CN114148950A - High-precision visual navigation hidden jacking AGV - Google Patents
High-precision visual navigation hidden jacking AGV Download PDFInfo
- Publication number
- CN114148950A CN114148950A CN202111429872.6A CN202111429872A CN114148950A CN 114148950 A CN114148950 A CN 114148950A CN 202111429872 A CN202111429872 A CN 202111429872A CN 114148950 A CN114148950 A CN 114148950A
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- Prior art keywords
- jacking
- agv
- vehicle body
- main control
- high accuracy
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000000007 visual effect Effects 0.000 title claims abstract description 26
- 238000009434 installation Methods 0.000 claims abstract description 9
- CBVWMGCJNPPAAR-HJWRWDBZSA-N (nz)-n-(5-methylheptan-3-ylidene)hydroxylamine Chemical compound CCC(C)C\C(CC)=N/O CBVWMGCJNPPAAR-HJWRWDBZSA-N 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 4
- 238000005096 rolling process Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
- B66F7/16—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by one or more hydraulic or pneumatic jacks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/08—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness for measuring thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
Abstract
The invention discloses a high-precision visual navigation hidden jacking AGV which comprises a vehicle body, wherein a main control machine is installed on the vehicle body, a jacking plate is arranged on the upper end surface of the vehicle body and connected with the vehicle body through a first hydraulic rod, two side surfaces of the vehicle body are connected with a cross beam through a second hydraulic rod, universal wheels are installed at the lower end of the cross beam, the upper end surface of the cross beam is connected with the jacking rod through a third hydraulic rod, an integrated anti-collision arc plate is arranged at the front end of the vehicle body and fixedly connected with an installation plate, a visual sensor is installed on the installation plate and connected with the main control machine, and walking wheels are installed at the lower ends of two ends of the vehicle body; the visual navigation is realized by connecting the visual sensor with the main control machine, so that the flexibility of the vehicle body is good, the path is easy to change, the precision of the driving path is high, the jacking position control is convenient, the cross beams and the jacking rods arranged on the two sides of the vehicle body can adapt to jacking of the frame bodies with different sizes, the jacking stability is improved, and the stability of the frame bodies in the transportation process is ensured.
Description
Technical Field
The invention relates to the technical field of AGV, in particular to a high-precision visual navigation latent jacking AGV.
Background
An automatic guided vehicle, which is an AGV navigation vehicle, is a vehicle equipped with an electromagnetic or optical automatic guidance system, which can travel along a predetermined guidance route, and has safety protection and various transfer functions. In warehouse and workshop transportation management, in order to reduce the demand on workers, an AGV trolley is generally adopted to realize transportation use in a workshop or a warehouse. Jacking AGV hides is a kind of AGV navigation car, it goes in the jacking cavity of material support body below to hide, the transportation is gone behind the top jacking material support body, current jacking AGV that hides is jacking board jack-up through inside climbing mechanism, realize the jacking to the material support body, however, the jacking board in the current jacking AGV that hides is unified fixed, when the material support body that needs the jacking to be greater than the jacking board a lot of, cause the material support body unstability easily when jacking board jacking, take place askewly, current AGV navigation adopts laser navigation or electromagnetic navigation more simultaneously, along with visual navigation more and more ripe, consequently, visual navigation is used in the jacking AGV that hides, in order to improve jacking precision of jacking AGV that hides.
Disclosure of Invention
The invention mainly aims to provide a high-precision visual navigation latent jacking AGV, which realizes visual navigation by connecting a visual sensor with a main control computer, so that a vehicle body is good in flexibility, easy in path change, convenient in communication control, high in running path precision and convenient in jacking position control, can be suitable for jacking frame bodies with different sizes by virtue of cross beams and jacking rods arranged on two sides of the vehicle body, improves jacking stability, ensures the stability of the frame bodies in the transportation process, and can effectively solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides a jacking AGV is hidden in high accuracy vision navigation, includes the automobile body, install the main control computer on the automobile body, the up end of automobile body is equipped with the jacking board, the jacking board passes through hydraulic stem one and car connection, the both sides face of automobile body all connects the crossbeam through hydraulic stem two, the lower extreme installation universal wheel of crossbeam, the up end of crossbeam passes through hydraulic stem three and connects the jacking pole, the front end of automobile body is equipped with even crashproof arc board as an organic whole, crashproof arc board fixed connection mounting panel, install visual sensor on the mounting panel, visual sensor is connected with the main control computer, the both ends lower extreme installation walking wheel of automobile body.
Preferably, still install the width gauge on the mounting panel, width gauge and main control computer electric connection, the width gauge is used for measuring the cavity width of treating the jacking support body.
Preferably, still install the altimeter on the mounting panel, altimeter and main control computer electric connection, the altimeter is used for measuring the cavity height of treating the jacking support body.
Preferably, the upper end of the vehicle body is provided with a first empty groove, the first hydraulic rod is installed at the bottom of the first empty groove, and the jacking plate is placed in the first empty groove.
Preferably, empty groove two is arranged on two sides of the vehicle body, and the cross beam and the jacking rod are placed into the empty groove two.
Preferably, the upper end face of the jacking rod is provided with a strip-shaped clamping groove.
Preferably, a weight sensor is embedded in the upper end face of the jacking plate and connected with the main control machine.
Preferably, the middle part of the lower end face of the jacking plate is fixedly connected with an upper disc, the upper disc is movably connected with a lower disc, a rotating motor is mounted on the lower disc and is in transmission connection with the upper disc, the lower end of the lower disc is fixedly connected with a round rod, and a round groove in sliding connection with the round rod is arranged at the bottom of the empty groove.
Preferably, the first hydraulic rods are four, the upper ends of the first hydraulic rods are fixedly connected with a ring plate, the lower end of the jacking plate is fixedly connected with an annular slide rail, and the ring plate is in limit sliding connection with the annular slide rail.
Compared with the prior art, the invention has the following beneficial effects: the invention realizes visual navigation by connecting the visual sensor with the main control computer, so that the vehicle body has good flexibility, easy path change, convenient communication control, high running path precision and convenient jacking position control, can adapt to jacking of frame bodies with different sizes by the cross beams and the jacking rods arranged at the two sides of the vehicle body, improves the jacking stability and ensures the stability of the frame bodies in the transportation process.
Drawings
FIG. 1 is a perspective view of the integral structure of the present invention during jacking;
FIG. 2 is a perspective view of the overall structure of the present invention when collapsed;
FIG. 3 is a perspective view of an interior structure of the body cavity of the present invention;
FIG. 4 is a schematic view of the connection between the ring plate and the annular slide rail according to the present invention.
In the figure: 1. a vehicle body; 2. a main control machine; 3. a jacking plate; 4. a first hydraulic rod; 5. a second hydraulic rod; 6. a cross beam; 7. a universal wheel; 8. a hydraulic rod III; 9. a jacking rod; 10. an anti-collision arc plate; 11. mounting a plate; 12. a vision sensor; 13. a traveling wheel; 14. a width gauge; 15. a height indicator; 16. a first empty groove; 17. a second empty groove; 18. a strip-shaped clamping groove; 19. a weight sensor; 20. an upper disc; 21. a lower disc; 22. a rotating electric machine; 23. a round bar; 24. a circular groove; 25. a ring plate; 26. annular slide rail.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1-4, a high accuracy vision navigation is jacking AGV that hides, including automobile body 1, install main control computer 2 on the automobile body 1, the up end of automobile body 1 is equipped with jacking board 3, jacking board 3 is connected with automobile body 1 through hydraulic stem one 4, the both sides face of automobile body 1 all connects crossbeam 6 through hydraulic stem two 5, the lower extreme installation universal wheel 7 of crossbeam 6, the up end of crossbeam 6 passes through hydraulic stem three 8 and connects jacking rod 9, the front end of automobile body 1 is equipped with even crashproof arc board 10 as an organic whole, crashproof arc board 10 fixed connection mounting panel 11, installation vision sensor 12 on the mounting panel 11, vision sensor 12 is connected with main control computer 2, the both ends lower extreme installation walking wheel 13 of automobile body 1, and vision sensor 12 specifically is the camera, through vision sensor 12 to the two-dimensional code of brushing on the automobile body 1 route of traveling, and convert into the coordinate through main control computer 2, compare with the design coordinate through main control computer 2, and give drive control system to offset signal output, drive control system drive walking wheel 13 walks, main control computer 2 corrects automobile body 1 walking direction through calculating, realize automobile body 1's navigation, and main control computer 2 drive hydraulic stem two 5 promote crossbeam 6 and remove, make crossbeam 6 remove the both sides limit of treating the jacking support body, can adapt to the support body jacking of different sizes, improve jacking stability.
In this example, still install width gage 14 on the mounting panel 11, width gage 14 and main control computer 2 electric connection, width gage 14 is used for measuring the cavity width of treating the jacking support body, still install altimeter 15 on the mounting panel 11, altimeter 15 and main control computer 2 electric connection, altimeter 15 is used for measuring the cavity height of treating the jacking support body, measures the width and the height of support body jacking cavity through width gage 14 and altimeter 15 to transmit measured data to main control computer 2, and then main control computer 2 control hydraulic stem one 4, the lift height of two 5 of hydraulic stem and three 8 of hydraulic stem, thereby improve jacking efficiency.
In this case, the upper end of the vehicle body 1 is provided with a first empty groove 16, the hydraulic rod 4 is arranged at the bottom of the first empty groove 16, the jacking plate 3 is arranged in the first empty groove 16, the second empty groove 17 is arranged on two sides of the vehicle body 1, the beam 6 and the jacking rod 9 are arranged in the empty groove II 17, the empty groove I16 and the empty groove II 17 are used for accommodating the jacking plate 3 and the expansion jacking mechanisms on the left side and the right side, thereby reducing the actual volume of the vehicle body 1, facilitating the jacking of the cavity aiming at the small space of the frame body, and in order to improve the jacking stability, a strip-shaped clamping groove 18 is arranged on the upper end surface of the jacking rod 9, a clamping strip clamped with the strip-shaped clamping groove 18 is fixed at the lower end of the frame body in advance, and in order to detect the weight of the jacked frame body, the weight sensor 19 is embedded and installed on the upper end face of the jacking plate 3, and the weight sensor 19 is connected with the main control machine 2 and can detect jacking weight and detect whether the jacking weight is overweight.
In this example, the middle part of the lower end surface of the lifting plate 3 is fixedly connected with an upper disc 20, the upper disc 20 is movably connected with a lower disc 21, the lower disc 21 is provided with a rotating motor 22, the rotating motor 22 is in transmission connection with the upper disc 20, the lower end of the lower disc 21 is fixedly connected with a round rod 23, the bottom of the empty slot I16 is provided with a round slot 24 in sliding connection with the round rod 23, the rotating motor 22 drives the upper disc 20 to rotate and further drives the lifting plate 3 to rotate, an angle sensor can be arranged on a rotating shaft of the rotating motor 22 for accurate rotation angle, the rotating motor 22 can adopt a servo motor, the rotating motor 22 and the angle sensor are both electrically connected with the main control machine 2, for the rotation of the lifting plate 3, the hydraulic rods I4 are four, the upper ends of the hydraulic rods I4 are fixedly connected with a ring plate 25, and the four hydraulic rods I4 are all located on the same circumference, the lower end of the jacking plate 3 is fixedly connected with an annular slide rail 26, the annular plate 25 is connected with the annular slide rail 26 in a limiting and sliding manner, the annular plate 25 and the annular slide rail 26 are limited in the vertical direction, so that the annular plate 25 and the annular slide rail 26 can only move in a horizontal rotating manner, the jacking effect is not influenced in the rotating process, in addition, in order to facilitate rotation, the annular plate 25 and the annular slide rail 26 adopt rolling sliding, a plurality of rolling balls can be specifically embedded in the end face of the annular plate 25, the rolling sliding is realized by utilizing the rolling balls to roll in the annular slide rail 26, and the axial leads of the annular plate 25 and the annular slide rail 26 and the axial leads of the upper disc 20 and the lower disc 21 are positioned on the same straight line.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are illustrative in nature and should not be construed as limiting the scope of the invention.
Claims (9)
1. The utility model provides a jacking AGV is hidden in high accuracy vision navigation, includes the automobile body, its characterized in that: install the main control computer on the automobile body, the up end of automobile body is equipped with the jacking board, the jacking board passes through hydraulic stem one and car connection, the crossbeam is all connected through hydraulic stem two to the both sides face of automobile body, the lower extreme installation universal wheel of crossbeam, the up end of crossbeam passes through hydraulic stem three and connects the jacking pole, the front end of automobile body is equipped with even crashproof arc board as an organic whole, crashproof arc board fixed connection mounting panel, install visual sensor on the mounting panel, visual sensor is connected with the main control computer, the both ends lower extreme installation walking wheel of automobile body.
2. The high accuracy visual navigation latent jacking AGV of claim 1, wherein: still install the width gage on the mounting panel, width gage and main control computer electric connection.
3. The high accuracy visual navigation latent jacking AGV of claim 1, wherein: still install the altimeter on the mounting panel, altimeter and main control computer electric connection.
4. The high accuracy visual navigation latent jacking AGV of claim 1, wherein: the upper end of the vehicle body is provided with a first empty groove, the first hydraulic rod is installed at the bottom of the first empty groove, and the jacking plate is placed in the first empty groove.
5. The high accuracy visual navigation latent jacking AGV of claim 1, wherein: and two sides of the vehicle body are provided with a second empty groove, and the cross beam and the jacking rod are placed into the second empty groove.
6. The high accuracy visual navigation latent jacking AGV of claim 1, wherein: and the upper end surface of the jacking rod is provided with a strip-shaped clamping groove.
7. The high accuracy visual navigation latent jacking AGV of claim 1, wherein: and a weight sensor is embedded into the upper end surface of the jacking plate and is connected with the main control machine.
8. The high accuracy visual navigation latent jacking AGV of claim 1, wherein: the middle part of the lower end face of the jacking plate is fixedly connected with an upper disc, the upper disc is movably connected with a lower disc, a rotating motor is mounted on the lower disc and is in transmission connection with the upper disc, the lower end of the lower disc is fixedly connected with a round rod, and a round groove in sliding connection with the round rod is formed in the bottom of the empty groove.
9. The high accuracy visual navigation latent jacking AGV of claim 8, wherein: the first hydraulic rods are four, the upper ends of the first hydraulic rods are fixedly connected with ring plates, the lower ends of the jacking plates are fixedly connected with annular slide rails, and the ring plates are in limit sliding connection with the annular slide rails.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111429872.6A CN114148950A (en) | 2021-11-29 | 2021-11-29 | High-precision visual navigation hidden jacking AGV |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111429872.6A CN114148950A (en) | 2021-11-29 | 2021-11-29 | High-precision visual navigation hidden jacking AGV |
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| Publication Number | Publication Date |
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| CN114148950A true CN114148950A (en) | 2022-03-08 |
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| CN202111429872.6A Pending CN114148950A (en) | 2021-11-29 | 2021-11-29 | High-precision visual navigation hidden jacking AGV |
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| CN112744747A (en) * | 2021-01-15 | 2021-05-04 | 福建宏泰智能工业互联网有限公司 | AGV dolly of naturally navigating |
| CN214084011U (en) * | 2021-01-05 | 2021-08-31 | 深圳市高步达智能科技有限公司 | Magnetic navigation control device of double-rudder-wheel AGV |
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2021
- 2021-11-29 CN CN202111429872.6A patent/CN114148950A/en active Pending
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Application publication date: 20220308 |