CN220147221U - AGV is transported to bogie - Google Patents
AGV is transported to bogie Download PDFInfo
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- CN220147221U CN220147221U CN202321454588.9U CN202321454588U CN220147221U CN 220147221 U CN220147221 U CN 220147221U CN 202321454588 U CN202321454588 U CN 202321454588U CN 220147221 U CN220147221 U CN 220147221U
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- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 239000000725 suspension Substances 0.000 claims abstract description 19
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- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 3
- 230000000903 blocking effect Effects 0.000 abstract description 8
- 230000009471 action Effects 0.000 description 5
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
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- 238000009776 industrial production Methods 0.000 description 1
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Abstract
The utility model relates to the field of transfer AGVs, in particular to a bogie transfer AGV which comprises a body, a moving module, an intelligent guiding and positioning module and a traction mechanism, wherein the body is thin and can pass below a bogie wheel shaft, the moving module, the intelligent guiding and positioning module and the traction mechanism are arranged on the body, the moving module comprises a driving wheel mechanism which is arranged on the body through a suspension structure and is connected with the body, the traction mechanism comprises a traction arm which can be automatically turned and lifted or reset, and the traction arm is used for blocking a positioning bogie and the traction bogie to move and travel. The transfer AGV can effectively replace manual operation and is particularly suitable for stable and reliable transfer application of the bogie.
Description
Technical Field
The AGV is transportedDomain 。
Background
In industrial production, the transfer of the bogie of the freight train is mainly finished on the rail by manpower at present, and the problems of high labor intensity and low efficiency of manual operation, working safety risk and the like exist. Along with logistics industry development intelligent storage collocation intelligent AGVs is widely used, also some AGVs that are used for transporting appear, but according to the difference of transporting the object, the structure on the AGVs also is different, like in the aspect of height, frame construction, bearing structure, actuating mechanism etc. probably has great difference according to work use needs, and current majority intelligence transport AGVs also all have the difference in bearing, travelling in a flexible way turns to, obstacle crossing etc. the transportation current transport AGVs of the bogie that is great to the quality can not be directly suitable for. In view of this, the inventor of the present application studied and improved on the basis of the structure of the existing transport AGV, and produced the present application.
Disclosure of Invention
The utility model aims to provide a bogie transfer AGV which can effectively replace manual operation and is particularly suitable for stable and reliable bogie transfer application 。
In order to achieve the above purpose, the technical scheme of the utility model is as follows: the utility model provides a AGV is transported to bogie, includes the slim automobile body main part that can walk under the bogie shaft of structure and installs mobile module, intelligent direction orientation module and the traction mechanism in the automobile body main part, mobile module includes the drive wheel mechanism of being connected in the automobile body main part through suspension structure installation, traction mechanism is including automatic upset and lifts up or reset the trailing arm, the trailing arm is used for blockking location bogie and traction bogie and removes the marcing.
The suspension structure comprises a mounting plate for mounting a wheel shaft of a driving wheel mechanism and suspension components respectively connected to two ends of the mounting plate, the suspension components comprise an upper frame plate, a lower frame plate, a connecting plate, a guide post, a guide slide block, a spring guide post and a spring, the upper frame plate and the lower frame plate are correspondingly connected and fixed through upper and lower intervals of the connecting plate and fixedly connected to a main body of a vehicle body through the connecting plate, the upper and lower ends of the guide post and the spring guide post are respectively and fixedly connected to the upper frame plate and the lower frame plate, the guide slide block is fixedly connected to the end part of the mounting plate and is sleeved on the guide post to slide, a supporting block is fixedly arranged at the end part of the mounting plate and is correspondingly sleeved on the spring guide post, and the spring is sleeved on the spring guide post and the two ends of the spring guide post are respectively propped between the upper frame plate and the supporting block.
The driving wheel mechanism is characterized in that a plurality of groups of driving wheel mechanisms are respectively arranged at two sides of the middle section of the corresponding body, and the mobile module further comprises a plurality of universal wheels respectively arranged at two sides of the front end and the rear end of the body.
The traction mechanism is arranged at the front and rear ends of the advancing of the body, the traction mechanism further comprises a in-place sensing structure, a transmission structure for driving the traction arm to overturn, an in-place sensing structure, a traction corresponding sensor and a distance measuring sensor, one end of the traction arm is fixedly connected with a turnover shaft group fixedly arranged on the body, the transmission structure is arranged on the body and is in transmission connection with a turnover shaft of the turnover shaft group so as to drive the traction arm to overturn and lift or reset, the in-place sensing structure comprises an action sensing sheet connected on the turnover shaft of the turnover shaft group and an in-place sensor for respectively sensing the position of the action sensing sheet of the traction arm under the overturning and lifting or resetting state, the traction corresponding sensor is arranged at the other end of the traction arm and used for sensing the distance of an object above the body, and the in-place sensing structure is arranged at two groups corresponding to the directions of the two sides of the body and two groups respectively at two corresponding intervals.
The traction mechanism is arranged on a bottom plate, the bottom plate is fixedly connected with the body main body, a balancing weight used for balancing the weight is further arranged on the bottom plate, and a blocking block used for blocking the traction arm lifted by overturning is further arranged on the bottom plate.
The intelligent guiding and positioning module comprises a magnetic cruise unit.
The intelligent guiding and positioning module comprises an autonomous obstacle avoidance unit, wherein the autonomous obstacle avoidance unit comprises a single-line laser radar, an anti-collision panel and a proximity sensor, which are arranged on the frame of the main body of the vehicle.
By adopting the technical scheme, the utility model has the beneficial effects that: 1. the bogie transfer AGV adopts a thin car body main body structure, so that the AGV can flexibly pass through the bottom of the bogie; 2. the moving module and the layout structure (adopting a suspension structure) of the driving wheel mechanism are particularly suitable for traveling obstacle-surmounting movement in a track environment, and as the left driving wheel and the right driving wheel are adopted, two driving wheels are adopted, and enough power can be ensured when the vehicle is driven across the track, so that the obstacle-surmounting capability is strong. 3. The traction mechanism can enable traction application to be more accurate, ensure effective actions and achieve effective and reliable traction work. 4. The single-line laser radar, the close-range skirt touch switch, the photoelectric sensor and the like are adopted to avoid the obstacle, and the safety performance is high. 5. The magnetic cruise unit is adopted, namely, the magnetic buckle is matched with the magnetic buckle for positioning in an automatic track searching way in a magnetic stripe navigation way, and automatic transfer work can be realized along a set route. In summary, the above object of the present utility model is achieved.
Drawings
Fig. 1 and 2 are schematic views of different angle configurations of a truck transport AGV in accordance with the present utility model.
FIG. 3 is a schematic view of the internal structure of a truck transport AGV in accordance with the present utility model.
FIG. 4 is a schematic illustration of the drive wheel mechanism and suspension configuration of a truck transport AGV in accordance with the present utility model.
FIG. 5 is a schematic view of the traction mechanism of the AGV for truck transport according to the present utility model.
In the figure:
a body main body 1; a traction mechanism 2; a traction arm 21; an in-place sensing structure 22; a transmission structure 23;
flipping the in-place sensing structure 24; a sensor sheet 241; an inversion in place sensor 242;
traction corresponding sensor 25; a ranging sensor 26; a weight 27; a blocking piece 28;
an intelligent guiding and positioning module 3; a magnetic induction cruising unit 31; a single line laser radar 32;
a proximity sensor 33; a crash panel 34;
a mobile module 4; a suspension structure 41; a mounting plate 411; an upper shelf 412; lower shelf 413; a connection plate 414; guide posts 415; a guide slide 416; a spring guide post 417; a spring 418; a support block 419;
a drive wheel mechanism 42; universal wheel 43 。
Detailed Description
In order to further explain the technical scheme of the utility model, the utility model is explained in detail by specific examples.
The embodiment discloses an AGV is transported to bogie, as shown in fig. 1-5, automobile body main part 1, traction mechanism 2, intelligent direction orientation module 3 and movable module 4, automobile body main part 1 for supply each module mechanism installation to set up the mobilizable chassis module of realization overall structure, movable module is for realizing the function module that overall structure can steadily remove the march, intelligent direction orientation module 3 is the intelligent module such as navigation removal, detection obstacle avoidance, planning route that realizes intellectuality, automation, traction mechanism 2 is the work module that realizes traction bogie removal, constitutes the transport AGV that is suitable for the bogie to transport on the rail in total, and the specific structure setting of individual module mechanism and position relation thereof are described in detail below in connection with the drawing.
As shown in fig. 1, 2 and 3, the body 1 is constructed in a thin type and is capable of passing under the bogie axle between the rails, so that the body can flexibly travel on the bottom of the bogie.
The intelligent guiding and positioning module 3 mounts working parts provided in the body 1 on the circumferential side wall and the bottom surface, as shown in the figure, and the intelligent guiding and positioning module 3 includes a magnetically permeable cruising unit 31.
The intelligent guiding and positioning module 3 is a main part of the AGV for realizing the intelligent functions and effects of autonomous driving, autonomous navigation, autonomous obstacle avoidance and the like, and the utility model can be applied to transportation in a bogie production workshop and has a fixed transportation line, so that the realization of autonomous navigation can comprise a magnetically induced cruising unit, the magnetically induced cruising is an existing cruising technology, the magnetically induced cruising is applied to the bogie transportation AGV, so that transportation positioning is simpler and faster, as shown in the figure, a magnetically induced part is arranged in the middle part of the bottom surface of the body 1 and can be induced with magnetic strips, magnetic buckles and the like paved on the bottom surface, thereby realizing magnetically induced cruising and positioning, and executing different instructions at different points. The autonomous obstacle avoidance unit comprises a single-line laser radar 32, a proximity sensor 33, an anti-collision panel 34 and the like which are arranged on the frame of the body main body 1, and can realize the sensing detection of a close-range object, when an obstacle exists on the traveling track of the AGV, the single-line laser radar 32 can rapidly detect the obstacle, so that the forward control of early deceleration stopping is realized, the obstacle avoidance is realized, the anti-collision panel 34 deforms to be close to the proximity sensor 33 when collision occurs, the deceleration stopping can be controlled when the proximity sensor 33 detects the obstacle, and the like.
The moving module 4, as shown in fig. 3 and 4, includes a driving wheel mechanism 42 installed and connected on the body 1 through a suspension structure 41 and a plurality of universal wheels 43 arranged on the body, in this embodiment, as shown in the drawing, the driving wheel mechanism 42 is respectively arranged at two sides of a middle section corresponding to the body 1, two sides are respectively arranged in the drawing, 4 groups are added, the universal wheels 43 are respectively arranged at two sides of the front end and the rear end of the body 1, 2 wheels are respectively arranged at two sides of the front end and the rear end in the drawing, 8 wheels are added, so that the stability of the body can be better kept, enough power can be ensured when the vehicle runs across a track, and enough traction force and obstacle crossing capability are stronger. In this embodiment, as shown in fig. 4, the suspension structure 41 includes a mounting plate 411 for mounting an axle of the driving wheel mechanism 42, and suspension assemblies respectively connected to two ends of the mounting plate 411, where the suspension assemblies include an upper frame plate 412, a lower frame plate 413, a connecting plate 414, a guide post 415, a guide slider 416, a spring guide post 417 and a spring 418, the upper frame plate 412 and the lower frame plate 413 are fixed to the body 1 through the connecting plate 414 in a vertically spaced manner, the upper and lower ends of the guide post 415 and the spring guide post 417 are respectively and fixedly connected to the upper frame plate 412 and the lower frame plate 413, the guide slider 416 is fixedly connected to an end of the mounting plate 411 and sleeved on the guide post 415 to slide, a support block 419 is also fixedly arranged at an end of the mounting plate 411, the support block 419 is correspondingly sleeved on the spring guide post 417, and the spring 418 is sleeved on the spring guide post 417 and two ends of the support block 419 are respectively. Through the suspension structure 41, the driving wheel mechanism is arranged on the suspension structure 41 in the middle, and the suspension structure 41 can be supported in a balanced manner and can realize elastic adjustment in all directions, so that the driving wheel mechanism can easily travel over the obstacle in the ground environment where the rails are paved.
The traction mechanism 2 is arranged on an upper bottom plate fixedly connected with the body 1, and is respectively arranged at the front end and the rear end of the running of the body 1, and comprises a traction arm 21, an in-place sensing structure 22, a transmission structure 23, a turnover in-place sensing structure 24, a traction corresponding sensor 25, a distance measuring sensor 26, a balancing weight 27 and a blocking block 28 as shown in figures 1, 3 and 5, wherein the traction arm 21 is used for blocking a positioning bogie and the traction bogie to move and run, the transmission structure 23 is used for driving the traction arm 21 to automatically turn, lift or reset, one end of the traction arm 21 is fixedly connected with a turnover shaft group 211 fixedly arranged on the body 1, the transmission structure 23 is arranged on the body 1 and is connected with a turnover shaft of the turnover shaft group 211 in a transmission manner so as to drive the traction arm 21 to turn, lift or reset, the turning in-place sensing structure 24 comprises an action sensing piece 241 connected to the turning shaft of the turning shaft group 211 and a turning in-place sensor 242 for respectively sensing the position of the action sensing piece 241 in the state that the traction arm 21 is turned up or reset, namely, the turning in-place sensor 242 has two sensors for sensing the position of lifting or resetting, thereby determining in-place, the traction corresponding sensor 25 is arranged on the other end of the traction arm 21 and used for sensing the traction corresponding sensor of the other traction mechanism 2 (arranged on the other end of the body main body 1) for confirming the sensing before the traction is started between the two traction mechanisms 2, ensuring that the two traction mechanisms 2 are in a state that the lifting can work, the distance measuring sensor 26 is used for sensing the distance of an object above the body main body 1, used for sensing and determining the bogie axle to judge whether the object to be positioned currently, the in-place sensing structure 22 is two groups corresponding to the two sides of the body 1 and two groups are respectively arranged at two corresponding intervals, as shown in the figure, the structure can be used for detecting whether the wheel axle of the bogie is between the two traction mechanisms 2, so that the station state is ensured, the bogie can be stably and reliably towed, the balancing weight 27 is used for balancing the weight, the stability of the structure in operation is improved, and the blocking block 28 is used for blocking the traction arm 21 lifted by overturning and has a limiting effect.
The above examples and drawings are not intended to limit the form or form of the present utility model, and any suitable variations or modifications thereof by those skilled in the art should be construed as not departing from the scope of the present utility model.
Claims (10)
1. The utility model provides a AGV is transported to bogie, its characterized in that, including constructing slim automobile body main part that can walk under the bogie shaft and installing mobile module, intelligent direction orientation module and the traction mechanism in the automobile body main part, mobile module includes the drive wheel mechanism who is connected in the automobile body main part through suspension structure installation, traction mechanism is including the traction arm that automatic upset was raised or reset, traction arm is used for blockking location bogie and traction bogie and removes the marcing.
2. The AGV for transporting the bogie according to claim 1 wherein the suspension structure comprises a mounting plate for mounting the wheel axle of the driving wheel mechanism and suspension components respectively connected to two ends of the mounting plate, the suspension components comprise an upper frame plate, a lower frame plate, a connecting plate, a guide post, a guide slide block, a spring guide post and a spring, the upper frame plate and the lower frame plate are correspondingly connected and fixed on the body through the connecting plate at intervals up and down, the upper end and the lower end of the guide post are respectively and fixedly connected on the upper frame plate and the lower frame plate, the guide slide block is fixedly connected to the end of the mounting plate and sleeved on the guide post to slide, the end of the mounting plate is fixedly provided with a supporting block and correspondingly sleeved on the spring guide post, and the spring is sleeved on the spring guide post and two ends of the spring are respectively propped between the upper frame plate and the supporting block.
3. The AGV according to claim 2 wherein the drive wheel mechanism comprises a plurality of sets disposed on each side of the intermediate section of the body, and the travel module further comprises a plurality of universal wheels disposed on each of the front and rear sides of the body.
4. A bogie transfer AGV according to any one of claims 1 to 3 wherein the traction mechanism is provided at both ends of the travel of the body, the traction mechanism further comprises an in-place sensing structure, a transmission structure for driving the traction arm to turn over, a turn-in-place sensing structure, a traction correspondence sensor and a distance measuring sensor, one end of the traction arm is fixedly connected with a turn shaft group fixedly mounted on the body, the transmission structure is mounted on the body and drives a turn shaft connected with the turn shaft group so as to drive the traction arm to turn over and lift or reset, the turn-in-place sensing structure comprises a motion sensing sheet connected with the turn shaft of the turn shaft group and a turn-in-place sensor for sensing the position of the motion sensing sheet in a turn-up or reset state of the traction arm, the traction correspondence sensor is provided at the other end of the traction arm for sensing the distance of an object above the body, and the in-place sensing structure is provided in two groups corresponding to the directions of both sides of the body and two groups are provided at two corresponding intervals.
5. The AGV for truck transport according to claim 4 wherein the traction mechanism is mounted on a base plate fixedly connected to the body, a counterweight for balancing the weight is further provided on the base plate, and a stop for stopping the traction arm raised by the overturning is further provided on the base plate.
6. A bogie transport AGV according to any of claims 1 to 3 wherein the intelligent guidance positioning module includes a magnetically permeable cruise unit.
7. The truck transport AGV of claim 4 wherein said intelligent guidance positioning module includes a magnetically permeable cruise unit.
8. A bogie transport AGV according to any one of claims 1 to 3 wherein the intelligent guidance positioning module includes an autonomous obstacle avoidance unit comprising a single line lidar, an anti-collision panel and a proximity sensor disposed on the body frame.
9. A bogie transport AGV according to any one of claims 1 to 3 wherein the intelligent guidance positioning module includes an autonomous obstacle avoidance unit comprising a single line lidar, an anti-collision panel and a proximity sensor disposed on the body frame.
10. The AGV of claim 7 wherein the intelligent guidance positioning module comprises an autonomous obstacle avoidance unit comprising a single line lidar, an anti-collision panel, and a proximity sensor disposed on a frame of the body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321454588.9U CN220147221U (en) | 2023-06-08 | 2023-06-08 | AGV is transported to bogie |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321454588.9U CN220147221U (en) | 2023-06-08 | 2023-06-08 | AGV is transported to bogie |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220147221U true CN220147221U (en) | 2023-12-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321454588.9U Active CN220147221U (en) | 2023-06-08 | 2023-06-08 | AGV is transported to bogie |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220147221U (en) |
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2023
- 2023-06-08 CN CN202321454588.9U patent/CN220147221U/en active Active
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