixing seat are further improved by adopting the triangular reinforcing plate 1012ac because of high stability of a triangle.

The material box 102 is a box body with an opening at the upper end, an L-shaped notch 1021 is arranged at the middle part of each side surface of the box body and on the bottom surface connected with the side surface, the L-shaped notch 1021 runs through to the top end of the side surface,

the L-shaped notch 1021 is arranged on the box body, so that articles can be conveniently taken and placed, and meanwhile, the space avoidance effect is achieved, when large irregular articles are stored, the irregular parts of the large irregular articles can extend out of the notch, and the size of the box body is not required to be increased.

An operating panel 13 is arranged on the upper portion of the lateral side of the AGV body near the first vehicle head, and the operating panel 13 comprises a radio frequency transmitting signal device 131 located at the bottom of the operating panel, a first vehicle head stop button 132 and a second vehicle head stop button 133 located above the radio frequency transmitting signal device 131 and in the same horizontal direction, a first vehicle head start button 134 located above the first vehicle head stop button 132, a second vehicle head start button 135 located above the second stop button 133, and a power switch 136 located above the first vehicle head start button 134 and the second vehicle head start button 135.

The radio frequency emission signal device 131 is arranged on the operation panel 13, and can be used for positioning the AGV and receiving and transmitting signals; the start, stop and running direction of the AGV are controlled by the buttons of the operation panel 13, and the buttons are concentrated on the operation panel, which is convenient for operation.

A power supply device 14 is arranged on the chassis of the AGV body 100 corresponding to the lower part of the operation panel 13, the power supply device 14 comprises a top plate 141a, a power supply installation box 141 with one or more hollow structures and a detachable battery box 142 arranged in the power supply installation box, the battery box 142 comprises a battery box panel 142a, a battery box bottom plate 142b, a battery box side plate 142c and a battery box rear plate 142d, the battery box bottom plate 142d is a rectangular plate with one or more hollow structures, a concave handle part 142aa is arranged on the panel 142a of the battery box, a concave door bolt 142ab is arranged beside the concave handle part 142aa, a vertical bolt 142ac is arranged on the door bolt 142ab, the vertical bolt 142ac extends to the bottom end of the panel, a handle 142ad is arranged on the vertical bolt 142ac, and a jack corresponding to the vertical bolt is arranged on the chassis of the AGV body 100 corresponding to the vertical.

The power supply device 14 is arranged close to the first vehicle head 1, and plays a role of a counterweight while supplying power for the AGV; the power supply mounting box top plate 141a and the battery box bottom plate 142b are provided with hollow structures, so that heat dissipation is facilitated for the battery, and the service life of the battery is prolonged; after the battery is placed in the battery box 142, the battery box 142 is directly pushed into the power supply installation box 141, a bolt 142ac on a bolt of the rectangular front panel is inserted into a jack on a chassis of the AGV car body 100, the battery is fixedly placed on the chassis, the battery is not easy to fall off, safety and reliability are realized, a handle 142ad is arranged on the bolt 142ac, the bolt 142ac has a stress point, the bolt is convenient to move up and down, and therefore the bolt 142ab is opened or closed; the rectangular front panel 142a is provided with a concave handle 142aa, so that the battery box can be conveniently taken, and the handle 142aa and the door bolt 142ab are of a concave structure, so that the handle 142aa and the door bolt 142ab are prevented from protruding out of the panel 142a, occupying a large space and scraping other articles.

An automatic charging brush plate 15 is arranged between an operation panel on the side face of the AGV body and the power supply device and close to the position of the first headstock 1.

The AGV is equipped with automatic brush 15 that charges, can realize AGV's quick charge.

An AGV electric control processing system 16 is arranged at the upper part of the AGV body close to the second head, a driving wheel mechanism 17 which passes through the chassis of the AGV body 100 and is contacted with the ground is arranged in the middle of the AGV body, the AGV driving wheel mechanism 17 comprises driving assemblies 171 which are perpendicular to the two sides of the traveling direction of the AGV and are oppositely arranged, each driving assembly 171 comprises a motor driving box 1711 and a driving wheel 1712 which is connected to the outer side wall of the motor driving box and can rotate relative to the motor driving box, and the driving wheel 1712 is connected with the motor driving box 1711 through a driving shaft 1713; the driving component 171 is provided with a shock absorbing component 172, the shock absorbing component 172 comprises an upper shock absorbing seat 1721, a lower shock absorbing seat 1722, a hinge seat 1723 and a shock absorbing gas spring 1724, the hinge seat 1723 is fixedly arranged on the bottom surface of the chassis, one side of the lower shock absorbing seat 1722 is hinged with the hinge seat 1723, the other side of the lower shock absorbing seat 1722 is fixedly connected with the lower end of the shock absorbing gas spring 1724, the upper end of the shock absorbing gas spring 1724 is fixedly connected with the upper shock absorbing seat 1722,

in the device, when the device works, the motor driving box 1711 comprises a motor and a speed reducer, the motor runs at a high speed, the speed is reduced to the speed required by the AGV when running through the speed reducer, and the speed is transmitted to the driving wheel 1712 through the driving shaft 1713, so that the driving wheel 1712 is driven to rotate; this AGV uses the air spring as seismic isolation device, the air spring has nearly linear elasticity curve, the dynamic force change is not big, speed is slow relatively, easy control, there is very showing advantage than ordinary mechanical spring speed, when jolting vibration appears in the AGV dolly promptly, the air spring can be steady move away to avoid possible earthquakes, it is even to make driving motor drive box 1711 and drive wheel 1712 atress, effectual driving motor drive box 1711 and drive wheel 1712 protected do not receive the damage, prolong its life.

The utility model discloses a AGV compact structure, the action is more nimble, and turning radius is less, requires lowerly to operational environment, can use in the narrow and frequent place of transport in space, and the suitability is strong, and the route error is little, and simple structure is firm, the goods loss rate is low.

Claims (10)

1. The utility model provides a AGV that two-dimensional code navigation was carried to individual layer, includes AGV car body and transmission magazine device, its characterized in that: the AGV comprises an AGV body and a conveying belt, wherein the AGV body comprises a first head and a second head, a conveying belt mounting plate is fixedly arranged above the AGV body, a first group of reinforcing ribs are arranged on the bottom surface of the conveying belt mounting plate along the length direction, and a second group of reinforcing ribs are arranged on the bottom surface of the conveying belt mounting plate along the width direction; the middle part above the conveyor belt mounting plate is provided with a mounting box with an opening at the bottom, the mounting box and the conveyor belt mounting plate form a quadrangular prism with a cavity, the quadrangular prism extends from the front end of the conveyor belt mounting plate to the rear end of the conveyor belt mounting plate, and the front part and the rear part above the quadrangular prism are respectively provided with an LED indicating lamp; the material box conveying device comprises a first material conveying box mechanism and a second material conveying box mechanism, wherein the first material conveying box mechanism and the second material conveying box mechanism are symmetrically arranged relative to the quadrangular prism, the first material conveying box mechanism and the second material conveying box mechanism comprise a conveyor belt assembly and one or more than one material box located on the conveyor belt assembly, and a landmark sensor is arranged in the middle of a chassis of the AGV car body.

2. The AGV of claim 1, wherein said AGV comprises: the conveyer belt subassembly is including establishing the butt joint conveyer belt group in conveyer belt mounting panel top and establishing the conveyer belt motor element in conveyer belt mounting panel below and be close to first locomotive, the magazine is upper end open-ended box body, is equipped with the breach on every side middle part of box body and the bottom surface of being connected with the side, the breach link up to the side top.

3. The AGV of claim 2, wherein: butt joint conveyer belt group is equipped with the belt fixed block and connects in belt fixed block top and along the guide block that the horizontal direction extends including the conveyer belt that a set of symmetry set up, setting conveyer belt roof in the middle of the conveyer belt, in conveyer belt outside symmetry, is equipped with the driving shaft that runs through on the belt fixed block in conveyer belt roof front end, the position that the left and right sides of driving shaft is close to the belt fixed block overlaps respectively has the action wheel, be equipped with the follower on the position that belt fixed block rear end and action wheel correspond, the conveyer belt is connected on action wheel and follower.

4. The AGV of claim 1, wherein said AGV comprises: conveyer motor unit includes motor fixing base and conveyer motor, the motor fixing base includes fixed mounting at the fixing base roof of conveyer belt mounting panel bottom surface and is connected and along vertical direction downwardly extending's fixing base curb plate with the fixing base roof, conveyer motor fixed mounting is equipped with the triangle-shaped reinforcing plate of perpendicular to fixing base roof and fixing base curb plate simultaneously below the fixing base roof on the fixing base curb plate.

5. The AGV of claim 1, wherein said AGV comprises: the AGV car body side upper portion is close to first locomotive department and is equipped with operating panel, is equipped with power supply unit on the chassis of the AGV car body that the operating panel below corresponds, is close to first locomotive position on the AGV car body side between operating panel and the power supply unit and is equipped with automatic brush of charging board.

6. The AGV of claim 5, wherein said AGV comprises: the operation panel comprises a radio frequency transmitting signal device, a first head stop button, a second head stop button, a first head start button, a second head start button and a power switch, wherein the radio frequency transmitting signal device is located at the bottom of the operation panel, the first head stop button and the second head stop button are located above the radio frequency transmitting signal device and in the same horizontal direction, the first head start button is located above the first head stop button, the second head start button is located above the second stop button, and the power switch is located above the first head start button and the second head start button.

7. The AGV of claim 5, wherein said AGV comprises: the power supply device comprises a power supply mounting box and a battery box which is detachably mounted in the power supply mounting box, wherein a top plate of the power supply mounting box is a rectangular plate with one or more hollow structures; the battery case includes battery box panel, battery box bottom plate, battery case curb plate and battery case back plate, and the rectangular plate of battery box bottom plate for being equipped with one and more hollow structure is equipped with sunken handle portion on the panel of battery case, and the next door of sunken handle portion is equipped with sunken keeper, is equipped with vertical bolt on the keeper, and vertical bolt extends to the bottom of panel, is equipped with the handle on the vertical bolt, is equipped with the jack that corresponds with vertical bolt on the chassis of the AGV car body that vertical bolt corresponds.

8. The AGV of one-layer two-dimensional code navigation according to any one of claims 5 to 7, wherein: an AGV electric control processing system is arranged on the upper portion of the AGV body and close to the second head, a driving wheel mechanism is arranged in the middle of the AGV body and penetrates through an AGV body chassis to be in contact with the ground.

9. The AGV of claim 8, wherein: the AGV driving wheel mechanism comprises driving components which are perpendicular to two sides of the AGV advancing direction and are oppositely arranged, each driving component comprises a motor driving box and a driving wheel which is connected to the outer side wall of the motor driving box and can rotate relative to the motor driving box, and the driving wheels are connected with the motor driving boxes through driving shafts; the shock-absorbing assembly is arranged on the driving assembly and comprises an upper shock-absorbing seat, a lower shock-absorbing seat, a hinged seat and a shock-absorbing gas spring, the hinged seat is fixedly installed on the bottom surface of the chassis, one side of the lower shock-absorbing seat is hinged with the hinged seat, the other side of the lower shock-absorbing seat is fixedly connected with the lower end of the shock-absorbing gas spring, and the upper end of the shock-absorbing gas spring is fixedly connected with the upper shock-absorbing seat.

10. The AGV of claim 1, 2, 3, 4, 5, 6 or 7, wherein the AGV comprises: a U-shaped groove is formed in the lower portion of the front end of the first vehicle head inwards, a first obstacle detection sensor is arranged in the middle of the U-shaped groove, a raised first anti-collision rubber sleeve is arranged at the lower end of the front wall of the first vehicle head, and a first induction switch is arranged in the first anti-collision rubber sleeve; two sides of the bottom surface of the chassis of the AGV body corresponding to the first vehicle head are respectively provided with first universal wheels, and a first magnetic seeking sensor is arranged on the bottom surface of the chassis of the AGV body, between the first universal wheels and close to the first anti-collision rubber sleeve; a U-shaped groove is formed in the lower portion of the front end of the second vehicle head inwards, and a second obstacle detection sensor is arranged in the middle of the U-shaped groove; a second protruding anti-collision rubber sleeve is arranged at the lower end of the front wall of the second vehicle head, and a second induction switch is arranged in the second anti-collision rubber sleeve; and the two sides of the bottom surface of the chassis of the AGV car body corresponding to the second car head are respectively provided with a second universal wheel, and a second magnetic sensor is arranged between the second universal wheels and close to the second anti-collision rubber sleeve on the bottom surface of the chassis of the AGV car body.

Images