CN205397313U - Automatic guide transport vechicle - Google Patents

Abstract

The utility model relates to an automatic guided transport vehicle, which comprises two parallel fork-type trolleys that communicate with each other and can be guided by one or two magnetic strips. The trolley includes a mounting seat, a protective cover covering the mounting seat, and the mounting seat Both ends of the sensor module are equipped with a sensor module, a drive module that drives the mounting seat to move horizontally and can lift up the protective cover, and a control module that controls the two drive modules and communicates with the sensor module The power supply module that supplies power to the drive module and the control module. The utility model is composed of two fork-type trolleys to form a set of handling system, and the two trolleys move in parallel without physical connection, and the synchronous action between each other is realized through mutual communication, the space volume is small, and it can be well It saves space, and can enter the corresponding position under the standard cargo pallet, lift it up and carry it, and at the same time realize the two-way movement of forward and backward.

Description

An automatic guided transport vehicle

technical field

The utility model relates to a handling device, in particular to an automatic guided transport vehicle used for handling standard cargo pallets.

Background technique

At present, standard cargo pallets in factories or workshops are mainly carried by manually operated equipment such as manual hydraulic pallet trucks (commonly known as "ground cattle"), forklifts, and such products are already very popular in the market. Manual hydraulic pallet trucks and forklifts are both manual handling equipment. Operators need to have certain operating skills and experience. When moving heavy goods, manual hydraulic trucks need more manpower. People judge the lifting and falling of goods; while forklifts require a proprietary driver's license to operate this type of equipment, and the positioning of goods is not accurate, human observation and control are required, and the work intensity of workers is relatively high. It can be seen that the operation space of both of them is large and requires high labor cost.

At present, some automated workshops use Automated Guided Vehicles (AGV for short), tow special cargo trailers for automatic transportation, and guide them by pasting guiding magnetic strips on the ground, and can automatically carry out transportation according to the program. According to the magnetic navigation sensor and obstacle sensor on the car, the functions of automatic guidance and automatic obstacle avoidance are realized. It mainly uses the form of traction to tow the trailer loaded with goods. Generally, there is a buckle on the trolley and the cargo trailer, and the trolley is connected to the cargo trailer through the buckle, so as to realize the function of traction. Forklift AGV transforms the original forklift body and installs magnetic navigation sensors and obstacle sensors to realize the functions of AGV trolleys and accurately locate goods. Space requirements are also greater.

Although the AGV trolley is guided by the magnetic strip on the ground and has the function of avoiding obstacles, which saves labor costs, this type of transport vehicle is mainly in the form of traction, and special customization of the cargo pallet is required to meet the requirements of the AGV trolley. Work, in the process of work, it is necessary to manually place the goods on the custom-made pallet, which is limited by the shape of the pallet and the working space and other conditions; in addition, this type of trolley adopts the form of traction, so it can only perform a single forward and turning motion. action, the function of retreating cannot be realized. The forklift AGV can not only meet the requirements of unmanned operation, but also carry standard cargo pallets. However, due to the existence of the forklift body, its operating space is large, and it is not suitable for a compact environment.

Utility model content

In order to solve the above technical problems, the purpose of this utility model is to provide an automatic guided transport vehicle that can automatically run without manual operation, automatically guide and avoid obstacles according to the ground magnetic strip, and can carry standard cargo pallets.

The automatic guided transport vehicle of the present utility model comprises two parallel fork-type trolleys that communicate with each other and can be guided by one/two magnetic strips. The trolley includes a mounting seat and a protective cover covering the mounting seat. Both ends of the mounting base are equipped with sensor modules, driving the mounting base to move horizontally and driving modules capable of jacking up the protective cover, and the mounting base is also provided with two driving modules that control the A control module for communication and transmission of the sensor module, and a power supply module for respectively supplying power to the two drive modules and the control module.

Further, the two trolleys are also provided with a control unit for controlling the synchronous action of the two trolleys, and a distance measuring sensor for maintaining the distance between the two trolleys is provided on the two trolleys.

Further, the drive module includes a mounting frame rotatably connected to the mounting base, a rotating mechanism, a lifting mechanism and a driving device arranged on the mounting frame, and the rotating mechanism includes drive wheel; the lifting mechanism includes a screw rod longitudinally arranged on the mounting frame, and the screw rod is threadedly connected with a nut provided on the mounting frame; The motor and the reducer, the reducer is connected to the drive wheel through a pulley and a synchronous belt.

Further, an encoder for detecting and controlling the speed, position, angle and counting information of the motor is also provided on the installation frame.

Further, the mounting frame is also provided with an electromagnetic brake connected to the rotating shaft of the driving wheel through a flat key.

Further, the mounting bracket is rotatably connected with the mounting base through a steel ball provided thereon and in contact with the mounting base.

Further, the sensor module includes an obstacle sensor and a magnetic navigation sensor for finding the magnetic strip.

By means of the above scheme, the utility model has at least the following advantages:

1. By using two trolleys without physical connection as a set of handling system, which is equivalent to the two fork structures of a forklift, the two trolleys can independently and parallelly move under the standard cargo pallet according to the guidance of the magnetic strip, and lift it up and transport;

2. The control unit ensures that the two trolleys keep moving synchronously, and the distance between the two trolleys is within the specified range through the ranging sensor of the trolley, so that the transportation can be carried out reliably;

3. The drive, control and power supply components are all built into the trolley, which reduces the volume of the trolley, so that the trolley can enter under the standard cargo pallet and lift the goods in a compact environment;

4. Use the rotation of the drive module itself to drive the vertical movement of the screw, so as to realize the lifting action. It has a large carrying capacity and can carry goods weighing up to 1000kg including pallets;

5. The rotating module can be rotated 90 degrees in situ, so as to achieve the purpose of turning;

6. The guidance mode of the two trolleys can be guided by a single magnetic strip, or can be guided by two magnetic strips, and the guidance method is more flexible.

The above description is only an overview of the technical solution of the utility model. In order to understand the technical means of the utility model more clearly and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiment of the utility model with accompanying drawings. rear.

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is the structural representation of the trolley of the utility model;

Fig. 3 is a three-dimensional structure diagram of the drive module in the trolley;

Fig. 4 is a side view of the drive module;

Fig. 5 is the bottom view of driving module;

Fig. 6 is a sectional view along line A-A in Fig. 4;

Fig. 7 is a schematic diagram of a pair of magnetic strips guiding two cars to turn;

Fig. 8(a) and Fig. 8(b) are schematic diagrams of a magnetic strip guiding two carts to turn.

detailed description

Below in conjunction with accompanying drawing and embodiment, the specific embodiment of the utility model is described in further detail. The following examples are used to illustrate the utility model, but not to limit the scope of the utility model.

Referring to Fig. 1 and Fig. 2, a compact automatic guided transport vehicle for handling standard cargo pallets described in a preferred embodiment of the present invention includes two parallel and mutual communication, which can be controlled by one/two magnetic The bar 100 guides the walking fork-type trolley 200. The trolley 200 includes a mounting base 10 and a protective cover 201 covering the mounting base 10. Both ends of the mounting base 10 are provided with sensor modules 20, which drive the mounting base 10 to move horizontally and can Jack up the drive module 30 of the protective cover 201, and the mounting base 10 is also provided with a control module 40 for controlling the two drive modules 30, communicating and transmitting with the sensor module 20, and a power supply for supplying power to the two drive modules 30 and the control module 40 respectively. Module 50.

The two trolleys 200 in the utility model are a set of handling system, and there is no physical connection. In order to ensure the coordinated operation of the two trolleys, the utility model is also provided with a control unit in the two trolleys 200 to control the synchronous action of the two trolleys 200. The two trolleys 200 are provided with distance measuring sensors for maintaining the distance between the two trolleys 200 . Through the on-board control unit, the two trolleys 200 are kept in synchronous action; and through the distance measuring sensor of the trolley 200, the distance between the two cars is kept within a specified range. When the parallel distance between the two trolleys 200 deviates, the control unit of the trolley 200 can restore the distance between the two trolleys 200 to within the set parallel distance range.

Specifically, as shown in Figures 3 to 6, the drive module 30 includes a mounting frame 31 that is rotatably connected to the mounting base 10, a rotating mechanism, a lifting mechanism, and a driving device that are arranged on the mounting frame 31, and the rotating mechanism includes a mounting frame mounted on the mounting frame. 31 drive wheels 32 on both sides; the lifting mechanism includes a screw rod 33 that is longitudinally arranged on the mounting frame 31, and the screw rod 33 is threadedly connected with the nut 34 that is arranged on the mounting frame 31; The motor 35 is connected with the speed reducer 36, and the speed reducer 36 is connected with the driving wheel 32 through the pulley and the synchronous belt 62.

The utility model adopts four driving wheels 32 to drive, and each driving wheel 32 has an independent motor 35 to drive. The motor 35 of the utility model adopts a DC brushless motor, and the speed reducer 36 adopts a planetary speed reducer, which is selected according to the specific parameters of the trolley, wherein two drive wheels 32 form a set of independent drive modules 30 . A set of drive modules 30 are arranged at the front and back of the trolley 200 to form the drive system of the entire trolley 200. Two drive wheels 32 are installed on both sides of the drive module 30. The power transmission method is: a DC brushless motor connected to a planetary reducer, through a fixed bracket 68 is fixed on the mounting frame 31 of the driving module 30, a small synchronous pulley 61 is installed on the output shaft of the planetary reducer, and is connected with the large synchronous pulley 63 through the synchronous belt 62, wherein the large synchronous pulley 63 is connected with the driving wheel 32 are rigidly connected together. Specifically, the large synchronous pulley 63 is fixed on a mounting plate 66 by bolts, and the mounting plate 66 is also fixed together with the drive wheel 32 by bolts, so when the large synchronous pulley 63 rotates, the drive wheel 32 also rotates synchronously, So as to achieve the purpose of driving. Correspondingly, another driving module 30 is arranged symmetrically on the mounting seat 10 .

The utility model arranges a drive module 30 symmetrically at the front and rear positions of the trolley 200, so the trolley 200 has four driving wheels 32, and each driving wheel 32 is driven by an independent motor 35. During the running process, the trolley 200 can realize forward, backward and anticlockwise rotation on the spot, and the realization method is: controlling the output rotation direction of the motor, and controlling the motion form of the trolley. When the driving wheels are controlled to rotate forward, the trolley realizes the forward movement; when the driving wheels are controlled to rotate backward, the trolley realizes the backward movement; the two driving wheels on the right side are controlled to rotate forward and the two driving wheels on the left side are controlled Rotate backward, the trolley realizes the movement of anticlockwise rotation on the spot; control the two driving wheels on the right to rotate backward and the two driving wheels on the left to rotate forward, and the trolley realizes the movement of clockwise rotation on the spot.

When the two trolleys run under the standard cargo pallet, the drive module 30 can lift the pallet. Since the driving module 30 is in contact with the mounting base 10 through the steel ball 39 in the present invention, the driving module 30 can rotate around a fixed central point. The way of lifting and falling is: when the trolley moves under the standard cargo pallet, the two driving wheels 32 in the driving module 30 are controlled to rotate forward and backward respectively at the same speed, so that the entire driving module 30 is in place. Do 360° rotation. At the central position of the mounting bracket 31 in the drive module 30, a nut 34 that cooperates with the screw rod 33 is fixed. When the drive module 30 rotates, the nut 34 also rotates together. Correspondingly, the screw rod 33 that cooperates with the nut 34 rotates vertically. Make an up and down motion in the direction to jack up the protective cover and lift the tray. In order to prevent the trolley from moving during the lifting process, it is necessary to control the lifting action of the trolley. During the lifting action, the two driving modules 30 at the same position of the two trolleys rotate counterclockwise, so that one side of the tray is lifted first. Knowing the parameters such as the pitch and length of the screw 33, by controlling the number of rotations of the drive module 30, a precise lifting height can be achieved. Since the screw nut has a self-locking function, it will not fall by itself after being lifted; The two drive modules 30 at the same position on the trolley also rotate counterclockwise to lift the other side of the cargo pallet, thereby realizing the lifting action. Correspondingly, when falling, the driving module 30 rotates clockwise to put down one side of the cargo pallet first, and then put down the other side, so as to realize the falling action.

In order to enable the trolley to achieve precise positioning, the utility model also installs an encoder 37 on the mounting frame 31 of the drive module 30, and detects information such as the speed, position, angle and count of the DC brushless motor through the encoder 37 to ensure that the trolley will move the goods Move to designated location.

In addition, the mounting frame 31 is also provided with an electromagnetic brake 38 connected with the rotating shaft 65 of the driving wheel 32 through the flat key 64, so that the utility model has safety measures, and the trolley can be stopped immediately and kept in the event of a sudden power failure. move. Its realization mode is: electromagnetic brake 38 is connected with rotating shaft 65 through flat key 64, and this rotating shaft 35 and large synchronous pulley 63 are fixedly connected together with mounting plate 66 by bolt, and mounting plate 66 is also fixed on the drive wheel 32 by bolt. Together, therefore, it can be ensured that when the large synchronous pulley 63 moves, the movable parts of the driving wheel 32 and the electromagnetic brake 38 also move synchronously. When the power is suddenly cut off, the electromagnetic brake 38 acts. Because the shell of the electromagnetic brake 38 is fixed on the mounting bracket 31, the electromagnetic relay is closed to generate braking torque, so that the driving wheel 32 stops rotating, thereby realizing the function of emergency braking.

The sensor module 20 in the utility model is composed of a magnetic navigation sensor and an obstacle sensor. By tracking the magnetic strip 100 on the ground, the trolley 200 can travel according to a fixed route, and a set is symmetrically arranged at the front and rear ends of the trolley 200. The sensor module 20 ensures the forward and backward movements of the trolley 200 . The obstacle sensor is installed directly in front of the running direction of the car 200 , the magnetic navigation sensor is installed at a vertical height of 25-40 mm from the ground magnetic strip 100 , and the sensor module 20 and the control module 40 communicate and transmit.

The power supply module 50 in the utility model is composed of a 48V lithium-ion battery, a DC-DC module and a battery control board. Wait for protection. The control module 40 is composed of a motor driver, a small industrial computer, a communication interface and a peripheral interface, which is convenient for debugging of the trolley. Both the power supply module 50 and the control module 40 are installed in the hollow part in the middle of the trolley 200 .

The sensor module 20, the driving module 30, the power supply module 50 and the control module 40 are all installed in the installation seat 10 to ensure the size of the length, width and height of the trolley. At the same time, a protective cover 201 is used to protect the mounting seat 10, and the protective cover 201 can not only make the appearance of the trolley more beautiful, but also protect the internal modules of the trolley. The protective cover moves together with the lifting mechanism during the lifting process, and is always in contact with the pallet during the transportation process, so that the large plane of the protective cover contacts the bottom of the pallet, which is beneficial to ensure the stability of the lifting process.

The guidance and control methods of the utility model can be divided into two types: one is that a pair of parallel magnetic strips are pasted on the ground, as shown in Figure 7, and the trolley A and the trolley B are guided at the same time, and the width between the parallel magnetic strips needs to be It is equal to the center distance of the empty slot at the lower end of the standard cargo pallet. It is necessary to ensure that the trolley can be guided to the bottom of the standard cargo pallet and perform lifting actions. When the two trolleys travel to the intersection position of the magnetic strips (that is, the dotted line trolley position), the trolley stops , and after rotating 90° on the spot, the two cars are respectively aligned with the two magnetic strips perpendicular to the original magnetic strips to complete the turning action; As shown in Figure 8(b), ensure that the car A is guided by the magnetic strip. This car is the active car, and the other car is the follower car. Keep parallel and synchronous during operation, and the distance between the two trolleys remains unchanged, which must be equal to the center distance of the empty slot at the lower end of the standard cargo pallet. This kind of guidance and control method, after the trolley turns 90 degrees on the spot at the corner , it is necessary to ensure that one of the cars is guided by the magnetic strip. The car guided by the magnetic strip is set as the active car, and the other is the follower car. The communication between the two cars keeps synchronous actions. After turning, the active car can be a car. A, can also be the car B.

Compared with the existing products on the market, the automatic guided transport vehicle of the utility model has a compact structure, a small size, and can It automatically enters under the standard cargo pallet and completes the cargo handling work. It has large carrying capacity, small working space, high degree of automation and strong operability, which can significantly improve the efficiency of handling standard cargo pallets and promote the automation of industrial production. important practical value.

The above is only a preferred embodiment of the utility model, and is not intended to limit the utility model. It should be pointed out that for those of ordinary skill in the art, they can also do Several improvements and modifications are made, and these improvements and modifications should also be regarded as the protection scope of the present utility model.

Claims (7)

1. An automatic guided transport vehicle, characterized in that: it includes two parallel and mutually communicating pallet fork-type trolleys that can be guided by one/two magnetic strips, the trolley includes a mounting seat, and is covered on the mounting seat The two ends of the mounting seat are equipped with sensor modules, driving the mounting seat to move horizontally and driving modules capable of lifting the protective cover. . A control module for communicating and transmitting with the sensor module, and a power supply module for respectively supplying power to the two driving modules and the control module. 2. The automatic guided transport vehicle according to claim 1, characterized in that: a control unit for controlling the synchronous movement of the two said cars is also provided in the two said cars, and a control unit for maintaining the two described cars is provided on the two said cars. Distance measuring sensor for the distance between the trolleys. 3. The automatic guided transport vehicle according to claim 1, wherein the driving module comprises a mounting frame rotatably connected to the mounting base, a rotating mechanism, a lifting mechanism and a driving device arranged on the mounting frame , the rotating mechanism includes driving wheels installed on both sides of the mounting frame; the lifting mechanism includes a screw rod longitudinally arranged on the mounting frame, and the screw rod is threadedly connected with a nut provided on the mounting frame; The driving device includes a motor and a reducer mounted on the installation frame through a fixed bracket, and the reducer is connected to the drive wheel through a pulley and a synchronous belt. 4. The automatic guided transport vehicle according to claim 3, wherein an encoder for detecting and controlling the speed, position, angle and counting information of the motor is also provided on the mounting frame. 5. The automatic guided transport vehicle according to claim 3, characterized in that: the mounting frame is further provided with an electromagnetic brake connected to the rotating shaft of the driving wheel through a flat key. 6 . The automatic guided transport vehicle according to claim 3 , wherein the mounting frame is rotatably connected to the mounting seat through a steel ball provided thereon and in contact with the mounting seat. 7 . 7. The automatic guided transport vehicle according to claim 1, wherein the sensor module includes an obstacle sensor and a magnetic navigation sensor for finding the magnetic strip.