CN113734721A

CN113734721A - Intelligent heavy-load AGV (automatic guided vehicle) running vehicle for logistics

Info

Publication number: CN113734721A
Application number: CN202111071012.XA
Authority: CN
Inventors: 刘晓鸣; 谢义杰
Original assignee: Besco Tianjin Intelligent Technology Co ltd
Current assignee: Besco Tianjin Intelligent Technology Co ltd
Priority date: 2021-09-13
Filing date: 2021-09-13
Publication date: 2021-12-03

Abstract

The invention discloses an intelligent heavy-load AGV (automatic guided vehicle) running vehicle for logistics, which comprises a vehicle body and a bearing device, wherein an active battery and a control panel are arranged in the vehicle body, obstacle avoidance sensors are arranged at the front end and the rear end of the vehicle body, an RFID (radio frequency identification) sensor and a WIFI (wireless fidelity) module are also arranged in the vehicle body, anti-collision damping devices are arranged at the front end and the rear end of the vehicle body, a plurality of moving wheels are arranged at the bottom of the vehicle body, a lifting adjusting device is arranged between the vehicle body and the bearing device, and a plurality of material distributing plates are arranged in the bearing device. The obstacle avoidance sensors arranged at the front end and the rear end of the vehicle body prevent the vehicle body from collision and other situations during running, information can be timely sent to the console through the WIFI module to remind workers to process the information, and the collision avoidance and damping devices arranged at the front end and the rear end of the vehicle body can protect the vehicle body from collision; the lifting adjusting device arranged between the vehicle body and the bearing device can adjust the horizontal height of the bearing device and adjust the inclination angle of the bearing device during discharging.

Description

Intelligent heavy-load AGV (automatic guided vehicle) running vehicle for logistics

Technical Field

The invention relates to the technical field of logistics transportation, in particular to an intelligent heavy-load AGV (automatic guided vehicle) for logistics.

Background

AGV (automated Guided vehicle) transport vehicles, also commonly referred to as AGV vehicles. The present invention relates to a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having safety protection and various transfer functions. The industrial application does not need a driver's transport vehicle, and a rechargeable storage battery is used as a power source of the industrial application. Generally, the traveling path and behavior can be controlled by a computer, or the traveling path is set up by using an electromagnetic path (electromagnetic path-following system), the electromagnetic path is adhered to the floor, and the unmanned transport vehicle moves and operates according to the information brought by the electromagnetic path.

In the existing patent, chinese patent publication No. CN112694033A discloses a heavy-duty AGV transfer vehicle, which includes a vehicle body, a control unit, a loading device, a first floating device, a second floating device and a driving assembly, wherein the vehicle body is of a frame structure, the control unit is arranged at the upper end of the vehicle body, the driving assembly is arranged at the lower end of the vehicle body, the first floating device and the second floating device are respectively arranged at two sides of the vehicle body, the first floating device and the second floating device are parallel to each other and are arranged opposite to the vehicle, the cross section of the vehicle body is of a U-shaped structure, and the loading device is arranged inside the vehicle body. This patent can effectively fork the goods and get to type in the goods information, dispose the floating installation of anticollision, ensured production safety, every drive unit all can rotate through the differential in the setting of two sets of drive module, need not turn radius, can realize the turn in situ, and can not lead to the fact the damage to runner and road surface.

The above patent is only applicable to transport case class article, when the transportation bulk cargo, does not possess the function of adjusting the angle of unloading.

In the prior patent, chinese patent publication No. CN113120122A discloses an AGV carrier for relay picking, which includes a frame assembly, a traveling wheel system for traveling and a battery assembly connected with the traveling wheel system are disposed on the frame assembly; the frame assembly comprises a first layer of supporting plate assembly and a second layer of supporting plate assembly, the first layer of supporting plate assembly and the second layer of supporting plate assembly are connected through supporting columns, and the second layer of supporting plate assembly is provided with an operation panel component; a laser barrier sensor is arranged on the frame assembly; the bottom of the frame assembly is provided with a laser scanning head. The technical scheme in the patent has the advantages of high hit rate, high goods taking accuracy and high sorting efficiency. The AGV trolley bears less commodities each time and has low power consumption. And power components such as a motor reducer and the like have long service life. The key part has high design, processing and assembly precision.

The above patent lacks a structure for detecting the front and rear of the vehicle body to prevent collision. If collision occurs, the vehicle body is very easy to be damaged.

In conclusion, an AGV transfer vehicle is needed, which has a function of adjusting an unloading angle, and is also provided with a device for detecting the front and back of a vehicle body to prevent collision.

Disclosure of Invention

The invention aims to improve the problems and provides a heavy-load AGV (automatic guided vehicle) for intelligent logistics.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides an intelligence commodity circulation is with heavily carrying AGV operation car, includes the automobile body and bears the device, it sets up in the automobile body top to bear the device, the inside battery jar of having seted up of bottom of the body, be provided with active battery in the battery jar, the inside control panel that is provided with of automobile body, the front and back end of automobile body all is provided with keeps away the barrier sensor, the inside RFID sensor that still is provided with of automobile body, the WIFI module, the control panel is connected with keeping away barrier sensor, RFID sensor and WIFI module respectively, the source battery respectively with the control panel, keep away barrier sensor, RFID sensor and WIFI module and be connected, both ends are provided with crashproof damping device around the automobile body, bottom of the body is provided with a plurality of removal wheels, be provided with lifting adjusting device between automobile body and the bearing device, bear the inside a plurality of branch flitchs that is provided with of device.

Further, lift adjustment device includes lift post, first sliding block, second sliding block, third sliding block, fixed plate, dwang, slide bar, first regulation pole and second regulation pole. The bottom of the lifting column is arranged at one end of the vehicle body, and the top end of the lifting column is hinged with one end of the bottom of the bearing device. Two sliding grooves are formed in one end, far away from the lifting column, of the bottom of the bearing device, the sliding grooves are formed in the length direction of the bearing device, the third sliding blocks are arranged inside the sliding grooves, and the sliding grooves are internally provided with two third sliding blocks. The utility model discloses a lifting column, including the fixed plate, the fixed plate sets up in the automobile body upper end and keeps away from lift post one end, fixed setting between fixed plate and the automobile body, the dwang is totally two, the slide bar is totally two, the dwang sets up in two between the fixed plate, the both ends of dwang respectively with fixed plate swing joint, the dwang middle part is provided with the gear, the dwang surface uses the gear to be provided with opposite protruding line as the mid point, the automobile body upper end corresponds gear department and is provided with the rotation motor, the output shaft that rotates the motor is connected with the gear. The slide bar set up in the dwang top, the both ends of slide bar are respectively by fixed plate fixed connection. First sliding block sets up on the dwang, singly be provided with two first sliding blocks on the dwang, the second sliding block sets up on the slide bar, singly be provided with two second sliding blocks on the slide bar, the top of first sliding block with the bottom fixed connection of second sliding block. One end of the first adjusting rod is connected to the bottom of one third sliding block, the other end of the first adjusting rod is connected to the top of one second sliding block, one end of the second adjusting rod is connected to the bottom of the other third sliding block on the same sliding groove, and the other end of the second adjusting rod is connected to the top of the other second sliding block on the same sliding rod. The middle part of the first adjusting rod is provided with a connecting shaft, and the middle parts of the first adjusting rod and the second adjusting rod are connected through the connecting shaft.

Further, the obstacle avoidance sensor is an infrared obstacle avoidance sensor or a laser obstacle avoidance sensor.

Furthermore, the number of the moving wheels is four, the moving wheels are respectively arranged on two sides of two ends of the vehicle body, driving shafts are arranged in the moving wheels, two driving motors are respectively arranged on two ends in the vehicle body, the output shaft of each driving motor is connected with the driving shafts of the two moving wheels at the same end, and the driving motors are connected with the source battery.

Still further, a charging port for charging the source battery is provided on the vehicle body.

Further, the anti-collision damping device comprises a damping spring and an anti-collision plate.

Still further, damping spring one end is connected with the automobile body, and the other end is connected with the anticollision board, the anticollision board is kept away from damping spring one end and is provided with the damping plate.

Furthermore, a plurality of mounting holes are formed in the bearing device, and the upper end of the material distributing plate is mounted inside the bearing device through the mounting holes.

Still further, the inside branch material motor that still is provided with of load-bearing device, divide the material motor to be connected with the upper end of branch flitch.

The vehicle body parking system further comprises a control console, wherein the control console stores the action track and the parking point position information of the vehicle body, and the control console is in communication connection with the vehicle body.

In conclusion, the beneficial technical effects of the invention are as follows:

1. the front end and the rear end of automobile body are provided with keeps away the barrier sensor, prevent that the automobile body from appearing the condition such as collision when moving, if when appearing the object in the orbit of automobile body, can in time pass through the WIFI module with information transmission to the control cabinet to remind the staff to handle.

2. The RFID sensor detects the operating temperature in the automobile body, prevents that the inside high temperature of automobile body from damaging the automobile body.

3. The front end and the rear end of the vehicle body are provided with anti-collision damping devices, so that the vehicle body and an internal structure of the vehicle body can be protected if collision occurs, and loss caused by collision is reduced.

4. A lifting adjusting device is arranged between the vehicle body and the bearing device, and the horizontal height of the bearing device and the inclination angle of the bearing device during discharging can be adjusted.

5. Be provided with a plurality of branch flitchs in the bearing device for can unload in batches when bearing device unloads, avoid once only unloading the skew to lead to the condition emergence that the automobile body removed.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural diagram of a vehicle body and a carrying device according to the present invention;

FIG. 3 is an enlarged view taken at A in FIG. 2;

FIG. 4 is a top view of the vehicle body and the carrying device of the present invention.

Reference numerals: 1. a vehicle body; 2. a carrying device; 3. a source battery; 4. a control panel; 5. an obstacle avoidance sensor; 6. an RFID sensor; 7. a WIFI module; 8. a moving wheel; 9. a material distributing plate; 10. a lifting column; 11. a first slider; 12. a second slider; 13. a third slider; 14. a fixing plate; 15. rotating the rod; 16. a slide bar; 17. a first adjusting lever; 18. a second adjusting lever; 19. a gear; 20. a drive motor; 21. a damping spring; 22. an anti-collision plate; 23. a damper plate; 24. a console; 25. the motor is rotated.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1

As shown in fig. 1, 2, 3 and 4, the intelligent heavy-duty AGV operating vehicle for logistics comprises a vehicle body 1, a carrying device 2 and a control console 24, wherein the carrying device 2 is arranged above the vehicle body 1, and the control console 24 is in communication connection with the vehicle body 1. The console 24 stores the movement trajectory of the vehicle body 1 and the stop point location information of the vehicle body 1.

Referring to fig. 1 and 2, a battery jar is provided inside the bottom of the vehicle body 1, an active battery 3 is provided in the battery jar, and a charging port for charging the active battery 3 is provided on the vehicle body 1. The inside control panel 4 that is provided with of automobile body 1, the front and back end of automobile body 1 all is provided with keeps away barrier sensor 5, keeps away barrier sensor 5 and keeps away the barrier sensor for infrared. The inside RFID sensor 6 that still is provided with of automobile body 1, WIFI module 7, control panel 4 are connected with keeping away barrier sensor 5, RFID sensor 6 and WIFI module 7 respectively, and source battery 3 is connected with control panel 4, keep away barrier sensor 5, RFID sensor 6 and WIFI module 7 respectively.

The front end and the rear end of the vehicle body 1 are provided with anti-collision damping devices, and each anti-collision damping device comprises a damping spring 21 and an anti-collision plate 22. One end of the damping spring 21 is connected with the vehicle body 1, the other end is connected with the anti-collision plate 22, and the end of the anti-collision plate 22, which is far away from the damping spring 21, is provided with a damping plate 23.

Four moving wheels 8 are arranged at the bottom of the vehicle body 1 and are respectively arranged at two sides of two ends of the vehicle body 1, driving shafts are arranged in the moving wheels 8, two driving motors 20 are respectively arranged at two ends in the vehicle body 1, the output shaft of a single driving motor 20 is connected with the driving shafts of the two moving wheels 8 at the same end, and the driving motors 20 are connected with the source battery 3.

Referring to fig. 2 and 3, a lift adjusting device is disposed between the vehicle body 1 and the carrier 2, and includes a lift column 10, a first slide block 11, a second slide block 12, a third slide block 13, a fixed plate 14, a rotating rod 15, a slide rod 16, a first adjusting rod 17, and a second adjusting rod 18.

The bottom of the lifting column 10 is arranged at one end of the vehicle body 1, and the top end of the lifting column 10 is hinged with one end of the bottom of the bearing device 2.

Two sliding grooves are formed in one end, far away from the lifting column 10, of the bottom of the bearing device 2, the sliding grooves are formed in the length direction of the bearing device 2, the third sliding blocks 13 are arranged inside the sliding grooves, and the single sliding groove is internally provided with the two third sliding blocks 13.

The fixed plate 14 is arranged at the upper end of the car body 1 and is far away from one end of the lifting column 10, the fixed plate 14 and the car body 1 are fixedly arranged, the number of the rotating rods 15 is two, the number of the sliding rods 16 is two, and the rotating rods 15 are arranged between the two fixed plates 14.

The both ends of dwang 15 respectively with fixed plate 14 swing joint, the dwang 15 middle part is provided with gear 19, and the dwang 15 surface uses gear 19 to be provided with opposite protruding line as the mid point. The upper end of the vehicle body 1 is provided with a rotating motor 25 corresponding to the gear 19, and an output shaft of the rotating motor 25 is connected with the gear 19.

The slide rod 16 is disposed above the rotation rod 15, and both ends of the slide rod 16 are fixedly connected by the fixing plates 14, respectively. The first slide block 11 is provided on the rotating lever 15, and two first slide blocks 11 are provided on a single rotating lever 15. Second sliding block 12 is provided on slide bar 16, and two second sliding blocks 12 are provided on single slide bar 16. The top end of first sliding block 11 is fixedly connected with the bottom end of second sliding block 12.

First regulation pole 17 one end is connected in a third sliding block 13 bottom, and the first regulation pole 17 other end is connected in a second sliding block 12 top, and second regulation pole 18 one end is connected in the bottom of another third sliding block on same spout, and the second regulation pole 18 other end is connected in the top of another second sliding block on same slide bar 16, and first regulation pole 17 middle part is provided with the connecting axle, and first regulation pole 17 is connected through the connecting axle with the middle part of second regulation pole 18.

Referring to fig. 4, a plurality of material distributing plates 9 are provided inside the carrier 2. A plurality of mounting holes are formed in the bearing device 2, and the upper end of the material distributing plate 9 is mounted inside the bearing device 2 through the mounting holes. The inside material distributing motor that is connected with the upper end of the material distributing plate 9 is arranged in the bearing device 2.

The working principle and the beneficial effects of the embodiment are as follows:

during operation, the materials to be transported are placed in the bearing device 2, and the vehicle body 1 drives the bearing device 2 to move along the track set by the console 24.

In the operation process, obstacle avoidance sensors 5 arranged at the front end and the rear end of the vehicle body 1 detect the front condition and the rear condition of the vehicle body 1 in real time, so that the condition that the vehicle body 1 collides due to the existence of objects in the operation track is prevented. If detect when appearing the object in the orbit of automobile body 1, then can in time pass through WIFI module 7 with information routing to control cabinet 24 to remind the staff to handle. The arranged RFID sensor 6 detects the running temperature inside the vehicle body 1, and prevents the vehicle body 1 from being damaged by overhigh temperature inside the vehicle body 1.

Both ends are provided with anticollision damping device around automobile body 1, if there is the object to appear suddenly in automobile body 1 orbit, has taken place the collision condition, and the shock attenuation board 23 on the anticollision board 22 contacts the object at first, plays preliminary cushioning effect, and damping spring 21 plays secondary cushioning effect to protection automobile body 1 and inner structure reduce the loss because of the collision produces.

And after the vehicle body 1 runs to a specified unloading place, unloading work is carried out. The rotating motor 25 drives the gear 19 to rotate, so that the rotating rod 15 rotates, and because the protruding lines between two sections of the rotating rod 15 with the gear 19 as the midpoint are opposite, when the rotating rod 15 rotates, the two first sliding blocks 11 on the same rotating rod 15 perform the aggregation or separation motion, and the first sliding blocks 11 are fixedly connected with the second sliding blocks 12 in a one-to-one correspondence manner, so that the two second sliding blocks 12 on the same sliding rod 16 also perform the aggregation or separation motion. The second sliding block 12 moves to make the lower end points of the first adjusting rod 17 and the second adjusting rod 18 move, so that the first adjusting rod 17 and the second adjusting rod 18 drive the third sliding block to move on the sliding chute at the bottom of the bearing device 2. So that the end of the carrier 2 provided with the chute is raised or lowered and the lifting column 10 raises or lowers the end of the carrier 2 remote from the chute. The lifting adjusting device has various components which are matched with each other, so that the bearing device 2 can adjust the angle during discharging.

A plurality of branch flitch 9 that set up in the load bearing device 2 for can unload in batches when load bearing device 2 unloads, avoid once only unloading barycenter skew to lead to the condition emergence that automobile body 1 removed.

Example 2

As shown in fig. 1, 2, 3 and 4, the difference between the heavy-duty AGV transport vehicle for intelligent logistics and the embodiment 1 is that the infrared obstacle avoidance sensor is replaced by a laser obstacle avoidance sensor.

the same as in example 1.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides an intelligence heavy load AGV fortune car for commodity circulation which characterized in that: the automobile body comprises an automobile body (1) and a bearing device (2), wherein the bearing device (2) is arranged above the automobile body (1), a battery jar is arranged inside the bottom of the automobile body (1), an active battery (3) is arranged in the battery jar, a control panel (4) is arranged inside the automobile body (1), obstacle avoidance sensors (5) are arranged at the front end and the rear end of the automobile body (1), an RFID sensor (6) and a WIFI module (7) are further arranged inside the automobile body (1), the control panel (4) is respectively connected with the obstacle avoidance sensors (5), the RFID sensor (6) and the WIFI module (7), the active battery (3) is respectively connected with the control panel (4), the obstacle avoidance sensors (5), the RFID sensor (6) and the WIFI module (7), anti-collision damping devices are arranged at the front end and the rear end of the automobile body (1), a plurality of moving wheels (8) are arranged at the bottom of the automobile body (1), a lifting adjusting device is arranged between the vehicle body (1) and the bearing device (2), and a plurality of material distributing plates (9) are arranged inside the bearing device (2).

2. The heavy-load AGV transporting vehicle for intelligent logistics according to claim 1, wherein: the lifting adjusting device comprises a lifting column (10), a first sliding block (11), a second sliding block (12), a third sliding block (13), a fixed plate (14), a rotating rod (15), a sliding rod (16), a first adjusting rod (17) and a second adjusting rod (18);

the bottom of the lifting column (10) is arranged at one end of the vehicle body (1), and the top end of the lifting column (10) is hinged with one end of the bottom of the bearing device (2);

the utility model discloses a lifting column, including bearing device (2), lifting column (10), fixed plate (14), bearing device (2), third sliding block (13), fixed plate (15), dwang (15), sliding rod (16), dwang (15), fixed plate (14) and fixed plate (14) swing joint, bearing device (2) bottom is kept away from lifting column (10) one end and is seted up two spouts, the spout sets up inside the spout, singly be provided with two third sliding blocks (13) in the spout, fixed plate (14) set up in automobile body (1) upper end and keep away from lifting column (10) one end, fixed plate (14) and automobile body (1) between fixed plate (14) fixed setting, dwang (15) middle part is provided with gear (19), dwang (15) surface uses gear (19) to be provided with opposite protruding line as the mid point, the automobile body (1) upper end corresponds gear (19) department and is provided with rotation motor (25), the output shaft that rotates motor (25) is connected with gear (19), slide bar (16) set up in dwang (15) top, the both ends of slide bar (16) are respectively by fixed plate (14) fixed connection, first sliding block (11) set up on dwang (15), singly be provided with two first sliding blocks (11) on dwang (15), second sliding block (12) set up on slide bar (16), singly be provided with two second sliding blocks (12) on slide bar (16), the top of first sliding block (11) with the bottom fixed connection of second sliding block (12), first regulation pole (17) one end is connected in a third sliding block (13) bottom, first regulation pole (17) other end is connected in a second sliding block (12) top, one end of the second adjusting rod (18) is connected to the bottom of the other third sliding block on the same sliding groove, the other end of the second adjusting rod (18) is connected to the top of the other second sliding block on the same sliding rod (16), a connecting shaft is arranged in the middle of the first adjusting rod (17), and the middle parts of the first adjusting rod (17) and the second adjusting rod (18) are connected through the connecting shaft.

3. The heavy-load AGV transporting vehicle for intelligent logistics according to claim 1, wherein: the obstacle avoidance sensor (5) is an infrared obstacle avoidance sensor or a laser obstacle avoidance sensor.

4. The heavy-load AGV transporting vehicle for intelligent logistics according to claim 1, wherein: the four movable wheels (8) are respectively arranged on two sides of two ends of the vehicle body (1), driving shafts are arranged in the movable wheels (8), two driving motors (20) are respectively arranged at two ends of the interior of the vehicle body (1), the output shaft of each driving motor (20) is connected with the driving shafts of the two movable wheels (8) at the same end, and the driving motors (20) are connected with the source battery (3).

5. The heavy-load AGV transporting vehicle for intelligent logistics according to claim 4, wherein: the vehicle body (1) is provided with a charging port for charging the source battery (3).

6. The heavy-load AGV transporting vehicle for intelligent logistics according to claim 1, wherein: the anti-collision damping device comprises a damping spring (21) and an anti-collision plate (22).

7. The AGV transporting vehicle for intelligent logistics according to claim 6, wherein: one end of the damping spring (21) is connected with the vehicle body (1), the other end of the damping spring is connected with the anti-collision plate (22), and the damping plate (23) is arranged at one end, far away from the damping spring (21), of the anti-collision plate (22).

8. The heavy-load AGV transporting vehicle for intelligent logistics according to claim 1, wherein: a plurality of mounting holes are formed in the bearing device (2), and the upper end of the material distributing plate (9) is mounted inside the bearing device (2) through the mounting holes.

9. The AGV transporting vehicle for intelligent logistics according to claim 8, wherein: the bearing device (2) is also internally provided with a material distributing motor, and the material distributing motor is connected with the upper end of the material distributing plate (9).

10. The heavy-load AGV transporting vehicle for intelligent logistics according to claim 1, wherein: the vehicle body parking system is characterized by further comprising a control console (24), wherein the control console (24) stores the action track of the vehicle body (1) and the parking point position information of the vehicle body (1), and the control console (24) is in communication connection with the vehicle body (1).