CN111252164A

CN111252164A - Latent lifting AGV

Info

Publication number: CN111252164A
Application number: CN202010149282.7A
Authority: CN
Inventors: 季彩玲; 丁明
Original assignee: Anhui Yufeng Equipment Co ltd
Current assignee: Anhui Yufeng Equipment Co ltd
Priority date: 2020-03-06
Filing date: 2020-03-06
Publication date: 2020-06-09

Abstract

The invention discloses a latent lifting AGV and relates to the field of AGV traveling/lifting mechanisms. In the invention: the automatic guided vehicle comprises an AGV cover, a vehicle body bottom plate and a driving module for lifting the AGV body; the front side end face and the rear side end face of the AGV housing are provided with retaining side rubber strips for absorbing impact deformation caused by obstacle avoidance errors; the rear end of the AGV housing is provided with a plurality of diffuse reflection photoelectric mechanisms. An inertial navigator for planning a route angle is arranged in the AGV; a camera device matched with a two-dimensional code arranged on the ground is installed in the center of the interior of the AGV; the bottom of the AGV body is provided with a plurality of LED light supplementing lamp bars located at the shooting opening position of the camera device; the interior position of AGV's toper tray is installed and is gone up and down/rotatory rotation module to supporting goods shelves. The invention can efficiently drive and control the AGV to support the goods and the goods shelf, reduce the collision damage of the AGV and improve the obstacle crossing capability of the AGV carrier during traveling.

Description

Latent lifting AGV

Technical Field

The invention relates to the field of AGV traveling/lifting mechanisms, in particular to a hidden lifting AGV.

Background

An AGV vehicle, i.e., an "automatic guided vehicle," is a vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path and has safety protection and various transfer functions. With the development of electronic and control technologies, AGV technology is also continuously advancing, and is developing towards better performance, cheaper cost and higher degree of freedom.

In the process that the AGV supports and carries goods, goods shelves and the like, and the AGV drives the vehicle, the environment around the AGV carrier vehicle is complex, and different operating workshops, warehouses and other environments have different requirements on the driving height, driving induction precision and the like of the AGV; how the high efficiency comes drive, control AGV supports goods, goods shelves, reduces AGV collision damage, promotes AGV carrier driving ability of hindering more etc. becomes the problem that AGV operation in-process needs to be solved.

Disclosure of Invention

The invention aims to solve the technical problem of providing a latent lifting AGV, so that the AGV is efficiently driven and controlled to support goods and a goods shelf, the collision damage of the AGV is reduced, and the obstacle crossing capability of the AGV carrier during traveling is improved.

In order to solve the technical problems, the invention is realized by the following technical scheme:

the invention provides a latent lifting AGV (automatic guided vehicle), which comprises an AGV cover, a vehicle body bottom plate and a driving module for lifting the AGV body; an obstacle avoidance sensor for monitoring the walking path condition is arranged at the front end of the AGV housing; the front side end face and the rear side end face of the AGV housing are provided with retaining side rubber strips for absorbing impact deformation caused by obstacle avoidance errors; the rear end of the AGV housing is provided with a plurality of diffuse reflection photoelectric mechanisms.

An inertial navigator for planning a route angle is arranged in the AGV; a camera device matched with a two-dimensional code arranged on the ground is installed in the center of the interior of the AGV; the bottom of the AGV body is provided with a plurality of LED light supplementing lamp bars located at the shooting opening position of the camera device; a conical tray is arranged on the AGV; a rotating module for lifting/rotating a supporting goods shelf is arranged in the inner position of the conical tray of the AGV; a conical sleeve structure matched with the radian/structural size of a conical tray on the AGV is arranged at the bottom of a goods shelf supported by the AGV; the conical sleeve structure at the bottom of the goods shelf is clamped and nested on the conical tray; a plurality of strip-shaped fixture blocks are welded on the upper side surface of the conical tray; a positioning bayonet slot matched with the strip-shaped fixture block is formed in the conical sleeve structure at the bottom of the goods shelf; the upper side surface of the conical tray is provided with an anti-skid rubber pad; .

As a preferred technical scheme of the invention, the inner side of the flange rubber strip is provided with an electric connection line/switch connected with an AGV parking control system; the diffuse reflection photoelectric mechanisms are located in the middle of the rear end face of the AGV housing and at the corners of the AGV housing and distributed in a divergent position.

As a preferred technical scheme of the invention, the antiskid rubber pad is provided with a gap groove structure for protruding the strip-shaped fixture block; the upper side of the antiskid rubber pad is in pressed contact with the conical sleeve structure at the bottom of the goods shelf; the conical tray and the conical sleeve are both non-rubber hard material plates.

As a preferred technical scheme of the invention, a start button and an emergency stop button are arranged on the side of the AGV housing; steering light bars are arranged on the side faces of the front end and the rear end of the AGV housing; and an automatic charging brush block is arranged on the side face of the ring of the AGV housing.

As a preferred technical scheme of the invention, the driving module comprises a middle seat, a limiting seat, a connecting shaft, a connecting rod block, a connecting rod arm, a mounting side group, a driving motor device, a driving wheel, a movable universal wheel and a fixed universal wheel; the middle seat is welded at the bottom of the bottom plate of the AGV body; a pair of limiting seats is arranged on the bottom plate of the vehicle body; a limiting sliding block made of Teflon/copper materials is embedded in the limiting seat; the middle seat is movably connected with a pair of link arms through a middle pin shaft; one end side of each link arm is movably connected with a link block through an edge pin shaft; the outer end side of each connecting rod block is vertically provided with a mounting side group; a connecting shaft is arranged between the pair of connecting rod blocks; a driving motor device is arranged at the inner side position of one end of each mounting side group; the outer side of one end of each mounting side group is provided with a driving wheel driven by a driving motor device; the driving motor device/driving wheel in the driving module adopts a differential driving mode; the other end of each mounting side group is provided with a movable universal wheel which can lift along with the mounting side group; the bottom side of the bottom plate of the vehicle body is provided with a fixed universal wheel; a heightening base plate for heightening the horizontal position of the vehicle body bottom plate is arranged between the fixed universal wheel and the vehicle body bottom plate.

As a preferred technical scheme of the invention, each connecting rod block is provided with a plurality of regulating through holes distributed at equal intervals; the link arm and the limiting seat/the limiting sliding block slide in a limiting way; both ends of the connecting shaft are in threaded column structures; and a screw hole structure matched with the thread column at the end side of the connecting shaft is formed in the inner end surface of each connecting rod block.

As a preferred technical scheme of the invention, the low points of the movable universal wheel/driving wheel after the lifting adjustment of the mounting side group and the fixed universal wheel of the heightening base plate are positioned on the same horizontal plane.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the AGV driving control system, the obstacle avoidance sensor and the diffuse reflection photoelectric mechanism are arranged to perform induction guarantee on the driving of the AGV, and the built-in electrically connected flange rubber strips are adopted to drive and control the AGV to stop in an error sensing mode, so that the integrity of the AGV body is protected;

2. according to the invention, the conical sleeve and the conical tray are mutually matched, so that the stability in the carrying process is improved, and the goods shelf is less in shaking; meanwhile, in the butt joint process of the conical sleeve and the conical tray, if the AGV is positioned with a slight deviation, the goods shelf or the trolley can be pulled to move, so that the goods shelf or the trolley can be accurately matched and butted, the AGV is ensured to be positioned below the center of the goods shelf, and the goods shelf is not easy to turn on one side; the top of the tray is provided with a strip-shaped fixture block, the top surface in the conical sleeve is provided with a positioning bayonet groove, the strip-shaped fixture block is butted with the positioning bayonet groove and matched with an anti-skid rubber pad above the tray, so that the tray is prevented from skidding with a goods shelf when rotating;

3. according to the invention, the four wheels at the bottom side adopt a comprehensive hinged structure, and the four wheels have a certain lifting amplitude, so that the effects of damping and ensuring pressing and ground grabbing can be achieved, and the obstacle crossing capability and safety performance are improved; because the four wheels can flexibly rotate and the lower pressure is uniformly distributed, the rigidity and the expansion amount of the spring do not need to be repeatedly calculated and adjusted as the common elastic damping mechanism, and the design cost and the installation cost are saved;

4. according to the invention, the triangular connecting rod mechanism is formed by the link arms, the link blocks and the connecting shafts between the mounting side groups, so that the strength is excellent, and the large load can be borne; the connecting rod mechanism is adjustable, the height of the real locomotive body is adjustable, the height of the whole locomotive can be quickly adjusted by fixing the universal wheel, increasing the base plate and replacing the connecting rod jack, and the applicability is stronger; when the customer needs to change the height of the vehicle body, the vehicle body does not need to be purchased or the design is not changed.

Drawings

FIG. 1 is a schematic view of the upper side of a latent lift AGV of the present invention;

FIG. 2 is a schematic distribution diagram of the structure of a camera device, an inertial navigator and the like according to the present invention;

FIG. 3 is a schematic diagram of the rear end side of an AGV according to the present invention;

FIG. 4 is a schematic diagram of the AGV side configuration of the present invention;

FIG. 5 is a schematic view of the construction of the underbody (inverted) of the present invention;

FIG. 6 is a schematic view showing a part arrangement of a vehicle body floor according to the present invention;

FIG. 7 is a schematic view of the connection structure of the link arm, link block, connection shaft, etc. in the present invention;

FIG. 8 is a side view of the vehicle body floor according to the present invention;

FIG. 9 is a schematic end view of the vehicle body floor according to the present invention;

FIG. 10 is a schematic view of an elevated end face of the support mechanism for the floor of the vehicle body of the present invention;

FIG. 11 is a schematic view of the configuration of the tapered sleeve structure/locator bayonet slots in the bottom of the rack supported/handled by an AGV according to the present invention;

wherein: 1-AGV enclosure; 2-obstacle avoidance sensor; 3-a flange rubber strip; 4-diffuse reflection photoelectric mechanism; 5-an inertial navigator; 6-a camera device; 7-LED light supplementing lamp bars; 8-a conical tray; 9-a rotation module; 10-a strip-shaped fixture block; 11-antiskid rubber pad; 12-a start button; 13-emergency stop button; 14-a steering light bar; 15-automatic charging brush block; 16-a conical sleeve structure; 17-positioning bayonet slot; 18-a body floor; 19-a middle seat; 20-a limiting seat; 21-middle pin shaft; 22-link arm; 23-a link block; 24-edge pin shaft; 25-mounting a side group; 26-a drive motor arrangement; 27-a drive wheel; 28-a movable universal wheel; 29-fixed universal wheels; 30-heightening cushion plates; 31-a connecting shaft; 32-adjusting through holes; 33-a limiting slide block; 34-adjusting through holes; 35-middle pin shaft; 36-side pin shaft; 37-thread insert; 38-washer.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The AGV mechanism comprises an AGV body, a rotating module 9, a driving module and an electrical appliance assembly, wherein the AGV adopts two-dimensional code + inertial navigation and is matched with a dispatching instruction system to perform flow control on the AGV so as to realize full-automatic operation; the driving module is in a driving control mode of differential driving and pivot steering.

Secondly, an obstacle avoidance sensor 2 and a retaining side rubber strip 3 are arranged at the front end of the AGV housing 1, the obstacle avoidance sensor 2 provides comprehensive visual field protection, and the retaining side rubber strip 3 can conduct an internal circuit line through impact deformation when an obstacle avoidance error occurs, so that the AGV is controlled to stop; three diffuse reflection photoelectric mechanisms 4 and flange adhesive tapes 3 are arranged at the rear end of the AGV housing 1, the diffuse reflection photoelectric mechanisms 4 are arranged in a divergence-shaped position, and comprehensive protection during retreating is realized at low cost.

Thirdly, inside inertial navigation ware 5 and the camera device 6 of setting up of AGV, camera device 6 is installed in the positive center of AGV mechanism, and the automobile body bottom shoots the opening part at camera device 6 and posts LED light filling lamp strip 7 and carries out the light filling, and inertial navigation ware 5 is responsible for route angle planning, and camera device 6 cooperates the two-dimensional code that ground arranged to realize the parking stall and rectifies a deviation, realizes that the high accuracy is gone.

Four, AGV internally mounted rotates module 9 and electrical components, rotatory module 9 adopts the market to purchase the piece, rotatory module 9 can realize going up and down and rotation function, install the tray on the rotatory module 9, the tray is circular cone/platform shape, the top is equipped with bar fixture block 10 and bonds anti-skidding rubber pad 11, shelf bottom back-off sets up the toper jacket structure 16 the same with the tray radian, 16 top cutting of toper jacket structure and the 10 complex positioning bayonet groove 17 of bar fixture block, agree with the accuracy of promoting stability and lifting through toper tray 8 and toper jacket structure 16 in the jacking process, skid when avoiding rotatory through the cooperation of bar fixture block 10 and positioning bayonet groove 17.

And fifthly, a starting button 12, an emergency stop button 13, a steering lamp bar 14 and an automatic charging brush block 15 are arranged on the periphery of the AGV shell.

Sixthly, the driving module comprises a middle seat 19, a limiting seat 20, a connecting shaft 31, a connecting rod block 23, a connecting rod arm 22, a mounting side group 25, a driving wheel 27, a movable universal wheel 28 and a fixed universal wheel 29.

Seventhly, the middle seat 19 is welded under the vehicle body bottom plate 18, the limiting seat 20 is installed under the vehicle body bottom plate 18 through bolts, a limiting sliding block 33 is embedded in the limiting seat 20, and the limiting sliding block 33 is made of materials with low friction coefficients such as teflon or copper; the two ends of the connecting shaft 31 are in threaded column structures and are screwed into screw holes formed in the end face of the connecting rod block 23, the link arm 22 and the connecting shaft 31 form a triangular connecting rod structure, and the triangular connecting rod structure, the link arm and the connecting shaft are hinged through an edge pin shaft 24, a middle pin shaft 21 and a clamp spring; the link arms 22 are provided with bolt through holes, threaded sleeves 37 are arranged between the link arms, the length of each threaded sleeve 37 is equal to the distance between each group of link arms 22 arranged in parallel, the link arms 22 on two sides are tightly contacted with the threaded sleeves 37 through bolt locking, a triangular link mechanism is reinforced, the link mechanism is prevented from shaking due to the machining precision, the bolt through holes are common round holes or waist-shaped holes, and the bolt through holes are common round holes in the drawing; the triangular connecting rod mechanism passes through a hole of the middle seat 19 through a middle pin shaft 31 to be connected to the chassis, and a bush is further sleeved on the middle pin shaft 31 to reduce the friction coefficient during rotation; the limit sliding block 33 of the limit seat 20 is contacted with the two link arms 22, so that the link arms 22 can only swing up and down, and the service life of the link mechanism is prevented from being influenced by the rotation of external force.

Eighthly, a plurality of adjusting through holes 34 are formed in the seat body of the connecting rod block 23, a cylindrical shaft and a stud are welded at the tail end of the connecting rod block 23, the installation side group 25 is rotatably connected to the cylindrical shaft of the connecting rod block 23 through a bushing, and the installation side group 25 is prevented from falling off from the cylindrical shaft by installing a nut on the stud; the fixed universal wheel 29 and the driving wheel 27 are both mounted on the mounting side group 25, and the driving wheel 27 is a speed-reducing built-in driving wheel (commercially available) with a flange and is directly driven by the driving motor device 26.

Ninth, the fixed universal wheel 29 is installed on the vehicle body bottom plate 18, and a heightening pad 30 is padded between the fixed universal wheel 29 and the vehicle body bottom plate 18 and used for adjusting the supporting height of the fixed universal wheel 29 to the vehicle body bottom plate 18.

And tenthly, when the height of the vehicle body needs to be adjusted, the side pin shaft 24 is pulled out from the adjusting through hole 34 of the connecting rod block 23 and is replaced into another adjusting through hole 34 (the scheme shown in the drawing is the lowest height, and the side pin shafts 24 are replaced into the other two adjusting through holes 34 to increase the height of the vehicle body), and meanwhile, the fixed universal wheel 29 is detached, and the heightening base plate 30 with the same thickness as the height increased by the connecting rod group is added, so that the six wheels are positioned on the same plane, and the height adjustment of the vehicle body can be completed quickly.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. The utility model provides a hold in palm and lift AGV with hiding which characterized in that:

the automatic AGV comprises an AGV cover (1), a vehicle body bottom plate (18) and a driving module for lifting the AGV body;

an obstacle avoidance sensor (2) for monitoring the condition of a walking path is arranged at the front end of the AGV housing (1);

the front end face and the rear end face of the AGV housing (1) are provided with flange rubber strips (3) for absorbing impact deformation caused by obstacle avoidance errors;

the rear end of the AGV housing (1) is provided with a plurality of diffuse reflection photoelectric mechanisms (4);

an inertial navigator (5) for planning a route angle is arranged in the AGV;

a camera device (6) matched with a two-dimensional code arranged on the ground is arranged at the center of the interior of the AGV;

the bottom of the AGV body is provided with a plurality of LED light supplementing lamp bars (7) which are positioned at the shooting opening of the camera device (6);

a conical tray (8) is arranged on the AGV;

a rotating module (9) for lifting/rotating a supporting shelf is arranged in the inner position of a conical tray (8) of the AGV;

a conical sleeve structure (16) matched with the radian/structural size of a conical tray (8) on the AGV is arranged at the bottom of a goods shelf supported by the AGV;

a conical sleeve structure (16) at the bottom of the goods shelf is clamped and nested on the conical tray (8);

a plurality of strip-shaped fixture blocks (10) are welded on the upper side surface of the conical tray (8);

a positioning bayonet groove (17) matched with the strip-shaped fixture block (10) is formed in the conical sleeve structure (16) at the bottom of the goods shelf;

the upper side surface of the conical tray (8) is provided with an anti-skid rubber pad (11).

2. A latent lift AGV according to claim 1, characterised in that:

the inner side of the flange rubber strip (3) is provided with an electric connection circuit/switch connected with an AGV parking control system;

the diffuse reflection photoelectric mechanisms (4) are located in the middle of the rear end face of the AGV housing (1) and at the corner positions and distributed in a divergent position.

3. A latent lift AGV according to claim 1, characterised in that:

a gap groove structure used for protruding the strip-shaped clamping block (10) is formed in the anti-slip rubber pad (11);

the upper side of the antiskid rubber pad (11) is in pressing contact with a conical sleeve structure (16) at the bottom of the goods shelf;

the conical tray (8) and the conical sleeve structure (16) are non-rubber hard material plates.

4. A latent lift AGV according to claim 1, characterised in that:

a starting button (12) and an emergency stop button (13) are arranged on the side of the AGV housing (1);

steering lamp strips (14) are arranged on the side faces of the front end and the rear end of the AGV housing (1);

the lateral side of the ring of the AGV housing (1) is provided with an automatic charging brush block (15).

5. A latent lift AGV according to claim 1, characterised in that:

a middle seat (19) welded at the bottom of a body bottom plate (18) of the AGV body;

a pair of limiting seats (20) are arranged on the vehicle body bottom plate (18);

a limiting sliding block (33) made of Teflon/copper materials is embedded into the limiting seat (20);

a pair of link arms (22) are movably connected to the middle seat (19) through a middle pin shaft (21);

one end side of each link arm (22) is movably connected with a link block (23) through an edge pin shaft (24);

the outer end side of each connecting rod block (23) is vertically provided with a mounting side group (25);

a connecting shaft (31) is arranged between the pair of connecting rod blocks (23);

a driving motor device (26) is arranged at the inner side of one end of each mounting side group (25);

the outer side of one end of each mounting side group (25) is provided with a driving wheel (27) driven by a driving motor device (26);

the driving motor device (26)/the driving wheel (27) in the driving module is in a differential driving mode;

the other end of each mounting side group (25) is provided with a movable universal wheel (28) which can lift along with the mounting side group (25);

a fixed universal wheel (29) is arranged at the bottom side of the vehicle body bottom plate (18);

and a heightening cushion plate (30) for heightening the horizontal position of the vehicle body bottom plate (18) is arranged between the fixed universal wheel (29) and the vehicle body bottom plate (18).

6. A latent lift AGV according to claim 5 wherein:

each connecting rod block (23) is provided with a plurality of adjusting through holes (34) which are distributed at equal intervals;

the link arm (22) and the limiting seat (20)/the limiting sliding block (33) slide in a limiting way;

both ends of the connecting shaft (31) are in threaded column structures;

the end face of the inner side of each connecting rod block (23) is provided with a screw hole structure matched with the threaded column at the end side of the connecting shaft (31).

7. A latent lift AGV according to claim 5 wherein:

the movable universal wheel (28)/driving wheel (27) which is adjusted by the lifting of the mounting side group (25) and the lower point of the fixed universal wheel (29) of the heightening pad (30) are positioned on the same horizontal plane.