CN115448218A

CN115448218A - Multifunctional combined AGV (automatic guided vehicle) trolley and working method thereof

Info

Publication number: CN115448218A
Application number: CN202211122151.5A
Authority: CN
Inventors: 朱恺; 周文丰; 杨洋; 敬光军; 林志彬
Original assignee: Guangdong Aigewei Technology Co ltd
Current assignee: Guangdong Aigewei Technology Co ltd
Priority date: 2022-09-15
Filing date: 2022-09-15
Publication date: 2022-12-09

Abstract

The invention provides a multifunctional combined AGV (automatic guided vehicle), which comprises: the device comprises supporting legs, a pipe, a rod and a platform, wherein a PLC (programmable logic controller), a GPS (global positioning system) positioning module and a three-dimensional scanning module are respectively fixed on the bottom surface of the platform; according to the combined AGV, the supporting surface of the AGV can be enlarged through the electric control hydraulic telescopic rod, the AGV can adapt to the carrying of goods with different sizes, meanwhile, the locking mechanism is arranged on the AGV, and the AGV can be mutually locked to form the combined AGV corresponding to the size of the goods to be carried. Meanwhile, the AGV trolley is simultaneously provided with the GPS positioning module and the three-dimensional scanning module, the real-time position of each AGV trolley can be detected in real time, the relative distance between the required transported goods and each AGV trolley can be detected, and the safe and stable transportation of the goods can be realized.

Description

Multifunctional combined AGV (automatic guided vehicle) trolley and working method thereof

Technical Field

The invention relates to a carrying trolley, in particular to a multifunctional combined AGV trolley and a working method thereof.

Background

The AGV car is a transportation car equipped with an electromagnetic or optical automatic guiding device, capable of traveling along a predetermined guiding path, having safety protection and various transfer functions, and does not require a driver's transportation car in industrial application, and uses a rechargeable battery as its power source.

At present, the AGV trolley mainly adopts a single-drive walking mode and a multi-drive walking mode. According to the AGV trolley with single-drive traveling, a single driving wheel is adopted in front of a trolley body, the driving wheel can travel and change direction by 360 degrees, four universal wheels are mounted at the bottoms of the front end and the rear end of the trolley body, when the AGV trolley travels, the driving wheel drives the four universal wheels to move together, and when the driving wheel changes direction during traveling of the trolley, the rear universal wheels cannot simultaneously realize accurate direction changing, so that the AGV trolley travels in a snake-shaped route, and the trolley body cannot be balanced and cannot stably run straight; and many AGV dollies of drive walking, its all walking wheels all adopt the drive wheel, and all drive wheels all can realize synchronous angle diversion through steering mechanism promptly, but set up a plurality of drive unit and a plurality of steering unit on considering the automobile body, the structure is complicated, and manufacturing cost is high.

Simultaneously, AGV dolly transport function singleness among the prior art, for example the AGV dolly of carrying the express delivery specially, its size is little, can not be used for carrying other great size goods.

Disclosure of Invention

The invention aims to provide a multifunctional combined AGV (automatic guided vehicle), which can be intelligently and quickly combined into a combined AGV with a corresponding size and can move quickly and stably. This application is AGV dolly can intelligent grouping and remove, has improved handling function and operating stability greatly. Aiming at the problems, the design is innovated on the basis of the original AGV.

In order to achieve the purpose, the technical scheme adopted by the invention for solving the technical problems is as follows: a modular AGV cart comprising: the support leg is a cuboid, electric control hydraulic telescopic rods are fixed to four side faces of the platform respectively, the other end of each electric control hydraulic telescopic rod is fixedly connected to the middle of the corresponding pipe, the pipe is fixed to one side face of the support leg, and the rod is fixed to the other side face of the support leg; a pipe fixed on the supporting leg sleeves a rod on the opposite supporting leg, a limiting ring is fixed on the inner side of one end of the pipe, and a limiting block is fixed on one end of the rod; a PLC (programmable logic controller), a GPS (global positioning system) positioning module and a three-dimensional scanning module are respectively fixed on the bottom surface of the platform; a locking support is fixed at the bottom of the tube, a locking inserted bar is fixed at the bottom of the other tube adjacent to the tube, and the locking support of the AGV is matched with the locking inserted bar of the other AGV; the bottom of the supporting leg is provided with a groove, the spherical roller is embedded into the groove, and the spherical roller is in sliding fit with the groove; the bottom of the platform is also provided with a universal traveling mechanism.

Preferably, the universal traveling mechanism includes: the motor I, the motor II, the gear I, the gear II, the gear III, the gear IV, the motor I is fixed in the bottom of the platform, the motor is connected with the gear I through the shaft, the bottom of the platform is rotated and is connected with the rotating shaft, the rotating shaft is fixedly connected with the gear II, the gear I is meshed with the gear II and is connected with the support, the support is rotatably connected with the driving shaft, the motor II is connected with the gear III through the shaft, the driving shaft is fixed with the gear IV, the gear III is meshed with the gear IV and is connected with the gear IV, and the driving shaft is fixed with the driving wheel.

Preferably, a funnel-shaped opening is formed in one side of the locking support, a groove is formed in the upper portion of the locking support, a clamping block slides in the groove, an electromagnet is fixed at the bottom of the groove, a spring is connected between the clamping block and the electromagnet, and the clamping block is trapezoidal; the locking support is of an L-shaped structure, a slot is formed in one side of the locking support, and an inclined plane is arranged at the top of the locking support.

Preferably, the PLC controller is respectively and electrically connected with the electric control hydraulic telescopic rod, the first motor, the second motor and the electromagnet, and the PLC controller is respectively and electrically connected with the GPS positioning module and the three-dimensional scanning module.

Preferably, when the AGV is locked with another AGV, the tubes in the two AGV can be just attached to each other.

Preferably, the tube and the rod are detachably fixed to the leg by bolts, respectively.

According to another aspect of the present disclosure, a method for operating a modular AGV includes:

(1) The three-dimensional scanning module detects the relative distance between the goods to be transported and the AGV trolley and scans the geometric dimension of the goods to be transported;

(2) The three-dimensional scanning module transmits the detected information to the PLC, and the PLC judges the number and the layout of the required AGV trolleys according to the size of the required transported goods;

(3) The AGV comprises a plurality of AGV dollies, a GPS positioning module, a three-dimensional scanning module, a PLC and a storage module, wherein the AGV dollies are used for acquiring position information through the GPS positioning module, the other AGV dollies are moved to the position of the AGV dollies which need to carry goods, the three-dimensional scanning module detects the distance between the AGV dollies in real time, and the PLC controls the AGV dollies to be combined with each other;

(4) The three-dimensional scanning module detects the relative distance of the goods in real time, the PLC synchronously controls the driving wheels to work, and the combined AGV trolley is moved to the goods carrying position;

preferably, when the size of the goods to be transported is smaller than the maximum telescopic size of a single AGV trolley, the single AGV trolley is used for transporting; when required transporting goods size is greater than the biggest flexible size of single AGV dolly, the PLC controller calculates the quantity and the overall arrangement of required AGV dolly according to the biggest size of single AGV dolly, and after a plurality of AGV dollies make up, the plane of its combination can cover required transporting goods holding surface.

Preferably, the GPS positioning module can monitor the position of the AGV trolley in real time, and the three-dimensional scanning module can detect the relative position of the goods and the three-dimensional size of the goods.

Preferably, when a plurality of AGV trolleys are transported in a combined mode, the plurality of PLC controllers control the corresponding motors I and II to work synchronously.

Has the advantages that:

1. through putting at AGV dolly central point and setting up single drive wheel and steering mechanism, roll at four feet of AGV dolly and set up spherical gyro wheel, on the one hand, make AGV dolly simple structure, low in manufacturing cost, on the other hand adopts spherical gyro wheel to solve the drive wheel and turns to when walking at four feet, and the universal wheel can not appear in the spherical gyro wheel can not carry out the diversion in step, has improved the stability of AGV dolly diversion walking greatly.

2. A single AGV dolly can realize the grow of AGV dolly holding surface through automatically controlled hydraulic telescoping rod, can adapt to the transport of unidimensional goods, simultaneously, is provided with locking mechanical system on the AGV dolly, and a plurality of AGV dollies can the closure of each other, makes up into the combination AGV dolly that corresponds required transport goods size.

3. This application AGV dolly notice is provided with GPS orientation module and three-dimensional scanning module, and its real-time position that can real-time detection go out each AGV dolly with the relative distance of required transport goods relative each AGV dolly, can realize the safety and the stable transport of goods.

4. The AGV dolly after the combination, because the compound mode is various, and the drive wheel of each AGV dolly moves simultaneously, and its handling capacity is strong, and the transport is more stable.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification.

FIG. 1 is a general block diagram of an AGV according to the present invention.

FIG. 2 is a side view of an AGV of the present invention.

FIG. 3 is an overall view of the AGV and another AGV according to the present invention locking with each other.

FIGS. 4-6 illustrate three types of combinations of multiple AGV carts in accordance with the present invention.

In the drawings:

1. a support leg; 2. a tube; 3. an electric control hydraulic telescopic rod; 4. a platform; 5. a rod; 6. a spherical roller; 7. a PLC controller 7; 8. a GPS positioning module; 9. a three-dimensional scanning module; 10. a first motor; 11. a first gear; 12 a rotating shaft; 13. a second gear; 14. a support; 15, gear three; 16. a fourth gear; 17. a drive shaft; 18. a second motor; 19. a clamping block; 20. a locking bracket; 21. a locking inserted link; 22. an electromagnetic controller; 23. a spring.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some but not all of the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments herein without making any creative effort, shall fall within the scope of protection. It should be noted that the embodiments and features of the embodiments may be arbitrarily combined with each other without conflict.

Unless the context clearly requires otherwise, throughout the description and the claims, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, what is meant is "including, but not limited to".

Referring to fig. 1-3, the present invention provides a AGV with multiple functions, comprising: the support leg comprises a support leg 1, a pipe 2, a rod 5 and a platform 4, wherein the support leg 1 is a cuboid, four side surfaces of the platform 4 are respectively fixed with an electric control hydraulic telescopic rod 3, the other end of the electric control hydraulic telescopic rod 3 is fixedly connected with the middle part of the pipe 2, one side surface of the support leg 1 is fixed with the pipe 2, and the other side surface opposite to the support leg 1 is fixed with the rod 5; a pipe 2 fixed on the supporting leg 1 is sleeved on a rod 5 on the opposite supporting leg 1, a limiting ring is fixed on the inner side of one end of the pipe 2, and a limiting block is fixed on one end of the rod 5;

a PLC (programmable logic controller) 7, a GPS (global positioning system) positioning module 8 and a three-dimensional scanning module 9 are respectively fixed on the bottom surface of the platform 4;

in the above-mentioned scheme, three-dimensional scanning module 9 can real-time detection out the position of required transport goods, and can detect out the geometric dimensions of goods, PLC controller 7 can in time calculate the quantity of AGV dolly and the compound mode of a plurality of AGV dolly according to the geometric dimensions of goods, the AGV dolly should satisfy the bottom surface that its whole plane is greater than the goods after the combination, the floor 4 of the combination of the same AGV dolly of adoption of this kind of innovation, can realize carrying the goods of various sizes, great improvement the function of AGV dolly transport.

In the scheme, the GPS positioning module 8 can detect the real-time position of the AGV in real time, and the PLC 7 can accurately combine and lock the AGV according to the position information by combining the three-dimensional scanning module 9.

A locking bracket 20 is fixed at the bottom of the tube 2, a locking inserted bar 21 is fixed at the bottom of another tube 2 adjacent to the tube 2, and the locking bracket 20 of the AGV trolley is matched with the locking inserted bar 21 of another AGV trolley;

the bottom of the supporting leg 1 is provided with a groove, the spherical roller 6 is embedded into the groove, and the spherical roller 6 is in sliding fit with the groove;

in the above scheme, the spherical roller 6 is arranged in the groove in a sliding manner, and the spherical roller 6 solves the problem that the deflection angle precision is poor when the universal wheel moves.

The bottom of the platform 4 is also provided with a universal walking mechanism.

Specifically, the universal running gear includes: motor one 10, two 18, the first 11, two 13, three 15, four 16 gears of gear of motor, motor one 10 is fixed in 4 bottoms of platform, the motor has gear one 11 through the hub connection, 4 bottoms of platform are rotated and are connected with

pivot

12, 12 fixed connection of pivot two 13 gears, 11 gear and two 13 meshing of gear are connected, two 13 bottoms of gear are fixed with support 14, support 14 rotates and is connected with drive shaft 17, two 18 motor have three 15 gears through the hub connection, be fixed with four 16 gears on the drive shaft 17, three 15 gears and four 16 meshing of gear are connected, be fixed with the drive wheel on the drive shaft 17.

Specifically, a funnel-shaped opening is formed in one side of the locking support 20, a groove is formed in the upper portion of the locking support 20, a fixture block 19 slides in the groove, an electromagnet 22 is fixed to the bottom of the groove, a spring 23 is connected between the fixture block 19 and the electromagnet 22, and the fixture block 19 is trapezoidal; the locking support 20 is of an L-shaped structure, one side of the locking support 20 is provided with a slot, and the top of the locking support 20 is provided with an inclined plane.

In the above scheme, a funnel-shaped opening is adopted on one side of the locking support 20, so that the locking insertion rod 21 can be conveniently and rapidly inserted into the locking support 20, and the PLC 7 can control the electromagnet 22 to realize timely extension and retraction of the clamping block 19 according to actual working conditions.

Specifically, the PLC controller 7 is electrically connected with the electrically controlled hydraulic telescopic rod 3, the first motor 10, the second motor 18 and the electromagnet 22, and the PLC controller 7 is electrically connected with the GPS positioning module 8 and the three-dimensional scanning module 9.

Specifically, when the AGV dolly is locked with another AGV dolly, the tube 2 in the two AGV dollies just in time can laminate each other.

In the above-mentioned scheme, locking mechanism sets up at the lower part edge of pipe 2, and seamless combination when a plurality of AGV dollies are made up can be realized to above-mentioned design, has improved the stability and the security of transport goods greatly.

Preferably, the tube 2 and the rod 5 are detachably fixed to the leg 1 by means of bolts, respectively.

According to another aspect of the present invention, as shown in FIGS. 4-6, the AGV operation method according to the present invention comprises:

(1) The three-dimensional scanning module 9 detects the relative distance between the goods to be transported and the AGV trolley, and scans the geometric dimension of the goods to be transported;

(2) The three-dimensional scanning module 9 transmits the detected information to the PLC controller 7, and the PLC controller 7 judges the number and the layout of the required AGV trolleys according to the size of the required transported goods;

(3) The AGV comprises a GPS positioning module 8, a plurality of AGV trolleys, a three-dimensional scanning module 9, a PLC and a control module, wherein the AGV trolleys are used for acquiring position information through the GPS positioning module 8, the other AGV trolleys move to the AGV trolley positions needing to carry goods, the three-dimensional scanning module 9 is used for detecting the distance between the AGV trolleys in real time, and the PLC is used for controlling the AGV trolleys to be combined with one another;

(4) The three-dimensional scanning module 9 detects the relative distance of the goods in real time, the PLC 7 synchronously controls the driving wheels to work, and the combined AGV trolley is moved to the goods carrying position;

specifically, when the size of the goods to be transported is smaller than the maximum telescopic size of a single AGV, the single AGV is used for transporting; when the size of the required transported goods is larger than the maximum telescopic size of a single AGV trolley, the PLC 7 calculates the number and the layout of the required AGV trolleys according to the maximum size of the single AGV trolley, and after the AGV trolleys are combined, the combined plane can cover the supporting surface of the required transported goods.

In the above scheme, when carrying smaller goods in narrow carrying space, a single AGV trolley is adopted, the size of the AGV trolley is controlled to be reduced, and the compact narrow passage can be conveniently realized. And when carrying great goods, adopt the mode that a plurality of AGV dollies make up each other, can realize the transport of jumbo size goods on the one hand, on the other hand, the drive wheel of each AGV dolly works simultaneously, can improve the drive performance of carrying big goods greatly.

Preferably, the GPS positioning module 8 can monitor the position of the AGV cart in real time, and the three-dimensional scanning module 9 can detect the relative position of the load and the three-dimensional size of the load.

Preferably, when a plurality of AGV trolleys are transported in combination, the plurality of PLC controllers 7 control the corresponding motors I10 and II 18 to work synchronously.

In another embodiment of the invention, the ball bearings can be arranged between the spherical idler wheel 6 and the groove, and the spherical idler wheel 6 is connected with the groove through the ball bearings, so that the friction of the trolley can be greatly reduced, and the service life of the trolley is prolonged;

according to the AGV trolley, the single driving wheel and the steering mechanism are arranged at the center of the AGV trolley, and the spherical rollers 6 are arranged on the four legs of the AGV trolley in a rolling mode, so that on one hand, the AGV trolley is simple in structure and low in manufacturing cost, on the other hand, the problem that the spherical rollers 6 cannot change direction synchronously due to the fact that universal wheels cannot appear when the driving wheels steer to walk is solved by adopting the spherical rollers 6 on the four legs, and the stability of the AGV trolley in changing direction and walking is greatly improved.

According to the combined AGV, the supporting surface of the AGV can be enlarged by adopting a single AGV through the electric control hydraulic telescopic rod 3, the AGV can adapt to the carrying of cargos with different sizes, meanwhile, the AGV is provided with the locking mechanism, and a plurality of AGV trolleys can be mutually locked to form the combined AGV corresponding to the size of the cargos to be carried.

AGV dolly is through being provided with GPS orientation module 8 and three-dimensional scanning module 9 simultaneously in this application, and its real-time position that can real-time detection go out each AGV dolly with the relative distance of required transport goods relative each AGV dolly, can realize the safety and the stable transport of goods. The AGV dolly after the combination, because the compound mode is various, and the drive wheel of each AGV dolly moves simultaneously, and its handling capacity is strong, and the transport is more stable.

While the preferred embodiments herein have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following appended claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of this disclosure.

It will be apparent to those skilled in the art that various changes and modifications may be made herein without departing from the spirit and scope thereof. Thus, it is intended that such changes and modifications be included herein, provided they come within the scope of the appended claims and their equivalents.

Claims

1. A modular AGV cart comprising: the supporting leg comprises a supporting leg (1), a pipe (2), a rod (5) and a platform (4), and is characterized in that the supporting leg (1) is a cuboid, four side surfaces of the platform (4) are respectively fixed with an electric control hydraulic telescopic rod (3), the other end of the electric control hydraulic telescopic rod (3) is fixedly connected with the middle part of the pipe (2), one side surface of the supporting leg (1) is fixed with the pipe (2), and the other side surface opposite to the supporting leg (1) is fixed with the rod (5); a pipe (2) fixed on the supporting leg (1) is sleeved on a rod (5) on the opposite supporting leg (1), a limiting ring is fixed on the inner side of one end of the pipe (2), and a limiting block is fixed on one end of the rod (5);

a PLC (programmable logic controller) controller (7), a GPS (global positioning system) positioning module (8) and a three-dimensional scanning module (9) are respectively fixed on the bottom surface of the platform (4);

a locking support (20) is fixed at the bottom of the tube (2), a locking inserted bar (21) is fixed at the bottom of the other tube (2) adjacent to the tube (2), and the locking support (20) of the AGV trolley is matched with the locking inserted bar (21) of the other AGV trolley;

a groove is formed in the bottom of the supporting leg (1), the spherical roller (6) is embedded into the groove, and the spherical roller (6) is in sliding fit with the groove;

the bottom of the platform (4) is also provided with a universal traveling mechanism.

2. A modular AGV cart according to claim 1, characterised in that: the universal running gear includes: motor one (10), motor two (18), gear one (11), gear two (13), gear three (15), gear four (16), motor one (10) are fixed in platform (4) bottom, the motor has gear one (11) through the hub connection, platform (4) bottom is rotated and is connected with pivot (12), pivot (12) fixed connection gear two (13), gear one (11) and gear two (13) meshing connection, gear two (13) bottom is fixed with support (14), support (14) are rotated and are connected with drive shaft (17), motor two (18) have gear three (15) through the hub connection, be fixed with gear four (16) on drive shaft (17), gear three (15) and gear four (16) meshing connection, be fixed with the drive wheel on drive shaft (17).

3. A modular AGV cart according to claim 1, characterised in that: a funnel-shaped opening is formed in one side of the locking support (20), a groove is formed in the upper portion of the locking support (20), a clamping block (19) slides in the groove, an electromagnet (22) is fixed to the bottom of the groove, a spring (23) is connected between the clamping block (19) and the electromagnet (22), and the clamping block (19) is trapezoidal; the locking support (20) is of an L-shaped structure, a slot is formed in one side of the locking support (20), and an inclined plane is arranged at the top of the locking support (20).

4. A modular AGV cart according to claim 3, characterised in that: the PLC controller (7) is respectively electrically connected with the electric control hydraulic telescopic rod (3), the first motor (10), the second motor (18) and the electromagnet (22), and the PLC controller (7) is respectively electrically connected with the GPS positioning module (8) and the three-dimensional scanning module (9).

5. A modular AGV according to claim 4 wherein: when the AGV dolly is locked with another AGV dolly, pipe (2) in two AGV dollies just in time can laminate each other.

6. A modular AGV according to claim 5 wherein: the pipe (2) and the rod (5) are detachably fixed on the supporting leg (1) through bolts respectively.

7. A working method of a multifunctional combined AGV according to any one of claims 1 to 6, characterized in that:

(1) The three-dimensional scanning module (9) detects the relative distance between the goods to be transported and the AGV trolley, and scans the geometric dimension of the goods to be transported;

(2) The three-dimensional scanning module (9) transmits the detected information to the PLC (7), and the PLC (7) judges the number and the layout of the required AGV trolleys according to the size of the required transported goods;

(3) The AGV trolleys acquire position information through a GPS positioning module (8), other AGV trolleys move to the AGV trolley positions needing to carry goods, a three-dimensional scanning module (9) detects the distance between the AGV trolleys in real time, and a PLC (programmable logic controller) (7) controls the AGV trolleys to be combined with one another;

(4) The three-dimensional scanning module (9) detects the relative distance of the goods in real time, the PLC controller (7) synchronously controls the driving wheels to work, and the assembled AGV trolley is moved to the goods carrying position.

8. The method of operation of claim 7, wherein: when the size of the goods to be transported is smaller than the maximum telescopic size of a single AGV, the single AGV is adopted for transporting; when the size of the required transported goods is larger than the maximum telescopic size of a single AGV, the quantity and the layout of the required AGV are calculated by the PLC (7) according to the maximum size of the single AGV, and after the plurality of AGV are combined, the plane of the combination can cover the supporting surface of the required transported goods.

9. The method of operation of claim 7, wherein: the GPS positioning module (8) can monitor the position of the AGV trolley in real time, and the three-dimensional scanning module (9) can detect the relative position of the goods and the three-dimensional size of the goods.

10. The method of operation of claim 7, wherein: when a plurality of AGV trolleys are transported in a combined mode, a plurality of PLC controllers (7) control corresponding motors I (10) and II (18) to work synchronously.