CN116039784B

CN116039784B - Traction AGV system

Info

Publication number: CN116039784B
Application number: CN202310248055.3A
Authority: CN
Inventors: 冯金龙; 田野; 郭宝喜; 贾鹏
Original assignee: Shenyang Siasun Robot and Automation Co Ltd
Current assignee: Shenyang Siasun Robot and Automation Co Ltd
Priority date: 2023-03-15
Filing date: 2023-03-15
Publication date: 2023-06-20
Anticipated expiration: 2043-03-15
Also published as: CN116039784A

Abstract

The invention relates to AGV equipment, in particular to a traction AGV system. The device comprises a main frame, an online charging connector, an inbound guiding mechanism, a main driving wheel set, a tail hooking system and a visual navigation recognition system, wherein the main driving wheel set and the inbound guiding mechanism are arranged on the left side and the right side of the main frame, and the main driving wheel set is used for providing walking driving force; the station entering guide mechanism is used for guiding at the left side and the right side of the main frame; the online charging connector is arranged on the front side of the main frame and is used for being in butt joint with a ground charging station for charging; the tail hooking system is arranged at the rear side of the main frame and is used for hooking with the shelf vehicle. The automatic hanging and automatic guiding device is compact in structure and small in size, the automatic hanging and automatic guiding functions of the shelf vehicle are achieved, meanwhile, the connecting mode of the hanging part is optimized, the occupied area for the AGV to pull materials to run is compressed to the greatest extent, and the automatic hanging and automatic guiding device is matched with a visual guiding and identifying system and a high-flexibility dispatching system to achieve more concise and flexible logistics conveying.

Description

Traction AGV system

Technical Field

The invention relates to AGV equipment, in particular to a traction AGV system.

Background

Along with industrial automation development is rapid, storage logistics automation demand is higher and higher, and the AGV system that possesses compact structure, high-efficient conveying ability caters more to market demand now, optimizes and retrenches AGV dolly structure, integrates AGV dolly function, and AGV product structure is simpler and easy, the function is more perfect, the cost is more economic, for the main research and development breakthrough direction of current stage AGV product.

At present, in the traditional traction AGV system, the structural layout of an AGV trolley is scattered, and the centralized structural optimization cannot be realized, so that the size of the vehicle body is large, and the sweeping area is large when the vehicle body is conveyed and operated after the vehicle body is hung with materials, so that the layout planning of the AGV system is limited by the field area, or the AGV system cannot be efficiently applied to logistics conveying in a limited field; and traditional traction AGV supporting facilities are complicated, ground guiding and butting equipment are more, and the development of the AGV is blocked due to high system assembly cost.

Disclosure of Invention

The invention aims to solve the problems that the structural layout of the traditional traction AGV system is scattered, the size of a vehicle body is large, and the layout planning of the AGV system is limited by the field area.

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

the invention provides a traction AGV system, which comprises a main frame, an online charging connector, an inbound guiding mechanism, a main driving wheel set, a tail hooking system and a visual navigation recognition system, wherein the visual navigation recognition system is arranged on the main frame, the main driving wheel set and the inbound guiding mechanism are arranged on the left side and the right side of the main frame, and the main driving wheel set is used for providing walking driving force; the station entering guide mechanism is used for guiding at the left side and the right side of the main frame; the online charging connector is arranged on the front side of the main frame and is used for being in butt joint with a ground charging station for charging; the tail hooking system is arranged at the rear side of the main frame and is used for hooking with the shelf vehicle.

The tail hooking system comprises a slideway, an angle adjusting mechanism and an automatic traction hooking mechanism, wherein the slideway is of an arc-shaped structure and is horizontally arranged at the rear end of the main frame; the angle adjusting mechanism is arranged on the slideway and can walk along the slideway; the automatic traction hook mechanism is arranged on the angle adjusting mechanism and is used for automatically hooking with the goods shelf vehicle.

The angle adjusting mechanism comprises a shell, an upper driving wheel set, a lower driving wheel set and an encoder, wherein the upper driving wheel set, the lower driving wheel set and the encoder are arranged inside the shell, the upper driving wheel set and the lower driving wheel set are respectively arranged on the upper side and the lower side of the shell through motor mounting brackets, the upper driving wheel set is used for walking on the top of the slideway, the lower driving wheel set is used for walking on the side face of the slideway, and the encoder is used for detecting the rotating angle of the shell.

The upper driving wheel set and the lower driving wheel set have the same structure and comprise a driving wheel set mounting bracket, a direct current servo driving motor I, a connecting shaft and a driving wheel, wherein the driving wheel set mounting bracket is connected with the motor mounting bracket, the direct current servo driving motor I is arranged on the driving wheel set mounting bracket, and the output end of the direct current servo driving motor I is connected with the driving wheel through the connecting shaft;

the axes of the two driving wheels in the upper driving wheel group and the lower driving wheel group are vertical.

The wheel shafts of the driving wheels in the lower driving wheel group are connected with limit ball bearings through connecting rods, and the limit ball bearings and the driving wheels in the lower driving wheel group are clamped on two sides of the slideway.

The automatic traction hook mechanism comprises a hook, a hook driving block, a cam connecting rod mechanism and a direct current servo driving motor II, wherein the tail part of the hook is hinged to the angle adjusting mechanism, and the hook end sags by self weight; the direct-current servo driving motor II is arranged on the angle adjusting mechanism, the output end of the direct-current servo driving motor II is connected with the hook driving block through the cam connecting rod mechanism, and the hook driving block has the freedom degree of moving forwards and backwards; the direct current servo driving motor II drives the hook driving block to move back and forth, so that the hook is driven to rotate upwards or release the hook.

The angle adjusting mechanism is provided with a limit stop located below the hook, and the hook falls on the limit stop in the unhooking state.

The front side station entering guide mechanism and the rear side station entering guide mechanism comprise a mounting frame and guide ball bearings arranged at two ends of the mounting frame, and the guide ball bearings at two sides of the main frame are used for laterally contacting with a ground guide rail of a station for taking or discharging AGVs.

The bottom of the online charging connector is provided with a universal wheel set;

coarse positioning guide grooves are formed in two sides of the online charging connector, and a fine positioning guide pin is arranged on the front end face of the online charging connector; the coarse positioning guide groove is used for being in butt joint with a coarse positioning guide piece arranged at the butt joint end of the ground charging station, and the fine positioning guide pin is used for being in positioning connection with a fine positioning guide hole arranged at the butt joint end of the ground charging station.

The visual navigation recognition system includes: a safety laser scanner arranged at the front end of the main frame; the charging position identification sensor, the emergency stop button, the communication antenna, the visual identification navigation sensor and the indicator lamp buzzer are arranged at the top of the main frame; an inbound position recognition sensor, a key switch and a shelf information recognition sensor which are arranged at the rear end of the main frame; and the indicator light belts are arranged on the left side and the right side of the main frame.

The invention has the advantages and beneficial effects that: the traction AGV system provided by the invention has the advantages that the structure is compact, the volume is small, the automatic hooking and autonomous navigation conveying functions of the shelf vehicle are realized, meanwhile, the connection mode of the hooking part is optimized, the floor area occupied by the operation of the AGV traction material is compressed to the greatest extent, and the traction AGV system is realized by matching with the visual navigation recognition system and the high-flexibility dispatching system.

Drawings

FIG. 1 is a schematic diagram of one embodiment of a traction AGV system according to the present invention;

FIG. 2 is a second schematic diagram of a traction AGV system according to the invention;

FIG. 3 is a third schematic diagram of a traction AGV system according to the invention;

FIG. 4 is a schematic diagram of a docking application of the present invention with a ground charging station;

FIG. 5 is a schematic view of the docking end of the ground charging station according to the present invention;

FIG. 6 is a schematic diagram of a tail hitch system according to the present invention;

FIG. 7 is a schematic view of an angle adjusting mechanism according to the present invention;

FIG. 8 is a bottom view of FIG. 7;

FIG. 9 is a schematic view of the structure of the upper driving wheel set in the present invention;

FIG. 10 is a schematic view of the automatic traction hitch mechanism of the present invention;

FIG. 11 is a schematic view of an automatic hitch of the automatic hitch mechanism with a pallet truck of the present invention;

FIG. 12 is a schematic view of an automatic unhooking state of the automatic traction hitch mechanism and a pallet truck of the present invention;

fig. 13 is a schematic diagram of a front-to-back oriented application of the present invention.

In the figure: 1 is a main frame, 2 is a safety laser scanner, 3 is an online charging connector, 4 is a front side station guide mechanism, 5 is a universal wheel set, 6 is a main driving wheel set, 7 is a charging position identification sensor, 8 is a sudden stop button, 9 is a communication antenna, 10 is a visual identification navigation sensor, 11 is an indicator light buzzer, 12 is an indicator light belt, 13 is an inbound position identification sensor, 14 is a key switch, 15 is a shelf information identification sensor, 16 is a rear side station guide mechanism, 17 is a tail hooking system, 18 is a slideway, 19 is an angle adjusting mechanism, 20 is an automatic traction hook mechanism, 21 is a guide ball bearing, 22 is a ground guide rail, 23 is a coarse positioning guide groove, 24 is a fine positioning guide pin, 25 is a coarse positioning guide piece, 26 is a fine positioning guide hole, 27 is an upper driving wheel set, 28 is a motor mounting bracket, 29 is an encoder, 30 is a limiting ball bearing, 31 is a connecting rod, 32 is a lower driving wheel set, 33 is a driving wheel set mounting bracket, 34 is a direct current servo driving motor I, 35 is a connecting shaft, 36 is a hook block, 37 is a driving wheel, 39 is a ground guide rail, 41 is a ground guide, and 44 is a limit plate, and 44 is a direct current driving housing.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1-3, the invention provides a traction AGV system, which comprises a main frame 1, an online charging connector 3, an inbound guiding mechanism, a main driving wheel set 6, a tail hooking system 17 and a visual navigation recognition system, wherein the visual navigation recognition system is arranged on the main frame 1, the main driving wheel set 6 and the inbound guiding mechanism are arranged on the left side and the right side of the main frame 1, and the main driving wheel set 6 is used for providing walking driving force; the entrance guide mechanism is used for guiding at the left side and the right side of the main frame 1; the online charging connector 3 is arranged on the front side of the main frame 1 and is used for docking and charging with a ground charging station; the tail hooking system 17 is provided at the rear side of the main frame 1 for hooking with the shelf car.

In the embodiment of the invention, the visual navigation recognition system comprises a safety laser scanner 2, a charging position recognition sensor 7, an emergency stop button 8, a communication antenna 9, a visual recognition navigation sensor 10, an indicator lamp buzzer 11, an indicator lamp belt 12, an inbound position recognition sensor 13, a key switch 14 and a shelf information recognition sensor 15; the front end of the main frame 1 is provided with a safety laser scanner 2; the top of the main frame 1 is provided with a charging position identification sensor 7, an emergency stop button 8, a communication antenna 9, a visual identification navigation sensor 10 and an indicator lamp buzzer 11, and the rear end of the main frame 1 is provided with an inbound position identification sensor 13, a key switch 14 and a shelf information identification sensor 15; indicator strips 12 are arranged on the left side and the right side of the main frame 1.

As shown in fig. 1, in the embodiment of the present invention, the universal wheel set 5 is provided at the bottom of the online charging connector 3. The whole car uses a group of universal wheel sets 5 and two groups of main driving wheel sets 6 as the wheel system of the equipment, and the linear or turning operation of the equipment is realized by means of the speed control of the two groups of main driving wheel sets 6, and the two drives and the three wheel sets are arranged into a triangular relative position, so that the whole stable operation of the equipment can be ensured. The two groups of main driving wheel groups 6 are differential driving wheel groups, the two groups of servo motors are controlled by a vehicle body software algorithm to respectively and independently drive the two groups of wheel groups, and the forward or turning operation of the vehicle body is realized through different driving speeds.

As shown in fig. 4-5, in the embodiment of the present invention, coarse positioning guide grooves 23 are provided on both sides of the online charging connector 3, and a fine positioning guide pin 24 is provided on the front end surface of the online charging connector 3; the rough positioning guide groove 23 is used for being in butt joint with a rough positioning guide piece 25 arranged at the butt joint end of the ground charging station 44, and the fine positioning guide pin 24 is used for being in positioning connection with a fine positioning guide hole 26 arranged at the butt joint end of the ground charging station 44.

As shown in fig. 6, in the embodiment of the present invention, the tail hooking system 17 includes a slideway 18, an angle adjusting mechanism 19 and an automatic traction hooking mechanism 20, wherein the slideway 18 has an arc structure and is horizontally installed at the rear end of the main frame 1; the angle adjusting mechanism 19 is arranged on the slideway 18 and can walk along the slideway 18; the automatic traction hook mechanism 20 is arranged on the angle adjusting mechanism 19 and is used for automatically hooking with the shelf vehicle. After reaching the specified position of the goods shelf, the AGV trolley adjusts the automatic traction hooking mechanism 20 to an accurate centering position state by means of automatic resetting of the angle adjusting mechanism 19, then controls the automatic traction hooking mechanism 20 to carry out hooking of the goods shelf trolley, and then conveys the corresponding goods shelf to the specified position through a dispatching instruction of the control console. After reaching the designated station, the AGV trolley controls the automatic traction hooking mechanism 20 to automatically hook, and after the AGV trolley drives off the station and verifies that the pallet truck is successfully unhooked, the conveying of the pallet truck is completed.

As shown in fig. 6-7, in the embodiment of the present invention, the angle adjusting mechanism 19 includes a housing 43, and an upper driving wheel set 27, a lower driving wheel set 32 and an encoder 29 disposed inside the housing 43, wherein the upper driving wheel set 27 and the lower driving wheel set 32 are respectively mounted on the upper and lower sides of the housing 43 through a motor mounting bracket 28, the upper driving wheel set 27 is used for walking on the top of the slideway 18, and the lower driving wheel set 32 is used for walking on the side of the slideway 18. The encoder 29 is used to detect the rotation angle of the housing 43 relative to the main frame 1.

As shown in fig. 9, in the embodiment of the present invention, the upper driving wheel set 27 and the lower driving wheel set 32 have the same structure, and each of the upper driving wheel set and the lower driving wheel set includes a driving wheel set mounting bracket 33, a dc servo driving motor i 34, a connecting shaft 35 and a driving wheel 36, wherein the driving wheel set mounting bracket 33 is connected with the motor mounting bracket 28, the dc servo driving motor i 34 is mounted on the driving wheel set mounting bracket 33, and the output end is connected with the driving wheel 36 through the connecting shaft 35; the axes of the two drive wheels 36 in the upper and lower

drive wheel sets

27, 32 are perpendicular.

Further, as shown in fig. 8, the axle of the driving wheel 36 in the lower driving wheel group 32 is connected to the limit ball bearing 30 through the connecting rod 31, and the limit ball bearing 30 and the driving wheel 36 in the lower driving wheel group 32 are clamped on both sides of the slideway 18. To ensure a stable position of the whole set of mechanism, the pressure of the external driving wheel 36 is ensured by the limit ball bearing 30 so as to meet the requirement of driving without slipping and idling, and the front and rear positions of the whole set of mechanism are limited at the same time so as to ensure that the whole set of mechanism does not fall off.

Specifically, the slide 18 is composed of upper and lower slide rails, and the gap between the slide rails is used for wiring power lines and signal lines between the mechanism and the AGV body. The upper driving wheel set 27 walks on the upper slide rail, and the upper driving wheel set 27 is pressed on the upper slide rail by self weight to provide main power for the whole set of adjusting mechanism. At the same time, the whole set of adjusting mechanism detects the angular position state of the mechanism relative to the vehicle body by means of the encoder 29 at the rear part of the adjusting mechanism, and performs angular adjustment. The lower driving wheel set 32 walks on the side of the lower slide rail to provide auxiliary power for the angle adjusting mechanism 19. In summary, the angle adjusting mechanism 19 can adjust the angle position of the automatic traction hook mechanism 20 at the rear part thereof through the upper and lower slide ways 18, the two groups of driving wheel sets, the limit ball bearing 30 and the position encoder.

As shown in fig. 10, in the embodiment of the present invention, the automatic traction hook mechanism 20 includes a hook 37, a hook driving block 39, a cam link mechanism 40 and a dc servo driving motor ii 41, wherein the tail of the hook 37 is hinged on a housing 43 of the angle adjusting mechanism 19, and the hook end protrudes from the housing 43 and sags by self weight; the direct-current servo driving motor II 41 is arranged in the shell 43, the output end of the direct-current servo driving motor II is connected with the hook driving block 39 through the cam connecting rod mechanism 40, and the hook driving block 39 has the freedom degree of moving forwards and backwards; the direct-current servo drive motor II 41 drives the hook drive block 39 to move back and forth, thereby driving the hook 37 to rotate upwards or releasing the hook 37.

Specifically, a sliding groove is formed in the hook driving block 39 along the front-rear direction, and a guide pin connected with the housing 43 is arranged in the sliding groove; one end of the hook driving block 39 is hinged with the cam link mechanism 40, and the other end is provided with a limiting protrusion contacting with the hook 37. As shown in fig. 11, when the direct current servo drive motor ii 41 drives the hanger drive block 39 to retract rearward through the cam link mechanism 40, the hanger drive block 39 contacts the hanger 37 through the limit projection and drives the hanger 37 to rotate upward, thereby hooking the hooked end of the hanger 37 with the shelf car hooking plate 42. As shown in fig. 12, when the direct current servo drive motor ii 41 drives the hook drive block 39 to extend forward through the cam link mechanism 40, the limiting protrusion at the front end of the hook drive block 39 releases the hook 37, and the hook 37 loses constraint and naturally sags, so that unhooking of the hook 37 from the shelf car hooking plate 42 is achieved.

Further, as shown in fig. 12, a limit stop 38 is provided on the housing 43 of the angle adjusting mechanism 19, the limit stop 38 being located below the hook 37, and falling on the limit stop 38 when the hook 37 is unhooked and sagged.

In operation, the automatic traction hook mechanism 20 can realize the front and rear two-point position adjustment of the hook driving block 39 through the driving control of the direct current servo driving motor II 41. When the position of the hook driving block 39 is positioned at the far end of the driving motor, the hook 37 is in a released state and freely falls on the limit stop 38 by gravity, and the automatic traction hook mechanism 20 at the moment belongs to a towing hook state; when the hooking is required to be performed, the position of the hook driving block 39 is adjusted to be close to the motor end by driving the direct-current servo driving motor II 41, and the hook 37 rotates around the rotating shaft by virtue of contact between the hook driving block and the hook 37, so that the horizontal state is maintained, and the automatic traction hook mechanism 20 belongs to the hook state. By performing the actions described above, the action of the AGV to hook or unhook the shelf car hooking plate 42 at a specified point is achieved.

As shown in fig. 13, in the embodiment of the present invention, the in-station guiding mechanism includes a front side in-station guiding mechanism 4 and a rear side in-station guiding mechanism 16 respectively disposed on the front and rear sides of the main frame 1, each of the front side in-station guiding mechanism 4 and the rear side in-station guiding mechanism 16 includes a mounting frame and guiding ball bearings 21 disposed on both ends of the mounting frame, and the guiding ball bearings 21 on both sides of the main frame 1 are used for laterally contacting with a ground rail 22 of a station site for taking or discharging materials by an AGV. The ground guide rail 22 is generally arranged in front of a station site for taking or discharging materials by the AGV, the gesture of the AGV trolley can be guided by the ground guide rail 22 in a short distance, the central position of the AGV trolley is aligned with the central position of a ground docking station, and the AGV trolley is ensured to pick up a material hook or place a material unhooking smoothly.

The invention provides a traction AGV system, which has the following working principle:

the front side of the main frame 1 is provided with an online charging connector 3, the AGV trolley reads the position two-dimensional code of the ground charging connector equipment and feeds back position information by means of a charging position identification sensor 7 on the front side, the AGV trolley is mobilized to operate by a software program algorithm, the butting position of the AGV trolley and the ground charging connector is adjusted, the parking gesture of the AGV trolley is enabled to be within the error range of +/-10 mm, coarse positioning guide grooves 23 on two sides of the online charging connector 3 and coarse positioning guide pieces 25 of the ground charging device are utilized to conduct coarse guiding, the AGV trolley is compatible with the +/-10 mm of the running error of the trolley, the butting precision after guiding reaches within the range of +/-1 mm, and the running gesture of the AGV trolley is corrected. And then, the precise positioning guide pin 24 on the online charging connector 3 is utilized to conduct guiding butt joint with the precise positioning guide hole 25 of the ground charging equipment, and finally, the online charging is executed through voltage feedback on the AGV body and command of the control console, so that the automatic, safe and accurate execution of online charging of the AGV trolley is ensured.

The safety operation system of the AGV equipment mainly comprises a safety laser scanner 2 on the front side of a main frame 1, an indicator light belt 12 on the two sides of the main frame 1, an emergency stop button 8 and an indicator light buzzer 11 in terms of hardware, so that the AGV trolley has the safety related functions of actively identifying avoidance, warning, audible and visual alarm and reminding in operation, triggering and immediately stopping in an emergency state, and the like, and simultaneously cooperates with multiple detection protection mechanisms of running path derailment, feedback stall of a driving wheel encoder, out-of-tolerance and the like on software to construct the safety operation system of the AGV equipment together in a homogeneous manner, thereby ensuring the running safety of the AGV equipment.

The AGV trolley adopts the visual recognition natural navigation system, and by means of the visual recognition navigation sensor 10 at the top of the AGV trolley and the algorithm rule of the vehicle body software program, the AGV trolley has the functions of automatically recognizing the surrounding environment change and automatically carrying out avoidance and path optimization, and can realize the function of real-time communication between the AGV trolley and the central dispatching control console by matching with the vehicle-mounted communication radio station and the communication antenna 9, and the central dispatching control console dispatches the AGV trolley to execute optimal task selection, so that the overall free dispatching of the AGV system is realized, and the task is efficiently executed. After the AGV trolley receives the dispatching task of the central control console, the trolley driving unit is controlled by the trolley body software to operate to the appointed goods shelf station, after the gesture of the trolley body is adjusted, the two-position code on the goods shelf station is identified and fed back by means of the position identification sensor 13 of the rear side station of the trolley body, the AGV is controlled by the trolley body program to execute the entering operation according to the feedback data, and meanwhile, the accuracy of the entering gesture position of the AGV trolley is ensured by means of the front side station guide mechanism 4 and the rear side station guide mechanism 16 through the mechanical guide of the ground guide rail 22 of the goods shelf station. The guiding ball bearings 21 and the ground guide rails 22 which are arranged by means of four corner guiding of the AGV body conduct contact guiding, the position of the AGV body entering the station is calibrated, and the butt joint accuracy is guaranteed. The AGV trolley entering the station recognizes the goods shelf information through the goods shelf information recognition sensor 15, feeds back the goods shelf actual information with the control console, performs verification comparison, and meanwhile confirms whether the hanging and unhooking placement of the goods shelf trolley are successful or not, and ensures that the goods shelf information to be conveyed is accurate.

Specifically, the overall design size of the AGV in this embodiment is: 760mm x 700mm x 470mm (length x width x height), the profile approximates a balance car. The automatic visual navigation operation is integrated in the AGV trolley, the automatic two-dimensional code recognition alignment is realized, the automatic shelf vehicle is hung and unhooked, the automatic recognition avoidance is realized, the automatic online charging is realized, the audible and visual warning is operated, and the position of the hanging mechanism is automatically adjusted along with the change of the operation state. The two-wheel differential drive gear trains with two driving and one following are adopted, the linear, turning, spinning and other directional operation of the AGV trolley is realized by means of differential control of two groups of drive servo, and the AGV trolley is similar to the integral drive frame structure of a balance car, so that the flexible and rapid operation direction adjustment of the AGV trolley can be ensured, and the operation efficiency is improved. The highest driving speed can be achieved: 1m/min. The angle adjusting mechanism 19 is connected with the tail slideway 18 of the car body through two groups of small servo motor driving wheel groups, and can realize the + -50 DEG automatic rotation of the whole mechanism relative to the AGV body. The automatic charging connector is installed on the front side of the AGV body, a simple guiding mechanism is adopted, through visual navigation and identification, the AGV trolley can realize accurate alignment of the charging connector on the AGV body and a ground charging contact by means of the guiding mechanism, and therefore online automatic charging of the trolley is realized. The main frames 1 on two sides of the AGV body are integrated with an indicator light belt 12 for displaying the running state of the trolley; the front side of the AGV running direction is provided with a safety laser scanner 2 which is used for scanning the obstacle at the front side in real time to avoid collision in the AGV running process; the upper part of the AGV body is provided with an indicator lamp buzzer 11 which is matched with a warning lamp to serve as an audible and visual warning system of the trolley; meanwhile, an emergency stop button 8 is arranged on the AGV trolley and is used for artificial emergency stop under emergency. The AGV trolley adopts visual navigation, can automatically plan and adjust a running path according to the identification of the change of the surrounding environment to realize avoiding, and meanwhile, the two-dimensional code identification system can effectively identify the accurate position of each shelf position to realize successful docking, and can also identify the accurate position of ground equipment such as an online charger and the like to realize functions such as online automatic charging or other docking.

According to the invention, through integrating the controller and optimizing the functions and the integral structure of the extremely simple AGV, the basic functions of the traction AGV system are realized, and the AGV with the shelf car is enabled to be capable of saving the operation occupied space to the greatest extent through the minimum car body size, so that the transportation efficiency is improved. The AGV dolly of traction goods shelves car, generally at the turn in-process, can form an contained angle between AGV automobile body and the goods shelves car, and the biggest is turned the angle, and this contained angle is the less. In order to ensure that no collision occurs between the goods shelf vehicle and the AGV trolley or the AGV trolley is directly blocked to cause abnormal operation or damage to the vehicle body, the goods shelf and the like in the turning process of the AGV, the turning radius is increased in a common mode, or the connection distance between the AGV and the goods shelf vehicle is prolonged, but the two modes can lead to the AGV to take the goods shelf vehicle to occupy a larger space, and the operation efficiency is very low. The rear tail hitching system 17 of the present invention effectively solves this problem by providing a set of angle adjustment mechanisms 19. The AGV can calculate the included angle to be formed by the AGV and the rear goods shelf car according to the running trend and the rotation angle of the driving wheels of the AGV, so that the angle compensation of the AGV and the goods shelf car is adjusted through the angle adjusting mechanism 19, the operation of the AGV is not limited, the turning of the belt materials is more flexible, and the efficiency is higher.

The invention adopts a highly integrated control module, through differential operation of two groups of driving wheels and matching with a single-support universal wheel set 5, the whole appearance is similar to a balance car structure, the whole size of the trolley is compressed to the greatest extent through high integration optimization, the function is perfect, the frame structure can be used as a set of foundation base, and the frame structure can be extended into other practical AGV products through changing a rear traction mechanism or adding an upper additional mechanism, thereby having higher functional ductility and being applicable to different practical working condition demands.

The foregoing is merely an embodiment of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. The traction AGV system is characterized by comprising a main frame (1), an online charging connector (3), an entering guide mechanism, a main driving wheel set (6), a tail hooking system (17) and a visual navigation recognition system, wherein the visual navigation recognition system is arranged on the main frame (1), the main driving wheel set (6) and the entering guide mechanism are arranged on the left side and the right side of the main frame (1), and the main driving wheel set (6) is used for providing walking driving force; the station entering guide mechanism is used for guiding at the left side and the right side of the main frame (1); the online charging connector (3) is arranged at the front side of the main frame (1) and is used for being in butt joint with a ground charging station for charging; the tail hooking system (17) is arranged at the rear side of the main frame (1) and is used for hooking with the shelf vehicle;

the tail hooking system (17) comprises a slideway (18), an angle adjusting mechanism (19) and an automatic traction hooking mechanism (20), wherein the slideway (18) is of an arc-shaped structure and is horizontally arranged at the rear end of the main frame (1); the angle adjusting mechanism (19) is arranged on the slideway (18) and can walk along the slideway (18); the automatic traction hook mechanism (20) is arranged on the angle adjusting mechanism (19) and is used for automatically hooking with the goods shelf vehicle;

the automatic traction hook mechanism (20) comprises a hook (37), a hook driving block (39), a cam connecting rod mechanism (40) and a direct current servo driving motor II (41), wherein the tail part of the hook (37) is hinged on the angle adjusting mechanism (19), and the hook-shaped end sags by self weight; the direct current servo driving motor II (41) is arranged on the angle adjusting mechanism (19), the output end of the direct current servo driving motor II is connected with the hook driving block (39) through the cam connecting rod mechanism (40), and the hook driving block (39) has the freedom degree of moving forwards and backwards; when the direct current servo driving motor II (41) drives the hook driving block (39) to retract backwards through the cam connecting rod mechanism (40), the hook (37) is driven to rotate upwards, so that the hook is connected with a shelf vehicle in a hanging mode; when the direct current servo driving motor II (41) drives the hook driving block (39) to extend forwards through the cam connecting rod mechanism (40), the hook (37) loses constraint and naturally sags, so that unhooking is realized;

the angle adjusting mechanism (19) comprises a shell (43), an upper driving wheel set (27), a lower driving wheel set (32) and an encoder (29), wherein the upper driving wheel set (27) and the lower driving wheel set (32) are arranged on the upper side and the lower side of the shell (43) respectively through a motor mounting bracket (28), the upper driving wheel set (27) is used for walking on the top of the slideway (18), the lower driving wheel set (32) is used for walking on the side surface of the slideway (18), and the encoder (29) is used for detecting the rotation angle of the shell (43);

the upper driving wheel set (27) and the lower driving wheel set (32) have the same structure and comprise a driving wheel set mounting bracket (33), a direct current servo driving motor I (34), a connecting shaft (35) and a driving wheel (36), wherein the driving wheel set mounting bracket (33) is connected with the motor mounting bracket (28), the direct current servo driving motor I (34) is arranged on the driving wheel set mounting bracket (33), and the output end is connected with the driving wheel (36) through the connecting shaft (35);

the axes of the two drive wheels (36) in the upper drive wheel set (27) and the lower drive wheel set (32) are perpendicular.

2. The traction AGV system according to claim 1, wherein the axle of the drive wheel (36) in the lower drive wheel set (32) is connected to a limit ball bearing (30) by a link (31), the limit ball bearing (30) and the drive wheel (36) in the lower drive wheel set (32) being clamped on both sides of the slideway (18).

3. The traction AGV system according to claim 1, wherein the automatic traction hitch mechanism (20) further comprises a limit stop (38) for defining a unhooked position of the hitch (37), the limit stop (38) being disposed on the angle adjustment mechanism (19) and below the hitch (37).

4. The traction AGV system according to claim 1, wherein the entry guide mechanism comprises a front entry guide mechanism (4) and a rear entry guide mechanism (16) which are respectively provided on the front and rear sides of the main frame (1), the front entry guide mechanism (4) and the rear entry guide mechanism (16) each comprise a mounting frame and guide ball bearings (21) provided at both ends of the mounting frame, and the guide ball bearings (21) at both sides of the main frame (1) are used for laterally contacting with a ground guide rail (22).

5. The traction AGV system according to claim 1, wherein the bottom of the online charging connector (3) is provided with a universal wheel set (5);

coarse positioning guide grooves (23) are formed in two sides of the online charging connector (3), and a fine positioning guide pin (24) is arranged on the front end face of the online charging connector (3); the coarse positioning guide groove (23) is used for being in butt joint with a coarse positioning guide piece (25) arranged at the butt joint end of the ground charging station, and the fine positioning guide pin (24) is used for being in positioning connection with a fine positioning guide hole (26) arranged at the butt joint end of the ground charging station.

6. The traction AGV system of claim 1, wherein the visual navigation recognition system comprises: a safety laser scanner (2) arranged at the front end of the main frame (1); the charging position identification sensor (7), the emergency stop button (8), the communication antenna (9), the visual identification navigation sensor (10) and the indicator lamp buzzer (11) are arranged at the top of the main frame (1); an inbound position recognition sensor (13), a key switch (14) and a shelf information recognition sensor (15) which are arranged at the rear end of the main frame (1); indicator strips (12) arranged on the left and right sides of the main frame (1).