CN205346736U - Universal type fork truck formula AGV - Google Patents

Universal type fork truck formula AGV Download PDF

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Publication number
CN205346736U
CN205346736U CN201620045781.0U CN201620045781U CN205346736U CN 205346736 U CN205346736 U CN 205346736U CN 201620045781 U CN201620045781 U CN 201620045781U CN 205346736 U CN205346736 U CN 205346736U
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CN
China
Prior art keywords
module
universal
agv
vehicle frame
fork truck
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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.)
Expired - Fee Related
Application number
CN201620045781.0U
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Chinese (zh)
Inventor
杨光明
李潇波
蒋林宇
许江波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hangzhou Warui Technology Co., Ltd.
Original Assignee
HANGZHOU WARUI TECHNOLOGY Co Ltd
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Priority to CN201620045781.0U priority Critical patent/CN205346736U/en
Application granted granted Critical
Publication of CN205346736U publication Critical patent/CN205346736U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses an universal type fork truck formula AGV, including automobile body and fork truck elevating gear, the automobile body is connected with fork truck elevating gear, the automobile body includes vision module, battery, control module, drive module, frame, RFID read/write module and shell, vision module, battery, control module, drive module install respectively on the frame, and RFID read/write module installs in the frame below, RFID read/write module and vision module are connected with control module respectively, and control module and drive module are connected, the shell is installed to the frame periphery, installs control panel, IR evading obstacle sensors on the shell, safe crashproof layering. The utility model discloses a fork truck formula AGV uses the flexibility of vision navigation module good, changes, the extended route is simple relatively, the security and the reliability of AGV working process have been guaranteed to IR evading obstacle sensors and the safe crashproof layering that is equipped with simultaneously, and fork truck elevating gear makes AGV can automatic bear the weight of the tray and accomplishes lift transport work.

Description

A kind of universal type fork-lift type AGV
Technical field
This utility model relates to the technical field of automatical pilot transportation vehicle, especially relate to a kind of can the fork-lift type AGV of direction movement.
Background technology
Automatic guided vehicle (AutomatedGuidedVehicle, it is called for short AGV) it is the one of mobile apparatus people, it it is the core component of Intelligent logistics system, the carrying vehicle of alternative pilot steering, complete warehouse to the automatic accumulating of all kinds of materials between production line, production line and in warehouse work, provide important guarantee for system flexibility, integrated, Effec-tive Function.AGV fork truck is industrial carrying and the one loading and unloading the warehousing forklift using battery to be driven, it is mainly used in the industries such as Nicotiana tabacum L., food, weaving, electronics, printing, for member pallet cargo being carried out independently carrying, transport, it is particularly well-suited at narrow opening and narrow job space.Universal type fork-lift type AGV is the one of AGV dolly, is one of key equipment in modern industry Intelligent logistics transportation system.
China Patent No. be 201410448586.8 patent of invention disclose a kind of universal type and drive fork truck AGV, including car body and driving wheel, car body is provided with lowering or hoisting gear, controls device, the first magnetic navigation and safety device, the second magnetic navigation and safety device and front fork, the outfan of front fork and lowering or hoisting gear links together, and the first magnetic navigation and safety device, the second magnetic navigation and safety device and lowering or hoisting gear all electrically connect with control device;Car body be arranged below driven pulley, also include driving shell, shell is driven to be arranged on car body or control the lower section of device, car body or control device be internally provided with transfer, drive shell and transfer to link together, transfer electrically connects with control device, drive in shell and be provided with drive motor, driving shell to be outside equipped with driving axle, drive axle to be arranged on the outfan of drive motor, driving wheel is installed on the driving shaft.This AGV dolly uses magnetic navigation technology, and shortcoming is that path is difficult to change extension, and the limitation of pahtfinder hard is big.
Summary of the invention
The purpose of this utility model is in that the deficiency overcoming prior art to exist, a kind of universal type fork-lift type AGV is provided, its compact conformation, control are simply, move flexible, safe and reliable, modularity integrated level height, wireless communication module is installed, the communication between each AGV can be realized, carry out traffic control and vehicle scheduling.
The technical solution of the utility model is:
A kind of universal type fork-lift type AGV, including car body and forklift lifting device, forklift lifting device is arranged on Vehicular body front;Wherein car body includes vision module (1), battery (2), controls module (3), drives module (4), vehicle frame (5), RFID read-write module (6) and shell (7);Vision module (1) is arranged on the axis before and after vehicle frame (5) and is connected (3) in controlling module, for reading the trolley travelling track on ground and feeding back to control module (3), when car body off-track line, adjusts the track of car body walking;Controlling module (3) and drive module (4) to be connected, and being arranged on vehicle frame (5), the control signal that driving module (4) receives and sends according to control module (3) performs corresponding action, namely drives the main actuator that module (4) is AGV;RFID read-write module (6) is arranged on immediately below vehicle frame (5), and be connected with controlling module (3), RFID read-write module (6) is used for detecting ground magnetic card road sign and signal passing to control module (3), control the module (3) information according to the read magnetic card road sign of RFID read-write module (6), send corresponding control signal to driving module (4) so that AGV performs corresponding action, as turned to, accelerating, deceleration etc.;Battery (2) is arranged on vehicle frame (5) centre position, for all electrical equipments on AGV and instrument power supply;Vehicle frame (5) periphery is provided with shell (7).
Specifically, described shell (7) being provided with control panel (8), IR evading obstacle sensors (9) and anticollision press strip (10), IR evading obstacle sensors (9) is connected with controlling module (3);Control module (3) receive IR evading obstacle sensors (9) signal that sends and send control signal according to signal designation and perform corresponding actions to avoid AGV to crash to corresponding actuator;Anticollision press strip (10) can play certain cushioning effect when AGV crashes, and reduces collision loss.
Specifically, described forklift lifting device includes housing (101), lower housing (102), lifting beam (103), jacking module (104), universal wheel (105), fairlead (106) and the axis of guide (107);Upper housing (101), lower housing (102) are connected with bearing pin with lifting beam (103) respectively, fairlead (106) is arranged in housing (101), the axis of guide (107) is arranged in lower housing (102), and universal wheel (105) is arranged in lower housing (102);Jacking module (104) includes motor, screw mandrel and feed screw nut, motor is connected by shaft coupling with screw mandrel, two feed screw nuts are connected with upper housing (101), lower housing (102) respectively, and the feed screw nut of jacking module (104) is separately mounted in housing (101), lower housing (102).
Preferably, described driving module (4) is provided with drive motor, realizes turning, walking according to the speed discrepancy of drive motor.
Preferably, described driving module (4) has at least 2, is symmetrically mounted on vehicle frame (5) both sides.
Preferably, described vision module (1) has 2, is arranged on the axis of vehicle frame (5) front and back.
Preferably, described RFID read-write module (6) is at least 1.
Preferably, described forklift lifting device, lower housing (102) outer end is provided with installing port, it is possible to the dolly with coupling connects.
The beneficial effects of the utility model are: read magnetic card by RFID read-write module and realize the transmission of movement instruction and the location of AGV, read vehicle running orbit information realization with vision module and automatically follow line, turn to drive the speed discrepancy of drive motor in module to realize, walk;The communication between AGV can be realized by wireless communication module, carry out traffic control and vehicle scheduling;The anticollision press strip and the IR evading obstacle sensors that are equipped with are effectively increased AGV safety and reliability at work.Car body and fork truck jacking apparatus are connected by installing port coupling, improve the motility of fork lift truck applications.
Accompanying drawing explanation
Fig. 1 is fork-lift type AGV cut-away view of the present utility model;
Fig. 2 is fork-lift type AGV chart at the bottom of of the present utility model;
Fig. 3 is shaft side figure of the present utility model;
Fig. 4 is side view of the present utility model;
Fig. 5 is fork truck jacking apparatus polycrystalline substance schematic diagram of the present utility model;
Fig. 6 is fork truck jacking apparatus axonometric drawing of the present utility model.
In Fig. 1-3,1 vision module, 2 batteries, 3 control modules, 4 driving module, 5 vehicle frames, 6RFID module for reading and writing, 7 shells, 8 control panels, 9 IR evading obstacle sensors, 10 anticollision press strips;
In Fig. 4-6, housing, 102 times housings, 103 lifting beams, 104 jacking modules, 105 universal wheels, 106 fairleads, 107 axis of guides on 101.
Detailed description of the invention
Below in conjunction with accompanying drawing, this utility model is described further.Following example are used for illustrating this utility model, but are not limited to scope of the present utility model.
Embodiment 1:In conjunction with a kind of universal type fork-lift type AGV shown in Fig. 1, Fig. 2, including car body and forklift lifting device, forklift lifting device is arranged on Vehicular body front, it may be achieved bearing tray completes lifting carrying function automatically;Wherein car body includes two vision modules (1), battery (2), control module (3), two drivings module (4), vehicle frame (5), RFID read-write module (6);Two vision modules (1) are separately mounted on the axis of the front and back of vehicle frame (5) and are connected in controlling module (3), for reading the trolley travelling track on ground and feeding back to control module (3), two vision modules (1) individually perform unidirectional operation, when car body off-track line, adjust the track of car body walking;Control module (3) and be arranged on vehicle frame (5) afterbody, two drive module (4) to be symmetrically mounted at vehicle frame (5) left and right sides, control module (3) and drive module (4) to be connected, drive module (4) to receive and according to controlling the control signal corresponding action of execution that module (3) sends, namely drive the main actuator that module (4) is AGV;RFID read-write module (6) is arranged on immediately below vehicle frame (5), and be connected with controlling module (3), for detecting ground magnetic card road sign and signal being passed to control module (3), control the module (3) information according to the read magnetic card road sign of RFID read-write module (6), send corresponding control signal to driving module (4) so that AGV performs corresponding action, as turned to, accelerating, deceleration etc.;Battery (2) is arranged on vehicle frame (5) centre position, for all electrical equipments on AGV and instrument power supply.
Embodiment 2:In conjunction with a kind of universal type fork-lift type AGV shown in Fig. 1, Fig. 2 and Fig. 3, AGV vehicle frame (5) periphery as described in Example 1 is provided with shell (7), and shell (7) is provided with control panel (8), IR evading obstacle sensors (9) and anticollision press strip (10);IR evading obstacle sensors (9) is connected with controlling module (3), controls module (3) and receives IR evading obstacle sensors (9) signal that sends and send control signal to the corresponding action of corresponding actuator execution to avoid AGV to crash according to signal designation;Anticollision press strip (10) can play certain cushioning effect when AGV crashes, and reduces collision loss.
Embodiment 3:In conjunction with a kind of universal type fork-lift type AGV shown in Fig. 1-3 and Fig. 4-6, AGV as described in Example 2, its forklift lifting device includes, upper housing (101), lower housing (102), lifting beam (103), jacking module (104), universal wheel (105), fairlead (106) and the axis of guide (107);Four lifting beams (103) respectively with upper housing (101)Lower housing (102) connects with bearing pin, jacking module (104) includes motor, screw mandrel and feed screw nut, motor is connected by shaft coupling with screw mandrel, two feed screw nuts are connected with upper housing (101), lower housing (102) respectively, when the motor in jacking module (104) drives, according to screw mandrel principle, upper housing (101), lower housing (102) realize lifting action;Fairlead (106) is arranged in housing (101), and the axis of guide (107) is arranged in lower housing (102), it is achieved upper housing (101) is spacing with lower housing (102);Lower housing (102) outer end is provided with installing port, it is possible to the dolly with coupling connects.

Claims (9)

1. a universal type fork-lift type AGV, including car body and forklift lifting device, it is characterized in that, described car body includes: vision module (1), battery (2), control module (3), driving module (4), vehicle frame (5), RFID read-write module (6) and shell (7);Vision module (1), battery (2), control module (3), driving module (4) are separately mounted on vehicle frame (5), and RFID read-write module (6) is arranged on immediately below vehicle frame (5);RFID read-write module (6) and vision module (1) are connected with control module (3) respectively, control module (3) and are connected with driving module (4), and vehicle frame (5) periphery is provided with shell (7).
2. a kind of universal type fork-lift type AGV according to claim 1, it is characterised in that: described forklift lifting device includes housing (101), lower housing (102), lifting beam (103), jacking module (104), universal wheel (105), fairlead (106) and the axis of guide (107);Wherein go up housing (101), lower housing (102) is connected with bearing pin with lifting beam (103) respectively, fairlead (106) is arranged in housing (101), the axis of guide (107) is arranged in lower housing (102), and universal wheel (105) is arranged in lower housing (102).
3. a kind of universal type fork-lift type AGV according to claim 1, it is characterised in that: described shell (7) is provided with control panel (8), IR evading obstacle sensors (9) and anticollision press strip (10).
4. a kind of universal type fork-lift type AGV according to claim 1, it is characterised in that: described driving module (4) is 2, is symmetrically mounted on vehicle frame (5) both sides.
5. a kind of universal type fork-lift type AGV according to claim 1, it is characterised in that: described vision module (1) is 2, is arranged on vehicle frame (5) two ends.
6. a kind of universal type fork-lift type AGV according to claim 1, it is characterised in that: described RFID read-write module (6) is at least 1.
7. a kind of universal type fork-lift type AGV according to claim 2, it is characterized in that: described jacking module (104) includes motor, screw mandrel and feed screw nut, motor is connected by shaft coupling with screw mandrel, and two feed screw nuts are connected with upper housing (101), lower housing (102) respectively.
8. a kind of universal type fork-lift type AGV according to claim 2, it is characterised in that: described universal wheel (105) has 2, is arranged in lower housing.
9. a kind of universal type fork-lift type AGV according to claim 3, it is characterised in that: described IR evading obstacle sensors (9) is connected with controlling module (3).
CN201620045781.0U 2016-01-19 2016-01-19 Universal type fork truck formula AGV Expired - Fee Related CN205346736U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201620045781.0U CN205346736U (en) 2016-01-19 2016-01-19 Universal type fork truck formula AGV

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Application Number Priority Date Filing Date Title
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Publications (1)

Publication Number Publication Date
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105480902A (en) * 2016-01-19 2016-04-13 杭州瓦瑞科技有限公司 Universal forklift type AGV

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105480902A (en) * 2016-01-19 2016-04-13 杭州瓦瑞科技有限公司 Universal forklift type AGV

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C14 Grant of patent or utility model
GR01 Patent grant
TR01 Transfer of patent right

Effective date of registration: 20180516

Address after: 311202 2008 building, 1 building, international Ginza, No. 1, North Road Street, Xiaoshan District, Hangzhou, Zhejiang.

Patentee after: Hangzhou Xingyao science and Technology Co., Ltd.

Address before: 311202 19 Building, 1 building, international Ginza, 1 Xiaoshan Road, Hangzhou, Zhejiang.

Patentee before: Hangzhou Warui Technology Co., Ltd.

TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20180523

Address after: 311202 2008 building, 1 building, international Ginza, No. 1, North Road Street, Xiaoshan District, Hangzhou, Zhejiang.

Patentee after: Hangzhou Xingyao science and Technology Co., Ltd.

Address before: 311202 19 Building, 1 building, international Ginza, 1 Xiaoshan Road, Hangzhou, Zhejiang.

Patentee before: Hangzhou Warui Technology Co., Ltd.

TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20190220

Address after: 311202 Zhongdong International Ginza Building No. 1, Beikan Street, Xiaoshan District, Hangzhou City, Zhejiang Province

Patentee after: Hangzhou Warui Technology Co., Ltd.

Address before: 311202 2008 building, 1 building, international Ginza, No. 1, North Road Street, Xiaoshan District, Hangzhou, Zhejiang.

Patentee before: Hangzhou Xingyao science and Technology Co., Ltd.

TR01 Transfer of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20160629

Termination date: 20210119

CF01 Termination of patent right due to non-payment of annual fee